CN112249090A - Transponder system with self-diagnosis function for mine transportation and response method - Google Patents
Transponder system with self-diagnosis function for mine transportation and response method Download PDFInfo
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- 238000004092 self-diagnosis Methods 0.000 title claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 80
- 238000004891 communication Methods 0.000 claims abstract description 21
- 230000000737 periodic effect Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000003137 locomotive effect Effects 0.000 claims description 10
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0027—Radio-based, e.g. using GSM-R
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The transponder system with the self-diagnosis function for mine transportation and the response method replace the existing radio frequency tag card and can be widely applied to various transportation monitoring systems under a mine. The responder system has a self-diagnosis function, can find the fault of the responder in time and realize the real-time monitoring of the responder. The system comprises a monitoring terminal, a fixed transceiver and a vehicle-mounted transceiver, wherein the monitoring terminal can exchange information with other systems; the fixed transceiver is arranged on the wall of the roadway and can communicate with the monitoring terminal; the vehicle-mounted transceiver is mounted on the vehicle and can communicate with the fixed transceiver and other control systems on the vehicle. The fixed transceiver judges whether the fixed transceiver has a fault or not by detecting a signal sent by the fixed transceiver. The monitoring terminal obtains the working state of the fixed transceiver through periodic communication with the fixed transceiver. The method can timely and accurately discover the hidden danger that the transponder system works abnormally, and provides technical support for safe and efficient operation of vehicles under the mine.
Description
Technical Field
The invention relates to the technical field of vehicle transportation control under a mine, in particular to a transponder system with a self-diagnosis function for mine transportation and a response method.
Background
The transponder is a device which is installed on the ground and transmits information to a moving vehicle, and the vehicle can obtain the information which is closely related to the driving safety, such as the current position, the basic parameters of the line, the temporary speed limit and the like by receiving the data of the transponder. The transponder system is important basic equipment in urban rail transit, intercity railways and high-speed railways, and is one of key equipment in a locomotive control system based on communication.
In recent years, the mine transportation system is more and more adopting a locomotive control system based on communication. The method for detecting the position of the rail car or the vehicle in the roadway under the mine is not completely the same as the method used on the ground due to the limitation of special conditions under the mine. Such as GPS, vehicle speed sensor, transponder, etc., which are frequently used on the ground, are not effective in use under a mine. Most manufacturers use wireless positioning technologies such as ZigBee, UWB, and the like to realize positioning of locomotives, and use radio frequency tag card RFID to calibrate the positioning, for example, as described in "CN 105651280A a mine unmanned electric locomotive combined positioning method". In the technical system, the radio frequency tag card plays a role of a transponder in a ground railway, provides position calibration information for the vehicle, enables the vehicle to obtain temporary commands of the system in time and has great significance on traffic safety. However, after a fault occurs in a common radio frequency card, the fault cannot be detected and discovered in time, and the fault of the radio frequency card can be judged only by integrating vehicle position information obtained by other ways when a vehicle passes and cannot receive data. This will reduce the mine underground transportation efficiency, also buried hidden danger for driving safety. Therefore, it is necessary to invent a transponder system which is suitable for the mine requirement and can find the self fault in time.
Disclosure of Invention
The invention provides a transponder system with a self-diagnosis function for mine transportation and a response method, which can solve the technical problems in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
a transponder system with self-diagnostic function for mine transportation comprises a monitoring terminal, a fixed transceiver, a vehicle-mounted transceiver, a connecting network and a transmission channel;
the fixed transceiver is in communication with the monitoring terminal; the vehicle-mounted transceiver is communicated with the fixed transceiver through a transmission channel;
the monitoring terminal is provided with a human-computer interface, displays the state of the fixed transceiver and sends data to the fixed transceiver;
the method comprises the steps that ultrasonic signals are periodically sent through a wireless transmission channel by a fixed transceiver, the sent signals carry coded information and information to be transmitted, and a receiving end obtains useful information by identifying the information;
after receiving the information sent by the fixed transceiver, the vehicle-mounted transceiver sends the own coding information;
the vehicle-mounted transceiver is connected with a vehicle-mounted locomotive control system and provides the received fixed transceiver code and data for the locomotive control system;
the fixed transceiver is arranged at the top end of a roadway, an included angle formed by the position of a signal sent by the fixed transceiver and the ground can ensure that the signal is reflected by the ground, the fixed transceiver can receive ultrasonic signals or laser signals sent by the fixed transceiver, and meanwhile, the fixed transceiver can also receive reflected signals when a vehicle passes by.
Furthermore, the connection mode between the fixed transceiver and the monitoring terminal is wired or wireless network connection.
On the other hand, the response method of the transponder system for mine transportation with the self-diagnosis function comprises the steps of setting after the fixed transceiver is installed, wherein the setting content comprises the unique identification code of the fixed transceiver, namely ID, the highest vehicle body height H and the height D of the installation position from the ground;
the method comprises the following specific steps:
(1) the monitoring terminal periodically communicates with all fixed transceivers in the system, issues temporary instructions and receives responses of the transceivers;
(2) the fixed transceiver sends the ID of the fixed transceiver and a temporary instruction sent by the monitoring terminal at intervals set by the fixed transceiver;
(3) when a vehicle provided with the vehicle-mounted transceiver passes through the coverage area of the fixed transceiver, the ID and the temporary command sent by the fixed transceiver are received; the vehicle-mounted transceiver transmits the data to the vehicle-mounted controller;
(4) after receiving the data, the vehicle-mounted transceiver sends a response data packet to the fixed transceiver, which indicates the identity of the vehicle-mounted transceiver and correctly receives the data of the fixed transceiver.
Further, in the above-mentioned case,
the method also comprises the following steps that the responder judges the self fault:
a) the fixed transceiver detects whether the data sent by the fixed transceiver is received within a fixed time after sending the data, and calculates the distance between the fixed transceiver and the reflecting surface according to the data;
b) if the data sent by the user cannot be received or the difference between the calculated distance and the calibration value exceeds a set value, the fault of the fixed transceiver is judged, the fault of the equipment is indicated by an LED, and the fault is reported to the monitoring terminal; the monitoring terminal sends a reset signal/reset code to the fixed transceiver which is judged to have a fault, and remote reset is carried out;
c) when the fixed transceiver has a fault of stopping working, the communication with the monitoring terminal is stopped, and the monitoring terminal controls the on-off of a working power supply of the failed fixed transceiver to remotely reset the failed fixed transceiver;
d) the monitoring terminal is in periodic communication with the fixed transceiver, if the communication is not successful or the received communication data prompt that the fixed transceiver is in fault, the fixed transceiver is judged to be in fault, the monitoring terminal remotely resets the fixed transceiver and prompts maintenance personnel to maintain in time.
Further, in the above-mentioned case,
in the step (2), the fixed transceiver sends out a packet of data at a certain time interval T under the control of a CPU, wherein the data consists of 1-bit ranging pulse, binary ID codes, an effective data load with variable bits and 1 check byte;
the binary ID code is a unique identification code of the fixed transceiver, the effective data load is an information code to be transmitted to the vehicle-mounted equipment in the system, and the length can be expanded according to the requirement of the system;
the data packet is modulated into an ultrasonic signal of 40kHz through an ultrasonic wave modulation module and is sent out, and a CPU of the fixed transceiver records the time T sent by a positioning pulsef。
Further, the detecting, by the fixed transceiver, whether the data transmitted by the fixed transceiver is received within a fixed time after the data is transmitted, and calculating the distance between the fixed transceiver and the reflecting surface according to the data includes:
after the ranging ultrasonic signal is transmitted, the ranging ultrasonic signal is reflected to an ultrasonic receiving module of the fixed transceiver by a vehicle passing below the fixed transceiver or the ground for decoding;
the method for judging whether a vehicle passes by the fixed transceiver comprises the following steps:
the calculated distance D meets the condition that D-H < D < D, D is the distance from the fixed transceiver to the ground, and H is the maximum vehicle height;
the fixed transceiver determines that no vehicle passes the conditions:
calculating the obtained distance D to be D +/-0.2 m;
setting the distance between the reflecting point and the fixed transceiver as d, and recording the receiving time T after the fixed transceiver receives the signalrFurther obtaining a time difference T from sending to receivingd＝Tr-TfD 340T according to the formulad/2 calculate the distance from the point reflecting the ultrasound to the fixed transceiver, where TdThe unit of (d) is second, and the unit of d is meter; the fixed transceiver compares D with D, and D is D ± 0.2 m in the case that no vehicle passes; when a vehicle passes by, d>D-H and D<And D, wherein H is the maximum vehicle height.
Further, the failure of the fixed transceiver in the step (b) includes that the transceiver is not operated as a whole and that partial failure affects data transmission;
when the whole transceiver cannot work, the monitoring terminal in the system judges the fault of the fixed transceiver, the judging method is to periodically visit the fixed transceiver, and if the monitoring terminal cannot receive the response of the fixed transceiver, the fault of the fixed transceiver is judged; the monitoring terminal gives an alarm prompt, remotely resets the alarm prompt and simultaneously reminds workers to maintain the system in time;
when partial fault affects data transmission, the fixed transceiver detects whether the data transmitted by the fixed transceiver is received within a fixed time after the data is transmitted, and if the data transmitted by the fixed transceiver is not received, the fixed transceiver is judged to be in fault;
the fixed transceiver judges the conditions of the self fault are as follows:
the calculated distance D > D +0.2 meters,
alternatively, the value of d is not changed,
alternatively, D < D-H;
and after the fixed transceiver judges the fault of the fixed transceiver, the LED is used for indicating the fault of the equipment, when the monitoring terminal visits the fixed transceiver, the equipment fault is reported to the monitoring terminal, and the monitoring terminal remotely resets the fixed transceiver and gives an alarm prompt.
According to the technical scheme, the transponder system with the self-diagnosis function for mine transportation replaces the existing radio frequency tag card, and can be widely applied to various transportation monitoring systems under a mine. The responder system designed by the invention has a self-diagnosis function, can find the fault of the responder in time, and realizes the real-time monitoring and remote resetting of the responder.
Specifically, the system is composed of a monitoring terminal, a fixed transceiver and a vehicle-mounted transceiver. The monitoring terminal is connected with the fixed transceiver in a wired or wireless mode to realize information transmission; the fixed transceiver and the vehicle-mounted transceiver are communicated through ultrasonic waves, lasers or millimeter waves; the vehicle-mounted transceiver is connected with a control system on the vehicle. The fixed transceiver is arranged on a roadway, transmits data outwards in an ultrasonic or laser or millimeter wave mode, and the coverage of transmitting signals is small. The vehicle-mounted transceiver is arranged on the vehicle, and when the vehicle enters the coverage range of the signal transmitted by the fixed transceiver, the vehicle-mounted transceiver receives the data transmitted by the fixed transceiver. The monitoring terminal can access other networks, obtain instructions and report the system state of the responder.
The fixed transceiver has a unique identification code called an ID that is unique within a set of systems from which the coordinate position of the device can be determined. The fixed transceiver receives temporary instructions from the monitoring terminal, which are sent by the fixed transceiver. The vehicle-mounted transceiver also has a unique identification code that can be bound to the vehicle so that it knows from the identification code that the vehicle originated.
In order to achieve the purpose of self-checking, the installation position of the fixed transceiver should be fixed, data transmitted by the fixed transceiver can be received through reflection of the ground when no vehicle passes through, and the data preset to the fixed transceiver and away from the ground after installation is called a calibration value.
Compared with the prior art, the fixed transceiver has a self-checking function, can find self faults without other equipment or algorithms, realizes timely and accurate discovery of the hidden dangers of abnormal work of the transponder system, and provides guarantee for safe and efficient operation of vehicles in a mine. The method can timely and accurately discover the hidden danger that the transponder system works abnormally, and provides technical support for safe and efficient operation of vehicles under the mine.
Drawings
FIG. 1 is a schematic diagram of the system;
FIG. 2 is a schematic view of a fixed transceiver mounting location;
FIG. 3 illustrates a fixed transceiver sending data to the vehicle transceiver and a self-test process;
FIG. 4 is a schematic diagram of a fixed transceiver transmitting/receiving data packets;
FIG. 5 is a schematic block diagram of a fixed transceiver;
fig. 6 is a schematic diagram of the transmission process of the signal from the fixed transceiver.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, an embodiment of the present invention includes: a monitoring terminal 101, a fixed transceiver 102, a vehicle-mounted transceiver 103, a connection network 104 and a transmission channel 105.
The monitoring terminal is provided with a human-computer interface, displays the state of the fixed transceiver, and can also send data to the fixed transceiver, and the monitoring terminal can also be connected with other systems to exchange relevant information.
The method comprises the steps that ultrasonic signals are periodically sent through a wireless transmission channel 105 by a fixed transceiver, the sent signals carry coded information and information to be transmitted, and a receiving end obtains useful information by identifying the information; the fixed transceiver is arranged on the wall of the roadway and is connected with the monitoring terminal in a wired or wireless mode to realize information transmission; the transceiver transmits/receives signals by ultrasonic waves or laser or millimeter waves.
And the vehicle-mounted transceiver sends the coded information of the vehicle-mounted transceiver after receiving the information sent by the fixed transceiver. The vehicle-mounted transceiver is arranged on a vehicle, is communicated with the fixed transceiver through ultrasonic waves or laser or millimeter waves, and is connected with other control systems on the vehicle.
The connection between the fixed transceiver and the monitoring terminal may be a wired or wireless network 104 connection.
The on-board transceiver is connected to an on-board locomotive control system and provides the received fixed transceiver code and data to the locomotive control system.
Fig. 2 illustrates a fixed transceiver mounting. The fixed transceiver is arranged at the top end of a roadway, an included angle formed by a device for sending signals and the ground can ensure the reflection of the ground, the fixed transceiver can receive ultrasonic signals or laser signals sent by the fixed transceiver, and meanwhile, the fixed transceiver can also receive the reflected signals when a vehicle passes by. The fixed transceiver needs to be set after being installed, and the set content comprises the unique identification code of the fixed transceiver, namely ID, the highest vehicle body height H and the height D of the installation position from the ground.
In order to set the height D from the ground, a self-setting manner of the fixed transceiver can be selected, i.e. after the fixed transceiver is installed, calibration is needed. The distance from the transceiver to the ground is calibrated. The calibration value should be stored inside the fixed transceiver.
The method comprises the following steps: after the installation is finished, under the condition that no vehicle exists on the ground, the fixed transceiver enters a set state through a button or remote control information, at the moment, the fixed transceiver calculates the time difference between a sending signal and a receiving signal to obtain the distance between the transceiver and the ground, and the distance value is recorded in a storage unit in the fixed transceiver.
The fixed transceiver receives the reflected signal of the signal sent by the fixed transceiver, calculates the distance between the reflecting surface and the transceiver according to the reflected signal, compares the calculated distance value with a calibration value, and judges that the error between the measured distance and the calibration value is within a preset error range, or else, judges that the fixed transceiver is in fault.
The fixed transceivers and the monitoring terminal are in periodic communication, the monitoring terminal cannot receive a communication signal of a certain fixed transceiver or the received communication signal prompts the fixed transceiver to have a fault within a period of time, and then the fixed transceiver is judged to have the fault.
The transponder system of the present invention operates according to the following steps:
(1) the monitoring terminal periodically communicates with all fixed transceivers in the system, issues temporary instructions and receives responses of the transceivers;
(2) the fixed transceiver sends the ID of the fixed transceiver and a temporary instruction sent by the monitoring terminal at intervals set by the fixed transceiver;
(3) when a vehicle provided with the vehicle-mounted transceiver passes through the coverage area of the fixed transceiver, the ID and the temporary command sent by the fixed transceiver are received. The onboard transceiver transmits this data to the onboard controller.
(4) After receiving the data, the vehicle-mounted transceiver sends a response data packet to the fixed transceiver, which indicates the identity of the vehicle-mounted transceiver and correctly receives the data of the fixed transceiver.
The steps of the responder for judging the self fault are as follows:
a) the fixed transceiver detects whether the data transmitted by the fixed transceiver is received within a fixed time after the data is transmitted, and calculates the distance between the fixed transceiver and the reflecting surface according to the data.
b) If the data sent by the user cannot be received or the calculated distance is larger than the calibrated value, the fault of the fixed transceiver is judged, the fault of the equipment is indicated by an LED, and the fault is reported to the monitoring terminal. And the monitoring terminal sends a reset signal/reset code to the fixed transceiver with the determined fault to carry out remote reset.
c) And when the fixed transceiver has a fault of stopping working, stopping the communication with the monitoring terminal. And the monitoring terminal controls the on-off of the working power supply of the failed fixed transceiver to remotely reset the fixed transceiver.
d) The monitoring terminal is in periodic communication with the fixed transceiver, if the communication is not successful or the received communication data prompt that the fixed transceiver is in fault, the fixed transceiver is judged to be in fault, the monitoring terminal remotely resets the fixed transceiver and prompts maintenance personnel to maintain in time.
The following is a detailed description:
fig. 3 illustrates the operation of a fixed transceiver. The monitoring terminal periodically accesses all the fixed transceivers in the system, the fixed transceivers receive data sent by the monitoring terminal, and the data are forwarded to the vehicle-mounted transceivers; the fixed transceiver needs to send a response signal to the monitoring terminal, and the unique identification code of the fixed transceiver and the working state of the equipment are reported in the response signal. And the monitoring terminal cannot receive the response of the fixed transceiver within a set time period or the received response reports an error, and then the fixed transceiver is judged to be in fault. The signal sent by the fixed transceiver comprises a ranging pulse, a unique identification code of the transceiver and data required to be issued by a monitoring system. After the ranging pulse is sent, whether the reflected ranging signal is received or not is detected, and whether the fixed transceiver fails or not is judged according to the signal. And the vehicle-mounted transceiver submits the identification code and the data sent by the fixed transceiver to a vehicle-mounted control system after receiving the identification code and the data.
The operation of the fixed transceiver is further described in connection with fig. 4, 5, 6:
the fixed transceiver sends out a packet of data at a certain time T under the control of 501-CPU in fig. 5, and the packet of data is composed of 1-bit ranging pulse, binary ID code, payload with variable number of bits, and 1 check byte as shown in fig. 4. The binary ID code is the unique identification code of the fixed transceiver, the effective data load is the information code to be transmitted to the vehicle-mounted equipment in the system, and the length can be expanded according to the requirements of the system. The gap between the ranging pulse and the start bit of the ID code is greater than T1. The data packet is modulated into an ultrasonic signal of 40kHz by the 502-ultrasonic modulation module in fig. 5 and sent out, and the CPU of the fixed transceiver needs to record the time Tf of sending out the positioning pulse.
After the ranging ultrasonic signal is transmitted, it is reflected by the vehicle or ground passing under the fixed transceiver to the ultrasonic receiving module (503 in fig. 5) of the fixed transceiver for decoding, as shown in fig. 6. And d is the distance from the reflection point to the fixed transceiver, the fixed transceiver records the received time Tr after receiving the reflection point, the time difference Td from sending to receiving is further obtained as Tr-Tf, and the distance from the point of reflecting the ultrasonic wave to the fixed transceiver is calculated according to the formula d as 340 Td/2, wherein the unit of Td is second and the unit of d is meter. The fixed transceiver compares D to D, where D ± 0.2 meters without the vehicle passing by. When a vehicle passes by, D > D-H and D < D, wherein H is the maximum vehicle height.
To reduce the impact of the transmitted data on ranging, T1>2 × Td needs to be satisfied. The parameters are automatically calculated by the fixed transceiver when self-setting is performed.
When the vehicle passes through the fixed transceiver transmitting area, the vehicle-mounted transceiver receives the transmitted ultrasonic signal, extracts the ID code and the effective data load, and obtains the required information. And sending the response data after the time delay of the fixed transceiver stopping sending is detected to be not less than T1.
The method for judging whether a vehicle passes by the fixed transceiver comprises the following steps:
the calculated distance D satisfies D-H < D < D, D is the distance from the fixed transceiver to the ground, and H is the maximum vehicle height.
The fixed transceiver determines that no vehicle passes the conditions:
the calculated distance D ═ D ± 0.2 m.
Failure of a fixed transceiver includes the transceiver being inoperable as a whole and partial failure affecting data transmission.
When the whole transceiver can not work, the monitoring terminal in the system judges the fault of the fixed transceiver, the judging method is to periodically visit the fixed transceiver, and if the monitoring terminal can not receive the response of the fixed transceiver, the fault of the fixed transceiver is judged. The monitoring terminal gives an alarm prompt, remotely resets the alarm prompt and simultaneously reminds workers to maintain the system in time.
When partial fault affects data transmission, the fixed transceiver detects whether the data transmitted by the fixed transceiver is received within a fixed time after the data is transmitted, and if the data transmitted by the fixed transceiver is not received, the fixed transceiver is judged to be faulty. The fixed transceiver judges the conditions of the self fault are as follows:
the calculated distance D > D +0.2 meters,
alternatively, the value of d is not changed,
alternatively, D < D-H.
And after the fixed transceiver judges the fault of the fixed transceiver, the LED is used for indicating the fault of the equipment, when the monitoring terminal visits the fixed transceiver, the equipment fault is reported to the monitoring terminal, and the monitoring terminal remotely resets the fixed transceiver and gives an alarm prompt.
Therefore, the transponder system applicable to the mine roadway can replace the existing radio frequency tag card and can be widely applied to various underground transportation monitoring systems. The responder system designed by the invention has a self-diagnosis function, can find the fault of the responder in time and realizes the real-time monitoring of the responder. Specifically, the system is composed of a monitoring terminal, a fixed transceiver and a vehicle-mounted transceiver. The monitoring terminal can exchange information with other systems; the fixed transceiver is arranged on the wall of the roadway and can communicate with the monitoring terminal; the vehicle-mounted transceiver is mounted on the vehicle and can communicate with the fixed transceiver and other control systems on the vehicle. The fixed transceiver judges whether the fixed transceiver has a fault or not by detecting a signal sent by the fixed transceiver. The monitoring terminal obtains the working state of the fixed transceiver through periodic communication with the fixed transceiver. The method can timely and accurately discover the hidden danger that the transponder system works abnormally, and provides technical support for safe and efficient operation of vehicles under the mine.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A transponder system for mine transportation with a self-diagnostic function, characterized in that:
the system comprises a monitoring terminal (101), a fixed transceiver (102), a vehicle-mounted transceiver (103), a connecting network (104) and a transmission channel (105);
the fixed transceiver (102) is in communication with the monitoring terminal (101); the vehicle-mounted transceiver (103) communicates with the fixed transceiver (102) through a transmission channel (105);
the monitoring terminal (101) is provided with a human-computer interface, displays the state of the fixed transceiver and sends data to the fixed transceiver;
the method comprises the steps that a fixed transceiver (102) periodically sends ultrasonic signals through a wireless transmission channel (105), the sent signals carry coded information and information to be transmitted, and a receiving end obtains useful information by identifying the information;
after receiving the information sent by the fixed transceiver (102), the vehicle-mounted transceiver (103) sends own coding information;
the vehicle-mounted transceiver (103) is connected with a vehicle-mounted locomotive control system and provides the received fixed transceiver code and data for the locomotive control system;
the fixed transceiver (102) is arranged at the top end of a roadway, an included angle formed by the position of a signal sent by the fixed transceiver and the ground can ensure that the signal is reflected by the ground, the fixed transceiver can receive ultrasonic signals or laser signals sent by the fixed transceiver, and meanwhile, the fixed transceiver can also receive reflected signals when a vehicle passes by.
2. The transponder system for mine transportation with self-diagnostic function according to claim 1, characterized in that: the fixed transceiver (102) is connected to the monitoring terminal (101) by a wired or wireless network (104).
3. A response method of a mine transportation transponder system with a self-diagnosis function is characterized in that: the fixed transceiver (102) is set after being installed, and the set content comprises a unique identification code called ID of the fixed transceiver, the highest vehicle body height H and the height D of the installation position from the ground;
the method comprises the following steps:
(1) the monitoring terminal (10) periodically communicates with all the fixed transceivers (102) in the system, issues temporary instructions and receives responses of the transceivers;
(2) the fixed transceiver (102) sends the ID of the fixed transceiver and a temporary command sent by the monitoring terminal at intervals of set time;
(3) when a vehicle provided with a vehicle-mounted transceiver (103) passes through the coverage area of a fixed transceiver (102), an ID and a temporary command sent by the fixed transceiver are received; the vehicle-mounted transceiver (103) transmits the data to the vehicle-mounted controller;
(4) after receiving the data, the vehicle-mounted transceiver (103) sends a response data packet to the fixed transceiver (102), indicating the identity of the vehicle and correctly receiving the data of the fixed transceiver.
4. The answering method of the mine transportation transponder system with self-diagnostic function according to claim 3, wherein:
the method also comprises the following steps that the responder judges the self fault:
a) the fixed transceiver (102) detects whether the data transmitted by the fixed transceiver is received within a fixed time after the data is transmitted, and calculates the distance between the fixed transceiver (102) and the reflecting surface according to the data;
b) if the data sent by the user cannot be received or the difference between the calculated distance and the calibration value exceeds a set value, the fault of the fixed transceiver is judged, the fault of the equipment is indicated by an LED, and the fault is reported to a monitoring terminal (101); the monitoring terminal sends a reset signal/reset code to the fixed transceiver which is judged to have a fault, and remote reset is carried out;
c) when the fixed transceiver (102) has a fault of stopping working, the communication with the monitoring terminal (101) is stopped, and the monitoring terminal (101) controls the on-off of the working power supply of the fixed transceiver (102) with the fault to remotely reset the fixed transceiver;
d) the monitoring terminal (101) is in periodic communication with the fixed transceiver (102), if the communication is not successful or the received communication data prompt that the fixed transceiver (102) is in fault, the fixed transceiver (102) is judged to be in fault, the monitoring terminal (101) remotely resets the fixed transceiver, and prompts maintenance personnel to maintain in time.
5. The answering method of the mine transportation transponder system with self-diagnostic function according to claim 4, wherein:
in the step (2), the fixed transceiver (102) sends out a packet of data at a certain time interval T under the control of a CPU, wherein the data consists of 1-bit ranging pulse, binary ID codes, an effective data load with variable bits and 1 check byte;
the binary ID code is a unique identification code of the fixed transceiver (102), the effective data load is an information code to be transmitted to the vehicle-mounted equipment in the system, and the length can be expanded according to the requirement of the system;
the data packet is modulated into an ultrasonic signal of 40kHz through an ultrasonic wave modulation module and is sent out, and a CPU of a fixed transceiver (102) records the time T sent by a positioning pulsef。
6. The answering method of the mine transportation transponder system with the self-diagnosis function according to claim 5, wherein: the fixed transceiver (102) detects whether the data transmitted by the fixed transceiver is received within a fixed time after the data is transmitted, and the calculating the distance between the fixed transceiver (102) and the reflecting surface according to the data specifically comprises:
after the ranging ultrasonic signal is transmitted, the ranging ultrasonic signal is reflected to an ultrasonic receiving module of the fixed transceiver by a vehicle passing below the fixed transceiver (102) or the ground for decoding;
the method for judging whether a vehicle passes by the fixed transceiver comprises the following steps:
the calculated distance D meets the condition that D-H < D < D, D is the distance from the fixed transceiver to the ground, and H is the maximum vehicle height;
the fixed transceiver determines that no vehicle passes the conditions:
calculating the obtained distance D to be D +/-0.2 m;
setting the distance between the reflecting point and the fixed transceiver as d, and recording the receiving time T after the fixed transceiver receives the signalrFurther obtaining a time difference T from sending to receivingd＝Tr-TfD 340T according to the formulad/2 calculate the distance from the point reflecting the ultrasound to the fixed transceiver, where TdThe unit of (d) is second, and the unit of d is meter; the fixed transceiver compares D with D, and D is D ± 0.2 m in the case that no vehicle passes; when a vehicle passes by, d>D-H and D<And D, wherein H is the maximum vehicle height.
7. The answering method of the mine transportation transponder system with self-diagnostic function according to claim 1, wherein:
the failure of the fixed transceiver in the step (b) comprises that the whole transceiver cannot work and partial failure affects data transmission;
when the whole transceiver cannot work, the monitoring terminal in the system judges the fault of the fixed transceiver, the judging method is to periodically visit the fixed transceiver, and if the monitoring terminal cannot receive the response of the fixed transceiver, the fault of the fixed transceiver is judged; the monitoring terminal gives an alarm prompt, remotely resets the alarm prompt and simultaneously reminds workers to maintain the system in time;
when partial fault affects data transmission, the fixed transceiver detects whether the data transmitted by the fixed transceiver is received within a fixed time after the data is transmitted, and if the data transmitted by the fixed transceiver is not received, the fixed transceiver is judged to be in fault;
the fixed transceiver judges the conditions of the self fault are as follows:
the calculated distance D > D +0.2 meters,
alternatively, the value of d is not changed,
alternatively, D < D-H;
and after the fixed transceiver judges the fault of the fixed transceiver, the LED is used for indicating the fault of the equipment, when the monitoring terminal visits the fixed transceiver, the equipment fault is reported to the monitoring terminal, and the monitoring terminal remotely resets the fixed transceiver and gives an alarm prompt.
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