CN106515757A - Unmanned driving system of mine locomotive based on hybrid dispatching model and controlling method thereof - Google Patents
Unmanned driving system of mine locomotive based on hybrid dispatching model and controlling method thereof Download PDFInfo
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- CN106515757A CN106515757A CN201611219870.3A CN201611219870A CN106515757A CN 106515757 A CN106515757 A CN 106515757A CN 201611219870 A CN201611219870 A CN 201611219870A CN 106515757 A CN106515757 A CN 106515757A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
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Abstract
The invention discloses an unmanned driving system of a mine locomotive based on a hybrid dispatching model and a controlling method thereof and belongs to the field of unmanned driving of mine locomotives. The unmanned driving system comprises a dispatching operating managing machine, at least one remote control operating platform and a vehicle-mounted controller of the mine locomotive; and the dispatching operating managing machine is connected with the at least one remote control operating platform through a wired local area network and connected with the vehicle-mounted controller of the mine locomotive through the wired local area network and a WIFI network, and a communication link detected by a handshake communication is formed between the remote control operating platform and the vehicle-mounted controller of the mine locomotive. In addition, the invention also discloses the controlling method of the unmanned driving system. According to the unmanned driving system of the mine locomotive based on the hybrid dispatching model, the dispatching operating managing machine has a plurality of operating modes, is suitable for the hybrid operation scenes of an unmanned controlled locomotive and a non-completely-modified locomotive driven on site by people and enables the mine locomotive to gradually transit from non-automation to automation; and the construction risk is lowered, and usage efficiency of the mine locomotive is improved.
Description
Technical field
The present invention relates to the unmanned technical field of mine locomotive, more particularly to a kind of mine based on mixed scheduling pattern
Locomotive Unmanned Systems and its control method.
Background technology
At present, underground mine is mainly operated using rail locomotive, but with the continuous expansion of the scale of adopting that lands, country
Administration of Security Supervision required in large-scale mine, by thus using electric locomotive Remote, rail travel intelligent dispatch and control,
Video wireless transmission, Xin Ji close the technologies such as monitoring, rail travel of the application with Remote or full-automatic unmanned driving's function
Electric locomotive, with reference to supporting means such as automatic ore drawing, drop shaft monitoring material position, automatic weighting meterings, replaces pilot steering locomotive etc.
Technology and equipment, realizes that down-hole rail mounted transport system is unattended, reduces operating personnel more than 50%.But, due to non-coal
The site environment of mine down-hole mining is severe, and dust is dense, and the operating personnel at scene need the dust-proof apparatus for wearing heaviness to carry out
Work, operating efficiency are low, therefore are driven using ground remote control and unmanned have become a kind of necessary trend.
At present, the domestic mine locomotive Unmanned Systems for adopting can only be carried out in one mode, and Dang Yitai is controlled
Locomotive when breaking down, system cannot carry out pattern switching, there is very big potential safety hazard, cause the Unmanned Systems cannot
It is suitable for the Minepit environment of complexity.
The content of the invention
It is an object of the invention to provide a kind of mine locomotive Unmanned Systems and its control based on mixed scheduling pattern
Method processed, so that mine locomotive Unmanned Systems can carry out various modes switching.
To realize object above, the technical solution used in the present invention is：First aspect, there is provided a kind of to be based on mixed scheduling mould
The mine locomotive Unmanned Systems of formula, the system include power dispatch system operation and management machine, at least one remote control operation platform and ore deposit
Mountain locomotive vehicle-mounted control device；
Power dispatch system operation and management machine is connected with least one remote control operation platform respectively by cable LAN, by wired local
Net and WIFI network are connected with mine locomotive Vehicle Controller, shape between remote control operation platform and mine locomotive Vehicle Controller
Into the communication link detected with communication handshake.
A kind of second aspect, there is provided controlling party of the above-mentioned mine locomotive Unmanned Systems based on mixed scheduling pattern
Method, the method include：
The work of current environment is arranged by power dispatch system operation and management machine to remote control operation platform and mine locomotive Vehicle Controller
Pattern；
Under the mode of operation of current environment, the transport task of every locomotive is respectively sent to corresponding by power dispatch system operation and management machine
Remote control operation platform and mine locomotive Vehicle Controller；
After remote control operation platform receives transport task, set up by handshake communication with corresponding mine locomotive Vehicle Controller
Communication link, realizes remotely control.
Compared with prior art, there is following technique effect in the present invention：Power dispatch system operation and management machine in the present invention has many
Mode of operation is planted, unpiloted controlled locomotive is applicable to and is not transformed the locomotive mixed running that completely manual site drives
Scene, make mine locomotive from non-automated to automation gradually transition, reduce construction risk, and improve mine locomotive
Utilization ratio.
Description of the drawings
Fig. 1 is the structural representation of the mine locomotive Unmanned Systems in one embodiment of the invention based on mixed scheduling pattern
Figure；
Fig. 2 is that another kind is shown based on the structure of the mine locomotive Unmanned Systems of mixed scheduling pattern in one embodiment of the invention
It is intended to；
Fig. 3 is the stream of the control method of the mine locomotive Unmanned Systems in one embodiment of the invention based on mixed scheduling pattern
Journey schematic diagram；
Fig. 4 is the schematic flow sheet of the fine division step of step S3 in one embodiment of the invention；
Fig. 5 is the working mode change schematic diagram in one embodiment of the invention.
Specific embodiment
With reference to shown in Fig. 1 to Fig. 5, the present invention is described in further detail.
As shown in figure 1, present embodiment discloses a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern, are somebody's turn to do
System includes：Power dispatch system operation and management machine 10, at least one remote control operation platform 20 and mine locomotive Vehicle Controller 30；Scheduling
Operational management machine 10 is connected with least one remote control operation platform 20 by cable LAN, by cable LAN and WIFI
Network is connected with mine locomotive Vehicle Controller 30, is formed between remote control operation platform 20 and mine locomotive Vehicle Controller 30
Communication link with communication handshake detection.
It should be noted that the WIFI network at this is provided by WIFI base stations 70.
Specifically, the power dispatch system operation and management machine 10 at this has monitoring operational mode, management and running pattern, monitoring operation mould
Four kinds of mode of operations such as formula and protection operational mode, the application scenarios of four kinds of mode of operations are as follows：
Monitoring operational mode：Suitable for unpiloted controlled locomotive and the only manual site that completes of operating mode transfer function transformation
The situation that locomotive is used in mixed way is driven, power dispatch system operation and management machine 10 only receives the operating mode that managed equipment is uploaded in this mode
Information, and any process is not carried out to work information；
Management and running pattern：Suitable for the people that unpiloted controlled locomotive and operating mode transfer function, scheduling feature transformation are completed
Work scene drives the situation that locomotive is used in mixed way, and in this mode, power dispatch system operation and management machine 10 receives managed equipment and uploads
Work information, and logical calculated is carried out to work information, corresponding dispatch command is issued according to logical calculated result then；
Monitoring operational mode：Suitable for unpiloted controlled locomotive and operating mode transfer function, scheduling feature and monitoring function
The manual site that transformation is completed drives the situation that locomotive is used in mixed way, and in this mode, power dispatch system operation and management machine 10 is received and managed
The work information that the equipment of reason is uploaded, carries out logical calculated to work information, then issues scheduling according to logical calculated result and refer to
Make and speed limit protection instruction is issued to remote control operation platform 20；
Protection operational mode：Suitable for unpiloted controlled locomotive and operating mode transfer function, scheduling feature, monitoring function and
Safeguard function is all transformed the manual site for completing and drives the situation that locomotive is used in mixed way, in this mode, power dispatch system operation and management
Machine 10 receives the work information that managed equipment is uploaded, and logical calculated is carried out to work information, and according to logical calculated result
Dispatch command is issued, and speed limit protection instruction is issued to remote control operation platform 20 and mine locomotive Vehicle Controller 30.
Specifically, as shown in Fig. 2 above-mentioned power dispatch system operation and management machine 10 also passes through cable LAN and WIFI network and hand
Hold formula remote terminal 40 to connect, hand-held remote control terminal 40 is also connected with mine locomotive Vehicle Controller 30 by WIFI network.
It should be noted that hand-held remote control terminal 40 at this is for carrying out low coverage to mine locomotive Vehicle Controller 30
From straighforward operation.Therefore, the system in the present embodiment can realize long-distance remote control driving model, it is also possible to realize closely distant
Control driving model.
Specifically, as shown in Fig. 2 above-mentioned power dispatch system operation and management machine 10 is also controlled with ore loading by cable LAN
Device 50 connects.Ore loading controller 50 is used to receive the remote control of hand-held remote control terminal 40 and enters luggage ore deposit operation.
Specifically, above-mentioned system also includes examining by the fixed point that RFID network is connected with mine locomotive Vehicle Controller 30
Survey device 60.Wherein, management and running control machine 10 calculates locomotive according to the locomotive speed that mine locomotive Vehicle Controller 30 is measured
Position, the fixed position information that detects of fixed point detection means is obtained to meter by mine locomotive Vehicle Controller 30 again then
The locomotive position for calculating is corrected.
Specifically, above-mentioned power dispatch system operation and management machine 10 and at least one remote control operation platform 20 are installed on the ground,
Mine locomotive Vehicle Controller 30 is arranged on every locomotive, and hand-held remote control terminal 40 is hand-held by dress ore deposit point operating personnel, ore deposit
Stone loading controller 50 is arranged on around ore drawing machine in preset range, fixed point detection means 60 compartment in orbit arrangement.
Specifically, refer near ore drawing machine in preset range around ore drawing machine here, in orbit at interval of one section
Distance is disposed with a set of fixed point detection means.
As shown in figure 3, a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern of the present embodiment disclosed example
Control method, the method comprises the steps S1 to S3：
S1, remote control operation platform 20 and mine locomotive Vehicle Controller 30 are arranged by power dispatch system operation and management machine 10 and work as front ring
The mode of operation in border；
S2, under the mode of operation of current environment, the transport task of every locomotive is respectively sent to by power dispatch system operation and management machine 10
Corresponding remote control operation platform 20 and mine locomotive Vehicle Controller 30；
After S3, remote control operation platform 20 receive transport task, with corresponding mine locomotive Vehicle Controller 30 by shaking hands
Connection setup communication link, realizes remotely control.
Specifically, as shown in figure 4, step S3 specifically includes following fine division step S31 to S35：
It is after S31, corresponding remote control operation platform 20 receive transport task, logical with corresponding mine locomotive Vehicle Controller 30
Cross handshake communication and set up communication link；
S32, corresponding remote control operation platform 20 send locomotive control instruction to corresponding mine locomotive Vehicle Controller 30 with
Control locomotive operation；
The road of S33, mine locomotive Vehicle Controller 30 in running, in front of the position of real-time detection locomotive and locomotive driving
The position of locomotive and the traffic information in front of locomotive driving are simultaneously sent to 10 He of power dispatch system operation and management machine by condition information by network
Corresponding remote control operation platform 20；
According to the locomotive position for detecting, S34, mine locomotive Vehicle Controller 30 judge whether locomotive runs to dress mining area domain；
S35, locomotive operation to dress mining area domain after, mine locomotive Vehicle Controller 30 send transport task complete instruction to dispatch
Operational management machine 10.
Specifically, after locomotive operation to dress mining area domain, also comprise the steps：
Power dispatch system operation and management machine 10 issues dress ore deposit task to hand-held remote control terminal 40, ore loading controller 50 and described right
The mine locomotive Vehicle Controller 30 answered；
By corresponding mine locomotive Vehicle Controller 30 described in hand-held remote control terminal 40 closely remote control controlling motor supply shop
Sail to below ore bin boxhole；
When below locomotive driving to ore bin boxhole, by the closely remote control ore loading controller of hand-held remote control terminal 40
50 enter luggage ore deposit operation；
When dress ore deposit task is completed, dress ore deposit task is sent by hand-held remote control terminal 40 and instruction is completed to power dispatch system operation and management machine
10 so that power dispatch system operation and management machine 10 re-issues new transport task.
Specifically, as shown in figure 5, described mode of operation includes：Monitoring operational mode, management and running pattern, monitoring fortune
Row mode and protection operational mode；
Wherein, monitor under operational mode, power dispatch system operation and management machine 10 only receives remote control operation platform 20 and mine locomotive is vehicle-mounted
The work information that controller 30 is uploaded；
Under management and running pattern, power dispatch system operation and management machine 10 receives remote control operation platform 20 and mine locomotive Vehicle Controller 30
The work information of upload simultaneously carries out logical operation according to work information；
Under monitoring operational mode, power dispatch system operation and management machine 10 receives remote control operation platform 20 and mine locomotive Vehicle Controller 30
The work information of upload, issues speed limit protection instruction to remote control operation platform 20 after carrying out logical calculated according to work information；
Under protection operational mode, power dispatch system operation and management machine 10 receives remote control operation platform 20 and mine locomotive Vehicle Controller 30
The work information of upload, issues speed limit protection instruction to 20 He of remote control operation platform after carrying out logical calculated according to work information
Mine locomotive Vehicle Controller 30.
Here remote control operation platform 20 and mine locomotive vehicle-mounted control of the power dispatch system operation and management machine 10 for its management
Device 30 can arrange different mode of operations, it is also possible to arrange different mode of operations for whole Unmanned Systems, meet
Application scenarios under mining site difference construction environment.
Also, it should be noted that monitoring operational mode, management and running pattern, monitoring operational mode and protection operational mode
These four mode of operations can any switching laws in a manual fashion, but need to record in power dispatch system operation and management machine 10 in switching
Enter operator password, while the user must also possess the authority of switch mode.
Specifically, the method in above-described embodiment also comprises the steps：
Power dispatch system operation and management machine 10 calculates the position of locomotive according to the locomotive running speed that mine locomotive Vehicle Controller 30 is measured；
Mine locomotive Vehicle Controller 30 reads the locomotive fixed position letter that fixed point detection means 60 is detected by RFID network
Cease and transmit to power dispatch system operation and management machine 10；
Power dispatch system operation and management machine 10 is corrected to the locomotive position for calculating according to locomotive fixed position information.
Claims (10)
1. a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern, it is characterised in that including power dispatch system operation and management
Machine（10）, at least one remote control operation platform（20）With mine locomotive Vehicle Controller（30）；
Power dispatch system operation and management machine（10）By cable LAN and at least one remote control operation platform（20）Connection, by wired
LAN and WIFI network and mine locomotive Vehicle Controller（30）Connection, remote control operation platform（20）It is vehicle-mounted with mine locomotive
Controller（30）Between formed with communication handshake detection communication link.
2. the system as claimed in claim 1, it is characterised in that described power dispatch system operation and management machine（10）Also pass through wired local
Net and WIFI network and hand-held remote control terminal（40）Connection, hand-held remote control terminal（40）Also pass through WIFI network and mining machine
Car Vehicle Controller（30）Connection.
3. the system as claimed in claim 1, it is characterised in that described power dispatch system operation and management machine（10）Also pass through wired local
Net and ore loading controller（50）Connection.
4. the system as claimed in claim 1, it is characterised in that also include by RFID network and mine locomotive Vehicle Controller
（30）The fixed point detection means of connection（60）.
5. the system as described in any one of claim 1-4, it is characterised in that described power dispatch system operation and management machine（10）At least
One remote control operation platform（20）Install on the ground, mine locomotive Vehicle Controller（30）On every locomotive, hand
Hold formula remote terminal（40）Hand-held, the ore loading controller by dress ore deposit point operating personnel（50）Model is preset around ore drawing machine
In enclosing, detection means is pinpointed（60）Compartment is arranged in orbit.
6. a kind of control method of the system as described in any one of claim 1-5, it is characterised in that include：
S1, by power dispatch system operation and management machine（10）To remote control operation platform（20）With mine locomotive Vehicle Controller（30）Arrange
The mode of operation of current environment；
S2, under the mode of operation of current environment, power dispatch system operation and management machine（10）The transport task of every locomotive is sent respectively
To corresponding remote control operation platform（20）With mine locomotive Vehicle Controller（30）；
S3, remote control operation platform（20）After receiving transport task, with corresponding mine locomotive Vehicle Controller（30）Pass through
Handshake communication sets up communication link, realizes remotely control.
7. method as claimed in claim 6, it is characterised in that described step S3 includes：
S31, corresponding remote control operation platform（20）After receiving transport task, with corresponding mine locomotive Vehicle Controller
（30）Communication link is set up by handshake communication；
S32, corresponding remote control operation platform（20）Locomotive control instruction is sent to corresponding mine locomotive Vehicle Controller
（30）To control locomotive operation；
S33, mine locomotive Vehicle Controller（30）In running, in front of the position of real-time detection locomotive and locomotive driving
The position of locomotive and the traffic information in front of locomotive driving are simultaneously sent to power dispatch system operation and management machine by traffic information by network
（10）With corresponding remote control operation platform（20）；
S34, mine locomotive Vehicle Controller（30）Locomotive position according to detecting judges whether locomotive runs to dress mining area domain；
S35, locomotive operation to dress mining area domain after, mine locomotive Vehicle Controller（30）Send transport task instruction is completed to tune
Degree operational management machine（10）.
8. method as claimed in claim 7, it is characterised in that after locomotive operation to dress mining area domain, also include：
Power dispatch system operation and management machine（10）Dress ore deposit task is issued to hand-held remote control terminal（40）, ore loading controller（50）And
The corresponding mine locomotive Vehicle Controller（30）；
By hand-held remote control terminal（40）Closely corresponding mine locomotive Vehicle Controller described in remote control（30）With control machine
Garage is sailed to below ore bin boxhole；
When below locomotive driving to ore bin boxhole, by hand-held remote control terminal（40）Closely remote control ore loading control
Device（50）Enter luggage ore deposit operation；
When dress ore deposit task is completed, by hand-held remote control terminal（40）Send dress ore deposit task instruction is completed to power dispatch system operation and management
Machine（10）So that power dispatch system operation and management machine（10）Re-issue new transport task.
9. method as claimed in claim 8, it is characterised in that described mode of operation includes：
Monitoring operational mode, management and running pattern, monitoring operational mode and protection operational mode；
Wherein, monitor under operational mode, power dispatch system operation and management machine（10）Remote control operation platform is received only（20）And mine locomotive
Vehicle Controller（30）The work information of upload；
Under management and running pattern, power dispatch system operation and management machine（10）Receive remote control operation platform（20）With mine locomotive vehicle-mounted control
Device（30）The work information of upload simultaneously carries out logical operation according to work information；
Under monitoring operational mode, power dispatch system operation and management machine（10）Receive remote control operation platform（20）With mine locomotive vehicle-mounted control
Device（30）The work information of upload, issues speed limit protection instruction to remote control operation after carrying out logical calculated according to work information
Platform（20）；
Under protection operational mode, power dispatch system operation and management machine（10）Receive remote control operation platform（20）With mine locomotive vehicle-mounted control
Device（30）The work information of upload, issues speed limit protection instruction to remote control operation after carrying out logical calculated according to work information
Platform（20）With mine locomotive Vehicle Controller（30）.
10. method as claimed in claim 8, it is characterised in that also include：
Power dispatch system operation and management machine（10）According to mine locomotive Vehicle Controller（30）The locomotive running speed of measurement calculates locomotive
Position；
Mine locomotive Vehicle Controller（30）Fixed point detection means is read by RFID network（60）The locomotive fixed point position for detecting
Confidence ceases and transmits to power dispatch system operation and management machine 10；
Power dispatch system operation and management machine（10）The locomotive position for calculating is corrected according to locomotive fixed position information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611219870.3A CN106515757A (en) | 2016-12-26 | 2016-12-26 | Unmanned driving system of mine locomotive based on hybrid dispatching model and controlling method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611219870.3A CN106515757A (en) | 2016-12-26 | 2016-12-26 | Unmanned driving system of mine locomotive based on hybrid dispatching model and controlling method thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329482A (en) * | 2017-09-04 | 2017-11-07 | 苏州驾驶宝智能科技有限公司 | Automatic Pilot car man-machine coordination drive manner |
| CN107632537A (en) * | 2017-09-12 | 2018-01-26 | 北京矿冶研究总院 | Control device of underground mining vehicle |
| CN108791330A (en) * | 2018-03-29 | 2018-11-13 | 安徽马钢张庄矿业有限责任公司 | The horizontal rail travel Unmanned Systems of underground -480m |
| CN109656251A (en) * | 2018-12-29 | 2019-04-19 | 中国矿业大学 | A kind of crusing robot and working method for Mine Abandoned Land Soil K+adsorption |
| CN111222728A (en) * | 2018-11-23 | 2020-06-02 | 长沙智能驾驶研究院有限公司 | Unmanned carrier vehicle scheduling method, scheduling system and storage medium |
| CN111350537A (en) * | 2020-04-13 | 2020-06-30 | 丹东东方测控技术股份有限公司 | Wireless operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN111399586A (en) * | 2020-04-13 | 2020-07-10 | 丹东东方测控技术股份有限公司 | Operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN112055331A (en) * | 2020-09-07 | 2020-12-08 | 合肥工大高科信息科技股份有限公司 | Underground automatic ore drawing system based on UWB and control method |
| CN114355891A (en) * | 2021-12-09 | 2022-04-15 | 青岛慧拓智能机器有限公司 | Intelligent unmanned transportation system for underground mine |
| CN115564325A (en) * | 2022-10-13 | 2023-01-03 | 广东锰玛智行科技有限公司 | Time-sharing management and control method and management and control system for engineering machinery vehicle |
| CN116405531A (en) * | 2023-06-06 | 2023-07-07 | 青岛慧拓智能机器有限公司 | Parallel driving assistance system and method, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107329482A (en) * | 2017-09-04 | 2017-11-07 | 苏州驾驶宝智能科技有限公司 | Automatic Pilot car man-machine coordination drive manner |
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| CN111350537A (en) * | 2020-04-13 | 2020-06-30 | 丹东东方测控技术股份有限公司 | Wireless operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN112055331A (en) * | 2020-09-07 | 2020-12-08 | 合肥工大高科信息科技股份有限公司 | Underground automatic ore drawing system based on UWB and control method |
| CN114355891A (en) * | 2021-12-09 | 2022-04-15 | 青岛慧拓智能机器有限公司 | Intelligent unmanned transportation system for underground mine |
| CN115564325A (en) * | 2022-10-13 | 2023-01-03 | 广东锰玛智行科技有限公司 | Time-sharing management and control method and management and control system for engineering machinery vehicle |
| CN115564325B (en) * | 2022-10-13 | 2023-09-22 | 广东锰玛智行科技有限公司 | Time-sharing control method and time-sharing control system for engineering machinery vehicle |
| CN116405531A (en) * | 2023-06-06 | 2023-07-07 | 青岛慧拓智能机器有限公司 | Parallel driving assistance system and method, electronic equipment and storage medium |
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Application publication date: 20170322 |