CN111497901A - Mine unmanned vehicle distance safety control method and system - Google Patents
Mine unmanned vehicle distance safety control method and system Download PDFInfo
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- CN111497901A CN111497901A CN202010463751.2A CN202010463751A CN111497901A CN 111497901 A CN111497901 A CN 111497901A CN 202010463751 A CN202010463751 A CN 202010463751A CN 111497901 A CN111497901 A CN 111497901A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/34—Control, warnings or like safety means indicating the distance between vehicles or vehicle trains by the transmission of signals therebetween
Abstract
The invention discloses a safety control method and a safety control system for an unmanned distance between mine trains, belonging to the technical field of safe operation of underground trains.
Description
Technical Field
The invention relates to the technical field of safe operation of underground trains, in particular to a safety control method and a safety control system for a mine unmanned train distance.
Background
At present, underground mines mainly adopt rail locomotives for operation, but along with continuous expansion of the ground mining scale, the demands of reducing personnel, improving efficiency, improving transportation safety and improving working environment are continuously enhanced, and unmanned driving is a necessary trend.
At present, unmanned systems are developed in individual mines, but the systems are all based on the principle of 'information collection and closure' fixed block, only one train can run in the same section/access, and other running trains need to be in a waiting state, so that the mine transportation efficiency is greatly influenced.
Disclosure of Invention
The invention aims to improve the running efficiency of a train under a mine.
In order to achieve the purpose, the invention adopts a safety control method for the distance between unmanned mine vehicles, which comprises the following steps:
respectively acquiring the head positions and the tail positions of the two running trains, and calculating the current distance between the current head position and the tail position of the previous train L;
importing the running direction, the current vehicle distance and the access speed limit of the current train into a constructed speed relation table to obtain the speed control information of the current train;
and sending the speed control information of the current train to a vehicle-mounted controller of the current train to realize the safe control of the distance between the trains, wherein the vehicle-mounted controller controls the running speed of the current train according to the speed control information that the speed of the current train is not greater than that of the current train.
Further, in respectively acquiring the head positions and the tail positions of the two running trains and calculating the current distance between the current head position and the tail position of the last train, respectively acquiring the head positions and the tail positions of the two running trains specifically includes:
acquiring the position of the vehicle head through ranging communication between a UWB tag arranged on the vehicle head and a communication base station;
and the position of the tail of the vehicle is obtained through the ranging communication between the UWB tag arranged on the tail lamp of the vehicle and the communication base station.
Further, in the step of respectively obtaining the head positions and the tail positions of the two running trains and calculating the current distance between the current head position and the tail position of the previous train, the current distance obtained by calculation needs to be corrected, and the specific correction steps are as follows:
acquiring a running distance a1 of the current train in the uploading time difference of the train head position;
acquiring a running distance b1 of the last train in the tail position uploading time difference;
obtaining the protection distance a2 of the head and the protection distance b2 of the tail of the current train according to the maximum braking distance of the current train;
when the two trains run in the same direction, the corrected current vehicle distance L is more than or equal to (a1+ b1+ b2), and when the two trains run in the same direction, the corrected current vehicle distance L is more than or equal to (a1+ a2+ b1+ b 2).
Further, in acquiring the travel distance a1 of the current train in the head position uploading time difference, the method comprises the following steps:
the time when the intelligent scheduling integrated platform acquires the position of the vehicle head is t1The time for uploading the position of the vehicle head to the intelligent scheduling integrated platform is t0And calculating to obtain the time difference △ t uploaded by the head position1，△t＝t1-t0；
According to the speed of the current train and the time difference △ t1Calculating the time difference △ t of the current train1Inner estimated travel distance a 1;
further, in the step of acquiring the travel distance b1 of the last train in the tail position uploading time difference, the method comprises the following steps:
the time when the intelligent scheduling integrated platform acquires the position of the vehicle head is t3The time for uploading the position of the vehicle head to the intelligent scheduling integrated platform is t2And calculating to obtain the time difference △ t uploaded by the head position2，△t＝t3-t2；
According to the speed of the current train and the time difference △ t2Calculating the time difference △ t of the current train2Inner estimated travel distance b 1.
Further, the acquiring a running distance b1 of the previous train in the train tail position uploading time difference, and if the current train is degenerated by a certain distance, performing emergency braking on the current degenerated train specifically includes:
acquiring the retrogression distance and the retrogression speed of the tail of the vehicle in the time difference;
and if the retreat distance is greater than the running distance b1, emergency braking is carried out on the current retreat train.
And further, importing the running direction, the current train distance and the access speed limit of the current train into a constructed speed relation table to obtain the speed control information of the current train, wherein the speed relation table is a data table formulated according to the line conditions and the locomotive parameters.
A safety control system for a mine unmanned vehicle distance comprises a position acquisition and calculation module, a speed acquisition module and a train operation module;
the position obtaining and calculating module is used for respectively obtaining the head positions and the tail positions of the two running trains and calculating the current distance L between the current head position and the tail position of the last train;
the speed acquisition module is used for guiding the running direction, the current vehicle distance and the access speed limit of the current train into the constructed speed relation table to obtain the speed control information of the current train;
the train operation module is used for sending speed control information of the current train to a vehicle-mounted controller of the current train so as to realize safe control of the distance between trains, and the vehicle-mounted controller controls the operation speed of the current train according to the fact that the speed of the current train is not greater than the speed control information of the current train.
A computer readable storage medium having stored thereon a number of get-class programs for being invoked by a processor and performing the security management method described above.
Compared with the prior art, the invention has the following technical effects: the mine locomotive is safe to run and operate efficiently in a specified area according to specified quantity and types, specified lines, specified speed, specified intervals and specified driving rules, and the running efficiency and running safety of the train under the mine are improved.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
fig. 1 is a flow chart of steps of a safety control method for a mine unmanned vehicle distance.
Detailed Description
To further illustrate the features of the present invention, refer to the following detailed description of the invention and the accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present disclosure.
As shown in fig. 1, a method for controlling a safety distance between unmanned vehicles in a mine includes the following steps S1 to S3:
s1, respectively obtaining the head position and the tail position of two running trains, and calculating the current distance L between the current head position and the tail position of the last train;
if a plurality of running trains exist in the mine, the positions of the vehicle heads and the positions of the vehicle tails of the plurality of running trains can be obtained respectively, so that the running safety control of the plurality of trains is realized.
S2: importing the running direction, the current vehicle distance and the access speed limit of the current train into a constructed speed relation table to obtain the speed control information of the current train;
s3: and sending the speed control information of the current train to a vehicle-mounted controller of the current train to realize the safe control of the distance between the trains, wherein the vehicle-mounted controller controls the running speed of the current train according to the speed control information that the speed of the current train is not greater than that of the current train.
According to the steps S1 to S3, based on the technical problem that operation efficiency is low due to operation of a single train in the prior art, the method for operating the multiple trains simultaneously in the mine is provided, the multiple trains can be operated simultaneously to improve operation efficiency, when the multiple trains are operated simultaneously in the mine, the safe train distance between the trains is often related, and the safe train distance refers to the minimum distance between the previous train and the current train under the safe driving state of the locomotive, so that the optimal operation efficiency of the multiple trains under the safe train distance can be achieved finally, and meanwhile, potential safety hazards of collision among the multiple trains are reduced.
To implement steps S1 to S3, the apparatus on which the mine unmanned inter-vehicle distance safety control method of the present application is based may be composed of an intelligent dispatching integration platform, a communication base station, an on-board apparatus, and a tail lamp apparatus. The vehicle-mounted equipment consists of a vehicle-mounted controller, a vehicle head positioning device and a vehicle speed monitoring device, and Wifi network communication is adopted between the vehicle-mounted controller and the communication base station; the vehicle speed monitoring device uses a conventional speed sensor for detecting the real-time running speed of the train, and the head positioning device and the tail lamp device realize the distance measurement positioning function by adopting the UWB positioning technology. The locomotive driving unit is an inherent module of the locomotive and comprises a lamp, a horn, a circuit breaker, an accelerating device, a decelerating device, an emergency stop device, a braking device, a sanding device, a parking device and the like, and the specific structures and the working principles of the devices belong to the prior art and are not repeated herein.
The intelligent dispatching integrated platform is used for calculating current train distance L according to current locomotive position information and last train tail position information, correspondingly finding out speed control information of a current train specified in advance according to the running direction of a locomotive and access speed limit data, and then sending the speed control information of the current train to the vehicle-mounted controller through the communication base station.
Preferably, at step S1: respectively acquiring the head positions and the tail positions of two running trains, and calculating the current distance between the current head position and the tail position of the last train, wherein the head positions and the tail positions of the two running trains are respectively acquired, and the method specifically comprises the following steps of S101 to S102:
s101: acquiring the position of the vehicle head through ranging communication between a UWB tag arranged on the vehicle head and a communication base station;
the locomotive positioning device is arranged at the locomotive, locomotive position information can be detected conveniently and accurately, and the locomotive positioning device is a UWB (ultra wide band) tag.
S102: and the position of the tail of the vehicle is obtained through the ranging communication between the UWB tag arranged on the tail lamp of the vehicle and the communication base station.
Each train consists of a head and N (N is more than or equal to 1) wagons, the tail lamp equipment is always arranged at the tail of the last wagon articulated with the current locomotive (train) when a train marshaller picks up the wagon each time, and the tail lamp equipment is used for flashing a prompt lamp to prompt the coming train at the rear and accurately detect the position information of the tail of the train. The intelligent dispatching integrated platform stores the one-to-one correspondence between the vehicle head positioning device and the tail lamp device of the vehicle-mounted equipment.
Preferably, due to system problems caused by communication network transmission delay and asynchronism between systems, when the intelligent scheduling integrated platform uses the position information reported by the train, the actual position of the train may have changed, and therefore safety estimation must be respectively made on the head position and the tail position of the train according to the possible movement trend of the train. Since the limit conditions for the forward and backward movement of the train are different and the influence on the data acquired by the intelligent dispatching integration platform is different, the forward and backward movement of the train is evaluated, and the "estimated movement distance" refers to the distance that the train may move forward when the train uploads the position information until the intelligent dispatching integration platform receives the position information, and is the safety distance between the trains, and the movement distances a1 and b1 are the "estimated movement distances" below.
Therefore, at step S1: respectively acquiring the head positions and the tail positions of two running trains, and calculating the current distance between the current head position and the tail position of the last train, wherein the current distance obtained by calculation needs to be corrected, and the specific correction steps are as follows:
s111: acquiring a running distance a1 of the current train in the uploading time difference of the train head position;
the travel distance a1 is used as part of the head safety protection to correct the calculation of the head safety position, and the travel distance a1 is calculated as follows:
the time when the intelligent scheduling integrated platform acquires the position of the vehicle head is t1The time for uploading the position of the vehicle head to the intelligent scheduling integrated platform is t0And calculating to obtain the time difference △ t uploaded by the head position1，△t＝t1-t0；
According to the speed v and the time difference △ t of the current train1Calculating the time difference △ t of the current train1Inner estimated travel distance a1, a1 ═ △ t1× v. since the data acquisition time of the general intelligent dispatching integrated platform is not more than 1 second, the maximum speed of the mining locomotive is not more than 5m/s, and therefore the running distance a1 is 5 m.
S112: acquiring a running distance b1 of the last train in the tail position uploading time difference;
similarly, the distance b1 is used as part of the rear safety protection to correct the calculation of the rear safety position of the vehicle, and the running distance b1 is calculated as follows.
The time when the intelligent scheduling integrated platform acquires the position of the vehicle head is t3The time for uploading the position of the vehicle head to the intelligent scheduling integrated platform is t2And calculating to obtain the time difference △ t uploaded by the head position2，△t＝t3-t2；
According to the speed v and the time difference △ t of the current train2Calculating the time difference △ t of the current train2Inner estimated running distance b1, b1 ═ △ t2× v. since the data acquisition time of the general intelligent dispatching integrated platform is not more than 1 second, the maximum speed of the mining locomotive is not more than 5m/s, and therefore the running distance a1 is 5 m.
S113: obtaining the protection distance a2 of the head and the protection distance b2 of the tail of the current train according to the maximum braking distance of the current train;
in order to maintain the safe distance between trains and ensure that accidents such as rear-end collision or collision of the trains do not occur, certain protection distances a2 and b2 are added to the safe distance of the trains. This guard distance is to ensure locomotive safety in the worst case situations, such as where the locomotive experiences a large idle slip, or where the braking force is partially lost. In order to take the safety and the operation efficiency of the locomotive spacing into consideration. The protection distances a2 and b2 between the head and the tail of the train can be configured, the protection distances can be generally configured to be the maximum braking distance, the maximum speed of the mining locomotive generally does not exceed 5m/s, the maximum braking distance does not exceed 15-25 meters, and therefore the protection distances a2 and b2 between the head and the tail of the locomotive are configured to be 25 meters.
And S114, when the two trains run in the same direction, the corrected current vehicle distance L is more than or equal to (a1+ b1+ b2), when the two trains run in the same direction, the corrected current vehicle distance L is more than or equal to (a1+ a2+ b1+ b2), and when the two trains run in the opposite directions, the corrected current vehicle distance L is more than or equal to (a1+ a2+ b1+ b 2).
If the actually calculated current vehicle distance L does not meet the corrected current vehicle distance, namely the distance between the two trains is too short, the current vehicle distance is corrected by L (a1+ a2+ b1+ b2) or L (a1+ b1+ b2), and if the actually calculated current vehicle distance is large, namely the distance between the two trains is too long, although the trains can walk according to the current safe distance, in order to realize the simultaneous operation of a plurality of trains and improve the efficient operation of the underground trains, the current vehicle distance is preferably corrected by L (a1+ a2+ b1+ b2) or L (a1+ b1+ b 2).
Preferably, since the position of the tail of the locomotive train is used as a target point for subsequent safety judgment of the locomotive distance, it must be ensured that the estimation of the position of the tail of the locomotive ahead of the actual position thereof cannot be made. Considering the situation that the train has the retrogression, the vehicle-mounted controller monitors the running direction of the actual train, compares the detected actual running direction of the locomotive with a control running direction command, counts the position where the train starts to retreat as a retrogression starting position when the train generates the retrogression, and monitors the retrogression distance and speed of the train. If the train has displacement opposite to the running direction of the control command and the accumulated displacement exceeds a certain retrogression distance, the vehicle-mounted device can implement emergency stop braking. For continued reverse of the train, the following braking steps S1141 to S1142 are performed:
s1141: acquiring the retrogression distance and the retrogression speed of the tail of the vehicle in the time difference;
s1142: and if the retreat distance is greater than the running distance b1, emergency braking is carried out on the current retreat train.
The vehicle-mounted device implements emergency stop braking, the emergency stop braking command can be automatically relieved after the train is stopped stably, and the position information of the train is updated together. The potential travel distance (amount of retreat) b1 is configurable, typically setting a maximum of 1 meter.
Preferably, at step S2: and importing the running direction, the current train distance and the access speed limit of the current train into a constructed speed relation table to obtain the speed control information of the current train, wherein the construction of the speed relation table is a fixed data table which is made in advance according to the line conditions and the locomotive parameters and comprises the relation among all the parameters.
For the above steps, an example description is given below:
1. dividing the input quantity running direction into three subsets, namely { same-direction running, relative running and back running };
2. dividing the input quantity vehicle distance information into six grades { S, L, 2L, 3L, 4L and X L };
3. the output volume speed control signal is divided into six levels: { V0、V1、V2、V3、V4、Vx}；
The one-to-one correspondence of the running direction, the current vehicle distance and the speed control information is shown in table 1.
TABLE 1
Through the table, when the running direction and the current vehicle distance information are determined, a signal command of the speed control information of the current train can be determined. In addition, the table is prepared in advance according to the line condition, and the relationship among the parameters is directly available. The vehicle distance information of each grade corresponds to one vehicle speed, and the intelligent scheduling integrated platform stores the vehicle distance information of each grade and the corresponding vehicle speed information.
The vehicle speed monitoring device monitors the running speed of the train in real time, and if the running speed exceeds the line speed limit, the vehicle-mounted controller automatically implements speed reduction operation to realize automatic protection of the speed limit.
A safety control system for a mine unmanned vehicle distance comprises a position acquisition and calculation module, a speed acquisition module and a train operation module;
the position obtaining and calculating module is used for respectively obtaining the head positions and the tail positions of the two running trains and calculating the current distance L between the current head position and the tail position of the last train;
the speed acquisition module is used for guiding the running direction, the current vehicle distance and the access speed limit of the current train into the constructed speed relation table to obtain the speed control information of the current train;
the train operation module is used for sending speed control information of the current train to a vehicle-mounted controller of the current train so as to realize safe control of the distance between trains, and the vehicle-mounted controller controls the operation speed of the current train according to the fact that the speed of the current train is not greater than the speed control information of the current train.
A computer readable storage medium having stored thereon a number of get-class programs for being invoked by a processor and performing a security management method as described above.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A safety control method for a mine unmanned vehicle distance is characterized by comprising the following steps:
respectively acquiring the head positions and the tail positions of the two running trains, and calculating the current distance between the current head position and the tail position of the previous train L;
importing the running direction, the current vehicle distance and the access speed limit of the current train into a constructed speed relation table to obtain the speed control information of the current train;
and sending the speed control information of the current train to a vehicle-mounted controller of the current train to realize the safe control of the distance between the trains, wherein the vehicle-mounted controller controls the running speed of the current train according to the speed control information that the speed of the current train is not greater than that of the current train.
2. The mine unmanned inter-vehicle distance safety control method according to claim 1, wherein the step of calculating the current inter-vehicle distance between the current inter-vehicle distance and the last inter-vehicle distance by respectively obtaining the inter-vehicle distance and the tail position of the two trains comprises:
acquiring the position of the vehicle head through ranging communication between a UWB tag arranged on the vehicle head and a communication base station;
and the position of the tail of the vehicle is obtained through the ranging communication between the UWB tag arranged on the tail lamp of the vehicle and the communication base station.
3. The mine unmanned inter-vehicle distance safety control method according to claim 1, wherein in the steps of respectively obtaining the head positions and tail positions of two running trains, and calculating the current inter-vehicle distance between the current head position and the tail position of the last train, the calculated current inter-vehicle distance needs to be corrected, and the specific correction steps are as follows:
acquiring a running distance a1 of the current train in the uploading time difference of the train head position;
acquiring a running distance b1 of the last train in the tail position uploading time difference;
obtaining the protection distance a2 of the head and the protection distance b2 of the tail of the current train according to the maximum braking distance of the current train;
when the two trains run in the same direction, the corrected current vehicle distance L is more than or equal to (a1+ b1+ b2), and when the two trains run in the same direction, the corrected current vehicle distance L is more than or equal to (a1+ a2+ b1+ b 2).
4. The mine unmanned distance to vehicle safety control method according to claim 3, wherein in obtaining the travel distance a1 of the current train in the time difference of the uploading of the train at the head position, the method comprises the following steps:
the time when the intelligent scheduling integrated platform acquires the position of the vehicle head is t1The time for uploading the position of the vehicle head to the intelligent scheduling integrated platform is t0And calculating to obtain the time difference △ t uploaded by the head position1，△t＝t1-t0；
According to the speed of the current train and the time difference △ t1Calculating the time difference △ t of the current train1Inner estimated travel distance a 1.
5. The mine unmanned vehicle distance safety control method as claimed in claim 3, wherein in the step of obtaining the travel distance b1 of the last train in the tail position uploading time difference, the method comprises the following steps:
the time when the intelligent scheduling integrated platform acquires the position of the vehicle head is t3The time for uploading the position of the vehicle head to the intelligent scheduling integrated platform is t2And calculating to obtain the time difference △ t uploaded by the head position2，△t＝t3-t2；
According to the speed of the current train and the time difference △ t2Calculating the time difference △ t of the current train2Inner estimated travel distance b 1.
6. The mine unmanned vehicle distance safety control method according to claim 3, wherein the step of obtaining the running distance b1 of the previous train in the tail position uploading time difference, and if the current train is degenerated for a certain distance, emergency braking is performed on the current degenerated train, specifically comprises the steps of:
acquiring the retrogression distance and the retrogression speed of the tail of the vehicle in the time difference;
and if the retreat distance is greater than the running distance b1, emergency braking is carried out on the current retreat train.
7. The mine unmanned vehicle distance safety control method according to claim 1, wherein the speed control information of the current train is obtained by introducing the running direction, the current vehicle distance and the access speed limit of the current train into a constructed speed relation table, wherein the speed relation table is a data table formulated according to line conditions and locomotive parameters.
8. A safety control system for a mine unmanned vehicle distance is characterized by comprising a position acquisition and calculation module, a speed acquisition module and a train operation module;
the position obtaining and calculating module is used for respectively obtaining the head positions and the tail positions of the two running trains and calculating the current distance L between the current head position and the tail position of the last train;
the speed acquisition module is used for guiding the running direction, the current vehicle distance and the access speed limit of the current train into the constructed speed relation table to obtain the speed control information of the current train;
the train operation module is used for sending speed control information of the current train to a vehicle-mounted controller of the current train so as to realize safe control of the distance between trains, and the vehicle-mounted controller controls the operation speed of the current train according to the fact that the speed of the current train is not greater than the speed control information of the current train.
9. A computer-readable storage medium having stored thereon a plurality of acquisition and classification procedures for being invoked by a processor and performing a security management method according to any one of claims 1 to 7.
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| CN112009507A (en) * | 2020-09-07 | 2020-12-01 | 合肥工大高科信息科技股份有限公司 | Unmanned driving system of mine locomotive and control method |
| CN116610117A (en) * | 2023-04-28 | 2023-08-18 | 天宇正清科技有限公司 | Underground driving speed control method and device, electronic equipment and storage medium |
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Application publication date: 20200807 |