CN104260756A - Intelligent control device and method of underground railway turnout - Google Patents
Intelligent control device and method of underground railway turnout Download PDFInfo
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- CN104260756A CN104260756A CN201410450420.XA CN201410450420A CN104260756A CN 104260756 A CN104260756 A CN 104260756A CN 201410450420 A CN201410450420 A CN 201410450420A CN 104260756 A CN104260756 A CN 104260756A
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Abstract
The invention relates to an intelligent control device of an underground railway turnout and a method thereof. The intelligent control device of the underground railway turnout comprises a main controller single-chip, a CAN switching Ethernet module, a point switch, a signal machine, a card reader substation, a RFID (Radio Frequency Identification) and an antenna, wherein the RFID is placed a locomotive headstock. The control method comprises the following steps: before a locomotive provided with the RFID is driven into a front turnout, and after the locomotive enters an induction range of an inductor mounted in front of the turnout for a certain distance, the inductor automatically identifies locomotive information in the RFID; and according to a preset path and a control mode, the intelligent main controller drives the point switch, transfers the turnout, and provides a signal indication to a driver. The device improves the safety and the automation level of underground mine production of mines, realizes both the automatic control and the remote control function of a dispatcher, records the remote control to automatically change the original planned path, has the advantages of safety, reliability and convenience for use, and needs no participation of the driver or the dispatcher in normal operation.
Description
Technical field
The invention belongs to field of intelligent control, particularly a kind of mine down-hole railway switch intelligent controlling device and method.
Background technology
Existing mine down-hole track switch control setup is that trainman is according to actual task demand, by the direction that the remote controller control track switch in hand is moved, the advantage of this mode is simple to operate, response fast, but also there is some shortcoming following and potential safety hazard: 1, trainman must know down-hole all tunnels distribution simultaneously, because down-hole light is dim, often occur that locomotive enters the situation of wrong way; 2, driver needs while drive locomotive, observes tunnel situation remote controller, often occurs the maloperation of moving track switch; 3, trainman works heavy, sometimes because absent minded, does not note front track switch situation, causes unexpected generation; 4, because each trainman is all by remote control device front track switch, there will be the situation that same track switch control fought for by two locomotives that will sail same section into, remote signal is disturbed mutually, the major accident such as easily cause that vehicle slides down.
Summary of the invention
For solving the deficiency of above track switch control structure, object of the present invention proposes a kind of mine down-hole railway switch intelligent controlling device and control method, utilizes this apparatus and method, reaches track switch and controls object esy to use, safe and reliable.
Control method of the present invention is like this design: before the locomotive installing RFID sails front track switch into, after entering the induction range being arranged on track switch front certain distance inductor, inductor identifies the locomotive information in RFID automatically, according to predetermined paths and mode, by intelligent master controller, drive switch machine, move track switch, and provide signal designation to driver.
Technical scheme of the present invention is achieved in that mine down-hole track switch intelligent controlling device comprises: master controller micro controller system, CAN turn ethernet module, switch machine, signal, card reader substation, RFID, antenna, and RFID is placed in locomotive head; Whether RFID is had in card reader substation timing scan certain limit, read RFID information, by RS485 communication bus, locomotive information is sent to master control micro controller system again, control voice module and diode prompting driver are identified close to track switch and locomotive simultaneously; Master controller micro controller system according to the storehouse, information inquiry path obtained by Automatic level control switch machine correc operation; Driver judges whether to pass through according to the prompting of signal.When different from target direction, driver needs to apply for revising direction to dispatcher; Master controller micro controller system meeting recording dispatching person remote control operation, for calculating Action Selection next time, and sending information to upper computer, being convenient to statistical management.
The signal transduction process of apparatus of the present invention is as follows:
RFID sends locomotive information in the mode of heuristicimal code, code stream is wirelessly transmitted to card reader substation, RS485 communication bus Serial Port Transmission is passed through to master controller micro controller system by card reader substation, master controller micro controller system is resolved, query path storehouse executive command, and then the automatic intelligent realizing track switch controls.All information is uploaded to upper computer simultaneously and is used for monitoring, managing by master controller micro controller system.
Utilize down-hole of the present invention track switch intelligent controlling device track switch automatic intelligent control process as follows:
Step 1: card reader substation sends the locomotive information scanned by RFID to master controller;
Step 2: master controller micro controller system utilizes data protocol to test, and meets agreement, then to locomotive information decoding, perform step 3, otherwise perform step 1;
Step 3: judge decoded data, if locomotive enters track switch signal, then according to locomotive unit number and path library inquiry direction of traffic, performs step 4; If locomotive leaves track switch signal, then perform step 7;
Step 4: obtain track switch current state, compare the direction of current state and needs, if unanimously then do not need action, otherwise gives the instruction of switch machine sending action;
Step 5: switch machine detects with or without remote signal, if there is remote signal then to perform an action according to remote signal, otherwise according to the instruction action that master controller micro controller system sends;
Step 6: master controller microprocessor detect switch status, if with planning direction consistent then counting machine clear 0, otherwise make counting machine add 1, when counting machine reaches a certain setting value, revise routing information;
Step 7: send locomotive safety track switch message to upper computer, be convenient to record and management.
Advantage of the present invention: apparatus of the present invention improve safety and the automatization level of the production of mine down-hole ore deposit.It is powerful, the function of compatible dispatcher's Long-distance Control while realizing automatically controlling, and carries out record to Long-distance Control, the original path planning of amendment automatically; Install simple, only need to lay card reader in the suitable distance (general 30 meters) in track switch front and rear, master controller is laid at track switch place, and headstock places RFID; Safe and reliable, easy to use, normal when running without the need to the participation of driver or dispatcher.
Accompanying drawing explanation
Fig. 1 is down-hole of the present invention track switch intelligent control device system overall construction drawing;
Fig. 2 is that the present invention ' enters two and goes out ' type rail set installs distribution graph;
Fig. 3 is that the present invention ' two enters one and goes out ' type rail set installs distribution graph;
Fig. 4 is diagram of circuit locomotive being detected and automatically control track switch;
Fig. 5 is card reader substation and master controller single chip communication protocol frame;
Fig. 6 is master controller micro controller system IO Automatic level control protocol tables.
In figure, 1, monitoring and scheduling room upper computer; 2, ethernet network; 3, CAN conv; 4, CAN communication network; 5, master controller micro controller system; 6, switch machine; 7, signal; 8, card reader substation 1; 9, card reader substation 2; 10, card reader substation 3; 11, antenna; 12, RFID.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Apparatus of the present invention structured flowchart as shown in Figure 1, Fig. 1 is apparatus of the present invention system global structure figure, comprises monitoring and scheduling room upper computer 1, ethernet network 2, CAN conv 3, CAN communication network 4, master controller micro controller system 5, switch machine 6, signal 7, card reader substation 8, card reader substation 9, card reader substation 10, antenna 11, RFID 12.
Wherein, monitoring and scheduling room upper computer 1 is common PC computing machine, is connected with CAN conv 3 by ethernet 2.CAN conv 3 is convs that a ethernet turns CAN network, comprises a road ethernet, two-way CAN, by 12V powered by direct current.Master controller micro controller system 5 is connected with CAN conv 3 by CAN network, and radical function is resolution data and assigns instruction.Card reader substation 8 (9,10) is communicated with master controller micro controller system 5 by RS485 communication bus, and radical function controls suggestion voice and diode and scanning RFID 12 information, i.e. locomotive information.High powered antenna 11 is connected with card reader by feeder line, can increase RFID 12 identification range significantly.RFID 12 uses passive anti-metal tag, safeguards simple, can adapt to various mine down-hole environment well.Switch machine 6 passes through level and master controller micro controller system 5 transmission of information of I/O port, is the actuating unit moving track switch.Signal 7 is directly connected with switch machine 6 by cable, carrys out the instruction of control signal lamp by the automatic switch in switch machine 6.
Fig. 2 and Fig. 3 is that two type track switch equipment install distribution graphs, and Fig. 2 one enters the two track switch types gone out, and Fig. 3 two enters a track switch type out.This system equipment device has certain requirement to the position of installing.Enter two removing from mould track switches for one, master control micro controller system 5 and switch machine 6 normal mounting are located at track switch.Signal 7 is arranged on the position from 8 meters, track switch, retains enough observations and opening time to driver.Entrance card reader substation 8 is relevant for opening time with switch machine 6 with locomotive speed with the distance of track switch, switch machine 6 can execution in 4 seconds, locomotive speed is being generally no more than 5 metre per second (m/s)s close to during track switch, so the distance general control of entrance card reader substation 8 and track switch is at 30 meters, also can according to circumstances corresponding adjustment.Enter a removing from mould track switch for two, master control micro controller system 5 and switch machine 6 normal mounting are located at track switch.Signal 7 is arranged on the position from 10 meters, track switch, retains enough observations and opening time to driver.Entrance card reader substation 9 is relevant for opening time with switch machine 6 with locomotive speed with the installation site of entrance card reader substation 10, switch machine 6 can execution in 4 seconds, locomotive speed is being generally no more than 5 metre per second (m/s)s close to during track switch, so the distance general control of entrance card reader substation 9 and entrance card reader substation 10 and track switch is at 30 meters, also can according to circumstances corresponding adjustment.The installation site of outlet card reader substation 8 is relevant with bodywork length, and when should guarantee to be detected, locomotive passes through track switch.
Fig. 4 is diagram of circuit locomotive being detected and automatically control track switch, card reader substation scans the electronic tag representing locomotive information, engine number and substation numbering are sent to master controller micro controller system according to agreement as shown in the figure, and the impulse excitation voice module sending 10 milliseconds sends prompt tone.Master controller micro controller system receives the decoding data (control command that also can receive upper computer carries out associative operation) from substation, then inquires about corresponding direction code, obtains track switch current state simultaneously, judge whether to need action from switch machine.If need action, to the instruction of switch machine sending action.The signal lamp state of signal is with the state real-time change of track switch.If switch machine is according to path planning action, the counter O reset in master controller micro controller system; If locomotive does not pass through track switch according to path planning, then the counting machine in master controller micro controller system adds 1, when counting machine reaches a certain setting value, then thinks that the path planning of this locomotive changes, the direction code information in Update Table storehouse.
As shown in Figure 5, this agreement comprises 5 fields to the agreement of card reader substation and master controller single chip communication, is prefix, data length, card reader substation numbering, engine number, CRC check respectively.Each field is defined as follows:
Prefix: start field is 0xaa;
Card reader substation is numbered: the card reader substation on A section is as shown in Figure 2 defined as 0x01, and the card reader substation on B section is defined as 0x02, and the card reader substation on C section is defined as 0x03;
Engine number: represent locomotive unit number, latter two byte of power taking subtab ID.The ID such as scanning electronic tag is 3005FB63AC1F3681EC880468, then engine number is 0x0468;
CRC check: the CRC check code of last byte from data length to engine number.
Master controller micro controller system is by IO Automatic level control switch machine, and comprise 4 outputs, 2 inputs, agreement as shown in Figure 6.
Claims (2)
1. a mine down-hole railway switch intelligent controlling device, it is characterized in that: this device comprises: master controller micro controller system, CAN turn ethernet module, switch machine, signal, card reader substation, RFID, antenna, and RFID is placed in locomotive head; Whether RFID is had in card reader substation timing scan certain limit, read RFID information, by RS485 communication bus, locomotive information is sent to master control micro controller system again, control voice module and diode prompting driver are identified close to track switch and locomotive simultaneously; Master controller micro controller system according to the storehouse, information inquiry path obtained by Automatic level control switch machine correc operation; Driver judges whether to pass through according to the prompting of signal, and when different from target direction, driver needs to apply for revising direction to dispatcher; Master controller micro controller system can record remote control operation, for calculating Action Selection next time, and sending information to upper computer, being convenient to statistical management.
2. the control method of mine down-hole railway switch Based Intelligent Control control according to claim 1, is characterized in that: the Based Intelligent Control process of track switch is as follows:
Step 1: card reader substation is by the locomotive information scanned by RFID and send master controller to;
Step 2: master controller micro controller system utilizes data protocol to test, and meets agreement, then to locomotive information decoding, perform step 3, otherwise perform step 1;
Step 3: judge decoded data, if locomotive enters track switch signal, then according to locomotive unit number and path library inquiry direction of traffic, performs step 4; If locomotive leaves track switch signal, then perform step 7;
Step 4: obtain track switch current state, compare the direction of current state and needs, if unanimously then do not need action, otherwise gives the instruction of switch machine sending action;
Step 5: switch machine detects with or without remote signal, if there is remote signal then to perform an action according to remote signal, otherwise according to the instruction action that master controller micro controller system sends;
Step 6: master controller microprocessor detect switch status, if with planning direction consistent then counting machine clear 0, otherwise make counting machine add 1, when counting machine reaches a certain setting value, revise routing information;
Step 7: send locomotive safety track switch message to upper computer, be convenient to record and management.
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| CN201410450420.XA CN104260756B (en) | 2014-09-04 | 2014-09-04 | Down-hole railway switch intelligent controlling device and method |
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| CN201410450420.XA CN104260756B (en) | 2014-09-04 | 2014-09-04 | Down-hole railway switch intelligent controlling device and method |
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| CN104260756B CN104260756B (en) | 2016-03-09 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527728A (en) * | 2015-01-14 | 2015-04-22 | 四川川煤华荣能源股份有限公司太平煤矿 | Automatic signal system at fork |
| CN108364043A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of electronics selection label system turning Ethernet based on CAN |
| CN112550354A (en) * | 2020-12-10 | 2021-03-26 | 云南昆钢电子信息科技有限公司 | Rail turnout remote control system and method for rail transportation |
| CN115056826A (en) * | 2022-07-19 | 2022-09-16 | 中铁四院集团新型轨道交通设计研究有限公司 | Intelligent rail vehicle base throat area vehicle warehousing control system and method |
| CN116853326A (en) * | 2023-09-05 | 2023-10-10 | 山西云井数通智能科技有限公司 | Unmanned control system of mining rail vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104527728A (en) * | 2015-01-14 | 2015-04-22 | 四川川煤华荣能源股份有限公司太平煤矿 | Automatic signal system at fork |
| CN108364043A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of electronics selection label system turning Ethernet based on CAN |
| CN112550354A (en) * | 2020-12-10 | 2021-03-26 | 云南昆钢电子信息科技有限公司 | Rail turnout remote control system and method for rail transportation |
| CN112550354B (en) * | 2020-12-10 | 2022-11-22 | 云南昆钢电子信息科技有限公司 | Rail turnout remote control system and method for rail transportation |
| CN115056826A (en) * | 2022-07-19 | 2022-09-16 | 中铁四院集团新型轨道交通设计研究有限公司 | Intelligent rail vehicle base throat area vehicle warehousing control system and method |
| CN116853326A (en) * | 2023-09-05 | 2023-10-10 | 山西云井数通智能科技有限公司 | Unmanned control system of mining rail vehicle |
| CN116853326B (en) * | 2023-09-05 | 2023-11-28 | 山西云井数通智能科技有限公司 | Unmanned control system of mining rail vehicle |
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| CN104260756B (en) | 2016-03-09 |
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Address after: 114001 Anshan District, Liaoning, No. 219 Road, No. 39, Tiedong Patentee after: Anshan Iron and Steel Group Mining Co., Ltd. Address before: 114001 Anshan District, Liaoning, No. 219 Road, No. 39, Tiedong Patentee before: Anshan Iron & Steel Group Mining Co., Ltd. |