CN111045320B - Distributed redundancy control method based on coal mine underground multi-system fusion linkage control relation configuration - Google Patents
Distributed redundancy control method based on coal mine underground multi-system fusion linkage control relation configuration Download PDFInfo
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Abstract
The invention discloses a distributed redundancy control method based on coal mine underground multi-system fusion linkage control relation configuration, which adopts a data exchange format JSON to describe and fuse linkage configuration information; in the distributed redundancy control method, a plurality of independent or virtual gateways are distributed underground and store the fusion linkage configuration information; the underground gateways can form one group or a plurality of groups of independent control areas, one master control gateway in each group is decided for fusion control, and the other gateways are prepared to form a distributed redundancy control strategy; the fusion linkage configuration logic method effectively organizes and associates all service sensing nodes, actuating mechanisms, alarm devices, personnel positions, stress broadcasts and the like together, and solves the problem of fusion linkage of multiple underground systems. According to the invention, a plurality of independent or virtual gateways are distributed underground, and the gateways are mutually backed up to form a distributed redundancy control strategy, so that the problem of failure of the whole mine or regional fusion emergency linkage is solved.
Description
Technical Field
The invention relates to a multi-system linkage control method, in particular to a distributed redundancy control method based on coal mine underground multi-system fusion linkage control relation configuration.
Background
In 2016, the technical scheme of upgrading and transforming a coal mine safety monitoring system, issued by the national coal mine safety supervision department scientific and technical equipment department, provides the functions of multi-system fusion and emergency linkage control, requires promotion of multi-element fusion and information sharing of safety monitoring, improves the coal mine safety prediction early warning level, and solves the problems of cost, management, maintenance, safety, data sharing and the like caused by mutual coexistence and independence among underground systems. 2 of these requirements are as follows:
1) Support for multi-network and multi-system fusion
The underground wired and wireless transmission network, the monitoring and the GIS technology are organically integrated.
The fusion of multiple systems can be either in a surface or downhole manner. And the newly installed safety monitoring system is encouraged to adopt a downhole fusion mode. System that must be integrated on a ground-based unified platform: environmental monitoring, personnel positioning, emergency broadcasting, and the like, and a power supply monitoring system is also integrated. Other systems that can consider fusion: video monitoring, wireless communication, device monitoring, vehicle monitoring, and the like.
2) Emergency linkage
Under the emergency conditions of gas overrun, power failure and the like, which require people to be removed immediately, the emergency linkage with systems for emergency broadcasting, communication, personnel positioning and the like can be realized automatically.
After the scheme is released, many manufacturers mainly provide 2 system fusion methods in a newly-upgraded safety monitoring system, one is to develop a ground computer software platform, the software platform is usually realized in monitoring system software, a third-party fusion protocol is formulated to associate personnel positioning system data and an emergency broadcasting system, fusion and linkage are realized by sending an instruction on the ground, and the defects are that the execution period is long, and the execution command cannot be guaranteed when a main network or a monitoring host fails. The other is to develop a coal mine underground fusion substation or 'one network and one station', and fusion is carried out on substation interfaces and communication links, so that sensing equipment of different types and interfaces are uniformly accessed into the fusion substation and then are communicated with respective monitoring hosts through an Ethernet.
Reference documents:
wang Qifeng. Coal mine safety monitoring multi-system downhole fusion method [ J ] industrial and mining automation, 2017, 43 (2): 7-10.
Wang Congxiao. Upgrading and reconstruction of coal mine safety monitoring system and key technology research [ J ]. Industrial and mining automation, 2017, 43 (2): 1-6.
He Yaoyi, wang Haibo. Fusible coal mine monitoring system research based on internet of things [ J ] industrial and mining automation, 2019, 45 (8): 13-18.
Disclosure of Invention
The invention provides a distributed redundancy control method based on coal mine underground multi-system fusion linkage control relationship configuration, the method adopts a fusion linkage relationship generated by self-descriptive language, has complex nested operation rules of arithmetic, logic, time delay and the like, can perform more complex multi-level logic operation, is easy to read and expand, and powerfully supports the establishment of various underground complex fusion linkage control models; by means of the underground fusion linkage distributed redundancy control strategy, the problem that the whole mine or regional fusion emergency linkage fails after ground multi-system fusion host platform or main communication faults and underground independent fusion control gateway or substation faults is solved.
Describing by adopting a data exchange format JSON, fusing linkage configuration information: the model array comprises a logic array and a target array; each element of the logic array is an operation object, the operation object comprises 3 elements of a point operator, delay time and operation operator, the elements are connected in front and back to form a mathematical formula, and the operation object has 3 types: the system comprises a real measuring point operator, a constant item and a nested operator, wherein the nested operator is equivalent to a bracket in an arithmetic and can comprise the measuring point operator, the constant operator and the nested operator; the operator is a second-order operator, the operator in the 2 nd operation object is used, namely the operator of the first operation object is ignored in the whole array;
output = P1> (P21 + P22+ P23) | P3 (1)
The result of the previous measuring point is greater than or equal to the result of the current measuring point; the result of the previous measuring point is added with the result of the current measuring point; the result of the previous measuring point is logical or the result of the measuring point; p3, detecting a result, and participating in formula operation for n seconds; the y result controls the target output, and the output form comprises the name of the device where the target is located, the IP network address and port number of the device where the target is located, the target number, the name of the control protocol/the name of the voice file; p1 in the formula (1) is a constant operator; p2 is a nested operator, an operator ">", and comprises P21, P22 and P23; p22, P23 logical or operator "+"; p1 and P2 have no time delay; p3 is a measuring point operator, the operator is logical OR, and the delay time is n seconds; a plurality of independent or virtual gateways are distributed underground and store part or all of the fusion linkage configuration information; the underground gateways can form one group or a plurality of groups of independent control areas, one master control gateway in each group is decided to carry out fusion control, and the other gateways are prepared to form a distributed redundancy control strategy.
Furthermore, the measuring point operator comprises an ID data source attribute, an action operator and a value comparison value;
the ID data source attributes comprise network IP addresses of substations where the measuring points are located, network port numbers of the substations where the measuring points are located, sensor addresses of the measuring points, multi-parameter addresses of the measuring points and measuring point types, and the measuring point types comprise analog quantities and switching quantities; the internal calculation result of the measuring point operator is placed in the formula (1) for hierarchical calculation;
the action operator comprises a simulation measurement point value which is more than or equal to analog, a simulation measurement point value which is more than analog, an equal measurement point value, a switch measurement point value negation, a simulation measurement point value which is added with analog, a simulation measurement point value which is subtracted with analog, a simulation measurement point value which is multiplied with analog, and a simulation measurement point value which is divided by analog; analog is an analog quantity comparison value, and switch is a switching quantity comparison value; and the measuring point operator obtains a measuring point value and an analog quantity comparison value according to the data source attribute and calculates to obtain an internal result.
Further, the gateway state includes a master control state, a ready state and a standby state, corresponding to 3 timeout periods T1, T2 and T3;
t1 can be set to m seconds and is used for sending a decision message with decision information of the master control to the outside at regular time;
t2 is equal to K1 times T1, and when the system is in the ready state, the system enters the master control state for T2 time;
t3 is equal to K2 times T1, and when the standby state is achieved, the master control state is achieved after T3 time is continued;
the switching from the master state to the standby state is immediate and the switching from the standby state to the ready state is immediate.
Furthermore, T2 is equal to 3 times of T1, and when the mobile terminal is in the ready state, the mobile terminal enters the master control state for T2 time; and T3 is equal to 6 times of T1, and the master control state is entered for T3 time when the standby state is in the standby state.
Further, the handover procedure is as follows:
(1) Receiving and analyzing a JSON configuration file issued by a ground host;
(2) Counting the number of source measuring points and the number of control targets under the local gateway and the group number of the local gateway according to the analysis result;
(3) Initializing the gateway to be in a ready state, and entering a master control state after the ready state lasts for T2 seconds;
(4) The gateway receives decision messages of other gateways, abandons non-same group messages, and compares the same group message information with the number of own source measuring points, the number of control targets and the Ethernet MAC address in sequence; the comparison rule is: if the number of the control targets is the same, the Ethernet MAC addresses are compared, and the MAC address is set to be in the standby gateway state.
(5) And when the gateway is judged to be the standby gateway, immediately entering a standby state and stopping the timed sending of the decision message.
(6) If the gateway is judged to be not the standby gateway and not in the master control state through the comparison rule (4), the gateway is set to be in the ready state and multicast and sends the decision message of the gateway to the outside, and after other gateways receive the decision message and compare the decision message, the message sending is stopped when the decision message is higher than the decision information of the gateway, and the gateway enters the standby gateway state;
(7) And after the gateway enters the standby state, if the network is silent, no gateway decision message is sent, and after the network is maintained for T3 seconds, the gateway enters the master control state.
The invention provides an underground coal mine multi-system fusion linkage intelligent gateway which is divided into an independent gateway and a virtual gateway, and effectively organizes and associates various service sensing nodes, an actuating mechanism, an alarm device, personnel/vehicle positions, a stress broadcast and the like together according to configuration information, so that the difference of various service subsystem equipment is shielded by an actual or virtual gateway, and the problem of underground multi-system fusion linkage is solved.
The intelligent gateway comprises an independent gateway and a virtual gateway, fuses linkage configuration information according to the method in claim 1, is connected with each measuring point operator, and comprises a service sensing node, an execution mechanism, an alarm device, personnel/vehicle positions and a stress broadcast.
Furthermore, the independent gateway is used for fusing linkage and managing and controlling bus type independent service substations; comprises an electric Ethernet port, an optical fiber interface and a multi-path RS485 field bus interface, in particular to
(1) Polling the substation according to a bus serial link protocol, and forwarding data of a sensor acquired by the substation to different service hosts on the ground through Ethernet according to a system number on a link;
(2) The convergence safety monitoring host sends convergence linkage configuration information to the independent gateway;
(3) The independent gateway analyzes the fusion linkage configuration information to obtain a data source, a control object and an operation rule of the data source and the control object;
(4) The independent gateway intercepts a required local data source from a subordinate level and acquires a remote data source;
(5) The independent gateway carries out linkage rule operation;
(6) And outputting the operation result to a control object according to the operation result to perform linkage control.
Furthermore, the virtual gateway exists in the fusion substation, and realizes the underground fusion linkage:
(1) The convergence safety monitoring host machine sends convergence linkage configuration information to the virtual gateway;
(2) The gateway analyzes the fusion linkage configuration information to obtain a data source, a control object and an operation rule of the data source and the control object;
(3) The independent gateway acquires the required data sources in other gateways and substations through the Ethernet request;
(4) The independent gateway carries out linkage rule operation;
and outputting the operation result to a control object for linkage control.
The invention has the beneficial effects that:
(1) The invention relates to a fusion linkage configuration logic method designed by a self-descriptive language, which effectively organizes and associates all service sensing nodes, an actuating mechanism, an alarm device, personnel positions, a stress broadcast and the like together, shields the difference of all service subsystems by an independent or virtual gateway and solves the problem of fusion linkage of multiple underground systems.
(2) The existing safety monitoring system logic relation configuration protocol adopts simple logic operation of OR and AND performed in a register mode, and cannot meet the linkage control requirement.
(3) A plurality of independent or virtual gateways are distributed underground, part or all linkage configuration logics are stored, the gateways are mutually backed up to form a distributed redundancy control strategy, and the problem that the whole mine or regional fusion emergency linkage fails after the ground multi-system fusion platform or the main communication failure and the underground independent fusion control gateways or the substations fail is solved.
Drawings
FIG. 1 is a configuration data structure incorporating a coordinated control relationship;
FIG. 2 is a gateway state diagram;
FIG. 3 is a diagram of a system for monitoring convergence of an independent gateway and a virtual gateway;
FIG. 4 is a block diagram of an independent gateway hardware design;
FIG. 5 is a diagram of a virtual gateway and converged substation relationship;
FIG. 6 is a diagram of a host and gateway configuration relationship;
FIG. 7 is a JSON description fusion linkage control relationship configuration relationship design diagram.
Fig. 8 is a diagram of a gateway multitasking relationship.
FIG. 9 is a configuration file processing flow diagram.
Fig. 10 is a flow chart of master gateway decision processing.
Fig. 11 is a flowchart of data fusion processing.
Fig. 12 is a flowchart of logical operation processing.
Fig. 13 is a flowchart of the interlock control processing.
Detailed Description
The technical solutions in the examples of the present invention are clearly and completely described below with reference to the drawings in the examples of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1
The technical scheme of the invention is explained in three aspects of an intelligent gateway, a fusion linkage control relation configuration method and a distributed redundancy control strategy.
Intelligent gateway
The invention provides an intelligent gateway capable of receiving fusion linkage configuration information, which is divided into an independent gateway and a virtual gateway, and effectively organizes and associates various service sensing nodes, an actuating mechanism, an alarm device, personnel/vehicle positions, stress broadcasts and the like together according to the configuration information, so that the difference of various service subsystem equipment is shielded by an actual or virtual gateway, and the problem of fusion linkage of multiple systems in a well is solved.
The independent gateway is provided with an electric Ethernet port, an optical fiber interface and a multi-channel RS485 field bus interface, and realizes two functions, one is used for fusion linkage, and the other is a management control bus type independent service substation. The working process is as follows:
(1) The substation is patrolled according to a bus serial link protocol, and data of a sensor acquired by the substation is forwarded to different service hosts on the ground through the Ethernet according to a system number on a link;
(2) The convergence safety monitoring host machine sends convergence linkage configuration information to the independent gateway;
(3) The gateway analyzes the fusion linkage configuration information to obtain a data source, a control object and an operation rule of the data source and the control object;
(4) The independent gateway intercepts a required local data source from a subordinate level and acquires a remote data source;
(5) The independent gateway carries out linkage rule operation;
(6) And outputting the operation result to a control object according to the operation result to perform linkage control.
The virtual gateway exists in the fusion substation and operates as a module of a substation program to realize fusion linkage under the well, and the working process is as follows:
(1) The convergence safety monitoring host machine sends convergence linkage configuration information to the virtual gateway;
(2) The gateway analyzes the fusion linkage configuration information to obtain a data source, a control object and an operation rule of the data source and the control object;
(3) The independent gateway acquires the required data sources in other gateways and substations through the Ethernet request;
(4) The independent gateway carries out linkage rule operation;
(5) And outputting the operation result to a control object according to the operation result to perform linkage control.
(II) fusion linkage control relation configuration method
The invention provides a set of fusion linkage configuration logic method, which adopts a fusion linkage relation generated by self-descriptive language, has complex nesting operation rules of arithmetic, logic, time delay and the like, can perform more complex multi-level logic operation, is easy to read and expand, and powerfully supports the establishment of various complex fusion linkage control models in the well.
Defining a set of data description structure, describing by adopting a lightweight data exchange format JSON (JavaScript object Notation), and combining the linkage control relationship configuration data structure as shown in figure 1. In fig. 1, the implementation principle is as follows:
(1) A model is an array, each array element implementing a model that defines the operational logic between a measure point, a control object, and. Each array element of a model includes two objects, one being a logic array and the other being a target array.
(2) Each element of the logic array is called an operation object, the operation object comprises 3 elements of a point operator, delay time and operation operator, the elements are connected in front and back as the operation objects (operators) to form a mathematical formula, and the operation objects have 3 types:
the measurement point operator: true measurement points
Constant operator: constant term
Nested operator: the method is equivalent to a bracket () in an arithmetic, and the inside of the method can also comprise a measuring point operator, a constant operator and a nested operator.
The operator is a two-purpose operator, and the operator in the 2 nd operation object is used, namely the operator of the first operation object is ignored in the whole array. The operators are shown in Table 1:
TABLE 1 operator
An example logic array definition is illustrated in table 2:
table 2logic array definition exemplary description
The formula = P1> (P21 + P22+ P23) | P3 — formula (1) obtained from the above table
P3 result detection in the formula (1) lasts for 5 seconds and participates in formula operation;
the result of the formula (1) controls the target output, and the output form is shown in table 5;
the internal results of the P21, P22, P23 and P3 operators in the formula (1) are shown in the measuring point operator (4).
(3) Point operator
The measuring point operator comprises an ID data source attribute, an action operator and a value comparison value, and the internal detailed structure is shown in Table 3. The internal calculation results of the measuring point operators are put in the formula (1) for hierarchical calculation. The calculation process of the internal results of the point operators is shown in table 4.
TABLE 3 measurement Point operator internal Structure
TABLE 4 measurement Point operator internal computation example
(4) Each element of the target array is a control target object, and the target object elements are shown in Table 5.
TABLE 5 target object elements
| Controlling a target element | Illustrate by way of example |
| name of device where name target is located | IP broadcast terminal |
| IP network address and port number of target-located device | 192.168.5.100，7070 |
| Device number of |
10 |
| SubAddr object numbering | 1 |
| File control protocol name/voice file name | Gas outburst alarm " |
(III) distributed redundancy control strategy
The invention provides an underground fusion linkage distributed redundancy control strategy, which solves the problem that the whole mine or regional fusion emergency linkage fails after the ground multi-system fusion host platform or main communication failure and the underground independent fusion control gateway or substation failure.
The technical scheme for realizing the third purpose of the invention is as follows: a plurality of independent or virtual gateways are distributed underground and store partial or all fusion linkage relation configuration. The underground gateways can form one group or a plurality of groups of independent control areas, one master control gateway in each group is decided to carry out fusion control, and the other gateways are prepared to form a distributed redundancy control strategy.
The gateway has three states, namely a master state, a ready state and a standby state, as shown in fig. 2. Corresponding to 3 timeout periods T1, T2, T3.
T1 can be set to 1-5 seconds and is used for the main control to send the decision message with the decision information to the outside at regular time.
T2 is equal to 3 times T1, and when the system is in the ready state, the system is in the master control state for T2 time.
And T3 is equal to 6 times of T1, and the master control state is entered for T3 time when the standby state is in the standby state.
The switching from the master state to the standby state is immediate and the switching from the standby state to the ready state is immediate.
The specific implementation process is as follows:
(1) And receiving and analyzing the JSON configuration file issued by the ground host.
(2) And counting the number of source measuring points and the number of control targets belonging to the local gateway and the group number of the local gateway according to the analysis result.
(3) Initializing the gateway to be in a ready state, and entering a master control state after the ready state lasts for T2 seconds.
(4) And the gateway receives decision messages of other gateways, discards non-same-group messages, and compares the same-group message information with the number of own source measuring points, the number of control targets and the Ethernet MAC address in sequence. The comparison rule is: if the number of the control targets is the same, the Ethernet MAC addresses are compared, and the MAC address is set to be in the standby gateway state.
(5) And when the gateway is judged to be the standby gateway, immediately entering a standby state and stopping the timed sending of the decision message.
(6) If the gateway is judged not to be the standby gateway and not in the master control state through the comparison rule (4), the gateway is set to be in the ready state, and the decision message of the gateway is sent to the external multicast mode (after other gateways receive the decision message and compare the decision message, the message sending is stopped when the decision message is higher than the decision message of the gateway, and the gateway enters the standby gateway state).
(7) And after the gateway enters the standby state, if the network is silent, no gateway decision message is sent, and after the network is maintained for T3 seconds, the gateway enters the master control state.
(8) Fusion safety monitoring system based on intelligent gateway (independent gateway and virtual gateway)
According to the embodiment, an underground fusion method of a safety monitoring system, a personnel positioning system and an emergency broadcasting system is researched, and linkage control among the systems is realized by combining practical application of a mine. The system composition is shown in fig. 3. The intelligent gateway fusion data comprise various underground environment parameters, production parameters, personnel/vehicle information, position information and the like, wherein the environment parameters and the production parameters are collected by sensors, the personnel/vehicle information is received by a wireless signal receiver, and the personnel/vehicle information is acquired by a positioning card carried by an operator/vehicle. The intelligent gateway linkage control targets comprise an emergency broadcast terminal, a personnel positioning card, an audible and visual alarm, a telemechanical switch actuator and the like.
The virtual gateway exists in the fusion substation and operates as a module of a substation program to realize fusion linkage under the well. The virtual gateway and the converged substation are in a relationship as shown in fig. 5.
(II) linkage control relation configuration method
The data sources of multi-system linkage control are many, the data sources comprise various sensor environment parameters, production parameters, personnel information, position information and the like, the control logics are complex and various, the simple logic operation of OR and AND carried out by adopting a register mode in the existing safety monitoring system logic relation configuration protocol cannot meet the linkage control requirements, and therefore the JSON data description mode is adopted for the configuration of the linkage control relation in the scheme. JSON is a light-weight data exchange format, is independent of development languages, is a text format, is easy for human reading and writing, is convenient for machine analysis and generation, and is suitable for describing data exchanged among various systems. The JSON data description mode can be used for carrying out more complex multilevel logic operation, and the JSON language has self-descriptive property, is easy to read and expand and is more beneficial to the management of the substation platform on the configuration information. The configuration relationship between the host and the gateway is shown in fig. 6.
The JSON data description consists of "name/value", with "name" and "value" therebetween: "separate, groups" name: the values "by" and "sign" between pairs. JSON comprises 6 data types, different types such as data and objects are used for describing various logic relation elements or control target elements to meet linkage control requirements, and JSON description and fusion linkage control relation configuration relation design is shown in figure 7.
JSON describes the working principle of integrating the configuration relationship of the linkage control relationship:
(1) The model is a type of array, each data element corresponds to one linkage control relation model, and three linkage control relation models are established in the array.
(2) Each array element of the model comprises two objects, wherein one object is a logic array and is used for describing linkage control logic relation, and the other object is a target array and is used for describing a control target of the logic array.
(3) Each element of logic array is connected as an operation object in front and back to form a mathematical formula, and the operation objects (operators) have 3 types:
a) Measuring point operators: calculating a real measuring point;
b) Constant operator: a constant term;
c) Nesting operators: corresponding to a bracket () in an arithmetic, the inside can comprise a measuring point operator, a constant operator and a nested operator.
d) The operator is a two-purpose operator, and the operator in the 2 nd operator is used, namely the operator in the first operator is ignored in the integer group.
If the logic array is defined as Table 6:
TABLE 6logic array definition List Specification
The formula = P1> (P21 + P22+ P23) | P3 obtained from the above table
The element field descriptions are shown in table 7.
TABLE 7 Point element description
(III) Intelligent gateway distributed redundancy fusion linkage processing flow
And the gateway receives the configuration file of the upper computer, completes the tree-shaped analysis of the configuration file by using the cJSON library, and obtains a linkage control logic formula by using a recursive algorithm. The gateway multitasking relationship is shown in figure 8.
(1) The Task _ makeMdoel configuration file processing Task completes tree analysis of the control logic configuration file, and realizes establishment of the source measuring point participating in linkage, the logic operation formula and the linkage control target, and the internal processing flow is shown in fig. 9.
(2) The Task of Task _ master control gateway decision processing is to send and receive master control gateway decision messages, calculate priorities, and decide whether to become a master control gateway or a backup gateway so as to realize distributed redundancy control, and the internal processing flow is shown in fig. 10.
(3) And the Task _ getData data fusion Task finishes data acquisition and storage of the local measuring point, and the internal processing flow is shown in figure 11.
(4) And the Task _ runLogic logical operation Task completes the operation of the measured point data according to a logical operation formula, outputs a control strategy, and obtains the internal processing flow as shown in figure 12.
(5) And the Task _ control linkage control Task completes control on the allocated control target according to the control strategy, and the internal processing flow is shown in figure 13.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (8)
1. A distributed redundancy control method based on coal mine underground multi-system fusion linkage control relation configuration is characterized in that a data exchange format JSON is adopted for description, and linkage configuration information is fused:
the method comprises the following steps of including a model array, wherein the model array comprises a logic array and a target array; each element of the logic array is an operation object, the operation object comprises 3 elements of a point operator, delay time and operation operator, the 3 elements are connected in front and back as the operation object to form a mathematical formula, and the operation object has 3 types: the system comprises a real measuring point operator, a constant item and a nesting operator, wherein the nesting operator is equivalent to a bracket in an arithmetic and comprises the measuring point operator, the constant operator and the nesting operator; the operator is a second-order operator, the operator in the 2 nd operation object is used, namely the operator of the first operation object is ignored in the whole array;
output = P1> (P21 + P22+ P23) | P3, (1)
">" indicates that the result of the previous measuring point is more than or equal to the result of the current measuring point; the result of the previous measuring point is added with the result of the current measuring point by "+"; "|" indicates the result logic of the previous measuring point or the result of the previous measuring point; p3 is a measuring point operator, and means that the result detection lasts for n seconds to participate in formula operation; controlling the target output according to the result, wherein the output form comprises the name of the device where the target is located, the IP network address of the device where the target is located, the port number, the number of the device where the target is located, the target number and the name of the control protocol/voice file name; p1 in the formula (1) is a constant operator; p1 and a nested operator have no time delay;
a plurality of independent or virtual gateways are distributed underground and store part or all of the fusion linkage configuration information; the underground gateways form one or more groups of independent control areas, one master control gateway in each group is used for performing fusion control, and the other master control gateways are standby gateways to form a distributed redundancy control strategy.
2. The distributed redundancy control method based on the coal mine underground multi-system fusion linkage control relationship configuration is characterized in that the measure point operators comprise ID data source attributes, action operators and value comparison values;
the ID data source attributes comprise network IP addresses of substations where the measuring points are located, network port numbers of the substations where the measuring points are located, sensor addresses of the measuring points, multi-parameter addresses of the measuring points and measuring point types, and the measuring point types comprise analog quantities and switching quantities; the internal calculation result of the measuring point operator is placed in the formula (1) for hierarchical calculation;
the action operator comprises a simulation measurement point value which is greater than or equal to analog, a simulation measurement point value which is greater than analog, an equal measurement point value, a switch measurement point value negation, a simulation measurement point value which is added with analog, a simulation measurement point value which is subtracted with analog, a simulation measurement point value which is multiplied with analog, and a simulation measurement point value which is divided by analog; analog is an analog quantity comparison value, and switch is a switching quantity comparison value; and the measuring point operator obtains a measuring point value and an analog quantity comparison value according to the data source attribute and calculates to obtain an internal result.
3. The distributed redundancy control method based on the coal mine underground multi-system fusion linkage control relationship configuration is characterized in that: the gateway states of the distributed redundancy control strategy comprise a master control state, a ready state and a standby state, and correspond to 3 timeout times T1, T2 and T3;
t1 can be set to m seconds and is used for sending a decision message with decision information of the master control to the outside at regular time;
t2 is equal to K1 times T1, and when the system is in the ready state, the system enters the master control state for T2 time;
t3 is equal to K2 times T1, and when the standby state is achieved, the master control state is achieved after T3 time is continued;
the switching from the master state to the standby state is immediate and the switching from the standby state to the ready state is immediate.
4. The distributed redundancy control method based on coal mine underground multi-system fusion linkage control relationship configuration as claimed in claim 3, wherein: t2 is equal to 3 times of T1, and when the mobile terminal is in the ready state, the mobile terminal enters the master control state for T2 time; and T3 is equal to 6 times of T1, and when the standby state is achieved, the master control state is achieved for T3 time.
5. The distributed redundancy control method based on the coal mine underground multi-system fusion linkage control relationship configuration according to claim 4, characterized in that the switching process is as follows:
(1) Receiving and analyzing a JSON configuration file issued by a ground host;
(2) Counting the number of source measuring points and the number of control targets belonging to the local gateway and the group number of the local gateway according to the analysis result;
(3) Initializing the gateway to be in a ready state, and entering a master control state after the ready state lasts for T2 seconds;
(4) The gateway receives decision messages of other gateways, abandons non-same group messages, and compares the same group message information with the number of own source measuring points, the number of control targets and the Ethernet MAC address in sequence; the comparison rule is: if the number of the control targets is the same, comparing Ethernet MAC addresses, and if the number of the control targets is the same, setting the MAC addresses to be provided with gateway states;
(5) When the gateway is judged to be a standby gateway, immediately entering a standby state and stopping the timing transmission of the decision message;
(6) If the gateway is judged to be not the standby gateway and not in the master control state through the comparison rule (4), the gateway is set to be in the ready state and multicast and sends the decision message of the gateway to the outside, and after other gateways receive the decision message and compare the decision message, the message sending is stopped when the decision message is higher than the decision information of the gateway, and the gateway enters the standby gateway state;
(7) And after the gateway enters the standby state, if the network is silent, no gateway decision message is sent, and after the network is maintained for T3 seconds, the gateway enters the master control state.
6. The distributed redundancy control method based on the coal mine underground multi-system fusion linkage control relationship configuration is characterized in that: the intelligent gateway comprises an independent gateway and a virtual gateway, integrates linkage configuration information according to claim 1, connects measuring point operators, and comprises a service sensing node, an execution mechanism, an alarm device, a personnel/vehicle position and a stress broadcast.
7. The distributed redundancy control method based on the coal mine underground multi-system fusion linkage control relationship configuration is characterized in that: the independent gateway is used for fusing linkage and managing and controlling bus type independent service substations; comprises an electric Ethernet port, an optical fiber interface and a multi-path RS485 field bus interface, in particular to
(1) Polling the substation according to a bus serial link protocol, and forwarding data of a sensor acquired by the substation to different service hosts on the ground through Ethernet according to a system number on a link;
(2) The convergence safety monitoring host sends convergence linkage configuration information to the independent gateway;
(3) The independent gateway analyzes the fusion linkage configuration information to obtain a data source, a control object and an operation rule of the data source and the control object;
(4) The independent gateway intercepts a required local data source from a subordinate level and acquires a remote data source;
(5) The independent gateway carries out linkage rule operation;
(6) And outputting the operation result to a control object according to the operation result to perform linkage control.
8. The distributed redundancy control method based on the coal mine underground multi-system fusion linkage control relationship configuration according to claim 7, characterized in that: the virtual gateway exists in the fusion substation, and underground fusion linkage is realized:
(1) The convergence safety monitoring host machine sends convergence linkage configuration information to the virtual gateway;
(2) The gateway analyzes the fusion linkage configuration information to obtain a data source, a control object and an operation rule of the data source and the control object;
(3) The independent gateway acquires the required data sources in other gateways and substations through the Ethernet request;
(4) The independent gateway carries out linkage rule operation;
and outputting the operation result to a control object according to the operation result to perform linkage control.
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