1. An advanced detection early warning system for a monorail crane comprises two connecting rods (4) and two detection early warning mechanisms (3), and is characterized in that;

the inner ends of the two connecting rods (4) are oppositely and fixedly connected to the left end and the right end of the outer part of the monorail crane head (2);

the two detection early warning mechanisms (3) are arranged at the outer sides of the outer ends of the two connecting rods (4) in a bilateral symmetry manner;

the detection early warning mechanism (3) comprises a shell (3-1), a linear grating detector (3-2), a recording module (3-4), an alarm module (3-5) and a processor module (3-3); the inner end of the shell (3-1) is fixedly connected with the outer end of the connecting rod (4); the linear grating detector (3-2) is fixedly connected to the outer end of the shell (3-1); the recording module (3-4), the alarm module (3-5) and the processor module (3-3) are all arranged in the shell (3-1); the processor module (3-3) is respectively connected with the linear grating detector (3-2), the recording module (3-4) and the alarm module (3-5).

2. The advanced detection early warning system for the monorail crane as claimed in claim 1, wherein the processor module (3-3) is further connected with a monorail crane head (2) braking system and a monorail crane head (2) speed measuring system.

3. The advanced detection and early warning system for monorail cranes of claim 1 or 2, characterized in that the warning modules (3-5) are audible and visual alarms.

4. The advanced detection and early warning system for the monorail crane as claimed in claim 3, wherein the outer end of the outer shell (3-1) is flush with the outer boundary of the monorail crane carriage (6).

5. The advanced detection and early warning system for the monorail crane as claimed in claim 4, wherein said detection and early warning mechanism (3) further comprises a power supply module, said power supply module is installed inside the housing (3-1), and it supplies DC power for the linear grating detector (3-2), the processor module (3-3), the recording module (3-4) and the alarm module (3-5), respectively.

6. An advanced detection early warning method for a monorail crane is characterized by comprising the following steps:

the method comprises the following steps: the two detection early warning mechanisms (3) are respectively arranged at the left end and the right end outside the monorail crane head (2) through two connecting rods (4); before the monorail crane runs in the roadway (1), measuring the horizontal distance L between the roadway side part (8) and the linear grating detector (3-2) before deformation₁(ii) a Starting a detection early warning mechanism (3) to enable the detection early warning mechanism to be in a working state, transmitting infrared rays to a roadway side part (8) obliquely forwards at a transmission angle of a beta angle by using a linear grating detector (3-2) for ranging, and recording the minimum value of the distances measured by one beam of infrared rays as L;

step two: the processor module (3-3) passes a formula L according to the minimum distance L and the emission angle beta measured by the linear grating detector (3-2)₂Calculating the horizontal distance L between the deformed roadway side part (8) and the linear grating detector (3-2) in a certain range in front of the monorail crane head (2) as Lsin beta₂；

Step three: the processor module (3-3) is based on the horizontal distance L₂And L₁Calculating the difference S between the two values, and calculating the difference according to S and L₁The ratio of the two-dimensional deformation of the side wall part (8) of the roadway in front of the monorail crane corresponds to the deformation condition of the side wall part of the roadway in front of the monorail crane, and different treatment measures are obtained; wherein if S<0.3L₁This means that the amount of deformation of the front tunnel wall (8) is not large and the monorail crane can smoothly runThrough, at this time, the processor module (3-3) does not send any control signal, the monorail crane continues to pass through, and the running state of the monorail crane is not interfered; if 0.3L₁≤S≤0.5L₁If the deformation of the front roadway side part (8) exceeds a certain range, the monorail crane can still pass through the deformation range smoothly, at the moment, the processor module (3-3) controls the recording module (3-4) to record the mileage of the roadway (1) in the deformation range, and meanwhile, the monorail crane still passes through the deformation range continuously, and the running state of the monorail crane is not interfered; if S>0.5L₁If the deformation of the front roadway side part (8) exceeds a specific range and the monorail crane cannot pass, the processor module (3-3) sends an alarm signal to the alarm module (3-5) to alarm to whistle so as to remind a monorail crane driver or operator to take emergency measures;

step four: after a monorail crane driver or an operator hears the alarm module (3-5) to alarm, a low-speed slow running mode is started for the monorail crane, then an emergency braking measure is taken, the monorail crane is stopped at the upstream section of the area with the overlarge deformation of the roadway side part (8), and the monorail crane carriage (6) is prevented from being scraped and rubbed by the anchor cable (5); after the monorail crane stops, the exposed ends of the anchor cables (5) in the deformed roadway side portion (8) are subjected to truncation operation and reinforcing support treatment, and after the treatment is finished, the monorail crane continues to move forward through the area until the operation is finished.

7. The advanced detection and early warning method for the monorail crane as claimed in claim 6, wherein in step four, after the monorail crane is finished running, relevant workers perform truncation operation and reinforcement support treatment on the exposed ends of the anchor cables (5) in the deformed roadway side wall portion (8) according to the mileage data recorded by the recording module (3-4), so that the conditions for safe and rapid passing of the monorail crane are met, and the monorail crane is prevented from continuing to deform a large amount and preventing the follow-up monorail crane from passing smoothly.

8. The advanced detection and early warning method for the monorail crane as defined in claim 7, wherein in the first step, the angle β is 20-60 degrees.

9. The advanced detection early warning method for the monorail crane according to claim 8, wherein in the fourth step, after the set time after the processor module (3-3) sends out the alarm signal, when the running speed of the monorail crane does not fall within the set range, the processor module (3-3) sends out an emergency braking signal to the brake system of the monorail crane head (2), and the brake system of the monorail crane head (2) automatically controls the monorail crane to carry out an emergency braking action after receiving the emergency braking signal, so that the monorail crane stops at the upstream section of the area with the excessive deformation of the roadway side portion (8), and the monorail crane carriage (6) is prevented from being scratched by the anchor cable (5).

Background

At present, the coal mine mainly adopts underground mining, and large-scale tunnel engineering needs to be tunneled underground. Due to the increasingly complex excavation stress environment and the failure of timely supporting of the head-on side of the roadway, the approach of the two sides in the later stage of the excavated roadway is large, and even the roadway cannot meet the normal production requirement. The coal mine generally uses the monorail crane to transport materials and personnel used for construction in a production working face, and the width sizes of the monorail crane carriage and the monorail crane head are large, so that a certain roadway span space is needed in the operation process of the monorail crane carriage and the monorail crane head. When the approaching amount of the two sides of the roadway exceeds a certain range, the exposed ends of the constructed anchor cables of the two sides inevitably cause rubbing to the monorail crane in the running process, the monorail crane is prone to toppling over or tipping over, and therefore unforeseen safety accidents can be caused.

The existing monorail crane mainly adopts emergency braking to mainly prevent the occurrence of the situation of scratching and causing disasters, and most of all the existing monorail cranes are directly provided with the pulling and collision prevention device in the headstock body of the monorail crane, so that the damage is reduced, the mode plays a role in reducing the possibility of safety accidents to a certain extent, but in a horizontal roadway with large surrounding rock deformation, after the actual collision occurs, the carriage is always instantaneously overturned or overturned, and the effective emergency safety braking is difficult to be performed on the carriage through related measures, so that the safety accidents cannot be efficiently avoided, the existing technology cannot effectively reduce the occurrence of disasters, and the advanced detection and early warning cannot be performed.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an advanced detection early warning system and method for a monorail crane, the system is simple in structure, can accurately monitor and predict the deformation conditions of coal rock masses at two sides of a roadway, and can effectively play a role in reducing disasters. The method has simple steps, can perform early warning when the deformation of the coal and rock mass on the two sides of the roadway exceeds the critical value of a specific range, and can perform timely and effective early warning by taking corresponding measures according to the sectional classification of the deformation range.

In order to achieve the aim, the invention provides an advanced detection early warning system for a monorail crane, which comprises two connecting rods and two detection early warning mechanisms;

the inner ends of the two connecting rods are oppositely and fixedly connected to the left end and the right end of the exterior of the monorail hoist head;

the two detection early warning mechanisms are arranged at the outer sides of the outer ends of the two connecting rods in a bilateral symmetry manner;

the detection early warning mechanism comprises a shell, a linear grating detector, a recording module, an alarm module and a processor module; the inner end of the shell is fixedly connected with the outer end of the connecting rod; the linear grating detector is fixedly connected to the outer end of the shell; the recording module, the alarm module and the processor module are all arranged in the shell; the processor module is respectively connected with the linear grating detector, the recording module and the alarm module.

Further, in order to obtain the running speed of the monorail crane in real time and send an emergency braking signal to the monorail crane head braking system in an emergency state, the processor module is also connected with the monorail crane head braking system and the monorail crane head speed measuring system.

Further, in order to improve the reminding effect, the alarm module is an audible and visual alarm.

Further, in order to avoid damage caused by rubbing of the detection early warning mechanism by anchor cables in the roadway side parts, the outer end of the shell is kept flat with the outer boundary of the monorail crane carriage.

Preferably, the detection early warning mechanism further comprises a power supply module, wherein the power supply module is installed inside the shell and supplies direct-current power to the linear grating detector, the processor module, the recording module and the alarm module respectively.

In the technical scheme, the two detection and early warning mechanisms are arranged on the left side and the right side of the head of the monorail crane, the linear grating detection instrument is adopted to detect the distance from an outer barrier to a monorail crane carriage in a non-contact mode, the deformation condition of the roadway side part in the front running range can be obtained in an advanced mode, and when the deformation quantity does not meet the passing condition, timely whistling and warning reminding can be carried out through the alarm module, so that a monorail crane driver or an operator can timely take effective emergency braking measures to guarantee the running safety. The system is simple in structure and low in manufacturing cost, can be installed conveniently and quickly on the original foundation, cannot influence the original foundation, is convenient to popularize and apply on a large scale, can accurately monitor and predict the deformation condition of the coal rock mass on the two sides of the roadway, and can effectively play a role in reducing disasters.

The invention also provides an advanced detection early warning method for the monorail crane, which comprises the following steps:

the method comprises the following steps: the two detection early warning mechanisms are respectively arranged at the left end and the right end outside the head of the monorail crane through two connecting rods; before the monorail crane runs in the roadway, measuring the horizontal distance L between the roadway side part and the linear grating detector before deformation₁(ii) a Starting a detection early warning mechanism to enable the detection early warning mechanism to be in a working state, transmitting infrared rays to the roadway side part obliquely forwards at a transmission angle of a beta angle by using a linear grating detector to measure the distance, and recording the minimum value in the distance measured by one beam of infrared rays as L;

step two: the processor module passes the formula L according to the minimum distance L and the emission angle beta measured by the linear grating detector₂Calculating the horizontal distance L between the tunnel wall part and the linear grating detector after the monorail crane head deforms within a certain range in front of the monorail crane head₂；

Step three: the processor module is based on the horizontal distance L₂And L₁Calculating the difference S between the two values, and calculating the difference according to S and L₁The ratio of the two-dimensional deformation of the single-track crane is corresponding to the deformation condition of the roadway side part in front of the single-track crane, and different treatment measures are obtained; wherein if S<0.3L₁If the lane wall part is not deformed, the monorail crane can smoothly pass through the lane wall part, the processor module does not send any control signal, the monorail crane continues to pass through the lane wall part, and the running state of the monorail crane is not interfered; if 0.3L₁≤S≤0.5L₁If the deformation of the front roadway side part exceeds a certain range, the monorail crane can still pass through the deformation range smoothly, at the moment, the processor module controls the recording module to record roadway mileage in the deformation range, and meanwhile, the monorail crane still passes through the deformation range continuously, and the running state of the monorail crane is not interfered; if S>0.5L₁If the deformation of the front roadway side exceeds a specific range, the monorail crane cannot pass through the front roadway side, and the processor module sends out a warning signal to the warning moduleThe alarm signal gives a whistle to alarm so as to remind a driver or an operator of the monorail crane to take emergency measures;

step four: after a monorail crane driver or an operator hears the alarm module to alarm, a low-speed slow running mode is started for the monorail crane, then an emergency braking measure is taken, the monorail crane is stopped at an upstream section of an area with an overlarge deformation amount of a roadway wall part, and a monorail crane carriage is prevented from being scratched by an anchor cable; and after the monorail crane stops, performing truncation operation and reinforcing support treatment on the exposed end of the anchor cable in the deformed roadway side part, and after the treatment is finished, enabling the monorail crane to continuously move forward through the area until the operation is finished.

Furthermore, in order to quickly and effectively position the roadway side part with large deformation and conveniently repair the roadway side part with large deformation efficiently, in the fourth step, after the monorail crane is operated, relevant workers perform truncation operation and reinforcement support treatment on the exposed end of the anchor cable in the deformed roadway side part according to mileage data recorded by the recording module, so that the condition that the monorail crane safely and quickly passes through is met, and the monorail crane is prevented from continuously deforming in a large amount and hindering the smooth passing of the follow-up monorail crane.

Further, in order to effectively improve the detection effect, in the step one, the angle β is 20 to 60 degrees.

Further, in order to automatically carry out emergency braking through the monorail crane head braking system under the condition that a monorail crane driver or an operator cannot take emergency braking measures in time so as to take double guarantee measures to ensure safe, stable and reliable operation of the monorail crane, in the fourth step, after the set time after the processor module sends out the alarm signal, the processor module sends out an emergency braking signal to the monorail crane head braking system when the operation speed of the monorail crane still does not fall within the set range, the monorail crane head braking system automatically controls the monorail crane to carry out emergency braking action after receiving the emergency braking signal, so that the monorail crane is stopped at an upstream section of an area with an overlarge deformation amount of a roadway wall part, and a monorail crane carriage is prevented from being scratched by anchor cables.

The method has simple steps and high automation degree, is convenient for reliable application in the actual operation process, can carry out advanced detection and early warning in time before the actual collision between the monorail crane carriage and the roadway side, has ideal early warning effect, and can carry out emergency measures classified by sections according to the deformation range, thereby effectively ensuring the stable and reliable operation of the monorail crane.

Drawings

FIG. 1 is a schematic view of an installation structure of a pre-detection early warning system in the invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a front view of FIG. 1;

fig. 4 is a schematic structural diagram of the advanced detection warning system of the present invention.

In the figure: 1. the system comprises a roadway, 2 a monorail crane head, 3 a detection early warning mechanism, 4 a connecting rod, 5 an anchor cable, 6 a monorail crane carriage, 7 a joist steel, 8 a roadway side part, 3-1 a shell, 3-2 a linear grating detector, 3-3 a processor module, 3-4 a recording module, 3-5 and an alarm module.

Detailed Description

The present invention is further described below.

As shown in fig. 1 to 4, the advanced detection early warning system for the monorail crane comprises two connecting rods 4 and two detection early warning mechanisms 3;

the inner ends of the two connecting rods 4 are oppositely and fixedly connected to the left end and the right end outside the monorail crane head 2;

the two detection early warning mechanisms 3 are arranged on the outer sides of the outer ends of the two connecting rods 4 in a bilateral symmetry manner;

the detection early warning mechanism 3 comprises a shell 3-1, a linear grating detector 3-2, a recording module 3-4, an alarm module 3-5 and a processor module 3-3; the inner end of the shell 3-1 is fixedly connected with the outer end of the connecting rod 4; the linear grating detector 3-2 is fixedly connected to the outer end of the shell 3-1 and used for detecting a distance signal of an outer obstacle in real time and sending the distance signal to the processor module 3-3 in real time; the recording module 3-4 is arranged inside the shell 3-1 and used for recording the mileage of the roadway 1 according to the control of the processor module 3-3; the alarm module 3-5 is arranged in the shell 3-1 and used for giving an alarm under the control of the processor module 3-3; the processor module 3-3 is installed inside the shell 3-1, is respectively connected with the linear grating detector 3-2, the recording module 3-4 and the alarm module 3-5, and is used for carrying out passability analysis on the received distance signals and controlling corresponding actions of the alarm module 3-5 and the recording module 3-4 according to a passability analysis result.

In order to improve the advanced detection effect of the deformation of the front roadway wall part, the length direction of the linear grating detector 3-2 extends along the vertical direction;

in order to obtain the running speed of the monorail crane in real time and send an emergency braking signal to a monorail crane head braking system in an emergency state, the processor module 3-3 is further connected with the monorail crane head 2 braking system and the monorail crane head 2 speed measuring system, and the processor module 3-3 is further used for monitoring the movement speed of the monorail crane after set time when the passability cannot meet passing conditions, and controlling the monorail crane head 2 braking system to perform emergency braking action when the running speed does not reach a set range after the set time.

In order to improve the reminding effect, the alarm modules 3-5 are audible and visual alarms.

In order to avoid damage caused by scraping and rubbing of the detection early warning mechanism by anchor cables in the roadway side parts, the outer end of the shell 3-1 is flush with the outer boundary of the monorail crane carriage 6.

Preferably, the detection early warning mechanism 3 further comprises a power supply module, the power supply module is installed inside the shell 3-1, and the power supply module is used for supplying direct current power to the linear grating detector 3-2, the processor module 3-3, the recording module 3-4 and the alarm module 3-5 respectively.

The two detection early warning mechanisms are arranged on the left side and the right side of the head of the monorail crane, the linear grating detection instrument is adopted to detect the distance from an outer barrier to a monorail crane carriage in a non-contact mode, the deformation condition of a roadway side part in the front running range can be obtained in advance, and timely whistle and alarm reminding can be carried out through the alarm module when the deformation quantity does not meet the passing condition, so that a monorail crane driver or an operator can take effective emergency braking measures in time to guarantee the running safety. The system is simple in structure and low in manufacturing cost, can be installed conveniently and quickly on the original foundation, cannot influence the original foundation, is convenient to popularize and apply on a large scale, can accurately monitor and predict the deformation condition of the coal rock mass on the two sides of the roadway, and can effectively play a role in reducing disasters.

The invention also provides an advanced detection early warning method for the monorail crane, which comprises the following steps:

the method comprises the following steps: the two detection early warning mechanisms 3 are respectively arranged at the left end and the right end outside the monorail crane head 2 through two connecting rods 4; before the monorail crane runs in the roadway 1, measuring the horizontal distance L between the roadway side part 8 and the linear grating detector 3-2 before deformation₁(ii) a Starting the detection early warning mechanism 3 to enable the detection early warning mechanism to be in a working state, transmitting infrared rays to the roadway side part 8 obliquely forwards at a transmission angle of a beta angle by using the linear grating detector 3-2 to measure the distance, and recording the minimum value in the distance measured by one beam of infrared rays as L;

step two: the processor module 3-3 passes the formula L according to the minimum distance L and the emission angle beta measured by the linear grating detector 3-2₂Calculating the horizontal distance L between the tunnel side part 8 and the linear grating detector 3-2 after the monorail crane head 2 deforms within a certain range in front of the monorail crane head 2 as Lsin beta₂；

Step three: the processor module 3-3 is based on the horizontal distance L₂And L₁Calculating the difference S between the two values, and calculating the difference according to S and L₁The ratio of the two-dimensional deformation of the side wall part 8 of the roadway in front of the monorail crane corresponds to the deformation condition of the side wall part 8 of the roadway in front of the monorail crane, and different treatment measures are obtained; wherein if S<0.3L₁If so, the deformation of the front roadway side part 8 is not large, and the monorail crane can pass through smoothly, at the moment, the processor module 3-3 does not send any control signal, the monorail crane continues to pass through, and the running state of the monorail crane is not interfered; if 0.3L₁≤S≤0.5L₁If the deformation of the front roadway side part 8 exceeds a certain range, the monorail crane can still pass through the deformation range smoothly, at the moment, the processor module 3-3 controls the recording module 3-4 to record the mileage of the roadway 1 in the deformation range, and meanwhile, the monorail crane still passes through the deformation range continuously, and the running state of the monorail crane is not interfered; if it isS>0.5L₁If the deformation of the front roadway side part 8 exceeds a specific range and the monorail crane cannot pass, the processor module 3-3 sends an alarm signal to the alarm module 3-5 to alarm to whistle so as to remind a driver or an operator of the monorail crane to take emergency measures;

step four: after a monorail crane driver or an operator hears the alarm module 3-5 to alarm, a low-speed slow running mode is started for the monorail crane, and then an emergency braking measure is taken to stop the monorail crane at an upstream section of an area with an overlarge deformation amount of the roadway side part 8 so as to prevent the monorail crane carriage 6 from being scratched by the anchor cable 5; after the monorail crane stops, the exposed ends of the anchor cables 5 in the deformed roadway side part 8 are subjected to truncation operation and reinforcing support treatment, and after the treatment is finished, the monorail crane continues to move forward through the area until the operation is finished.

In order to quickly and effectively position the roadway side part with large deformation and conveniently and efficiently repair the roadway side part with large deformation, in the fourth step, after the monorail crane is operated, relevant workers perform truncation operation and reinforcement supporting treatment on the exposed end of the anchor cable 5 in the deformed roadway side part 8 according to mileage data recorded by the recording modules 3-4, so that the conditions that the monorail crane safely and quickly passes through are met, and the monorail crane is prevented from continuously deforming in a large amount and hindering the subsequent monorail crane from smoothly passing through.

In order to effectively improve the detection effect, in the step one, the angle beta is 20-60 degrees.

In order to automatically carry out emergency braking through a monorail crane head braking system under the condition that a monorail crane driver or an operator cannot take emergency braking measures in time so as to ensure the safe, stable and reliable operation of the monorail crane by taking double guarantee measures, in the fourth step, after the set time after the processor module 3-3 sends out an alarm signal, the operating speed of the monorail crane still does not fall within a set range, the processor module 3-3 sends out an emergency braking signal to the monorail crane head 2 braking system, the monorail crane head 2 braking system automatically controls the monorail crane to carry out emergency braking action after receiving the emergency braking signal, and after the action of the braking system, the monorail crane is subjected to emergency braking through the interaction of a braking mechanism in the monorail crane and a steel 7, so that the monorail crane is stopped at the upstream section of an area with overlarge deformation of a roadway wall part 8, so as to avoid the monorail crane carriage 6 from being scratched by the anchor cable 5.

The method has simple steps and high automation degree, is convenient for reliable application in the actual operation process, can carry out advanced detection and early warning in time before the actual collision between the monorail crane carriage and the roadway side, has ideal early warning effect, and can carry out emergency measures classified by sections according to the deformation range, thereby effectively ensuring the stable and reliable operation of the monorail crane.