CN107170252B - Seabed mine deep flexible transport command and control system and control method - Google Patents
Seabed mine deep flexible transport command and control system and control method Download PDFInfo
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- CN107170252B CN107170252B CN201710608945.5A CN201710608945A CN107170252B CN 107170252 B CN107170252 B CN 107170252B CN 201710608945 A CN201710608945 A CN 201710608945A CN 107170252 B CN107170252 B CN 107170252B
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- vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
Abstract
The invention discloses a kind of seabed mine deep flexible transport command and control system and control methods.System includes server, further includes several base stations that underground is arranged in, and each base station, which passes through communication connection component respectively and is connected to the server, to be connect；It further include several signal lamps that underground is set；It further include the onboard control console being mounted on haulage vehicle；The signal lamp and onboard control console pass through base station and server communicates；The server receives the driving multidate information of onboard control console, control instruction is obtained after data processing and logic decision, and control instruction is sent to onboard control console and signal lamp, commands underground vehicle by signal lamp and completes transport.It easily meets and discusses in multi-level transport and three-dimensional transportational process the invention avoids haulage vehicle and waits interference problems, improve conevying efficiency, reduce operating cost.
Description
Technical field
The present invention relates to a kind of seabed mine deep flexible transport command and control systems, further relate to a kind of seabed mine deep
Flexible transport command and control method.
Background technique
In recent years, as seabed mine locating, the gradually mature and seabed superficial part mine reserve of production technique gradually subtract
Few, seabed mine deep mining is imperative.Seabed mine deep mining generally based on trackless equipment, enclose by production and transport at present
Carry out around deep drop shaft.In the production and transport of deep, trackless vehicle is largely assembled in main tunnel, because of haulage vehicle because figure is excessive
It is only capable of filling mine station ,-435 dress mine stations ,-480 dress mine stations ,-525 dress mine stations ,-570 dress mine stations ,-626 dress mine stations ,-678-405
Dress mine station, -243 discharge stations are given another the right of way, and can not be given another the right of way in main ramp and -537 discharge stations, therefore after production and transport is carried out, warp
It haulage vehicle can often occur during transportation meets and discusses with other vehicles to meet and discuss between phenomenon or even haulage vehicle, sternly
Delay production and transport again, and safety accident easily occurs.It meeting and discussing when to avoid giving another the right of way, haulage vehicle only unidirectional row can only be limited
It sails, greatly reduces production efficiency, increase operating cost.
On the other hand, in the deep mining operation of seabed in order to improve conevying efficiency, need using haulage vehicle by ore from
The dress mine station of multiple production areas is transported to -243 discharge stations and -537 discharge stations, is carried out to realize from multiple vertical shafts to earth's surface
Ore is promoted.This requires haulage vehicle can carry out hauling operation in different exploitation levels simultaneously and non-interference carry out
The three-dimensional transport transported from multiple dress mine stations along different directions to same discharge station is realized in multi-level transport.Do not have in the prior art
There are relevant measure and means that can ensure that haulage vehicle will not interfere in multi-level transport and three-dimensional transportational process, nothing
Method solves the safety problem of transport.
Again, because of working environment at coal mines complexity, during trackless vehicle is run, Yi Fasheng cable extension touches phenomenon.The prior art
In, downhole communication mainly has optical fiber transmission and CAN bus to transmit two ways.Although the former is not limited by transmission range, by
The factors such as extension touches rear Maintenance Difficulty, barrier point is not easy to find out, welding environment difference restrict, the economy and practical for the flexible transport of deep-sea
Property is poor.Though the latter's maintenance is easy, because the transmission range of required realization is too long, there are delays in 2 to 3 minutes, can not be by depth
Portion's data are timely and effectively fed back to server, it is difficult to are applied in the control that directs traffic in real time, Yi Yinfa bigger safe thing
Therefore.
Summary of the invention
The invention proposes a kind of seabed mine deep flexible transport command and control system and control method, the purpose is to:
(1) it avoids haulage vehicle from meeting and discussing in multi-level transport and three-dimensional transportational process and waits interference problems；(2) underground commander is solved
Signal transmission delay height and problem difficult in maintenance in the process.
Technical solution of the present invention is as follows:
Seabed mine deep flexible transport command and control system, including server further include several bases that underground is arranged in
It stands, each base station, which passes through communication connection component respectively and is connected to the server, to be connect；
It further include several signal lamps that underground is set；
It further include the onboard control console being mounted on haulage vehicle；
The signal lamp and onboard control console pass through base station and server communicates；
The server receives the driving multidate information of onboard control console, is controlled after data processing and logic decision
System instruction, and control instruction is sent to onboard control console and signal lamp, it commands underground vehicle by signal lamp and completes transport.
Further improvement as this system: the communication connection component includes transmission module and Data Integration module, institute
It states Data Integration module to be connected with server, transmission module is connected by optical fiber with Data Integration module, a part of base station
Be connected by CAN bus with Data Integration module with realize with the communication of server, another part base station by CAN bus with
Transmission module is connected to realize the communication with server；
The CAN bus data and fiber data that receive are carried out Dynamic Integration by the Data Integration module, are then transmitted
To server.
Further improvement as this system: the onboard control console has display module and control module.
The present invention also provides a kind of controlling parties based on the seabed mine deep flexible transport command and control system
Method: being built with road dynamic data base in the server, the road dynamic data base includes haulage vehicle location information, fortune
Defeated car status information, signal lamp state information and vehicle group information；
Steps are as follows for control method:
(A) it needs vehicle to be started to pass through onboard control console and issues request of driving, and the area that request is run to server
Between be committed to server；
(B) server inquiry roads dynamic data base judges that the signal lamp in requested section i.e. prerun section is
It is no to be set as allowing prevailing state, if can be set as current, the signal lamp for requesting vehicle front is set as to allow prevailing state,
Otherwise vehicle notifies onboard control console refusal to pass through by signal lamp instruction traveling；
(C) if onboard control console receives the current notice of refusal, form a team to request to server sending, server according to
Solicited message of forming a team update road dynamic database information, and go to step (B) re-start judgement；
Judge whether the signal lamp in requested section can be set as allowing the judgement of prevailing state described in step (B)
Method are as follows:
If the other vehicles endlessly run in vehicle prerun section, judgement can be by the signal lamp in prerun section
It is set as allowing prevailing state；
If having the other vehicles run in vehicle prerun section, and this has run vehicle heading and has currently asked
The direction for asking vehicle to be travelled is identical, and onboard control console proposes and forms a team to request, then determining can will be in prerun section
Signal lamp is set as allowing prevailing state, that is, allows to form a team；
If having the other vehicles run in vehicle prerun section, and this has run vehicle heading and has currently asked
It asks vehicle to be travelled contrary, then determines the signal lamp in prerun section can not be set as allowing prevailing state, refuse
It is current absolutely.
Compared with the existing technology, the present invention has the positive effect that:
(1) present invention acquires vehicle and signal information in real time, passes through logic decision and controls signal lamp state, realizes underground
The transportation command of vehicle avoids the haulage vehicle interference such as easily meet and discuss in multi-level transport and three-dimensional transportational process and asks
Topic, and conevying efficiency is improved, reduce operating cost；(2) present invention mutually ties two kinds of communication modes of CAN bus and optical fiber
It closes, provides short range transmission using CAN bus for base station, and be exactly easy to appear cable in this section and hang the section touched, from
And solve the problems, such as difficult in maintenance, it then recycles optical fiber to carry out conversion with transmission module and connect farther away base station, utilizes
Optical fiber solves the problems, such as to postpone in remote transmission process high, finally carries out all data by Data Integration module same
Step, thus solve the problems, such as it is difficult in maintenance, also solve the problems, such as to transmit at a distance in postpone high, and ensure final number
According to seamless connection, ensured whole system in command process without interrupt, non-delay, failure rate is low；(3) present invention realizes
The automatic command function of traffic not only ensure that the priority pass of main haulage vehicle, but also can provide to other vehicle and pedestrians
Evacuation instruction, it is ensured that traffic safety；(4) present invention introduces bucket-brigade fashion after first request driving is rejected, thus into one
Step improves conevying efficiency and road utilization rate.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Specific embodiment
The technical solution that the invention will now be described in detail with reference to the accompanying drawings:
Such as Fig. 1, seabed mine deep flexible transport command and control system, can only unidirectionally be transported for solving underground,
Inefficiency, and use three-dimensional transport and the problem of transport is then easily interfered at many levels.
Unidirectional Transportation Model refers to that all main haulage vehicles are only capable of one fleet of composition and carry out ore, useless to direction
Stone transport, to guarantee that main haulage vehicle does not meet in underworkings, which conevying efficiency is extremely low, and being unable to meet production needs
It wants.
Three-dimensional Transportation Model refers to and needs to form main haulage vehicle two groups or more fleet, fills mine stations for -480
Or -525 Ore Transportation in dress mine station to -537 discharge station while, -570 can will fill mine stations, -626 dress mine stations, -678 dresses
The ore at mine station is also transported to -537 discharge stations.
Multi-level Transportation Model, refer to need using main haulage vehicle form multiple groups fleet do not meet mutually according to production need
Ask will -300 fill mine stations, -375 dress mine stations, -405 dress mine stations, -435 dress mine stations, -480 dress mine stations, -525 dress mine stations, -570 dress
Mine station, -626 dress mine stations, the ore at -678 dress mine stations and barren rock are transported to -537 discharge stations and -243 discharge stations, thus by perpendicular
Well is promoted to the dressing plant Xin Li 8000t/d and Western Hills dressing plant and carries out flotation.
Therefore, be the effective means improved efficiency using solid transport and multi-level transport, present in main problem
It is that vehicle easily interferes collision.To solve the above problems, the present embodiment designs the control system as follows:
System includes server, further includes several center base stations that underground is arranged in, and each base station passes through communication connection respectively
Component, which is connected to the server, to be connect；Center base station using full-embedded type develop, power on can independent operating, installation, maintenance side
Formula is convenient, does not rely on network and server system；
It further include several signal lamps that underground is set；Signal lamp uses ZigBee technology, is mounted on main ramp turn
And branch heading mouthful changes respectively for up direction, down direction, branch heading mouthful direction according to the instruction of server
State shows dereliction haulage vehicle operation around if: signal lamp is green, and pedestrian and other vehicles can normal operations；Signal
Lamp becomes green flashing, then shows that the signal lamp corresponding direction has main haulage vehicle that will reach, pedestrian, other vehicles need to be along green
Direction is dodged to avoid nearby；Front signal light becomes red, then shows have main haulage vehicle that will reach, at this time pedestrian, other vehicles
Need stop operation, and are avoided in lane of giving another the right of way.
Haulage vehicle refers mainly to main haulage vehicle, mostly uses the figures mistake such as 30 tons of trucies of Volvo and imperial heavy truck difficult to understand
Greatly, the truck that can not be given another the right of way in tunnel.
System further includes the onboard control console being mounted on haulage vehicle；The onboard control console uses and grinds magnificent vehicle-mounted computer
TREK-743 has display module and control module, is equipped with vehicle running control software, uses ZigBee technology and center base
It stands connection, to realize the data transmission between server and onboard control console, makes driver can be by display module and control module
Operation, observation vehicle running control software, reasonably adjust route plan；Operation need to be arranged in driver on onboard control console before driving
Section, finally the vehicle in identical traffic coverage is automatically composed fleet and is transported, and signal lamp is changed into green immediately ahead of the fleet
Chromatic flicker, side signal lamp change into red, and fleet is transported along the signal lamp of green flashing, when all vehicles of the fleet arrive
Up to traffic coverage terminal, traffic lights automatic turning, fleet's trailer becomes first bus and continues to carry out ore along the signal lamp of green flashing
Transport.
Meanwhile driver can observe the operation line of other vehicles by vehicle running control software on onboard control console
Road, real time position, operating status, mode of forming a team, to select more reasonable transit route.
The signal lamp and onboard control console pass through base station and server communicates；
The server receives the driving multidate information of onboard control console, including information of vehicles and location information, by number
According to control instruction is obtained after processing and logic decision, and control instruction is sent to onboard control console and signal lamp, makes underground vehicle
By signal lamp commander complete transport.
The communication connection component includes transmission module and Data Integration module, the Data Integration module and server phase
Connection, transmission module are connected by optical fiber with Data Integration module, and superficial part base station passes through CAN bus and Data Integration module phase
Connection to realize the communication with server, deep base station is connected by CAN bus with transmission module, then by optical fiber realization and
The communication of server；
The Data Integration module uses multisystem mixing technology, transmission data, biography to superficial part center base station CAN bus
The optical fiber transmission data that defeated module is converted carry out vehicle dynamics data integration, are then transmit to server and carry out data processing,
After treatment carries out classification transmission to server data, eliminates the traffic guidance time difference caused by transmission rate difference, do
Become lamp seamless connection to region-wide signal lamp.
It is all made of new waterproof seal nipple in track laying and installation, reduces the moisture in air to electronics
Corrode caused by element, reduces electronic component repair rate.
Road dynamic data base is built in the server, the road dynamic data base includes haulage vehicle position letter
Breath, haulage vehicle status information, signal lamp state information and vehicle group information；
The specific rate-determining steps of this system are as follows:
(A) it needs vehicle to be started to pass through onboard control console and issues request of driving, and the area that request is run to server
Between be committed to server；
(B) server inquiry roads dynamic data base judges that the signal lamp in requested section i.e. prerun section is
It is no to be set as allowing prevailing state, if can be set as current, the signal lamp for requesting vehicle front is set as to allow prevailing state,
Otherwise vehicle notifies onboard control console refusal to pass through by signal lamp instruction traveling；
(C) if onboard control console receives the current notice of refusal, form a team to request to server sending, server according to
Solicited message of forming a team update road dynamic database information, and go to step (B) re-start judgement；
Judge whether the signal lamp in requested section can be set as allowing the judgement of prevailing state described in step (B)
Method are as follows:
If the other vehicles endlessly run in vehicle prerun section, judgement can be by the signal lamp in prerun section
It is set as allowing prevailing state；
If having the other vehicles run in vehicle prerun section, and this has run vehicle heading and has currently asked
The direction for asking vehicle to be travelled is identical, and onboard control console proposes and forms a team to request, then determining can will be in prerun section
Signal lamp is set as allowing prevailing state, that is, allows to form a team；
If having the other vehicles run in vehicle prerun section, and this has run vehicle heading and has currently asked
It asks vehicle to be travelled contrary, then determines the signal lamp in prerun section can not be set as allowing prevailing state, refuse
It is current absolutely.
The present invention changes seabed mine deep Transportation Model, and changing into the underground unidirectional Transportation Model of main haulage vehicle can
Ore, the multi-level Transportation Model that barren rock transports and three-dimensional Transportation Model are carried out to -537 discharge stations and -243 discharge stations simultaneously,
And vehicle interference problem is avoided, and conevying efficiency is improved, operating cost is reduced, improves safety, it is more humanized, more
It is bonded production requirement.
Claims (3)
1. a kind of seabed mine deep flexible transport command and control method, it is characterised in that: transported based on seabed mine deep trackless
Defeated command and control system, the control system include server (101), further include several base stations (301) that underground is arranged in, each base
Stand (301) be connected with the server (101) by communication connection component respectively；
It further include several signal lamps (401) that underground is set；
It further include the onboard control console (501) being mounted on haulage vehicle；
The signal lamp (401) and onboard control console (501) are communicated by base station (301) and server (101)；
The server (101) receives the driving multidate information of onboard control console (501), after data processing and logic decision
Control instruction is obtained, and control instruction is sent to onboard control console (501) and signal lamp (401), makes underground vehicle by signal
Lamp (401) commander completes transport；
Road dynamic data base is built in the server (101), the road dynamic data base includes haulage vehicle position
Information, haulage vehicle status information, signal lamp (401) status information and vehicle group information；
Steps are as follows for control method:
(A) it needs vehicle to be started to issue request of driving to server (101) by onboard control console (501), and request is transported
Capable section is committed to server (101)；
(B) server (101) inquiry roads dynamic data base judges the signal lamp in requested section i.e. prerun section
(401) whether can be set as that prevailing state is allowed to be set as the signal lamp (401) for requesting vehicle front if can be set as current
Allow prevailing state, otherwise vehicle notifies onboard control console (501) refusal to pass through by signal lamp (401) instruction traveling；
(C) it if onboard control console (501) receives the current notice of refusal, is issued to server (101) and forms a team to request, serviced
Device (101) according to form a team solicited message update road dynamic database information, and go to step (B) re-start judgement；
Judge whether the signal lamp (401) in requested section can be set as allowing sentencing for prevailing state described in step (B)
Disconnected method are as follows:
If the other vehicles endlessly run in vehicle prerun section, judgement can be by the signal lamp in prerun section
(401) it is set as allowing prevailing state；
If having the other vehicles run in vehicle prerun section, and this has run vehicle heading and current request vehicle
The direction to be travelled is identical, and onboard control console (501) proposes and forms a team to request, then determining can will be in prerun section
Signal lamp (401) is set as allowing prevailing state, that is, allows to form a team；
If having the other vehicles run in vehicle prerun section, and this has run vehicle heading and current request vehicle
It to be travelled contrary, then determine the signal lamp (401) in prerun section can not be set as allowing prevailing state, refuse
It is current absolutely.
2. seabed mine deep flexible transport command and control method as described in claim 1, it is characterised in that: the communication connects
Relay part includes transmission module (202) and Data Integration module (201), the Data Integration module (201) and server (101)
It is connected, transmission module (202) is connected by optical fiber (701) with Data Integration module (201), and a part of base station (301) is logical
CAN bus (601) is crossed to be connected with Data Integration module (201) to realize the communication with server (101), another part base station
(301) it is connected to realize the communication with server (101) with transmission module (202) by CAN bus (601)；
The Data Integration module (201) carries out the CAN bus received (601) data and optical fiber (701) data dynamically whole
It closes, is then transmit to server (101).
3. seabed mine deep flexible transport command and control method as described in claim 1, it is characterised in that: the vehicle-mounted control
Platform (501) processed has display module and control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710608945.5A CN107170252B (en) | 2017-07-25 | 2017-07-25 | Seabed mine deep flexible transport command and control system and control method |
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| CN201710608945.5A CN107170252B (en) | 2017-07-25 | 2017-07-25 | Seabed mine deep flexible transport command and control system and control method |
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| Publication Number | Publication Date |
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| CN107170252A CN107170252A (en) | 2017-09-15 |
| CN107170252B true CN107170252B (en) | 2019-07-05 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110428607A (en) * | 2019-08-20 | 2019-11-08 | 上海梅山工业民用工程设计研究院有限公司 | Steel plant's intelligent road network control system and control method based on ZigBee communication network |
| CN112687114A (en) * | 2021-01-04 | 2021-04-20 | 安徽金安矿业有限公司 | Mine slope ramp vehicle management and control device and method |
| CN113240921A (en) * | 2021-04-06 | 2021-08-10 | 恒大新能源汽车投资控股集团有限公司 | Traffic sign control system and method |
| CN115294756B (en) * | 2022-09-29 | 2023-01-17 | 长沙迪迈数码科技股份有限公司 | Underground bidirectional single-lane vehicle meeting avoidance scheduling method, memory and processor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101696638B (en) * | 2009-10-09 | 2012-05-23 | 中国矿业大学 | Mining automatic signal blocking system for transportation region and control method |
| CN101833866A (en) * | 2010-04-22 | 2010-09-15 | 安徽鼎信科技发展有限公司 | Mine slope ramp traffic signal monitoring system based on radio frequency identification technology |
| CN102867422B (en) * | 2012-09-13 | 2014-08-13 | 哈尔滨工业大学 | Vehicle ad hoc network-based real-time single-point intersection signal lamp control method |
| US20150310737A1 (en) * | 2014-04-09 | 2015-10-29 | Haws Corporation | Traffic control system and method of use |
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