CN101644928A - Mine trackless rubber tire vehicle transport monitoring device and dispatching method therefor - Google Patents
Mine trackless rubber tire vehicle transport monitoring device and dispatching method therefor Download PDFInfo
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- CN101644928A CN101644928A CN200910144464A CN200910144464A CN101644928A CN 101644928 A CN101644928 A CN 101644928A CN 200910144464 A CN200910144464 A CN 200910144464A CN 200910144464 A CN200910144464 A CN 200910144464A CN 101644928 A CN101644928 A CN 101644928A
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Abstract
The invention relates to a mine trackless rubber tire vehicle transport monitoring device and a dispatching method therefor; RS232 bus communication is adopted between a main control computer and an intelligent communicator, FSK bus communication is adopted between the intelligent communicator and a control substation, RS485 bus communication is adopted between the control substation and a signalmachine and between the control substation and a card reader, and radio communication is adopted between the card reader and an electronic tag. The card reader sends the recognized electronic tag identity information including rubber tire license plate number, model and the like into the control substation, the control substation transmits the information into the main control computer by the intelligent communicator, the main control computer can judge the position of a rubber tire vehicle through operation according to the system control regulation, and then the signal machine is controlledto display different colors to guide the driver to drive. The invention can ensure the mine trackless rubber tire vehicle to be safer in transport operation and higher in transport efficiency.
Description
Technical field
The present invention relates to the device and the monitoring and scheduling method thereof of vehicle transport condition monitoring, be specifically related to mine vehicle transport supervising device and control dispatching method thereof.
Background technology
In recent years, in the assistant conveyance of China's coal-mine down-hole, railless free-wheeled vehicle is used more and more.This car is because the restriction of no track, and has characteristics such as maneuverability, adaptability are strong, safe and efficient, applied range, more and more come into one's own, and be a kind of advanced person's the assistant conveyance vehicle that transports material, equipment, personnel.When integral body is transported with mounting bracket, can realize from ground that until the exploiting field workplace without the through transportation of reprinting, its superiority is more outstanding.Rubber-tired cart obtains application and popularization more and more widely in the down-hole, be the main developing direction of colliery assistant conveyance.
But for the most of mines of China, the assistant conveyance situation is backward relatively, the assistant conveyance span length is narrower, it is current generally can only to hold a car, and along with the growth of production and transport task, increasing gradually of mine down-hole haulage vehicle, do not establish under the situation of signal lamp at each fork or a mouth of giving another the right of way, especially under the tunnel exists certain slope and the situation that has bend to exist, often can not see clearly mutually between the vehicle that travels mutually, thereby cause that easily vehicle blocks in certain zone, cause the frequent reversing of vehicle, brake, caused the waste of transportation oil plant, the spare part loss, conevying efficiency is hanged down inferior negative issue, and more serious some security incident that also will cause takes place.Therefore, in the hauling operation of mine rubber-tired cart, be necessary to install and use transportation telltale and Dispatching Control System.
Summary of the invention
The present invention is for solving the problem that has potential safety hazard and inefficiency in the above-mentioned mine rubber-tired cart transportation, mine railless free-wheeled vehicle transport monitor system and dispatching method thereof are provided, can carry out sacurity dispatching to the transportation of mine rubber-tired cart, improve the conevying efficiency of system simultaneously.
Technical scheme of the present invention is as follows:
Mine railless free-wheeled vehicle transport monitoring device is made up of main control computer, intelligent communication device, control substation, teleseme, card reader and electronic tag; Adopt the RS232 bus communication between main control computer and the intelligent communication device, adopt the FSK bus communication between intelligent communication device and the control substation, adopt the RS485 bus communication between control substation and the teleseme, adopt the RS485 bus communication between control substation and the card reader, between card reader and the electronic tag by radio communication.
Mine railless free-wheeled vehicle transport monitoring device has write the information such as license plate number, model of rubber-tired cart in advance in the electronic tag, be installed in the pilothouse of rubber-tired cart, and teleseme and card reader are installed on the wall.
Mine railless free-wheeled vehicle transport monitoring device, the effective communication distance between electronic tag and the card reader is between 10～15 meters.
Mine railless free-wheeled vehicle transport monitor system dispatching method, it is give another the right of way district and section that the road area dividing is transported in the down-hole, gives another the right of way to distinguish to comprise and keeps away car chamber and crossing, tunnel, two adjacent tunnels of giving another the right of way between the district are referred to as section; The while only allows by a rubber-tired cart in each section, and each district that gives another the right of way can allow the rubber-tired cart by Cmax (i) simultaneously, and wherein i is the sequence number of giving another the right of way and distinguishing; The value of Cmax (i) decide according to the area in the district that gives another the right of way, and is being 2 by keeping away district Cmax (i) value of giving another the right of way that the car chamber constitutes, and district Cmax (i) value of giving another the right of way that constitutes in the T-shaped road junction is 3, and it is 4 that the giving another the right of way of formations such as crossroad distinguished Cmax (i) value.
Mine railless free-wheeled vehicle transport monitor system dispatching method respectively is provided with a teleseme at the two ends of each section, in the center in the district that gives another the right of way a card reader is set, and 20 meters place respectively is provided with a card reader at section inner distance two ends; When the card reader of section both sides had detected vehicle and enters section, the teleseme that system should control both sides was red light simultaneously, forbids that any side of section has locomotive to sail into again.
Mine railless free-wheeled vehicle transport monitor system dispatching method, when being in idle condition without any locomotive in the section, locomotive for fear of the section both sides enters same section simultaneously, and can allow the rubber-tired cart of section both sides pass through this section in order, take the form of in turn open green light to control to the teleseme of both sides, prevent from simultaneously to take place in the situation that the moment that the teleseme state switches has the locomotive mistake to swarm into section, teleseme in turn open between leave certain prevention off time, allow the both sides teleseme send out a warning simultaneously, its step is as follows, T1=T3 wherein, T2=T4:
1. section left and right sides teleseme is controlled to be red light phase, forbids that the both sides rubber-tired cart sails into;
2. delay time T1 opens section left-side signal machine, allows the left side rubber-tired cart to sail into;
3. delay time T2 controls section left-side signal machine and right-side signal machine and sends out a warning simultaneously, forbids that the both sides rubber-tired cart sails into;
4. delay time T3 opens section right-side signal machine, allows the right side rubber-tired cart to sail into;
5. 1. delay time T4 forwards step to.
Mine railless free-wheeled vehicle transport monitor system dispatching method is established a transportation zone of down-hole and is formed M 〉=2 by M section, the individual district that gives another the right of way of N, N 〉=1, the border in zone all is made up of section, and the quantity of establishing the border section is L, and promptly there is L inlet guard signal machine in this zone; Only allow simultaneously in each section in the zone by a rubber-tired cart, can hold Cmax (i) rubber-tired cart in each district that gives another the right of way, i=1..N, then when the total quantity of rubber-tired cart in this zone reaches quantity X, only allow maximum L-1 section in transportation network, to advance car simultaneously, otherwise will cause the scheduling obstruction, wherein the value of X is calculated as follows:
The invention has the beneficial effects as follows: the present invention can effectively dispatch the transportation of down-hole rubber-tired cart, has avoided the transportation safety and the inefficiency problem that occur under the situation of scheduling signals not being provided with.
Description of drawings
Fig. 1 is an organization chart of the present invention.
Fig. 2 is the principle schematic of intelligent communication device among the present invention.
Fig. 3 is the principle schematic of control substation among the present invention.
Fig. 4 is the principle schematic of teleseme among the present invention.
Fig. 5 is the principle schematic of card reader among the present invention.
Fig. 6 is the principle schematic of electronic tag among the present invention.
Fig. 7 is a underground equipment arrangenent diagram synoptic diagram among the present invention.
Fig. 8 and Fig. 9 are same section two ends teleseme flow for displaying synoptic diagram among the present invention.
Embodiment
As Fig. 1, the present invention is divided into ground subsystem and partly implements partly to implement with the down-hole subsystem when implementing.
Ground subsystem mainly is included in the main control computer 1 and intelligent communication device 2 in the Control Room, adopts the RS232 bus to connect between the two, and mine rubber-tired cart transportation dispatching software is installed on main control computer 1.
The down-hole subsystem mainly comprises control substation 3, teleseme 4, card reader 5, electronic tag 6 formations.In the specific implementation, as Fig. 7, the zone is transported in the down-hole be divided into give another the right of way district 7 and section 8, the district 7 that gives another the right of way comprises and keeps away car chamber and crossing, tunnel, comprises T-shaped road junction and crossroad, and two adjacent tunnels of distinguishing between 7 of giving another the right of way are referred to as section 8.At the two ends of each section 8 a guard signal machine 4 is set respectively, is used to protect locomotive and enters this section; Whether the center in the district 7 that gives another the right of way is provided with a card reader 5, be used to detect locomotive and be in this zone; 20 meters place respectively is provided with a card reader 5 at section 8 inner distance two ends, is used to detect locomotive and whether enters into section 8 inside.The guard signal machine 4 of down-hole directly links to each other with control substation 3 with card reader 5, and each control substation 3 can articulate 4,4 card reader 5 of 4 telesemes at most.All control substations 3 are interconnected by the intelligent communication device 2 on FSK bus and ground.
Be equipped with an electronic tag 6 on each rubber-tired cart of down-hole, each electronic tag 6 storage inside has unique ID number, and ID number corresponding one by one with the license plate number of rubber-tired cart.When electronic tag 6 is flat regularly by wireless mode regularly outwards ID number of broadcast transmission self, after being installed in card reader 5 on the wall and receiving ID number of electronic tag 6, be transmitted to ground main control computer 1 to ID number that receives by control substation 3 and communicator 2, ground main control computer 1 is extrapolated the residing position of rubber-tired cart according to the information that receives, control the different pattern of teleseme 4 demonstrations at each section 8 two ends then according to scheduling rule, the safe operation of dispatching buses.
Ground monitoring software in advance with specific data relation typing, store following information:
1) the mine down-hole is all give another the right of way district 7, section 8 and annexation each other, promptly the both sides of each section link to each other with certain district that gives another the right of way respectively;
2) according to each area of giving another the right of way and distinguishing, determine each district 7 maximums that can hold quantity Cmax (i) that gives another the right of way that gives another the right of way, wherein i is the sequence number of giving another the right of way and distinguishing, the value of Cmax (i) is decided according to the area in the district 7 that gives another the right of way, be 2 generally by keeping away district Cmax (i) value of giving another the right of way that the car chamber constitutes, district Cmax (i) value of giving another the right of way that constitutes in the T-shaped road junction is 3, and district Cmax (i) value of giving another the right of way of formations such as crossroad is 4.
3) all telesemes 4 of mine down-hole, card reader 5 positions and with the incidence relation of each give another the right of way district 7 or section 8;
4) electronic tag 6 and the license plate number of rubber-tired cart and the mapping table of model;
Transportation dispatching software is got in touch with by 2 timings of intelligent communication device and each the control substation 3 under the mine at ordinary times, collect the vehicle number information that each card reader 5 reads, judge that rubber-tired cart is to be in certain section 8, still be in certain district 7 that gives another the right of way, determination methods is: if the card reader 5 of installing in the district 7 that gives another the right of way receives the information that certain rubber-tired cart electronic tag 6 sends, think that then rubber-tired cart is in this gives another the right of way district 7, if the card reader 5 of installing in section 8 districts receives the information that certain rubber-tired cart electronic tag 6 sends, think that then rubber-tired cart is in this gives another the right of way district 7.When not having new card reader 5 to read the information that rubber-tired cart electronic tag 6 sends, think that the residing zone of rubber-tired cart is constant.
When dispatcher software is judged each regional rubber-tired cart quantity, then according to the display mode of following 3 kinds of different situation control signal lamps:
If one or above rubber-tired cart are arranged in certain section
According to the rule of " only allowing simultaneously by a rubber-tired cart operation in each section ", the teleseme of system control both sides is a red light simultaneously, forbids that any side of section has locomotive to sail into again.
If two certain section inside do not have rubber-tired cart
When being in idle condition without any locomotive in the section, in order to allow the rubber-tired cart of section both sides pass through this section in order, the teleseme of both sides is taked the form control of in turn open green light, prevent from simultaneously to take place in the situation that the moment that the teleseme state switches has the locomotive mistake to swarm into section, teleseme in turn open between leave certain prevention off time, allow the both sides teleseme send out a warning simultaneously.Its step following (as Fig. 8 and 9):
1) section left and right sides teleseme X1, X2 are controlled to be red light phase, forbid that the both sides rubber-tired cart sails into;
2) delay time T1, open section left-side signal machine X1 allows the left side rubber-tired cart to sail into;
3) delay time T2, control section left and right sides teleseme X1, X2 send out a warning simultaneously, forbid that the both sides rubber-tired cart sails into;
4) delay time T3, open section right-side signal machine X2 allows the right side rubber-tired cart to sail into;
5) delay time T4 forwards step 1) to.
T1=T3 wherein, T2=T4;
Three, prevent to dispatch deadlock
In order to prevent that many cars from pouring in certain transportation zone of down-hole simultaneously, thereby cause that the situation that scheduling is blocked up takes place, computing machine also should be followed following principle when scheduling:
If (M 〉=2, N 〉=1) is formed by M section, the individual district that gives another the right of way of N in a transportation zone of down-hole, the border in zone all is made up of section, and the quantity of establishing the border section is L, and promptly there is L inlet guard signal machine in this zone.Only allow simultaneously in each section in the zone by a rubber-tired cart, can hold Cmax (i) rubber-tired cart (i=1..N in each district that gives another the right of way, Cmax (i) 〉=1), then when the total quantity of rubber-tired cart in this zone reaches quantity X, only allow maximum L-1 section to advance car simultaneously in transportation network, the situation that produces the scheduling deadlock to prevent many cars from pouring in this zone takes place.Wherein the value of X is calculated as follows:
Driver for driving rubber-tired cart, should follow following dispatching principle:
1) driver only when the segment entry teleseme gives a green light, just can sail into, when the entry signal machine of section is red light, and the wait of should stopping;
2) driver does not under normal circumstances allow reversing in section, tune, but can give another the right of way, reverse end for end in the district that gives another the right of way;
When 3) teleseme in the segment entry gave a green light, a rubber-tired cart did not allow immediately following enter this section after another car, and the running interval of two cars is more than 10 meters.
The equipment principle of compositionality is as follows among the present invention:
As Fig. 2, wherein intelligent communication device 2 comprises microcontroller, power module, RS232 communication interface circuit and FSK communication interface circuit.The work of the whole intelligent communication device 2 of microprocessor controls, RS232 communication interface circuit be used for and main control computer between communication, FSK communication interface circuit be used for 4 road FSK buses on the communication of control substation.
As Fig. 3, control substation 3 comprises microcontroller, power module, FSK communication interface circuit, RS485 communication interface circuit.The microprocessor controls teleseme shows different mode of operations, be used to monitor the equipment state of each card reader 5 and teleseme 4 simultaneously, the FSK interface circuit be used for and intelligent communication device 2 between interface, the RS485 interface circuit be used for and teleseme 4 and card reader 5 between interface communication.
As Fig. 4, teleseme 4 comprises microcontroller, power module, RS485 communication interface circuit, signal display module.Microcontroller receives the display command that the control substation sends, and the control display module shows different colors, gives control substation 3 the self working state timed sending simultaneously.
As Fig. 5, card reader 5 comprises microcontroller, power module, RS485 communication interface circuit, radio transceiver chip and antenna.Microcontroller is controlled on the one hand between rf chip and the electronic tag 6 and is carried out communication, simultaneously electronic tag 6 identity informations that recognize is reported control substation 3 by the RS485 bus.The radio transceiver chip operation is in the 2.4GHz working frequency range, and antenna adopts the column antenna structure.
As Fig. 6, electronic tag 6 is made up of single-chip microcomputer, rf chip, 2.4G ceramic antenna, power supply chip.Rf chip establishes a communications link with single-chip microcomputer, 2.4G ceramic antenna respectively, and power supply chip provides working power for rf chip, single-chip microcomputer.The radio transceiver chip operation is in the 2.4GHz working frequency range, and electronic tag 6 antennas adopt small-sized ceramic package antenna.Electronic tag 6 is installed on the rubber-tired cart, has unique ID number, has one-to-one relationship between the license plate number of its ID number and rubber-tired cart.
Claims (7)
1, mine railless free-wheeled vehicle transport monitoring device is characterized in that: be made up of main control computer, intelligent communication device, control substation, teleseme, card reader and electronic tag; Adopt the RS232 bus communication between main control computer and the intelligent communication device, adopt the FSK bus communication between intelligent communication device and the control substation, adopt the RS485 bus communication between control substation and the teleseme, adopt the RS485 bus communication between control substation and the card reader, between card reader and the electronic tag by radio communication.
2, mine railless free-wheeled vehicle transport monitoring device according to claim 1, it is characterized in that: the information such as license plate number, model that has write rubber-tired cart in the electronic tag in advance, be installed in the pilothouse of rubber-tired cart, teleseme and card reader are installed on the wall.
3, mine railless free-wheeled vehicle transport monitoring device according to claim 1, it is characterized in that: the effective communication distance between electronic tag and the card reader is between 10～15 meters.
4, mine railless free-wheeled vehicle transport monitor system dispatching method is characterized in that: it is give another the right of way district and section that the road area dividing is transported in the down-hole, gives another the right of way to distinguish to comprise and keeps away car chamber and crossing, tunnel, and two adjacent tunnels of giving another the right of way between the district are referred to as section; The while only allows by a rubber-tired cart in each section, and each district that gives another the right of way can allow the rubber-tired cart by Cmax (i) simultaneously, and wherein i is the sequence number of giving another the right of way and distinguishing; The value of Cmax (i) decide according to the area in the district that gives another the right of way, and is being 2 by keeping away district Cmax (i) value of giving another the right of way that the car chamber constitutes, and district Cmax (i) value of giving another the right of way that constitutes in the T-shaped road junction is 3, and it is 4 that the giving another the right of way of formations such as crossroad distinguished Cmax (i) value.
5, mine railless free-wheeled vehicle transport monitor system dispatching method according to claim 4, it is characterized in that: a teleseme respectively is set at the two ends of each section, center in the district that gives another the right of way is provided with a card reader, and 20 meters place respectively is provided with a card reader at section inner distance two ends; When the card reader of section both sides had detected vehicle and enters section, the teleseme that system should control both sides was red light simultaneously, forbids that any side of section has locomotive to sail into again.
6, mine railless free-wheeled vehicle transport monitor system dispatching method according to claim 4, it is characterized in that: when being in idle condition without any locomotive in the section, locomotive for fear of the section both sides enters same section simultaneously, and can allow the rubber-tired cart of section both sides pass through this section in order, take the form of in turn open green light to control to the teleseme of both sides, prevent from simultaneously to take place in the situation that the moment that the teleseme state switches has the locomotive mistake to swarm into section, teleseme in turn open between leave certain prevention off time, allow the both sides teleseme send out a warning simultaneously, its step is as follows, T1=T3 wherein, T2=T4:
1. section left and right sides teleseme is controlled to be red light phase, forbids that the both sides rubber-tired cart sails into;
2. delay time T1 opens section left-side signal machine, allows the left side rubber-tired cart to sail into;
3. delay time T2 controls section left-side signal machine and right-side signal machine and sends out a warning simultaneously, forbids that the both sides rubber-tired cart sails into;
4. delay time T3 opens section right-side signal machine, allows the right side rubber-tired cart to sail into;
5. 1. delay time T4 forwards step to.
7, mine railless free-wheeled vehicle transport monitor system dispatching method according to claim 4, it is characterized in that: a transportation zone of establishing the down-hole is made up of M section, the individual district that gives another the right of way of N, M 〉=2, N 〉=1, the border in zone all is made up of section, if the quantity of border section is L, promptly there is L inlet guard signal machine in this zone; Only allow simultaneously in each section in the zone by a rubber-tired cart, can hold Cmax (i) rubber-tired cart in each district that gives another the right of way, i=1..N, then when the total quantity of rubber-tired cart in this zone reaches quantity X, only allow maximum L-1 section in transportation network, to advance car simultaneously, otherwise will cause the scheduling obstruction, wherein the value of X is calculated as follows:
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| CN113898401B (en) * | 2021-09-09 | 2024-01-26 | 上海申传电气股份有限公司 | Cloud-vehicle-rail cooperative intelligent management and control system for underground motor vehicle |
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| CN114973707B (en) * | 2022-04-25 | 2023-12-01 | 天地（常州）自动化股份有限公司 | Combined control method for coal mine underground roadway intersections |
| CN115294772A (en) * | 2022-09-29 | 2022-11-04 | 长沙迪迈数码科技股份有限公司 | Underground mine bidirectional single-lane vehicle scheduling optimization method and device |
| CN115294772B (en) * | 2022-09-29 | 2023-01-17 | 长沙迪迈数码科技股份有限公司 | Underground mine bidirectional single-lane vehicle scheduling optimization method and device |
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