CN106707739A - Redundancy control system and method for railway robot to automatically pass through fire exit door - Google Patents
Redundancy control system and method for railway robot to automatically pass through fire exit door Download PDFInfo
- Publication number
- CN106707739A CN106707739A CN201611109311.7A CN201611109311A CN106707739A CN 106707739 A CN106707739 A CN 106707739A CN 201611109311 A CN201611109311 A CN 201611109311A CN 106707739 A CN106707739 A CN 106707739A
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- fire
- exit door
- robot
- fire exit
- tunnel
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Abstract
The invention discloses a redundancy control system and method for a railway robot to automatically pass through a fire exit door. The robot can be accessed into tunnel optical fiber Ethernet through tunnel WIFI (Wireless Fidelity) coverage, so as to control the state of the fire exit door; when the robot passes through the fire exit door, the fire exit door is controlled to be opened and closed; if a fire disaster or an abnormal condition occurs in a tunnel and an trunk optical fiber or WIFI coverage equipment is damaged, the inspection robot can control the fire exit door to be opened and closed through a second data link Zigbee or other near field communication manners when the inspection robot gets close to the fire exit door of the tunnel, so that a condition that the robot cannot control the fire exit door is avoided; if a power supply system of the field fire exit door is invalid, an electric mortise lock of the fire exit door is invalid, and the robot can still escape from a fireproof zone through a manner of jacking a front-end bumper.
Description
Technical field
The present invention relates to redundancy control system and method that a kind of track machine people passes through fire exit door automatically.
Background technology
City cable tunnel is important public infrastructure, and inside is generally fitted with 110KV or 500KV high-tension cables,
These are all the sustainers of urban electricity supply, and cable is once on fire from explosion, it will cause more serious fire and power outage, consequence
It is extremely serious.
The fire prevention zone isolated by some fire resistant doorsets inside current cable tunnel is constituted, and each fire prevention zone is configured
, once there is dangerous situation, there is fire in the auxiliary facility of fire water-supply and fire extinguishing, inside will produce a large amount of pernicious gases, personnel
Scene is cannot be introduced into, is that intelligent patrol detection equipment has been installed in this cable tunnel having at present, worked instead of personnel part.Current
Crusing robot is opened or forms data chain control mode using directly machinery top more when fire resistant doorsets are passed through, but both modes are all
Certain defect, machinery top evolution formula fire resistant doorsets be usually shut off it is not tight, then by longtime running mechanical fatigue often anti-fire screen
It is bad from effect；
And forms data chain Control on Communication mode, often the stability of a system is poor, once there is fire cable fault, causes to patrol and examine
Robot communication link down, it is impossible to by or flee the scene, make extra economic loss.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that a kind of track machine people passes through the Redundant Control system of fire exit door automatically
System and method, can be covered, incoming tunnel fiber optic Ethernet remote monitoring the invention enables robot by tunnel radio WIFI
Fire-fighting door state, when by fire exit door, carries out the open and close control of fire exit door；If there is fire or exception in tunnel, main
Dry optical fiber or wireless WIFI overlay devices are destroyed, and crusing robot, can be by Article 2 when near tunnel fire exit door
Data link Zigbee or the control fire exit door open and close of other near-field communication modes, it is to avoid robot loses the control to fire exit door
System；If live fire exit door electric power system failure, the electric mortise lock failure of fire exit door, robot still can be insured by front end
Thick stick top evolution formula flees from fire compartment.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of track machine people passes through the redundancy control system of fire exit door automatically, including host computer, tunnel Fire Control Cabinet,
Communication network and fire-fighting door controller, wherein：
The fire-fighting door controller has multiple, is configured as receiving and performing the order that fire exit door switch board is issued, while
With robot communication, the order of robot is received, control the opening and closing of corresponding fire exit door；
The communication network laid in the tunnel Fire Control Cabinet incoming tunnel, with and with tunnel under communication network covering
Any position robot communication, receive robot request, meanwhile, receive fire-fighting door controller information, monitor its shape
State；
The host computer carries out data interaction with tunnel Fire Control Cabinet, realizes fire exit door control management and fire exit door feedback
State recording, alarm indication treatment, and robot communication, and each robot is dispatched, it is related in prior notice robot tunnel
The state of fire exit door；
The communication network, including looped network and Zigbee wireless networks in tunnel, the looped network include being arranged on tunnel
Interior multiple WAPs, optical fiber ring network couples together WAP, forms looped network, and the Zigbee wireless networks are
The network that the Zigbee wireless communications of multiple fire-fighting door controllers are formed；
By two kinds of communications and robot communication, one kind is that WIFI accesses are logical to the tunnel fire exit door switch board
Road, another kind is Zigbee wireless communications, realizes standby redundancy.
The robot is by WIFI incoming tunnel Ethernets, direct tunnel Fire Control Cabinet communication, while by wireless
Turn wired optical fiber solutions to be communicated with host computer.
The fire-fighting door controller is arranged on the fire exit door of tunnel fire proofing subregion two ends installation.
The tunnel Fire Control Cabinet is by field bus management multiple fire-fighting door controller.
The robot is directly logical with host computer or tunnel Fire Control Cabinet by WIFI network incoming tunnel Ethernet
Letter.
The fire exit door uses energization locking formula electric mortise lock, powers off automatic unlocking pattern；Mechanical collision is installed on door simultaneously
Switch, robot clashes into or personnel pat and disconnect electric mortise lock power supply, unlocks fire exit door.
The looped network causes robot by radio receiver, and the optional position in tunnel can be accessed, while logical
Cross router to be connected tunneled network in real time with the network foundation of host computer, make the equipment that wireless WIFI network is accessed in tunnel complete
Portion receives host computer management and running.
Based on the control method of above-mentioned control system, robot preferentially uses WIFI network when needing by fire exit door
The N fire exit doors instruction for opening relevant position is assigned to tunnel fire exit door switch board, tunnel fire exit door switch board is total by scene
Line notifies that N fire-fighting door controllers, N fire-fightings door controller open the shutter door at fire compartment two ends by bus in sequence
Controller, after robot receives fire exit door opening information, robot starts by fire exit door, and robot security is led to after passing through
Know that tunnel fire exit door switch board closes fire exit door, then instruction is assigned by tunnel fire exit door switch board and give fire-fighting door controller, realize
The closing of fire exit door；
If robot cannot control fire exit door and acquisition fire-fighting door state by WIFI, it is near that robot enables Zigbee automatically
Field radio channel bypasses tunnel fire exit door switch board, is directly set up with fire-fighting door controller and communicated, and control shutter opens fire-fighting
Door, obtains fire exit door door opening state, safety fire exit door.
If robot all fails with the two-way communication link of local fire exit door control panel, robot is to will currently perform
Task dispatching level be analyzed, if non-emergent task, robot is analyzed to site environment, if having threat robot
The key element of safety is present, if without hot job and environment in the absence of key element is threatened, robot preserves failure logging；Otherwise from
This fire prevention zone is opened, fire exit door instruction is passed through in execution.
When there is hot job in robot, robot enters non-security mode, closes avoidance radar, is installed on touching fire exit door
Mechanical collision switch, unlock fire exit door.
Beneficial effects of the present invention are：
The present invention can realize that robot freely passes through the fire compartment of electric power tunnel, and it is remote that robot realizes wireless WIFI
Distance controlling detects fire exit door, and the closely Redundant Control of Zigbee wireless control switch fire exit door, it is to avoid tunnel occurs fire
Calamity or after other surprisingly cause WIFI radio channels to disconnect, robot cannot be by fire exit door, it is impossible to complete emergent disaster disposal
And emergent flee from and cause heavy economic losses.
Brief description of the drawings
Fig. 1 is system construction drawing；
Fig. 2 is robot control block diagram.
Fig. 3 is that robot passes through fire exit door Redundant Control scheduling flow block diagram.
Specific embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of track machine people passes through the redundancy control system of fire exit door by host computer automatically, and tunnel Fire Control Cabinet disappears
Anti- door controller, track machine people composition.
The host computer carries out data interaction by optical fiber by router and tunnel Fire Control Cabinet, realizes that fire-fighting is gated
Tubulation is managed and fire exit door feedback states record, alarm indication treatment；Tunnel inspection machine is dispatched by wireless WIFI channel managements
People, can be with the state of related fire exit door in prior notice robot tunnel.
The tunnel Fire Control Cabinet is directly linked into the tunneled network that tunnel has been furnished with by netting twine at the scene, can
With the robot communication of any position under being covered with WIFI in tunnel.Tunnel Fire Control Cabinet is multiple by field bus management
Fire-fighting door controller, reports the failure and state of fire exit door.
The fire-fighting door controller is used for controlling shutter door device, realizes the opening and closing of fire exit door.On the one hand, it can be with
Directly communicated with fire exit door switch board by fieldbus, perform the order that fire exit door switch board is issued, on the other hand, by it
The Zigbee network of itself directly can communicate with track machine people, receive the order of robot, realize the opening and closing behaviour of fire exit door
Make.
The track machine people can control fire exit door by two kinds of communications, and one kind is that WIFI accesses passage,
Another kind is Zigbee wireless communications.
The track machine people directly can be controlled by WIFI incoming tunnel Ethernets with host computer or tunnel fire-fighting
Cabinet communicates.
The track machine people, it is preferential to give tunnel fire exit door switch board using WIFI network when needing by fire exit door
Door open command is assigned, tunnel fire exit door switch board notifies that fire-fighting door controller, control cabinet pass through bus marco by fieldbus
Shutter door device, to realize opening for fire exit door.Zigbee radio channels are the alternate channels of WIFI communications, when WIFI channel interrupts
Afterwards, robot enables Zigbee near fields radio channel and bypasses tunnel fire exit door switch board automatically, is directly built with fire-fighting door controller
Vertical communication, control shutter door device opens fire exit door, obtains fire exit door door opening state, safety fire exit door.
A kind of track machine people passes through the redundancy control method of fire exit door automatically, comprises the following steps：
Step 1：Tunnel Fire Control Cabinet is installed in tunnel；
Step 2：Fire exit door and fire-fighting door controller are installed at tunnel fire proofing subregion two ends；
Step 3：Tunnel fire exit door treatment；
Step 4：The structure of wireless coverage network in tunnel；
Step 5：Robot is patrolled and examined, and the Redundant Control of fire exit door is passed through in realization；
Step 6：Host computer fire exit door control management and state recording.
The step 1 and 2：Tunnel Fire Control Cabinet is installed in tunnel, fire exit door is installed at tunnel fire proofing subregion two ends
And fire-fighting door controller.Tunnel Fire Control Cabinet is by field bus management multiple fire-fighting door controller；Tunnel Fire Control Cabinet
Directly it is linked into the tunneled network that tunnel has been furnished with by netting twine at the scene, it is any under being covered with WIFI in tunnel
The robot communication of position；Track machine people directly can be disappeared by WIFI incoming tunnel Ethernets with host computer or tunnel
Anti- switch board communication.
The step 3, the electric mortise lock practical to fire exit door in tunnel is locked using being powered, and powers off automatic unlocking pattern；
Mechanical impact switch is installed simultaneously, robot clashes into or personnel pat and can disconnect electric mortise lock power supply, unlocks fire exit door on door, it is to avoid
Fire occurs local fire-fighting door controller to be damaged, and personnel or robot cannot occur by situation.
The step 4, builds wireless coverage network in tunnel, and a set of wireless aps, thang-kng are installed every a certain distance
Fine looped network couples together AP, and by radio receiver, the optional position in tunnel can access looped network for robot；Simultaneously
Tunneled network is set up with the network of host computer by router is connected in real time, make the equipment that wireless WIFI network is accessed in tunnel
All receive host computer management and running.
The step 5：Robot track automatic detecting in tunnel, robot is provided with two kinds of wireless communication modules,
One kind is WIFI AM access modules, and another kind is Zigbee wireless communication modules.WIFI module passes through wireless aps incoming tunnel ether
Net can directly access host computer and tunnel Fire Control Cabinet.
Robot is preferential to assign unlatching N to tunnel fire exit door switch board using WIFI network when needing by fire exit door
The instruction of number fire exit door, tunnel fire exit door switch board is by fieldbus notice N fire-fighting door controllers, N fire-fighting door controllers
Open No. 1 and No. 2 opening and closing door controller in sequence by bus, after robot receives fire exit door unlatching OK states, robot
Start by fire exit door, robot security notifies that tunnel fire exit door switch board closes fire exit door after passing through, then by tunnel fire exit door
Switch board assigns instruction and gives fire-fighting door controller, realizes the closing of fire exit door.
Zigbee radio channels are enabled in WIFI channel failures, robot will by certain fire exit door when, but at this moment
Fire exit door and acquisition fire-fighting door state, robot cannot be controlled to enable Zigbee near fields radio channel automatically and bypass tunnel by WIFI
Road fire exit door switch board, directly sets up with fire-fighting door controller and communicates, and control shutter opens fire exit door, obtains fire exit door and opens the door
State, safety fire exit door.
If WIFI passages and Zigbee passages are all after failure, and have the hot job to need by fire exit door, robot is then
Into non-security mode, avoidance radar is closed, top is attempted with slow speed and opens fire exit door by fire compartment.
The step 6：Host computer carries out data interaction by fiber optic communication and tunnel Fire Control Cabinet, realizes that fire-fighting is gated
Tubulation is managed and fire exit door feedback states record, alarm indication treatment；Tunnel inspection machine is dispatched by wireless WIFI channel managements
People, can be with the state of prior notice robot N fire exit doors.
As shown in figure 1, a kind of track machine people passes through the redundancy control system of fire exit door by host computer, tunnel fire-fighting automatically
Switch board, fire-fighting door controller, track machine people composition
Host computer carries out data interaction by optical fiber by router and tunnel Fire Control Cabinet, realizes fire exit door control pipe
Reason and fire exit door feedback states record, alarm indication treatment；Tunnel crusing robot is dispatched by wireless WIFI channel managements, can
With the state of related fire exit door in prior notice robot tunnel.
Tunnel Fire Control Cabinet is directly linked into the tunneled network that tunnel has been furnished with by netting twine at the scene, Ke Yiyu
The robot communication of any position in tunnel under WIFI coverings.Tunnel Fire Control Cabinet is by field bus management multiple fire-fighting
Door controller, reports the failure and state of fire exit door.
Fire-fighting door controller is used for controlling shutter door device, realizes the opening and closing of fire exit door.On the one hand, it can be direct
Communicated with fire exit door switch board by fieldbus, perform the order that fire exit door switch board is issued, on the other hand, by itself
Zigbee network can directly with track machine people communicate, receive the order of robot, realize the opening and closing operations of fire exit door.
Track machine people can control fire exit door by two kinds of communications, and one kind is that WIFI accesses passage, another
It is Zigbee wireless communications to plant.Track machine people by WIFI incoming tunnel Ethernets, can directly with host computer or
Tunnel Fire Control Cabinet communication.Track machine people, it is preferential to give tunnel fire exit door using WIFI network when needing by fire exit door
Switch board assigns door open command, and tunnel fire exit door switch board notifies fire-fighting door controller by fieldbus, and control cabinet is by total
Line traffic control shutter door device, to realize opening for fire exit door.Zigbee radio channels are the alternate channels of WIFI communications, when WIFI passages
After interruption, robot enables Zigbee near fields radio channel and bypasses tunnel fire exit door switch board automatically, directly with fire-fighting gate control
Device sets up communication, and control shutter door device opens fire exit door, obtains fire exit door door opening state, safety fire exit door.
As shown in Fig. 2 this block diagram is illustrated, robot can control local fire-fighting door controller by Fire Control Cabinet,
Can directly control local fire-fighting door controller, the advantage of this control mode is, to fire exit door using binary-channel redundancy control,
Main channel preferentially is used, the status information of all fire exit doors can be in advance known by tunnel Fire Control Cabinet, when in main channel
Have no progeny, robot is needing near the fire exit door that passes through to start by subchannel directly control local fire-fighting door controller
Shutter door device controls fire exit door.
As shown in figure 3, robot passes through fire exit door Redundant Control scheduling flow following steps：
1st, start and pass through fire exit door.
2nd, it is positioned to the fire exit door for passing through：To path analysis, identification needs the fire exit door numbering passed through for robot.
3rd, the control of WIFI links is started：Preferential to start WIFI control links, robot is attempted and fire-fighting by WIFI links
Door local controller sets up communication, and communication healthy robot notifies that the Fire Control Cabinet control local control panel of fire exit door in tunnel is opened
Certain fire exit door；If the attempt to can not be set up with fire exit door local controller and be connected for 3 times, then start Zigbee communication link.
4th, Zigbee communication link is started：After robot enters in the range of zigbee communication distances, by Zigbee passages
The local control panel of fire exit door is directly controlled, fire exit door is opened.Communication link normally then enters enabling control flow；Otherwise attempt 3
Secondary communication link still failure, then into task grade and field environmental condition analysis process, decide whether that fire-fighting must be passed through
Door.
5th, enabling control flow：After communication channel (WIFI or Zigbee) is successfully established, robot notifies that enabling control refers to
Order, and fire exit door door opening state is checked, after opening the door in place, robot is performed and passes through motion.
6th, task, living environment analysis and evaluation：Robot all loses with the two-way communication link of local fire exit door control panel
After effect, robot is analyzed to the task dispatching currently to be performed level, and if non-emergent task, robot enters to site environment
Row analysis, if there is the key element (such as fire, water logging) for threatening robot security to exist, if without hot job and environment is good
Good, robot will preserve failure logging, exit flow；Otherwise enter emergency mode.
7th, emergent management pattern：There is robot task in robot, or this fire prevention zone is dangerous, and robot must come out
Fire exit door instruction is passed through in this fire prevention zone, execution；Robot then enters non-security mode, closes avoidance radar, with slow speed
Degree attempts top and opens fire exit door by fire compartment；Robot top switchs to the mechanical collision of installation on fire exit door, no matter fire exit door
Whether there is electricity, all cut off the electricity supply to electric mortise lock, unlock fire exit door, it is to avoid fire local fire-fighting door controller damage, machine when occurring
Device people cannot occur by situation.
8th, by control of being closed the door after fire exit door：After robot successfully passes through fire exit door, notify that this fire exit door is closed, exit control
Flow processed.
9th, failure logging is preserved：After robot detects communication failure, failure logging is preserved, exit control flow.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (9)
1. a kind of track machine people passes through the redundancy control system of fire exit door automatically, it is characterized in that：Including host computer, tunnel fire-fighting
Switch board, communication network and fire-fighting door controller, wherein：
The fire-fighting door controller has multiple, is configured as receiving and performing the order that fire exit door switch board is issued, while and machine
Device people communicates, and receives the order of robot, controls the opening and closing of corresponding fire exit door；
The communication network laid in the tunnel Fire Control Cabinet incoming tunnel, with and with appointing under communication network covering in tunnel
The robot communication of what position, receives the request of robot, meanwhile, the information of fire-fighting door controller is received, monitor its state；
The host computer carries out data interaction with tunnel Fire Control Cabinet, realizes fire exit door control management and fire exit door feedback states
Record, alarm indication treatment, and robot communication, and each robot is dispatched, related fire-fighting in prior notice robot tunnel
The state of door；
The communication network, including looped network and Zigbee wireless networks in tunnel, the looped network include being arranged in tunnel
Multiple WAPs, optical fiber ring network couples together WAP, forms looped network, and the Zigbee wireless networks are multiple
The network that the Zigbee wireless communications of fire-fighting door controller are formed；
By two kinds of communications and robot communication, one kind is that WIFI accesses passage to the tunnel fire exit door switch board,
Another kind is Zigbee wireless communications, realizes standby redundancy.
2. a kind of track machine people as claimed in claim 1 passes through the redundancy control system of fire exit door automatically, it is characterized in that：Institute
Robot is stated by WIFI incoming tunnel Ethernets, direct tunnel Fire Control Cabinet communication, while by wirelessly turning wired optical fiber
Mode communicates with host computer.
3. a kind of track machine people as claimed in claim 1 passes through the redundancy control system of fire exit door automatically, it is characterized in that：Institute
Fire-fighting door controller is stated to be arranged on the fire exit door of tunnel fire proofing subregion two ends installation.
4. a kind of track machine people as claimed in claim 1 passes through the redundancy control system of fire exit door automatically, it is characterized in that：Institute
Tunnel Fire Control Cabinet is stated by field bus management multiple fire-fighting door controller.
5. a kind of track machine people as claimed in claim 3 passes through the redundancy control system of fire exit door automatically, it is characterized in that：Institute
Fire exit door is stated using energization locking formula electric mortise lock, automatic unlocking pattern is powered off；Mechanical impact switch, robot are installed on door simultaneously
Clash into or personnel pat and disconnect electric mortise lock power supply, unlock fire exit door.
6. a kind of track machine people as claimed in claim 1 passes through the redundancy control system of fire exit door automatically, it is characterized in that：Institute
Looped network is stated so that robot is by radio receiver, the optional position in tunnel can be accessed, while will by router
Tunneled network is set up with the network of host computer and is connected in real time, the equipment that wireless WIFI network is accessed in tunnel is all received upper
Machine management and running.
7. the control method of the control system being based on as any one of claim 1-6, it is characterized in that：Robot is needing
It is preferential to be referred to the N fire exit doors that tunnel fire exit door switch board assigns unlatching relevant position using WIFI network during by fire exit door
Order, tunnel fire exit door switch board notifies that N fire-fighting door controllers, N fire-fighting door controllers are pressed by bus by fieldbus
The opening and closing door controller at fire compartment two ends is opened according to order, after robot receives fire exit door opening information, robot is opened
Dynamic to pass through fire exit door, robot security notifies that tunnel fire exit door switch board closes fire exit door after passing through, then is gated by tunnel fire-fighting
Cabinet processed assigns instruction and gives fire-fighting door controller, realizes the closing of fire exit door；
If robot cannot by WIFI control fire exit door and obtain fire-fighting door state, robot enable automatically Zigbee near fields without
Line passage bypasses tunnel fire exit door switch board, is directly set up with fire-fighting door controller and communicated, and control shutter opens fire exit door, obtains
Take fire exit door door opening state, safety fire exit door.
8. control method as claimed in claim 7, it is characterized in that：If robot leads to the two-way of local fire exit door control panel
Letter link all fails, and robot is analyzed to the task dispatching currently to be performed level, if non-emergent task, robot pair
Site environment is analyzed, if with the presence of the key element for threatening robot security, if do not existed without hot job and environment
Key element is threatened, robot preserves failure logging；This fire prevention zone is otherwise left, fire exit door instruction is passed through in execution.
9. control method as claimed in claim 8, it is characterized in that：When there is hot job in robot, robot enters non-security
Pattern, closes avoidance radar, and the mechanical collision switch installed on touching fire exit door unlocks fire exit door.
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| CN108286457A (en) * | 2017-12-04 | 2018-07-17 | 山东康威通信技术股份有限公司 | Electric tunnel inspection robot walking safety guarantee dispatching method and system |
| CN109636963A (en) * | 2018-11-27 | 2019-04-16 | 中铁第四勘察设计院集团有限公司 | A kind of chain guard system suitable for tunnel protection door |
| CN110223422A (en) * | 2019-05-30 | 2019-09-10 | 日立楼宇技术（广州）有限公司 | Method, apparatus, robot and the system of the current gate inhibition of robot |
| CN110293548A (en) * | 2018-03-21 | 2019-10-01 | 中车株洲电力机车研究所有限公司 | A kind of locomotive inspection and repair intelligent robot passes through the barrier-avoiding method and control system of kissing gate |
| CN110908380A (en) * | 2019-11-29 | 2020-03-24 | 国网智能科技股份有限公司 | Autonomous inspection method and system for cable tunnel robot |
| CN111951533A (en) * | 2020-07-03 | 2020-11-17 | 北京中安安博文化科技有限公司 | Wisdom emergency system |
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