CN114516354B - Single-rail off-line scheduling system based on binary topology and edge algorithm - Google Patents
Single-rail off-line scheduling system based on binary topology and edge algorithm Download PDFInfo
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- CN114516354B CN114516354B CN202210417814.XA CN202210417814A CN114516354B CN 114516354 B CN114516354 B CN 114516354B CN 202210417814 A CN202210417814 A CN 202210417814A CN 114516354 B CN114516354 B CN 114516354B
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Abstract
The invention relates to the field of dispatching of underground coal mine single-rail cranes and other similar rail vehicles. A monorail crane off-line scheduling system based on binary topology and edge algorithm is characterized in that each monorail crane is provided with a vehicle-mounted programmable controller, and a vehicle-mounted special vehicle-mounted programmable controller is provided with a human-computer interface and an input keyboard; each turnout is provided with a turnout controller with a logic programming function for controlling the turnout switching and locking of the current turnout, each turnout controller is internally provided with a small base station AP, the vehicle-mounted controller of each monorail crane is internally provided with an STA device which is in matched communication with the small base station AP, and when each monorail crane runs to the vicinity of one turnout, the monorail crane is wirelessly connected with the small base station AP of the turnout.
Description
Technical Field
The invention relates to the field of dispatching of underground coal mine single-rail cranes and other similar rail vehicles.
Background
In the prior art, two schemes are generally adopted for underground monorail cranes of coal mines.
According to the first remote control scheme based on the vehicle-mounted video, a kilomega or kilomega industrial ring network is required to be arranged underground, and stable coverage of a wireless network is guaranteed in a vehicle driving area. At least one camera is arranged on two heads of the monorail crane (as a remote control basis); the CPE (or other wireless communication equipment) is additionally arranged at the vehicle body and is in communication connection with the vehicle main controller. The master controller opens data uploading communication and opens control authorization. The monorail is remotely controlled at a centralized control platform, either uphole or downhole. The hardware is simple and convenient, and is used for the intelligent transformation project of the vehicle.
In the second scheme of the on-line centralized scheduling system relying on the server, the scheme needs a coal mine to establish an aboveground scheduling server positioning server and the like. Firstly, making related pages by using upper computer software, drawing an underground roadway map (or combining a GIS geographic information system) to determine the position of the fixed equipment, and determining the position of the vehicle by depending on a positioning server and a related positioning method. And taking underground roadways of the above-ground human-computer interface, vehicle position states and the like as basic bases, and writing various logic programs in the scheduling server. And then the aboveground centralized control platform realizes the unmanned dispatching function of the monorail crane in a unified control or manual intervention mode. The vehicle control part of the solution still relies on a wireless network. The logic in terms of vehicle control is similar to the first scheme.
Both solutions of vehicle control must rely on full and stable coverage of the path wireless network. In practice, various equipment states in the downhole are difficult to guarantee, and if the quality of a wireless network is low, the method comprises the following steps: in the first scheme, the delay, the blockage and even the disconnection of the video signal can directly cause the failure of the basis of the remote control vehicle, and potential safety hazards exist. Both schemes rely on wireless communication for controlling the vehicle, so in order to ensure the correctness of the monorail crane receiving the wireless control signal, real-time heartbeat monitoring on the wireless communication signal is required, namely heartbeats of all relevant equipment between a vehicle controller and a remote control platform are written in a wireless communication protocol. On the basis of the above steps: if all heartbeats are normal (low fault tolerance), the wireless communication is proved to be normal, and the vehicle controller can receive and execute the wireless control signal; once the heartbeat of any equipment is abnormal, the communication is not stable, and logically, the remote control signal is interrupted to be received and the vehicle is stopped directly on the premise of safety. This results in the vehicle control part of both schemes still having unavoidable instability even under the premise of full coverage of the wireless network.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the problem of instability of unmanned dispatching of the underground coal mine single-rail crane is solved.
The technical scheme adopted by the invention is as follows: a monorail crane off-line scheduling system based on binary topology and edge algorithm is characterized in that each monorail crane is provided with a vehicle-mounted programmable controller, and the vehicle-mounted programmable controller is provided with a human-computer interface and an input keyboard; each turnout is provided with a turnout controller with a logic programming function for controlling the turnout switching and locking of the current turnout, each turnout controller is internally provided with a small base station AP, the vehicle-mounted programmable controller of each monorail crane is internally provided with an STA device which is in matched communication with the small base station AP, when each monorail crane runs to the vicinity of one turnout, the monorail crane establishes wireless connection with the small base station AP of the turnout, and the monorail crane is dispatched in an off-line mode according to the following steps:
firstly, according to turnout distribution of a roadway (which can be found on a roadway map), binary coding is carried out on turnouts and the turnouts are input into corresponding turnout controllers, after a roadway entrance enters, a first turnout code is 1, a first turnout code reappearing on the left side in front of the turnout with the code of 1 is 10, a first turnout code reappearing on the right side in front of the turnout with the code of 1 is 11, a first turnout code reappearing on the left side in front of any turnout with the code of x is x0, a first turnout code reappearing on the right side in front of the turnout with the code of x is x1, a track between the turnout with the code of x and the turnout with the code of x0 is a zone of x0 coding, a track between the turnout with the code of x and the switch with the code of x1 is a zone of x1 coding, and x is any coding number;
secondly, introducing binary codes of turnouts, namely hierarchical turnout data into a vehicle-mounted programmable controller of each monorail crane, generating track codes of roadways, namely hierarchical interval data in each vehicle-mounted programmable controller, and forming a topological logic diagram of the roadways;
step three, when an on-board programmable controller on a monorail crane receives a dispatching demand (can be received through a wireless signal), inputting a target area and a priority level through an input keyboard and sending a control command, wherein the priority level of the monorail crane is determined according to the loaded goods, the priority level of emergency demand goods and heavy and big goods is high, the target area is a track coding area to be reached by the monorail crane, after the on-board programmable controller receives the control command, comparing a track code (such as 1010100) of the target area with a track code (such as 10101100) of the current position, and generating a planning route, namely finding out the last same number in the continuous codes from the first number from the two codes and forming a new code (such as 10101) as a transit code, and the planning route is operated from the track code of the current position to the transit code and then to the track code of the target area (such as 10101100 → 10101 → 1010100), and the vehicle-mounted programmable controller controls the monorail crane to travel to the target area according to the planned route.
A plurality of passive beacons used for marking turnout codes and relative turnout positions are installed in three directions of each turnout, a passive beacon used for marking the interval codes is arranged in front of and behind a possible stop point (a loading area or a charging area and the like) of an interval of each track, a radio frequency signal identification device is installed on each monorail crane, when the monorail crane passes any passive beacon, the radio frequency signal identification device identifies the passive beacon, corresponding turnout codes or interval codes are input into a vehicle-mounted programmable controller, and the turnout codes and the interval codes located at present are displayed through a human-computer interface.
In the process that the monorail crane is controlled by the vehicle-mounted programmable controller to run according to the planned route to reach a target area, after the STA device is connected with the small base station AP of any turnout, the vehicle-mounted programmable controller conveys the serial number, the priority level and the planned route of the monorail crane corresponding to the STA device to the small base station AP of the turnout and then to the turnout controller, and the turnout controller controls turnout switching and locking of the turnout according to the planned route.
When the small-sized base station AP of the same turnout receives the connection signals of two STA devices at the same time, the priority levels contained in the signals sent by the two different STA devices are checked, the turnout controller controls turnout switching and locking of the turnout according to the planned route of the monorail crane with high priority level, and simultaneously sends signals to inform the monorail crane with low priority level to avoid.
The invention has the beneficial effects that: the invention adopts off-line control: a full-coverage and high-quality wireless network is not required as a necessary condition for remote control; the invention adopts edge calculation: no need for a aboveground server and corresponding logic; the invention adopts vehicle-mounted radio frequency positioning: the requirement of position interval identification is met, and accurate positioning is not relied on.
Drawings
FIG. 1 is a binary topology of the hierarchical switch of the present invention;
FIG. 2 is a hierarchical interval binary topology of the present invention;
FIG. 3 is a schematic flow diagram of the present invention.
Detailed Description
In order to avoid the dependence of a remote control monorail crane on a wireless network, a control scheme-an off-line control scheme which does not need a real-time wireless signal as a necessary condition for normal vehicle control is provided.
The key to off-line control is that the monorail crane is autonomously driven to a target after receiving a control signal, without requiring real-time wireless communication.
This requires adjustment of the form of the commands received by the on-board programmable controller of the monorail crane:
the control signals received by the vehicles in the two existing schemes are simple real-time instructions such as parking, advancing, backing and the like, and the instructions are sent remotely by manpower (scheme one) or sent by a dispatching server according to an upper computer logic program (scheme two).
In the off-line control scheme of the invention: the control signal received by the monorail crane is sent in the form of a "target position" (similar to the "autonomous driving program" of the dispatch server in scheme one). Since the vehicle does not travel along a wireless network, an aboveground dispatch server is not required.
Under such conditions, the "autonomous travel to target position" function is two important tasks:
1. redefining the entire downhole roadway path (binary topology);
2. the vehicle-mounted equipment has edge computing capability (solving the logic of interval autonomous identification and vehicle avoidance).
The detailed implementation method of the scheme comprises the following steps:
firstly, establishing topological logic according with roadway actual conditions
Each monorail is equipped with at least one onboard programmable controller (an onboard programmable controller with a human-machine interface and an input keyboard), which is provided with a human-machine interface and an input keyboard and has logic control and edge computing capabilities.
After taking the roadmap (existing), the track and switch distribution is planned first. Then, according to the hierarchical binary topological schematic diagram of the turnout, inputting bottom layer parameters on the vehicle-mounted programmable controller, wherein the method comprises the following steps:
a, determining the depth of a roadway topological graph by using the turnout grade;
b 'bottom-layer coding of turnouts at each stage':
binary coding is carried out on turnouts, the turnout is input into a corresponding turnout controller, after a roadway entrance enters, the first turnout is coded as 1, the first turnout code reappearing on the left side in front of the turnout coded as 1 is 10, the first turnout code reappearing on the right side in front of the turnout coded as 1 is 11, the first turnout code reappearing on the left side in front of any turnout coded as x is x0, the first turnout code reappearing on the right side in front of the turnout coded as x is x1, the section from the turnout coded as x to the track coded as x0 turnout is x0 coding, the section from the turnout coded as x to the track coded as x1 turnout is x1 coding, and x is the coding number of any turnout.
Filling in a binary number of each level of turnout from the level 1, namely determining the possible development direction of the next level of turnout by filling in a binary code of the turnout, wherein if the level 2 turnout is only 10 (without 11), the development direction of the roadway is 100 and 101 (and 110 and 111 after 11 are excluded).
When the binary topological codes of the turnout at each level are filled, the whole roadway and the topological graph of the turnout are determined. Stored in the form of data in the vehicle-mounted programmable controller.
The topology logic in the vehicle-mounted programmable controller is already built.
C "other parameters" including "vehicle number" and "vehicle priority" (the priority setting is set in the vehicle-mounted programmable controller in advance, theoretically, the priority of each vehicle is different, it can be understood that each vehicle does not repeat and occupies an arabic number, and the comparison of the priorities can determine the avoidance logic before the vehicle-crossing is needed).
Second, switch controller
A switch controller is arranged at each three-way switch for controlling the switch and locking of the mechanical switch. The switch controller has logic programming function: the turnout state can be sampled, the pneumatic solenoid valve can be controlled to change the left and right opening and closing of the turnout and limit locking, an indication signal is sent out, and a dispatching signal is sent out for vehicles in the turnout area.
Third, wireless network using switch as node
The turnout controller is used as a fixed AP (understood as a small-sized base station) and communicated with an underground wired ring network through an optical cable or a network cable; the vehicle controller is an STA (device). When a vehicle (controller) enters the coverage range of a turnout (controller) network, connection (1 or more STAs) is established with the turnout controller, data exchange between the AP and the STAs is realized, and functional docking and logical linkage are realized.
Each turnout is provided with a turnout controller with a logic programming function for controlling the turnout switching and locking of the current turnout, each turnout is provided with a small base station AP, each monorail crane is provided with an STA device which is in matched communication with the small base station AP, and when each monorail crane runs to the vicinity of one turnout, the monorail crane is wirelessly connected with the small base station AP of the turnout.
In the process that the monorail crane runs to a target area according to a planned route, when the STA device of the monorail crane is connected with the small base station AP of any turnout, the corresponding monorail crane number, priority and planned route are conveyed to the small base station AP of the turnout by the vehicle-mounted programmable controller and then conveyed to the turnout controller, and the turnout controller controls turnout changing and locking of the turnout according to the planned route.
Fourth, identification of position
Each turnout is provided with a passive beacon for marking the turnout code, the front and the back of a stop point of each track interval are provided with passive beacons for marking the interval code, each monorail crane is provided with a radio frequency signal identification device, when the monorail crane passes any passive beacon, the radio frequency signal identification device identifies the passive beacon and inputs the corresponding turnout code or interval code into a vehicle-mounted programmable controller, and the turnout code and the interval code which are positioned at present are displayed through a human-computer interface.
Compared with UWB accurate positioning methods (or other methods depending on large systems), the method can achieve scheduling requirements only by means of radio frequency identification for positioning. The device for identifying the communication radio frequency signal on the vehicle-mounted programmable controller is mainly used for identifying the passive beacon-the posting position of the beacon which is arranged on a track
Three directions of A turnout-determine whether to enter the turnout area (or some section) (all in binary number form);
a special label different from a common binary label is posted in a specified section, such as a section (such as a loading area and a charging area) in the section '1100', which the user B needs to reach.
Fifth, dispatching logic and processing method (algorithm)
The conditions of the binary topology and the laneway are determined, and the actual working condition digital modeling work is finished.
The radio frequency identification device determines the position of the vehicle; the vehicle-mounted programmable controller receives the target interval and the triggering instruction, the head and the tail are determined, and then the planning of the path is started, namely the algorithm.
The section position (which section of several sections) can be judged by identifying the length of the binary code of the area where the vehicle is located, and the number of the sections and the specific position of the target section are judged in the same way. And the relation between the current position and the target position can be judged by starting the downward comparison of the highest position.
The target area is a track coding area to be reached by the monorail crane, the vehicle-mounted programmable controller compares the track coding (such as 1010100) of the target area with the track coding (such as 10101100) at the current position after receiving the control command, and generates a planned route, namely, the last same number in the continuous coding from the first number is found out from the two codes, and the continuous same numbers form a new code (such as 10101) to be used as a transit code, the planned route is a track coding which runs from the track coding at the current position to the transit code and then runs to the track coding (such as 10101100 → 10101 → 1010100) of the target area, and the vehicle-mounted programmable controller controls the monorail crane to run to the target area according to the planned route.
For example, the start position is "sector 10"; the target position is the case of "sector 11110" -
First, the transit code is 1, the planned route is run from the current location track code to the transit code and then to the target area track code (i.e., from 10 → 1 → 11110), and the detailed switch code to be passed is 10 → 1 → 11 → 111 → 1111 and then directly to the segment 11110 parking area. When planning a route code, sequentially reducing 1 from a starting position code until a transfer code, then sequentially increasing 1 according to a target section code until reaching a turnout code one bit before a target area track code, and then moving to a target track section;
note that the case of 1 coding is not considered in the present logical coding because there is no case of 1 coding region parking during operation.
Sixthly, the vehicle passes through the turnout
When a vehicle passes through a turnout, the vehicle firstly receives the state information of the turnout, if the turnout state conforms to a planned path, the vehicle directly passes through; if the turnout state does not conform to the planned path, the vehicle-mounted programmable controller automatically sends a turnout change signal, and the vehicle passes through after turnout change is finished.
Seven, wrong vehicle
When more than one vehicle enters or is about to enter a turnout area, the turnout controller and the plurality of vehicle-mounted programmable controllers establish wireless network connection in a short distance. And comparing the priorities of a plurality of vehicles entering the turnout area, determining that the vehicle with higher priority obtains the right to control the turnout, and starting an avoidance program (see figure 3) for the vehicle with lower priority.
The priority of the monorail crane is determined according to the loaded goods, and the priority of the emergency demand goods and the heavy and big goods is high. The specific priority level is preset by the staff.
When the small-sized base station AP of the same turnout receives the connection signals of two STA devices at the same time, the priority levels contained in the signals sent by the two different STA devices are checked, the turnout controller controls turnout switching and locking of the turnout according to the planned route of the monorail crane with high priority level, and simultaneously sends signals to inform the monorail crane with low priority level to avoid. The monorail crane with the low priority level receives the avoidance information sent by the small-sized base station AP and comprises the planned route of the monorail crane with the high priority level, and the monorail crane with the low priority level moves to a route other than the planned route of the monorail crane with the high priority level to wait for rated time (set by the monorail crane) and then returns to the monorail crane to run according to the planned route.
Claims (1)
1. A monorail crane off-line scheduling system based on binary topology and edge algorithm is characterized in that: each monorail crane is provided with a vehicle-mounted programmable controller, and the vehicle-mounted programmable controller is provided with a human-computer interface and an input keyboard; each turnout is provided with a turnout controller with a logic programming function for controlling the turnout switching and locking of the current turnout, each turnout controller is internally provided with a small base station AP, the vehicle-mounted programmable controller of each monorail crane is internally provided with an STA device which is in matched communication with the small base station AP, when each monorail crane runs near one turnout, the monorail crane is wirelessly connected with the small base station AP of the turnout, the vehicle-mounted programmable controller has edge computing capability, starts edge computing and plans a vehicle path, solves the logic of interval autonomous identification and vehicle avoidance, and carries out monorail crane off-line scheduling according to the following steps:
firstly, according to turnout distribution of a roadway, binary coding is carried out on turnouts and the turnouts are input into corresponding turnout controllers, after a roadway entrance enters, a first turnout code is 1, a first turnout code reappearing on the left side in front of the turnout coded as 1 is 10, a first turnout code reappearing on the right side in front of the turnout coded as 1 is 11, a first turnout code reappearing on the left side in front of any turnout coded as x is x0, a first turnout code reappearing on the right side in front of the turnout coded as x is x1, a track between the turnout coded as x and the turnout coded as x0 is a zone of x0 coding, a track between the turnout coded as x and the turnout coded as x1 is a zone of x1 coding, and x is a coding number of any turnout; a plurality of passive beacons for marking turnout codes and relative turnout positions of each turnout are arranged in three directions, a passive beacon for marking the interval codes of the turnout is arranged in front of and behind a possible stop point of each track, a radio frequency signal identification device is arranged on each monorail crane, when the monorail crane passes any one passive beacon, the radio frequency signal identification device identifies the passive beacon, inputs the corresponding turnout codes or interval codes into a vehicle-mounted programmable controller, and displays the turnout codes and the interval codes which are positioned currently through a human-computer interface;
secondly, introducing binary codes of turnouts, namely hierarchical turnout data into a vehicle-mounted programmable controller of each monorail crane, generating track codes of roadways, namely hierarchical interval data in each vehicle-mounted programmable controller, and forming a topological logic diagram of the roadways;
step three, when the vehicle-mounted programmable controller on one monorail crane receives the dispatching requirement, inputting a target area and a priority level through an input keyboard and sending a control instruction, the priority level of the monorail crane is determined according to the carried goods, the priority level of the emergency demand goods and the heavy and big goods is high, the target area is a track coding area to be reached by the monorail crane, after the vehicle-mounted programmable controller receives the control instruction, the track coding of the target area is compared with the track coding of the current position, and a planning route is generated, finding out the last same number in the continuous codes from the first number from the two codes and forming a new code by the continuous same numbers as a transit code, wherein the planned route is a track code which runs from the current position to the transit code and then runs to a target area, and the vehicle-mounted programmable controller controls the monorail crane to run to the target area according to the planned route; in the process that the monorail crane is controlled by the vehicle-mounted programmable controller to run according to the planned route to reach a target area, after the STA device is connected with the small base station AP of any turnout, the vehicle-mounted programmable controller conveys the serial number, the priority level and the planned route of the monorail crane corresponding to the STA device to the small base station AP of the turnout and then to the turnout controller, and the turnout controller controls turnout switching and locking of the turnout according to the planned route; when the small-sized base station AP of the same turnout receives the connection signals of two STA devices at the same time, the priority levels contained in the signals sent by the two different STA devices are checked, the turnout controller controls turnout switching and locking of the turnout according to the planned route of the monorail crane with high priority level, and simultaneously sends signals to inform the monorail crane with low priority level to avoid.
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