CN112327678A - Signal processing method based on coal mine trackless auxiliary transport robot - Google Patents
Signal processing method based on coal mine trackless auxiliary transport robot Download PDFInfo
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- G05B19/00—Programme-control systems
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to a signal processing method based on a trackless auxiliary transport robot for a coal mine, which comprises the following steps: the method comprises the steps that a coal mine trackless auxiliary transport robot receives CAN communication request data frames generated by one or more functional units of a mining trackless auxiliary transport vehicle in the operation process; identifying CAN communication request data frames, determining the CAN communication request data frames according to fields in the CAN communication request data frames, and determining the processing priority of all currently received CAN communication request data frames; establishing communication with a functional module which sends a CAN communication request data frame with the highest priority; and continuously receiving CAN communication request data frames generated by the functional unit in the operation process, determining the processing priority of all the CAN communication request data frames again, and circulating in sequence. According to the invention, data information can be transmitted and shared through a wire control mode, the functions of each control unit are realized, and the method and the device have important significance for promoting intellectualization and unmanned coal mine trackless auxiliary transportation.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to a signal processing method based on a trackless auxiliary transportation robot for a coal mine.
Background
The traditional trackless auxiliary transport vehicle for the coal mine adopts a point-to-point single communication mode, each sensor and each actuator are connected with other related electric control units by using wires, so that the traditional trackless auxiliary transport vehicle for the coal mine has the defects of complex wiring, difficult maintenance, low reliability, potential safety hazard caused by ageing and abrasion of a circuit, and even faults of short circuit, spontaneous combustion and the like. Along with the development of a control system of a trackless auxiliary transport vehicle for a coal mine, a sensing system, a distance measuring system, a state monitoring and protecting unit and the like are integrated into a control system of a trackless auxiliary transport robot for a coal mine to form a relatively complex network communication system. The communication mode of each unit and the coal mine trackless auxiliary transport robot in the network adopts a CAN bus, but when each unit and the coal mine trackless auxiliary transport robot communicate in the current stage, the robot processing data is often processed according to the time sequence, and emergencies are often not processed in time to cause accidents.
Disclosure of Invention
Aiming at the defects of the existing method, a signal processing method based on a coal mine trackless auxiliary transport robot is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: a signal processing method based on a coal mine trackless auxiliary transport robot is constructed, the coal mine trackless auxiliary transport robot is arranged on a mining trackless auxiliary transport vehicle and is used for controlling the mining trackless auxiliary transport vehicle, and the signal processing method comprises the following steps:
the method comprises the steps that a coal mine trackless auxiliary transport robot receives CAN communication request data frames generated by one or more functional units of a mining trackless auxiliary transport vehicle in the operation process;
identifying CAN communication request data frames, determining the CAN communication request data frames according to fields in the CAN communication request data frames, and determining the processing priority of all currently received CAN communication request data frames;
establishing communication with the functional module which sends the CAN communication request data frame with the highest priority, and sending CAN communication data to adjust the state of the functional module which sends the CAN communication request data frame with the highest priority;
and continuously receiving CAN communication request data frames generated by the functional unit in the operation process, determining the processing priority of all the CAN communication request data frames again, sending communication data to adjust the state of the corresponding functional module, and circulating in sequence.
The CAN communication request data frame consists of a frame start, an arbitration section, a data section, a CRC section, an ACK and a frame end; the arbitration section is used for defining the transmission priority of the corresponding CAN communication request data frame.
According to the real-time control requirement of the trackless auxiliary transport robot, redefining the 11bits ID of the arbitration section in the CAN communication request data frame format: defining ID11-ID10 as a control instruction field of the trackless auxiliary transport robot, wherein the control instruction field consists of an emergency stop locking instruction, a manual control instruction, a remote control instruction and an intelligent control instruction, and the priority is respectively an emergency stop locking instruction 00, a manual control instruction 01, a remote control instruction 10 and an intelligent control instruction 11 from top to bottom; defining the ID9-ID8 as the state of the trackless auxiliary transport robot, wherein the priority is from low to high, the forward operation is 00, the reverse operation is 01, and the stop is 10; definition ID7-ID0 are CAN communication nodes and are composed of 0x 01-0 x 7F.
Wherein, in the step of continuously receiving the CAN communication request data frame generated by the functional unit in the operation process, determining the processing priority of all the CAN communication request data frames again, and sending the CAN communication data to adjust the state of the corresponding functional module, the method comprises the following steps:
if the initial priority of the CAN communication data to be transmitted is defined as α and the number of collision transmission failures is defined as n, the priority of the current time of the periodic data CAN be defined as formula (1):
α'＝α-n (1)
wherein, α' is the priority of the current time of the non-periodic data, and α must be greater than 1;
if the CAN communication data is not successfully transmitted, meanwhile, the alpha is not 1 and the time of the data transmission time timer is not up, the data transmission priority is improved to be alpha-1, then the data is prepared to be transmitted again, and the process is circulated;
if the transmission priority α of the CAN communication data is equal to 1, immediately transmitting the data at the next time;
if the time of the CAN communication data sending timer is up, the CAN communication data is directly set to have the sending priority of 1 and sent at the next moment.
Wherein the communication data is at the worst response time RmIf the communication data is not sent yet, the priority of the communication data is directly set to 1, and the real-time property of the sending is ensured.
Different from the prior art, the invention provides a signal processing method based on a coal mine trackless auxiliary transport robot, which comprises the following steps: the method comprises the steps that a coal mine trackless auxiliary transport robot receives CAN communication request data frames generated by one or more functional units of a mining trackless auxiliary transport vehicle in the operation process; identifying CAN communication request data frames, determining the CAN communication request data frames according to fields in the CAN communication request data frames, and determining the processing priority of all currently received CAN communication request data frames; establishing communication with a functional module which sends a CAN communication request data frame with the highest priority; and continuously receiving CAN communication request data frames generated by the functional unit in the operation process, determining the processing priority of all the CAN communication request data frames again, and circulating in sequence. According to the invention, data information can be transmitted and shared through a wire control mode, the functions of each control unit are realized, and the method and the device have important significance for promoting intellectualization and unmanned coal mine trackless auxiliary transportation.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a logic schematic diagram of a signal processing method based on a trackless auxiliary transport robot for a coal mine provided by the invention.
Fig. 2 is a schematic diagram of installation of each functional module on a trackless auxiliary transport vehicle for a mine in a signal processing method based on a trackless auxiliary transport robot for a coal mine provided by the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, the invention provides a signal processing method based on a coal mine trackless auxiliary transport robot, the coal mine trackless auxiliary transport robot is arranged on a mine trackless auxiliary transport vehicle and used for controlling the mine trackless auxiliary transport vehicle, and the signal processing method comprises the following steps:
the method comprises the steps that a coal mine trackless auxiliary transport robot receives CAN communication request data frames generated by one or more functional units of a mining trackless auxiliary transport vehicle in the operation process;
identifying CAN communication request data frames, determining the CAN communication request data frames according to fields in the CAN communication request data frames, and determining the processing priority of all currently received CAN communication request data frames;
establishing communication with the functional module which sends the CAN communication request data frame with the highest priority, and sending CAN communication data to adjust the state of the functional module which sends the CAN communication request data frame with the highest priority;
and continuously receiving CAN communication request data frames generated by the functional unit in the operation process, determining the processing priority of all the CAN communication request data frames again, sending communication data to adjust the state of the corresponding functional module, and circulating in sequence.
The invention comprises the following functional modules:
a CAN bus communication connection CAN1 is established with the visual image perception unit, the data of the visual image perception unit is acquired, analyzed and logically processed, and meanwhile, the real-time running state, driving parameters and fault information of the trackless auxiliary transport robot are transmitted to the visual image perception unit;
a CAN bus communication connection CAN2 is established with the laser radar ranging unit, and the data of the laser radar ranging unit are acquired, analyzed and logically processed;
a CAN bus communication connection CAN3 is established with the state protection monitoring unit, and the data of the state protection monitoring unit is acquired, analyzed and logically processed;
the CAN bus communication connection CAN4 is established with the traction control unit, the trackless auxiliary transport robot is controlled to move forward after the laser radar ranging unit data and the state protection monitoring unit data are comprehensively analyzed according to the instruction of the visual image sensing unit, and meanwhile, the feedback data of the traction motor sent by the traction control unit is received;
the CAN bus communication connection CAN5 is established with the steering control unit, and after the laser radar ranging unit data and the state protection monitoring unit data are comprehensively analyzed according to the instruction of the visual image sensing unit, the trackless auxiliary transport robot is controlled to steer, and meanwhile, the feedback data of a steering motor sent by the steering control unit is received;
and a CAN bus communication connection CAN6 is established with the multi-source data-by-wire slave processor, and the multi-source data-by-wire master processor transmits the safety level data after logic processing to the multi-source data-by-wire slave processor.
The functions of the multi-source line control data slave processor are as follows:
establishing CAN bus communication CAN1 with the battery management unit to acquire, analyze and logically process the data of the battery management unit;
and a CAN bus communication CAN2 is established with the illumination control unit, and the illumination lamps and signal lamps at the left front, the left rear, the right front and the right rear in the illumination control unit are controlled according to the running state of the trackless auxiliary transport robot.
The laser radar ranging unit is used for ranging the left front barrier, the left rear barrier, the right front barrier, the right rear barrier, the left side barrier, the right side barrier and the coal wall of the trackless auxiliary transport robot, and the trackless auxiliary transport robot collides with the barriers and the coal wall. The ranging data is divided into three levels, namely a safe distance level [ D ]wd,Dmax]Early warning distance level [ Ddd,Dwd]And a dangerous distance level [0, Ddd](ii) a The safe distance level means that the body of the trackless auxiliary transport robot is in a safe operation environment and can be normally controlled; the early warning distance level indicates that the body of the trackless auxiliary transport robot is in an early warning running environment, and prompts that the body of the multisource line control data processing main box needs to be adjusted; the dangerous distance level means that the body of the trackless auxiliary transport robot is in a dangerous operation environment and needs to be stopped for processing.
The state protection monitoring unit is mainly used for completing state monitoring and protection of the water tank liquid level, the gas concentration, the energy accumulator pressure, the parking brake pressure, the service brake pressure and the brake temperatures of the left front wheel, the left rear wheel, the right front wheel and the right rear wheel of the trackless auxiliary transport robot.
The data processing flow of the multi-source line control data main processor to the laser radar ranging unit is as follows:
step 1: acquiring laser radar ranging data, and executing the step 2;
step 2: detecting and judging whether the data value is in the interval [ D ]wd,Dmax]If yes, executing step 3; otherwise, executing step 4;
and step 3: setting the data value as a safe distance level, and executing the step 10;
and 4, step 4: detecting and judging whether the data value is in the interval [ D ]dd,Dwd]If yes, executing step 5; otherwise, executing step 6;
and 5: setting the data value as an early warning distance level, and executing the step 10;
step 6: detecting and determining whether the data is located in the interval [0, D ]dd]If yes, executing step 7; otherwise, executing step 8;
and 7: setting the data value as a dangerous distance level, and executing the step 10;
and 8: if the obtained data value is an illegal value, ranging a fault, and executing the step 9;
and step 9: sending out a distance-measuring fault acousto-optic alarm, and executing the step 10;
step 10: and (6) ending.
The CAN communication request data frame consists of a frame start, an arbitration section, a data section, a CRC section, an ACK and a frame end; the arbitration section is used for defining the transmission priority of the corresponding CAN communication request data frame.
As shown in table 1, redefining the 11bits ID of the arbitration segment in the CAN communication request data frame format according to the real-time control requirement of the trackless auxiliary transport robot: defining ID11-ID10 as a control instruction field of the trackless auxiliary transport robot, wherein the control instruction field consists of an emergency stop locking instruction, a manual control instruction, a remote control instruction and an intelligent control instruction, and the priority is respectively an emergency stop locking instruction 00, a manual control instruction 01, a remote control instruction 10 and an intelligent control instruction 11 from top to bottom; defining the ID9-ID8 as the state of the trackless auxiliary transport robot, wherein the priority is from low to high, the forward operation is 00, the reverse operation is 01, and the stop is 10; definition ID7-ID0 are CAN communication nodes and are composed of 0x 01-0 x 7F.
TABLE 1 CAN BUS DATA FRAME FORM ARBIT SEQUENCE CODE STATISTIC TABLE
Wherein, in the step of continuously receiving the CAN communication request data frame generated by the functional unit in the operation process, determining the processing priority of all the CAN communication request data frames again, and sending the CAN communication data to adjust the state of the corresponding functional module, the method comprises the following steps:
at the sending time, according to the priority level, the high-priority data is sent preferentially; and at the next transmission moment, the CAN communication data to be transmitted is subjected to priority judgment again, and high-priority data is transmitted preferentially, so that the process is circulated.
If the initial priority of the CAN communication data to be transmitted is defined as α and the number of collision transmission failures is defined as n, the priority of the current time of the periodic data CAN be defined as formula (1):
α'＝α-n (1)
wherein, α' is the priority of the current time of the non-periodic data, and α must be greater than 1;
if the CAN communication data is not successfully transmitted, meanwhile, the alpha is not 1 and the time of the data transmission time timer is not up, the data transmission priority is improved to be alpha-1, then the data is prepared to be transmitted again, and the process is circulated;
if the transmission priority α of the CAN communication data is equal to 1, immediately transmitting the data at the next time;
if the time of the CAN communication data sending timer is up, the CAN communication data is directly set to have the sending priority of 1 and sent at the next moment.
Wherein the communication data is at the worst response time RmIf the communication data is not sent yet, the priority of the communication data is directly set to 1, and the real-time property of the sending is ensured.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A signal processing method based on a trackless auxiliary transport robot for a coal mine is characterized in that the trackless auxiliary transport robot for the coal mine is arranged on a trackless auxiliary transport vehicle for a mine and is used for controlling the trackless auxiliary transport vehicle for the mine, and the signal processing method comprises the following steps:
the method comprises the steps that a coal mine trackless auxiliary transport robot receives CAN communication request data frames generated by one or more functional units of a mine trackless auxiliary transport vehicle in the operation process;
identifying the CAN communication request data frame, determining the CAN communication request data frame according to the field of the CAN communication request data frame, and determining the processing priority of all currently received CAN communication request data frames;
establishing communication with the functional module which sends the CAN communication request data frame with the highest priority, and sending CAN communication data to adjust the state of the functional module which sends the CAN communication request data frame with the highest priority;
and continuously receiving CAN communication request data frames generated by the functional unit in the operation process, determining the processing priority of all the CAN communication request data frames again, sending communication data to adjust the state of the corresponding functional module, and circulating in sequence.
2. The signal processing method based on the coal mine trackless auxiliary transport robot of claim 1,
the CAN communication request data frame consists of a frame start, an arbitration section, a data section, a CRC section, an ACK and a frame end; wherein the arbitration segment is used for defining the transmission priority of the corresponding CAN communication request data frame.
3. The signal processing method based on the coal mine trackless auxiliary transport robot of claim 2, characterized in that the 11bits ID of the arbitration segment in the CAN communication request data frame format is redefined according to the real-time control requirement of the trackless auxiliary transport robot: defining ID11-ID10 as a control instruction field of the trackless auxiliary transport robot, wherein the control instruction field consists of an emergency stop locking instruction, a manual control instruction, a remote control instruction and an intelligent control instruction, and the priority is respectively an emergency stop locking instruction 00, a manual control instruction 01, a remote control instruction 10 and an intelligent control instruction 11 from top to bottom; defining the ID9-ID8 as the state of the trackless auxiliary transport robot, wherein the priority is from low to high, the forward operation is 00, the reverse operation is 01, and the stop is 10; definition ID7-ID0 are CAN communication nodes and are composed of 0x 01-0 x 7F.
4. The signal processing method based on the coal mine trackless auxiliary transport robot as claimed in claim 1, wherein in the step of continuously receiving the CAN communication request data frames generated by the functional units in the operation process, determining the processing priority of all CAN communication request data frames again, and transmitting CAN communication data to adjust the state of the corresponding functional module, the method comprises the steps of:
the initial priority of the CAN communication data to be transmitted is defined as that, the collision transmission failure times are defined as that, the priority of the current time of the period data CAN be defined as formula (1):
wherein,
is the priority of the current time of the non-periodic data, and
must be greater than 1;
the initial priority of the CAN communication request data frame waiting for transmission is
If the CAN communication data is not successfully transmitted, simultaneously
If the data transmission time is not 1 and the time of the data transmission time timer is not up, the data transmission priority is raised to
Then prepare to send again, and so on;
if the transmission priority of the CAN communication data
If the data is equal to 1, the data is immediately sent at the next moment;
if the time of the CAN communication data sending timer is up, the CAN communication data is directly set to have the sending priority of 1 and sent at the next moment.
5. The signal processing method based on the coal mine trackless auxiliary transport robot of claim 1, wherein if the communication data is in the worst response time
If the data is not sent yet, the priority of the non-periodic data is directly set to 1, so that the real-time property of sending the data is ensured.
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Application publication date: 20210205 |