CN105785956A - Coal mine downhole trackless rubber-wheeled vehicle scheduling system and coal mine downhole trackless rubber-wheeled vehicle scheduling method - Google Patents
Coal mine downhole trackless rubber-wheeled vehicle scheduling system and coal mine downhole trackless rubber-wheeled vehicle scheduling method Download PDFInfo
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- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
The invention discloses a coal mine downhole trackless rubber-wheeled vehicle scheduling system which comprises the components of a plurality of downhole monitoring systems which are arranged in a plurality of sections in a coal mine downhole rubber-wheeled vehicle operation tunnel, and an on-ground monitoring system which is connected with and communicate with the plurality of downhole monitoring systems. Each downhole monitoring system comprises a ZigBee mobile node, a plurality of ZigBee reference nodes, a ZigBee gateway, a monitoring camera and a sub-controller. The ZigBee reference nodes are connected with a human body induction sensor, a smoke sensor and a temperature/humidity sensor. The sub-controller is connected with a broadcast loudspeaker and a traffic indicating lamp. The on-ground monitoring system comprises a master controller, a switch, a monitoring host computer, an industrial control computer, a work station computer and a data server. The coal mine downhole trackless rubber-wheeled vehicle scheduling method further discloses a coal mine downhole trackless rubber-wheeled vehicle scheduling method. The coal mine downhole trackless rubber-wheeled vehicle scheduling system and the coal mine downhole trackless rubber-wheeled vehicle scheduling method have advantages of high operation reliability, complete functions, high realistic meaning in improving efficiency and safety of a downhole operating vehicle, high popularization value and high application value.
Description
Technical field
The invention belongs to coal mine downhole safety technical field, be specifically related to a kind of coal mine underwell railless rubber tyre dispatching patcher and method.
Background technology
In large-scale mining system, underground coal mine haulage drift system is huge, and the vehicle of turnover is multiplied simultaneously, so can cause blocking up of underground vehicle, there is potential safety hazard.Therefore, according to manual dispatching, managerial confusion, expending a large amount of manpower and materials, resource utilization is low.In information-based flourishing today, Automatic dispatching can improve mining efficiency while saving transport resource, instead of manual dispatching gradually.
In recent years, many scholar experts investigated many achievements with regard to relevant issues, such as, application number be 201520755696.9 Chinese patent disclose a kind of rail mining car and go out to put in storage automatic dispatching system, application number is dispatching method and the system that the Chinese patent of 201510246144.X discloses mining system.But, but without the system and method dispatched for coal mine underwell railless rubber tyre in prior art, being accurately positioned and dispatching of coal mine underwell railless rubber tyre also just cannot be realized, it is impossible to effectively ensure the safety work of coal mine underwell railless rubber tyre.
Summary of the invention
The technical problem to be solved is in that for above-mentioned deficiency of the prior art, it is provided that a kind of simple in construction, reasonable in design, realize convenient, functional reliability high, the efficiency and two aspects of safety that improve underground work vehicle have the coal mine underwell railless rubber tyre dispatching patcher of important realistic meaning.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of coal mine underwell railless rubber tyre dispatching patcher, it is characterized in that: include being laid in multiple underground monitoring systems that coal mine underwell railless rubber tyre runs in tunnel in multiple sections and the aboveground monitoring system being connected with multiple underground monitoring systems and communicating, described underground monitoring system includes ZigBee mobile node, for with ZigBee mobile node wireless connections the multiple ZigBee reference modes communicated and for multiple ZigBee reference mode wireless connections the ZigBee gateway that communicates, and monitoring camera and the sub-controller that is connected with ZigBee gateway；Described ZigBee reference mode is connected to human body sensor, Smoke Sensor and Temperature Humidity Sensor, described sub-controller is connected to loudspeaker and stop-light；Described ZigBee mobile node is arranged on railless free-wheeled vehicle, and multiple described ZigBee reference modes are uniformly laid in coal mine underwell railless rubber tyre and run in tunnel；
Described aboveground monitoring system includes master controller and the switch being connected with master controller, and pass through monitoring host computer, industrial control computer, workstation computer and the data server that Ethernet is connected with master controller, described monitoring camera is connected with data server, described monitoring host computer is connected to the display screen for display monitoring picture and the running orbit of railless free-wheeled vehicle, described industrial control computer is connected to printer；Described sub-controller is connected with switch.
Above-mentioned coal mine underwell railless rubber tyre dispatching patcher, it is characterised in that: the model of described ZigBee mobile node is CC2431, and the model of described ZigBee reference mode is CC2430.
Above-mentioned coal mine underwell railless rubber tyre dispatching patcher, it is characterised in that: the model of described ZigBee gateway is ZBNET-300C-U.
Above-mentioned coal mine underwell railless rubber tyre dispatching patcher, it is characterised in that: the model of described human body sensor is HC-SR501, and the model of described Smoke Sensor is MQ-2, and the model of described Temperature Humidity Sensor is SHT11.
Above-mentioned coal mine underwell railless rubber tyre dispatching patcher, it is characterised in that: described sub-controller is model is the PLC module of S7-200SMART.
Above-mentioned coal mine underwell railless rubber tyre dispatching patcher, it is characterised in that: described master controller is model is the PLC module of S7-300.
Above-mentioned coal mine underwell railless rubber tyre dispatching patcher, it is characterised in that: described display screen is connected with monitoring host computer by VGA video line, and described printer is connected with industrial control computer by USB data line.
The invention also discloses a kind of method that method step is simple, reasonable in design, realize utilizing system as claimed in claim 1 to carry out coal mine underwell railless rubber tyre scheduling easily, it is characterised in that the method comprises the following steps:
Step one, railless free-wheeled vehicle location: the ZigBee mobile node being arranged on railless free-wheeled vehicle receives in region, location after the RSSI value of multiple ZigBee reference modes, calls locating module analyzing and processing and obtains the positional information of railless free-wheeled vehicle；
The uploading and storing of step 2, the positional information of railless free-wheeled vehicle and underground coal mine smokescope and temperature-humidity signal: the positional information of railless free-wheeled vehicle is sent to ZigBee reference mode by ZigBee mobile node, simultaneously, the smokescope of underground coal mine is carried out detection in real time and the smokescope signal detected is transferred to ZigBee reference mode by Smoke Sensor, and the humiture of underground coal mine is carried out detection in real time and the temperature-humidity signal detected is transferred to ZigBee reference mode by Temperature Humidity Sensor；The positional information of railless free-wheeled vehicle, smokescope signal and temperature-humidity signal are sent to ZigBee gateway by ZigBee reference mode, ZigBee gateway is transferred to sub-controller after the positional information of the railless free-wheeled vehicle that it receives, smokescope signal and temperature-humidity signal carrying out protocol conversion and packing, the information that sub-controller is received again is transferred to master controller by switch, master controller is transferred to industrial control computer again through Ethernet, and the position of railless free-wheeled vehicle and the smokescope of underground coal mine and humiture are stored by industrial control computer；Simultaneously, the smokescope signal that sub-controller is also received and smokescope higher limit phase comparison set in advance, when smokescope signal exceedes smokescope higher limit, it is judged as coal mine gas excessive concentration, now, sub-controller controls loudspeaker and plays broadcast, and notice underground work personnel withdraw rapidly, and forbids that railless free-wheeled vehicle is gone into the well；
Step 3, industrial control computer export the control signal to the stop-light in two adjacent underground monitoring systems according to positional information and the control rule set in advance of railless free-wheeled vehicle, control signal is first transferred to the master controller in corresponding underground monitoring system, it is transferred to sub-controller again by master controller, sub-controller controls stop-light, realizing the scheduling to railless free-wheeled vehicle, concrete control rule is:
A, prevent the rule that knocks into the back: when railless free-wheeled vehicle runs to and enters section that coal mine underwell railless rubber tyre runs in tunnel between Liang Gebiche lane, the amber light that the sub-controller at railless free-wheeled vehicle traffic direction rear controls in connected stop-light is lighted, rear railless free-wheeled vehicle halts, prevent rear railless free-wheeled vehicle and front railless free-wheeled vehicle from knocking into the back, until when railless free-wheeled vehicle runs to front next one section, the green light that the sub-controller at railless free-wheeled vehicle traffic direction rear controls in connected stop-light is lighted, rear railless free-wheeled vehicle moves on；
B, prevent two-way collision rule of sending a car: when two-way send a car all be about to sail into coal mine underwell railless rubber tyre run same section in tunnel time, railless free-wheeled vehicle is scheduling by the width running tunnel according to coal mine underwell railless rubber tyre；When coal mine underwell railless rubber tyre run tunnel width more than two trackless rubber-tyred vehicle-width and time, the green light that the sub-controller in two railless free-wheeled vehicle traffic direction fronts all controls in connected stop-light is remain on, and two-way sending a car each is kept to the right；When coal mine underwell railless rubber tyre run tunnel width less than or equal to two trackless rubber-tyred vehicle-width and time, the red light controlled in connected stop-light near the sub-controller in the railless free-wheeled vehicle traffic direction front in coal mine underwell railless rubber tyre operation Nei Biche lane, tunnel is lighted, this railless free-wheeled vehicle enters Bi Che lane, the green light that the sub-controller in another railless free-wheeled vehicle traffic direction front controls in connected stop-light is remain on, after running, until another railless free-wheeled vehicle, the Bi Che lane crossing railless free-wheeled vehicle place, the green light that the sub-controller in the railless free-wheeled vehicle traffic direction front in Bi Che lane controls in connected stop-light is lighted, railless free-wheeled vehicle in Bi Che lane rolls Bi Che lane away from and continues to move ahead；
C, three forks travel rule: C1, when railless free-wheeled vehicle is entered main stem by turnout, first judge that in main stem, this section travels with or without railless free-wheeled vehicle, when in main stem, this section has railless free-wheeled vehicle just in motion, the red light that the sub-controller in railless free-wheeled vehicle traffic direction front, fork place controls in connected stop-light is lighted, this railless free-wheeled vehicle enters Bi Che lane, the green light that in main stem, the sub-controller in this section railless free-wheeled vehicle traffic direction front controls in connected stop-light is remain on, until after in main stem, this section railless free-wheeled vehicle runs the Bi Che lane crossing railless free-wheeled vehicle place, the green light that the sub-controller in the railless free-wheeled vehicle traffic direction front in Bi Che lane controls in connected stop-light is lighted, railless free-wheeled vehicle in Bi Che lane rolls Bi Che lane away from and continues to move ahead；C2, when railless free-wheeled vehicle is entered turnout by main stem, first judge that in turnout, this section travels with or without railless free-wheeled vehicle, when in turnout, this section has railless free-wheeled vehicle just in motion, the red light that the sub-controller in railless free-wheeled vehicle traffic direction front, fork place controls in connected stop-light is lighted, this railless free-wheeled vehicle enters Bi Che lane, the green light that in turnout, the sub-controller in this section railless free-wheeled vehicle traffic direction front controls in connected stop-light is remain on, until after in turnout, this section railless free-wheeled vehicle runs the Bi Che lane crossing railless free-wheeled vehicle place, the green light that the sub-controller in the railless free-wheeled vehicle traffic direction front in Bi Che lane controls in connected stop-light is lighted, railless free-wheeled vehicle in Bi Che lane rolls Bi Che lane away from and continues to move ahead；
The display of the running orbit of step 4, monitored picture and railless free-wheeled vehicle: the positional information of railless free-wheeled vehicle is transferred to workstation computer by Ethernet by industrial control computer, workstation computer adopts Z-Location software demonstrate the running orbit of railless free-wheeled vehicle and be transferred to monitoring host computer by Ethernet；Meanwhile, the monitored picture that monitoring camera is collected is transferred to data server, and monitored picture is transferred to monitoring host computer by Ethernet by data server again；Monitoring host computer controls display screen and the running orbit of its monitored picture received and railless free-wheeled vehicle is displayed；When from the information of the display screen display observed, staff is judged as that railless free-wheeled vehicle has accident to occur, accident alarming signal is sent by monitoring host computer, accident alarming signal is transferred to master controller by Ethernet by monitoring host computer, accident alarming signal is transferred to sub-controller by switch by master controller, sub-controller controls loudspeaker and plays broadcast, and notice underground work personnel speedily carry out rescue work rapidly.
Above-mentioned method, it is characterised in that: in step one, ZigBee mobile node calls the detailed process of positional information that locating module analyzing and processing obtains railless free-wheeled vehicle and is:
Step 101, with coal mine underwell railless rubber tyre run tunnel porch any point for zero, with the direction of the porch railless free-wheeled vehicle advance in coal mine underwell railless rubber tyre operation tunnel for y-axis positive direction, the right direction in the direction perpendicular with the direction that the porch railless free-wheeled vehicle running tunnel with coal mine underwell railless rubber tyre advances, for x-axis positive direction, sets up rectangular coordinate system；
Step 102, in rectangular coordinate system, choose three ZigBee reference modes in a underground monitoring system, adopt dip stick to measure three ZigBee reference modes coordinate in rectangular coordinate system, and be designated as A (x respectivelya,ya)、B(xb,yb) and C (xc,yc)；
Step 103, set the coordinate of ZigBee mobile node as D (xd,yd), ZigBee mobile node receives in region, location the RSSI value respectively r of three ZigBee reference modes in step 102a、rbAnd rc；
Step 104, with A (xa,ya) for the center of circle, raDraw circle for radius, obtain circle A；With B (xb,yb) for the center of circle, rbDraw circle for radius, obtain circle B；With C (xc,yc) for the center of circle, rcDraw circle for radius, obtain circle C；And the intersection point defining round A and circle B is N (xn,yn), the intersection point of circle A and circle C is L (xl,yl), the intersection point of circle B and circle C is M (xm,ym)；
Step 105, employing formulaCalculate the coordinate N (x obtaining N pointn,yn), adopt formulaCalculate the coordinate L (x obtaining L pointl,yl), and adopt formulaCalculate the coordinate M (x obtaining M pointm,ym)；
Step 106 adopts formulaCalculate the coordinate D (x obtaining ZigBee mobile noded,yd), obtain the positional information of railless free-wheeled vehicle.
The present invention compared with prior art has the advantage that
1, the simple in construction of coal mine underwell railless rubber tyre dispatching patcher of the present invention, reasonable in design, it is achieved convenient.
2, the automaticity of coal mine underwell railless rubber tyre dispatching patcher of the present invention is high, uses easy to operate.
3, the method step of coal mine underwell railless rubber tyre dispatching method of the present invention is simple, reasonable in design, it is achieved convenient.
4, the present invention can be accurately obtained railless free-wheeled vehicle position in tunnel, and positioning precision is high, it is ensured that dispatching patcher has higher stability.
5, the complete function of the present invention, by connecting Smoke Sensor and Temperature Humidity Sensor on ZigBee reference mode, underground coal mine smokescope and humiture can be monitored in real time, can when index exceeding standard in time by loudspeaker notice underground work personnel, personnel are made to withdraw rapidly, it is ensured that the safety work of underground coal mine.
6, the present invention is by installing monitoring camera, it is possible to the operation of underground coal mine danger section is carried out monitor in real time, and when having an accident, vehicle of speedily carrying out rescue work can more accurately arrive, it is ensured that the safety work of underground coal mine.
7, owing to railless free-wheeled vehicle does not have track to limit, and there is maneuverability, strong adaptability, applied range, safely and efficiently feature, have an enormous advantage compared to rail mining car tool in transport material, equipment and personnel, therefore, the present invention promotes the use of, by advancing the use of railless free-wheeled vehicle, bring bigger facility for coal mine operation.
In sum, the present invention's is reasonable in design, it is achieved convenient, and functional reliability is high, complete function, and the efficiency and two aspects of safety improving underground work vehicle is had important realistic meaning, and application value is high.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Fig. 1 is the annexation schematic diagram of coal mine underwell railless rubber tyre dispatching patcher of the present invention.
Fig. 2 is the circuit theory diagrams of ZigBee reference mode of the present invention.
Fig. 3 is the circuit theory diagrams of the present inventor's body induction sensor.
Fig. 4 is the circuit theory diagrams of Smoke Sensor of the present invention.
Fig. 5 is the circuit theory diagrams of Temperature Humidity Sensor of the present invention.
Fig. 6 is the method flow block diagram of coal mine underwell railless rubber tyre dispatching method of the present invention.
Fig. 7 is the crossing schematic diagram of present invention circle A, circle B and circle C.
Description of reference numerals:
1 display screen；2 monitoring host computers；3 printers；
4 industrial control computers；5 workstation computers；6 data servers；
7 master controllers；8 switches；9 sub-controllers；
10 monitoring cameras；11 stop-lights；12 ZigBee gateways；
13 ZigBee reference modes；14 human body sensors；15 Smoke Sensors；
16 ZigBee mobile nodes；17 Temperature Humidity Sensors；18 loudspeakers；
19 railless free-wheeled vehicles；20 underground monitoring systems；21 aboveground monitoring systems.
Detailed description of the invention
As shown in Figure 1, the coal mine underwell railless rubber tyre dispatching patcher of the present invention, including being laid in multiple underground monitoring systems 20 that coal mine underwell railless rubber tyre runs in tunnel in multiple sections and the aboveground monitoring system 21 being connected with multiple underground monitoring systems 20 and communicating, described underground monitoring system 20 includes ZigBee mobile node 16, for with ZigBee mobile node 16 wireless connections the multiple ZigBee reference modes 13 communicated and for the wireless connections of multiple ZigBee reference mode 13 the ZigBee gateway 12 that communicates, and monitoring camera 10 and the sub-controller 9 that is connected with ZigBee gateway 12；Described ZigBee reference mode 13 is connected to human body sensor 14, Smoke Sensor 15 and Temperature Humidity Sensor 17, described sub-controller 9 is connected to loudspeaker 18 and stop-light 11；Described ZigBee mobile node 16 is arranged on railless free-wheeled vehicle 19, and multiple described ZigBee reference modes 13 are uniformly laid in coal mine underwell railless rubber tyre and run in tunnel；
Described aboveground monitoring system 21 includes master controller 7 and the switch 8 being connected with master controller 7, and pass through monitoring host computer 2, industrial control computer 4, workstation computer 5 and the data server 6 that Ethernet is connected with master controller 7, described monitoring camera 10 is connected with data server 6, described monitoring host computer 2 is connected to the display screen 1 for display monitoring picture and the running orbit of railless free-wheeled vehicle 19, described industrial control computer 4 is connected to printer 3；Described sub-controller 9 is connected with switch 8.
In the present embodiment, the model of described ZigBee mobile node 16 is CC2431, as in figure 2 it is shown, the model of described ZigBee reference mode 13 is CC2430.
In the present embodiment, the model of described ZigBee gateway 12 is ZBNET-300C-U.Model is the ZigBee that ZigBee gateway is Guangzhou Zhiyuan Electronics Co., Ltd.'s development & production of the ZBNET-300C-U gateway device turning Ethernet, equipment is the design of technical grade standard, realize ZigBee-network and Ethernet high speed transparent transmission, quickly ZigBee LAN can be accessed the Internet without secondary development, realize the purpose of long-range ZigBee Control & data acquisition, support and ZM5168 series ZigBee module compatible communication；The equipment high-power ZigBee RF transceiver of sampling, possesses higher receiving sensitivity, and sighting distance covering radius is up to 2.5Km.Equipment can quickly be applied by software arrangements, uses manpower and material resources sparingly and the development time, makes product put goods on the market faster, enhance the competitiveness.
In the present embodiment, as it is shown on figure 3, the model of described human body sensor 14 is HC-SR501, the signal output part of described human body sensor 14 is connected with the P0_4 pin of CC2430；As shown in Figure 4, the model of described Smoke Sensor 15 is MQ-2, and the signal output part of described Smoke Sensor 15 is connected with the P0_6 pin of CC2430；As it is shown in figure 5, the model of described Temperature Humidity Sensor 17 is SHT11, the signal output part of described Temperature Humidity Sensor 17 is connected with the P0_7 pin of CC2430.
In the present embodiment, described sub-controller 9 is the PLC module of S7-200SMART for model.
In the present embodiment, described master controller 7 is the PLC module of S7-300 for model.
In the present embodiment, described display screen 1 is connected with monitoring host computer 2 by VGA video line, and described printer 3 is connected with industrial control computer 4 by USB data line.
As shown in Figure 6, the coal mine underwell railless rubber tyre dispatching method of the present invention, comprise the following steps:
Step one, railless free-wheeled vehicle 19 location: the ZigBee mobile node 16 being arranged on railless free-wheeled vehicle 19 receives in region, location after the RSSI value of multiple ZigBee reference modes 13, calls locating module analyzing and processing and obtains the positional information of railless free-wheeled vehicle 19；
The uploading and storing of step 2, the positional information of railless free-wheeled vehicle 19 and underground coal mine smokescope and temperature-humidity signal: the positional information of railless free-wheeled vehicle 19 is sent to ZigBee reference mode 13 by ZigBee mobile node 16, simultaneously, the smokescope of underground coal mine is carried out detection in real time and the smokescope signal detected is transferred to ZigBee reference mode 13 by Smoke Sensor 15, and the humiture of underground coal mine is carried out detection in real time and the temperature-humidity signal detected is transferred to ZigBee reference mode 13 by Temperature Humidity Sensor 17；ZigBee reference mode 13 is by the positional information of railless free-wheeled vehicle 19, smokescope signal and temperature-humidity signal are sent to ZigBee gateway 12, the ZigBee gateway 12 positional information to the railless free-wheeled vehicle 19 that it receives, smokescope signal and temperature-humidity signal are transferred to sub-controller 9 after carrying out protocol conversion and packing, the information that sub-controller 9 is received again is transferred to master controller 7 by switch 8, master controller 7 is transferred to industrial control computer 4 again through Ethernet, the position of railless free-wheeled vehicle 19 and the smokescope of underground coal mine and humiture are stored by industrial control computer 4；Simultaneously, the smokescope signal that sub-controller 9 is also received and smokescope higher limit phase comparison set in advance, when smokescope signal exceedes smokescope higher limit, it is judged as coal mine gas excessive concentration, now, sub-controller 9 controls loudspeaker 18 and plays broadcast, and notice underground work personnel withdraw rapidly, and forbids that railless free-wheeled vehicle 19 is gone into the well；
Step 3, industrial control computer 4 export the control signal to the stop-light 11 in two adjacent underground monitoring systems 20 according to positional information and the control rule set in advance of railless free-wheeled vehicle 19, control signal is first transferred to the master controller 7 in corresponding underground monitoring system 20, it is transferred to sub-controller 9 again by master controller 7, sub-controller 9 controls stop-light 11, realizing the scheduling to railless free-wheeled vehicle 19, concrete control rule is:
A, prevent the rule that knocks into the back: when railless free-wheeled vehicle 19 runs to and enters section that coal mine underwell railless rubber tyre runs in tunnel between Liang Gebiche lane, the amber light that the sub-controller 9 at railless free-wheeled vehicle 19 traffic direction rear controls in connected stop-light 11 is lighted, rear railless free-wheeled vehicle 19 halts, prevent rear railless free-wheeled vehicle 19 and front railless free-wheeled vehicle 19 from knocking into the back, until when railless free-wheeled vehicle 19 runs to front next one section, the green light that the sub-controller 9 at railless free-wheeled vehicle 19 traffic direction rear controls in connected stop-light 11 is lighted, rear railless free-wheeled vehicle 19 moves on；
B, prevent two-way collision rule of sending a car: when two-way send a car all be about to sail into coal mine underwell railless rubber tyre run same section in tunnel time, railless free-wheeled vehicle 19 is scheduling by the width running tunnel according to coal mine underwell railless rubber tyre；When coal mine underwell railless rubber tyre run tunnel width more than two railless free-wheeled vehicle 19 width and time, the green light that the sub-controller 9 in two railless free-wheeled vehicle 19 traffic direction fronts all controls in connected stop-light 11 is remain on, and two-way sending a car each is kept to the right；When coal mine underwell railless rubber tyre run tunnel width less than or equal to two railless free-wheeled vehicle 19 width and time, the red light controlled in connected stop-light 11 near the sub-controller 9 in the railless free-wheeled vehicle 19 traffic direction front in coal mine underwell railless rubber tyre operation Nei Biche lane, tunnel is lighted, this railless free-wheeled vehicle 19 enters Bi Che lane, the green light that the sub-controller 9 in another railless free-wheeled vehicle 19 traffic direction front controls in connected stop-light 11 is remain on, after running, until another railless free-wheeled vehicle 19, the Bi Che lane crossing railless free-wheeled vehicle 19 place, the green light that the sub-controller 9 in the railless free-wheeled vehicle 19 traffic direction front in Bi Che lane controls in connected stop-light 11 is lighted, railless free-wheeled vehicle 19 in Bi Che lane rolls Bi Che lane away from and continues to move ahead；
nullC、Three forks travel rule: C1、When railless free-wheeled vehicle 19 is entered main stem by turnout，First judge that in main stem, this section travels with or without railless free-wheeled vehicle 19，When in main stem, this section has railless free-wheeled vehicle 19 just in motion，The red light that the sub-controller 9 in railless free-wheeled vehicle 19 traffic direction front, fork place controls in connected stop-light 11 is lighted，This railless free-wheeled vehicle 19 enters Bi Che lane，The green light that in main stem, the sub-controller 9 in this section railless free-wheeled vehicle 19 traffic direction front controls in connected stop-light 11 is remain on，Until after in main stem, this section railless free-wheeled vehicle 19 runs the Bi Che lane crossing railless free-wheeled vehicle 19 place，The green light that the sub-controller 9 in the railless free-wheeled vehicle 19 traffic direction front in Bi Che lane controls in connected stop-light 11 is lighted，Railless free-wheeled vehicle 19 in Bi Che lane rolls Bi Che lane away from and continues to move ahead；nullC2、When railless free-wheeled vehicle 19 is entered turnout by main stem，First judge that in turnout, this section travels with or without railless free-wheeled vehicle 19，When in turnout, this section has railless free-wheeled vehicle 19 just in motion，The red light that the sub-controller 9 in railless free-wheeled vehicle 19 traffic direction front, fork place controls in connected stop-light 11 is lighted，This railless free-wheeled vehicle 19 enters Bi Che lane，The green light that in turnout, the sub-controller 9 in this section railless free-wheeled vehicle 19 traffic direction front controls in connected stop-light 11 is remain on，Until after in turnout, this section railless free-wheeled vehicle 19 runs the Bi Che lane crossing railless free-wheeled vehicle 19 place，The green light that the sub-controller 9 in the railless free-wheeled vehicle 19 traffic direction front in Bi Che lane controls in connected stop-light 11 is lighted，Railless free-wheeled vehicle 19 in Bi Che lane rolls Bi Che lane away from and continues to move ahead；
The display of the running orbit of step 4, monitored picture and railless free-wheeled vehicle 19: the positional information of railless free-wheeled vehicle 19 is transferred to workstation computer 5 by Ethernet by industrial control computer 4, workstation computer 5 adopts Z-Location software demonstrate the running orbit of railless free-wheeled vehicle 19 and be transferred to monitoring host computer 2 by Ethernet；Meanwhile, the monitored picture that monitoring camera 10 is collected is transferred to data server 6, and monitored picture is transferred to monitoring host computer 2 by Ethernet by data server 6 again；Monitoring host computer 2 controls the display screen 1 running orbit to its monitored picture received and railless free-wheeled vehicle 19 and displays；When staff is from when the display screen 1 observed, the information of display is judged as that railless free-wheeled vehicle 19 has accident to occur, accident alarming signal is sent by monitoring host computer 2, accident alarming signal is transferred to master controller 7 by Ethernet by monitoring host computer 2, accident alarming signal is transferred to sub-controller 9 by switch 8 by master controller 7, sub-controller 9 controls loudspeaker 18 and plays broadcast, and notice underground work personnel speedily carry out rescue work rapidly.
In the present embodiment, in step one, ZigBee mobile node 16 calls the detailed process of positional information that locating module analyzing and processing obtains railless free-wheeled vehicle 19 and is:
Step 101, with coal mine underwell railless rubber tyre run tunnel porch any point for zero, with the direction of porch railless free-wheeled vehicle 19 advance in coal mine underwell railless rubber tyre operation tunnel for y-axis positive direction, the right direction in the direction perpendicular with the direction that the porch railless free-wheeled vehicle 19 running tunnel with coal mine underwell railless rubber tyre advances, for x-axis positive direction, sets up rectangular coordinate system；
Step 102, in rectangular coordinate system, choose three ZigBee reference modes 13 in a underground monitoring system 20, adopt dip stick to measure three ZigBee reference modes 13 coordinate in rectangular coordinate system, and be designated as A (x respectivelya,ya)、B(xb,yb) and C (xc,yc)；
Step 103, set the coordinate of ZigBee mobile node 16 as D (xd,yd), ZigBee mobile node 16 receives in region, location the RSSI value respectively r of three ZigBee reference modes 13 in step 102a、rbAnd rc(i.e. ZigBee mobile node 16 and ZigBee reference mode 13A (x in step 102 in region, locationa,ya) distance be ra, ZigBee mobile node 16 and ZigBee reference mode 13B (x in step 102 in region, locationb,yb) distance be rb, ZigBee mobile node 16 and ZigBee reference mode 13C (x in step 102 in region, locationc,yc) distance be rc)；
Step 104 is as it is shown in fig. 7, with A (xa,ya) for the center of circle, raDraw circle for radius, obtain circle A；With B (xb,yb) for the center of circle, rbDraw circle for radius, obtain circle B；With C (xc,yc) for the center of circle, rcDraw circle for radius, obtain circle C；And the intersection point defining round A and circle B is N (xn,yn), the intersection point of circle A and circle C is L (xl,yl), the intersection point of circle B and circle C is M (xm,ym)；Then ZigBee mobile node 16 is positioned at by N (xn,yn)、L(xl,yl) and M (xm,ym) in the triangle that surrounds；
Step 105, employing formulaCalculate the coordinate N (x obtaining N pointn,yn), adopt formulaCalculate the coordinate L (x obtaining L pointl,yl), and adopt formulaCalculate the coordinate M (x obtaining M pointm,ym)；
Step 106 adopts formulaCalculate the coordinate D (x obtaining ZigBee mobile node 16d,yd), obtain the positional information of railless free-wheeled vehicle 19.
The method adopting the present invention can be accurately obtained railless free-wheeled vehicle position in tunnel, and positioning precision is high, it is ensured that dispatching patcher has higher stability.
The above; it it is only presently preferred embodiments of the present invention; not the present invention is imposed any restrictions, every any simple modification, change and equivalent structure change above example made according to the technology of the present invention essence, all still fall within the protection domain of technical solution of the present invention.
Claims (9)
1. a coal mine underwell railless rubber tyre dispatching patcher, it is characterized in that: include being laid in multiple underground monitoring systems (20) that coal mine underwell railless rubber tyre runs in tunnel in multiple sections and the aboveground monitoring system (21) being connected with multiple underground monitoring systems (20) and communicating, described underground monitoring system (20) includes ZigBee mobile node (16), for with (16) wireless connections of ZigBee mobile node the multiple ZigBee reference modes (13) communicated and for multiple ZigBee reference mode (13) wireless connections the ZigBee gateway (12) that communicates, and monitoring camera (10) and the sub-controller (9) that is connected with ZigBee gateway (12)；Described ZigBee reference mode (13) is connected to human body sensor (14), Smoke Sensor (15) and Temperature Humidity Sensor (17), described sub-controller (9) is connected to loudspeaker (18) and stop-light (11)；Described ZigBee mobile node (16) is arranged on railless free-wheeled vehicle (19), and multiple described ZigBee reference modes (13) are uniformly laid in coal mine underwell railless rubber tyre and run in tunnel；
Described aboveground monitoring system (21) includes master controller (7) and the switch (8) being connected with master controller (7), and pass through the monitoring host computer (2) that Ethernet is connected with master controller (7), industrial control computer (4), workstation computer (5) and data server (6), described monitoring camera (10) is connected with data server (6), described monitoring host computer (2) is connected to the display screen (1) for display monitoring picture and the running orbit of railless free-wheeled vehicle (19), described industrial control computer (4) is connected to printer (3)；Described sub-controller (9) is connected with switch (8).
2. the coal mine underwell railless rubber tyre dispatching patcher described in claim 1, it is characterised in that: the model of described ZigBee mobile node (16) is CC2431, and the model of described ZigBee reference mode (13) is CC2430.
3. the coal mine underwell railless rubber tyre dispatching patcher described in claim 1, it is characterised in that: the model of described ZigBee gateway (12) is ZBNET-300C-U.
4. the coal mine underwell railless rubber tyre dispatching patcher described in claim 1, it is characterized in that: the model of described human body sensor (14) is HC-SR501, the model of described Smoke Sensor (15) is MQ-2, and the model of described Temperature Humidity Sensor (17) is SHT11.
5. the coal mine underwell railless rubber tyre dispatching patcher described in claim 1, it is characterised in that: described sub-controller (9) is the PLC module of S7-200SMART for model.
6. the coal mine underwell railless rubber tyre dispatching patcher described in claim 1, it is characterised in that: described master controller (7) is the PLC module of S7-300 for model.
7. the coal mine underwell railless rubber tyre dispatching patcher described in claim 1, it is characterized in that: described display screen (1) is connected with monitoring host computer (2) by VGA video line, described printer (3) is connected with industrial control computer (4) by USB data line.
8. one kind utilizes the method that system as claimed in claim 1 carries out coal mine underwell railless rubber tyre scheduling, it is characterised in that the method comprises the following steps:
Step one, railless free-wheeled vehicle (19) location: the ZigBee mobile node (16) being arranged on railless free-wheeled vehicle (19) receives in region, location after the RSSI value of multiple ZigBee reference modes (13), calls locating module analyzing and processing and obtains the positional information of railless free-wheeled vehicle (19)；
Step 2, the uploading and storing of the positional information of railless free-wheeled vehicle (19) and underground coal mine smokescope and temperature-humidity signal: the positional information of railless free-wheeled vehicle (19) is sent to ZigBee reference mode (13) by ZigBee mobile node (16), simultaneously, the smokescope of underground coal mine is carried out detection in real time and the smokescope signal detected is transferred to ZigBee reference mode (13) by Smoke Sensor (15), the humiture of underground coal mine is carried out detection in real time and the temperature-humidity signal detected is transferred to ZigBee reference mode (13) by Temperature Humidity Sensor (17)；ZigBee reference mode (13) is by the positional information of railless free-wheeled vehicle (19), smokescope signal and temperature-humidity signal are sent to ZigBee gateway (12), the positional information of the railless free-wheeled vehicle (19) that it is received by ZigBee gateway (12), smokescope signal and temperature-humidity signal are transferred to sub-controller (9) after carrying out protocol conversion and packing, the information that sub-controller (9) is received again is transferred to master controller (7) by switch (8), master controller (7) is transferred to industrial control computer (4) again through Ethernet, the position of railless free-wheeled vehicle (19) and smokescope and the humiture of underground coal mine are stored by industrial control computer (4)；Simultaneously, the smokescope signal that sub-controller (9) is also received and smokescope higher limit phase comparison set in advance, when smokescope signal exceedes smokescope higher limit, it is judged as coal mine gas excessive concentration, now, sub-controller (9) controls loudspeaker (18) and plays broadcast, and notice underground work personnel withdraw rapidly, and forbids that railless free-wheeled vehicle (19) is gone into the well；
Step 3, industrial control computer (4) export the control signal to the stop-light (11) in two adjacent underground monitoring systems (20) according to positional information and the control rule set in advance of railless free-wheeled vehicle (19), control signal is first transferred to the master controller (7) in corresponding underground monitoring system (20), it is transferred to sub-controller (9) again by master controller (7), sub-controller (9) controls stop-light (11), realizing the scheduling to railless free-wheeled vehicle (19), concrete control rule is:
A, prevent the rule that knocks into the back: when railless free-wheeled vehicle (19) runs to and enters section that coal mine underwell railless rubber tyre runs in tunnel between Liang Gebiche lane, the amber light that the sub-controller (9) at railless free-wheeled vehicle (19) traffic direction rear controls in connected stop-light (11) is lighted, rear railless free-wheeled vehicle (19) halts, prevent rear railless free-wheeled vehicle (19) and front railless free-wheeled vehicle (19) from knocking into the back, until when railless free-wheeled vehicle (19) runs to front next one section, the green light that the sub-controller (9) at railless free-wheeled vehicle (19) traffic direction rear controls in connected stop-light (11) is lighted, rear railless free-wheeled vehicle (19) moves on；
B, prevent two-way collision rule of sending a car: when two-way send a car all be about to sail into coal mine underwell railless rubber tyre run same section in tunnel time, railless free-wheeled vehicle (19) is scheduling by the width running tunnel according to coal mine underwell railless rubber tyre；When coal mine underwell railless rubber tyre run tunnel width more than two railless free-wheeled vehicle (19) width and time, the green light that the sub-controller (9) in two railless free-wheeled vehicle (19) traffic direction fronts all controls in connected stop-light (11) is remain on, and two-way sending a car each is kept to the right；nullWhen coal mine underwell railless rubber tyre run tunnel width less than or equal to two railless free-wheeled vehicle (19) width and time，The red light controlled in connected stop-light (11) near the sub-controller (9) in railless free-wheeled vehicle (19) the traffic direction front in coal mine underwell railless rubber tyre operation Nei Biche lane, tunnel is lighted，This railless free-wheeled vehicle (19) enters Bi Che lane，The green light that the sub-controller (9) in another railless free-wheeled vehicle (19) traffic direction front controls in connected stop-light (11) is remain on，After running, until another railless free-wheeled vehicle (19), the Bi Che lane crossing railless free-wheeled vehicle (19) place，The green light that the sub-controller (9) in railless free-wheeled vehicle (19) the traffic direction front in Bi Che lane controls in connected stop-light (11) is lighted，Railless free-wheeled vehicle (19) in Bi Che lane rolls Bi Che lane away from and continues to move ahead；
nullC、Three forks travel rule: C1、When railless free-wheeled vehicle (19) is entered main stem by turnout，First judge that in main stem, this section travels with or without railless free-wheeled vehicle (19)，When in main stem, this section has railless free-wheeled vehicle (19) just in motion，The red light that the sub-controller (9) in railless free-wheeled vehicle (19) traffic direction front, fork place controls in connected stop-light (11) is lighted，This railless free-wheeled vehicle (19) enters Bi Che lane，The green light that in main stem, the sub-controller (9) in this section railless free-wheeled vehicle (19) traffic direction front controls in connected stop-light (11) is remain on，Until after in main stem, this section railless free-wheeled vehicle (19) runs the Bi Che lane crossing railless free-wheeled vehicle (19) place，The green light that the sub-controller (9) in railless free-wheeled vehicle (19) the traffic direction front in Bi Che lane controls in connected stop-light (11) is lighted，Railless free-wheeled vehicle (19) in Bi Che lane rolls Bi Che lane away from and continues to move ahead；nullC2、When railless free-wheeled vehicle (19) is entered turnout by main stem，First judge that in turnout, this section travels with or without railless free-wheeled vehicle (19)，When in turnout, this section has railless free-wheeled vehicle (19) just in motion，The red light that the sub-controller (9) in railless free-wheeled vehicle (19) traffic direction front, fork place controls in connected stop-light (11) is lighted，This railless free-wheeled vehicle (19) enters Bi Che lane，The green light that in turnout, the sub-controller (9) in this section railless free-wheeled vehicle (19) traffic direction front controls in connected stop-light (11) is remain on，Until after in turnout, this section railless free-wheeled vehicle (19) runs the Bi Che lane crossing railless free-wheeled vehicle (19) place，The green light that the sub-controller (9) in railless free-wheeled vehicle (19) the traffic direction front in Bi Che lane controls in connected stop-light (11) is lighted，Railless free-wheeled vehicle (19) in Bi Che lane rolls Bi Che lane away from and continues to move ahead；
The display of the running orbit of step 4, monitored picture and railless free-wheeled vehicle (19): the positional information of railless free-wheeled vehicle (19) is transferred to workstation computer (5) by Ethernet by industrial control computer (4), workstation computer (5) adopts Z-Location software demonstrate the running orbit of railless free-wheeled vehicle (19) and be transferred to monitoring host computer (2) by Ethernet；Meanwhile, the monitored picture that monitoring camera (10) is collected is transferred to data server (6), and monitored picture is transferred to monitoring host computer (2) by Ethernet by data server (6) again；Monitoring host computer (2) controls display screen (1) and the running orbit of its monitored picture received and railless free-wheeled vehicle (19) is displayed；When staff is from when the display screen (1) observed, the information of display is judged as that railless free-wheeled vehicle (19) has accident to occur, accident alarming signal is sent by monitoring host computer (2), accident alarming signal is transferred to master controller (7) by Ethernet by monitoring host computer (2), accident alarming signal is transferred to sub-controller (9) by switch (8) by master controller (7), sub-controller (9) controls loudspeaker (18) and plays broadcast, and notice underground work personnel speedily carry out rescue work rapidly.
9. in accordance with the method for claim 8, it is characterised in that: in step one, ZigBee mobile node (16) calls the detailed process of positional information that locating module analyzing and processing obtains railless free-wheeled vehicle (19) and is:
Step 101, with coal mine underwell railless rubber tyre run tunnel porch any point for zero, the direction advanced of porch railless free-wheeled vehicle (19) in tunnel is run for y-axis positive direction with coal mine underwell railless rubber tyre, the right direction in the direction perpendicular with the direction that the porch railless free-wheeled vehicle (19) running tunnel with coal mine underwell railless rubber tyre advances, for x-axis positive direction, sets up rectangular coordinate system；
Step 102, in rectangular coordinate system, choose three ZigBee reference modes (13) in a underground monitoring system (20), adopt dip stick to measure three ZigBee reference modes (13) coordinate in rectangular coordinate system, and be designated as A (x respectivelya,ya)、B(xb,yb) and C (xc,yc)；
Step 103, set the coordinate of ZigBee mobile node (16) as D (xd,yd), ZigBee mobile node (16) receives in region, location the RSSI value respectively r of three ZigBee reference modes (13) in step 102a、rbAnd rc；
Step 104, with A (xa,ya) for the center of circle, raDraw circle for radius, obtain circle A；With B (xb,yb) for the center of circle, rbDraw circle for radius, obtain circle B；With C (xc,yc) for the center of circle, rcDraw circle for radius, obtain circle C；And the intersection point defining round A and circle B is N (xn,yn), the intersection point of circle A and circle C is L (xl,yl), the intersection point of circle B and circle C is M (xm,ym)；
Step 105, employing formulaCalculate the coordinate N (x obtaining N pointn,yn), adopt formulaCalculate the coordinate L (x obtaining L pointl,yl), and adopt formulaCalculate the coordinate M (x obtaining M pointm,ym)；
Step 106 adopts formulaCalculating obtains the coordinate D (x of ZigBee mobile node (16)d,yd), obtain the positional information of railless free-wheeled vehicle (19).
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