CN114973707B

CN114973707B - Combined control method for coal mine underground roadway intersections

Info

Publication number: CN114973707B
Application number: CN202210438301.7A
Authority: CN
Inventors: 包翔宇; 单成伟; 吴岩明; 贾咏洁; 卞俊
Original assignee: Tiandi Changzhou Automation Co Ltd; Changzhou Research Institute of China Coal Technology and Engineering Group Corp
Current assignee: Tiandi Changzhou Automation Co Ltd; Changzhou Research Institute of China Coal Technology and Engineering Group Corp
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2023-12-01
Anticipated expiration: 2042-04-25
Also published as: CN114973707A

Abstract

The invention discloses a joint control method for coal mine underground roadway intersections, which comprises the following steps: s1, an upper computer determines configuration information of an intersection, and the upper computer transmits the intersection configuration information to a corresponding controller; s2, when the vehicle approaches the intersection, the positioning base station can read the information of the vehicle positioning card and send the information to the controller, and the controller analyzes the information of the vehicle positioning card and forms a vehicle information list; s3, if the current roadway road condition is a single road opening, the controller releases the vehicle according to a single road opening control strategy; if the current roadway road condition is multiple intersections, the controller releases the vehicle according to the regional joint management and control strategy; if the current roadway road condition is provided with a wrong parking lot, the controller releases the vehicle according to a wrong-vehicle linkage strategy. The invention has a plurality of release plans, and can select different control strategies to release the vehicle according to roadway conditions, thereby improving the transportation efficiency of the vehicle.

Description

Combined control method for coal mine underground roadway intersections

Technical Field

The invention relates to the technical field of coal mine underground traffic control, in particular to a joint control method for coal mine underground roadway intersections.

Background

Coal is used as the most important strategic resource in China, and the position of the coal is stable for a long time. At present, the development of the coal industry is advanced to automation, intellectualization and informatization at a high speed. The auxiliary transportation system for the coal mine is an important component of the industrial system operation of the coal mine. The auxiliary transportation gradually approaches to a new process and a new technology for realizing the integrated management, control, monitoring and scheduling of underground vehicles, personnel and materials.

As the core category of intelligent mine construction, realizing the network scheduling management of mine vehicles is the key of intelligent auxiliary transportation integrated management and control. In the underground transportation operation process, firstly, the safety of transportation must be ensured. However, the randomness of underground transportation is larger, the flow is not fixed, and the traditional traffic control adopts a timing-variable lamp and cannot adapt to the characteristics of underground transportation.

At present, a scheme for controlling vehicles based on one intersection exists, but the control mode is single, the triggering condition is severe, the control scheduling capability is poor when multiple vehicles run, the control system is only suitable for specific working condition environments, and the integration degree of the control system is low. A new scheduling method needs to be redeveloped according to different working condition environments and demands, so that time and labor are consumed, and the transportation efficiency is reduced.

Disclosure of Invention

The invention aims to solve the technical problems that: the invention provides a combined control method for coal mine underground roadway intersections, which aims to solve the technical problems that the control method in the prior art cannot be suitable for various working condition environments and has poor robustness.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a coal mine underworkings intersection's joint management and control method, includes joint management and control system, joint management and control system includes: the vehicle positioning device comprises a controller, a positioning base station, a vehicle positioning card, a signal lamp and an upper computer, wherein the positioning base station is in communication connection with the controller;

the combined control method for the coal mine underground roadway intersections comprises the following steps of:

s1, the upper computer determines configuration information of an intersection, wherein the configuration information comprises the number of intersections of the current intersection, the positions of positioning base stations, the number of positioning base stations, the distance between the positioning base stations and the center of the current intersection and an intersection priority strategy, and the upper computer sends the intersection configuration information to a corresponding controller;

S2, when a vehicle approaches an intersection, the positioning base station can read the information of the vehicle positioning card and send the information to the controller, and the controller analyzes the information of the vehicle positioning card and forms a vehicle information list;

s3, if the current roadway road condition is a single road opening, the controller releases the vehicle according to a single road opening control strategy; if the current roadway road condition is multiple intersections, the controller releases the vehicle according to the regional joint management and control strategy; if the current roadway road condition is provided with a wrong parking lot, the controller releases the vehicle according to a wrong-vehicle linkage strategy.

Further, in step S3, the region joint management policy includes:

if the road condition of the current roadway is that bidirectional driving is enabled and only one-way traffic is allowed at the same time, the intersections at the two ends of the current roadway should be opened with hostile locking strategies;

if the current roadway road condition is easy to be congested, the intersections at the two ends of the current roadway should open an interval locking strategy.

Further, the hostile lock strategy includes:

state1: the vehicle drives from the first intersection of the first intersection to the hostile locking area, and the vehicle does not drive through the locking threshold of the first intersection, at this time, the controller controls all signal lamps of the first intersection and the second intersection to be green lamps;

State2: the method comprises the steps that a vehicle drives through a blocking threshold of a first turnout of the first intersection, at the moment, a controller controls a signal lamp of the first turnout of the first intersection to be a green lamp, controls signal lamps of a second turnout and a third turnout of the first intersection to be red lamps, and controls the signal lamps of the first turnout, the second turnout and the third turnout of the second intersection to be green lamps;

state3: the unlocking threshold of the third intersection when the vehicle passes through the first intersection, namely the vehicle enters an hostile locking area, at the moment, the controller controls the signal lamps of the first intersection and the second intersection of the first intersection to be red lamps, controls the signal lamps of the second intersection and the third intersection of the second intersection to be red lamps, and controls the signal lamps of the third intersection of the first intersection and the first intersection of the second intersection to be green lamps;

state4: and when the vehicle passes through the unlocking threshold of the third intersection of the second intersection, ending the hostile locking strategy and executing the single-intersection control strategy.

Further, the interval locking strategy includes:

state1: a plurality of vehicles simultaneously drive from a first intersection of a first intersection and a third intersection of a second intersection to an interval locking area, the vehicles do not drive through a locking threshold of the first intersection and a locking threshold of the third intersection of the second intersection, and a controller controls all signal lamps of the first intersection and the second intersection to be green lights;

State2: the method comprises the steps that a plurality of vehicles simultaneously drive through a blocking threshold of a first turnout of a first intersection and a blocking threshold of a third turnout of a second intersection, at this time, a controller controls signal lamps of the first turnout of the first intersection and the third turnout of the second intersection to be green lamps, controls signal lamps of the second turnout of the first intersection and the third turnout to be red lamps, and controls signal lamps of the first turnout of the second intersection and the third turnout of the second intersection to be red lamps;

state3: when a plurality of vehicles continuously enter the zone locking area, and the vehicles in the zone locking area exceed M vehicles, the controller controls the signal lamps of the first fork and the second fork of the first intersection to be red lamps, controls the signal lamps of the second fork and the third fork of the second intersection to be red lamps, and controls the signal lamps of the third fork of the first intersection and the first fork of the second intersection to be green lamps;

state4: and when the number of vehicles in the interval locking area is less than M, ending the interval locking strategy and executing the single-port control strategy.

Further, in step S3, the staggered linkage strategy includes:

if the road condition of the current roadway is two intersections, no intersection exists, and two wrong yards are adjacent, the intersections at the two ends of the current roadway should start a wrong yard linkage strategy;

If the road condition of the current roadway is three intersections, wherein three intersections are arranged, and each intersection is provided with a wrong parking lot, the three intersections of the current roadway should start an intersection wrong-car linkage strategy;

two ends of each wrong parking lot are respectively provided with signal lamps.

Further, the wrong-way driving field linkage strategy comprises:

state1: the first intersection and the second intersection are both provided with vehicles which enter, and the vehicles at the first intersection enter the control range of the signal lamps firstly, at the moment, the controller controls the two signal lamps at the first intersection to be green lamps, controls the first signal lamp at the second intersection to be red lamps, and controls the second signal lamp at the second intersection to be green lamps, at the moment, the vehicles at the second intersection can enter the second intersection to avoid, and the vehicles at the first intersection can continue to move straight;

state2: when a vehicle at the first intersection passes through the first wrong parking lot, the controller controls a second signal lamp of the first wrong parking lot to be a yellow lamp so as to remind a vehicle behind to slow down;

state3: when a vehicle at the first intersection passes through the second intersection, the controller controls a first signal lamp of the second intersection to be a green lamp, controls a second signal lamp of the second intersection to be a yellow lamp, and controls a second signal lamp of the first intersection to be a red lamp;

State4: the vehicles at the second intersection continue to run, and after the vehicles at the second intersection pass through the first wrong parking lot, the controller controls the first signal lamp of the first wrong parking lot to be a yellow lamp, controls the second signal lamp of the first wrong parking lot to be a green lamp, and controls the two signal lamps of the second wrong parking lot to be green lamps; when the vehicles at the second intersection exit the first intersection, the controller controls the two signal lamps at the first intersection to be green lamps.

Further, the intersection crossing linkage strategy comprises:

the three turnouts are provided with signal lamps,

state1: when all three intersections have vehicles to drive in, and vehicles at the first intersection enter the control range of the signal lamps at the moment, the controller controls the two signal lamps at the first intersection to be green lamps, controls the signal lamps at the first intersection to be red lamps, controls the signal lamps at the second intersection and the third intersection to be green lamps, controls the first signal lamp at the second intersection to be red lamps, controls the second signal lamp at the second intersection to be green lamps, controls the first signal lamp at the third intersection to be red lamps, and controls the second signal lamp at the third intersection to be green lamps, at the moment, the vehicles at the second intersection can enter the second intersection to avoid, and the vehicles at the third intersection can enter the third intersection to avoid;

State2: if the vehicle at the first intersection is planned to drive out from the second intersection, the controller controls the first signal lamp of the third intersection to be changed into a green lamp, the controller controls the signal lamp of the third intersection to be a red lamp, the signal lamp of the first intersection to be a green lamp, the signal lamp of the second intersection to be a yellow lamp, the controller controls the second signal lamp of the first intersection to be a red lamp, and after the vehicle at the first intersection drives out of the second intersection, the controller controls the second signal lamp of the second intersection to be changed into a yellow lamp, and the signal lamp of the second intersection to be changed into a green lamp;

state3: if the vehicle at the third intersection is planned to exit from the first intersection, the controller controls the signal lamp at the third intersection to be a green lamp, controls the signal lamp at the second intersection to be a red lamp, at the moment, the vehicle at the third intersection can enter the road at the first intersection, and then the controller controls the signal lamp at the first intersection to be a yellow lamp, and controls the signal lamp at the first intersection of the third wrong parking lot to be a red lamp; when a vehicle at the third intersection passes through the first intersection, the controller controls the signal lamp at the first intersection to be a green lamp, and controls two signal lamps at the second intersection to be green lamps, so that the vehicle at the second intersection can exit from the second intersection;

State4: if the vehicle at the second intersection is planned to drive out from the first intersection, when the vehicle at the second intersection drives through the first intersection, the controller controls the signal lamp at the first intersection to be a yellow lamp, controls the signal lamp at the second intersection to be a green lamp, controls the two signal lamps at the second intersection to be green lamps, controls the two signal lamps at the third intersection to be green lamps, and controls the first signal lamp at the first intersection to be a yellow lamp and the second signal lamp at the first intersection to be a green lamp after the vehicle at the second intersection drives through the first intersection.

Further, the method further comprises the following steps: s4, if the large-sized vehicles meet in the roadway, the controller releases the vehicles according to the combined management and control strategy of the large-sized vehicles;

the cart joint management and control strategy comprises the following steps:

state1: if the large-sized vehicle is driven in at the second intersection and the large-sized vehicle does not reach the entrance threshold of the second intersection, the first intersection and the second intersection release the vehicle according to a single-intersection control strategy;

state2: when a large vehicle reaches the entrance threshold of a second intersection, the controller controls the signal lamp of a third intersection of the first intersection to be a green lamp, controls the signal lamp of the first intersection of the second intersection to be a green lamp so as to empty the vehicle in the joint area, then controls the signal lamps of the first intersection and the second intersection of the first intersection to be red lamps, controls the signal lamps of the second intersection and the third intersection of the second intersection to be red lamps, and prevents other vehicles from driving in;

State3: when all vehicles in the combined area leave, the controller controls the signal lamps of the third turnout of the first intersection to be green, controls the signal lamps of the third turnout of the second intersection to be green, and controls the signal lamps of the first turnout and the second turnout of the first intersection to be red, and controls the signal lamps of the first turnout and the second turnout of the second intersection to be red;

state4: and after the large-sized vehicle exits from the first intersection, ending the large-sized vehicle combined control strategy, and allowing the first intersection and the second intersection to pass through the vehicle according to the single-intersection control strategy.

Further, the fork priority policy includes:

step-by-step definition is carried out on the priorities of the fork ports, the first priority is the highest priority, and the fork ports are ordered according to the order from high priority to low priority;

when a vehicle enters a fork, the priority corresponding to the fork is in an active state, otherwise, the priority is in an inactive state;

and sequencing the priority of the active state, selecting the fork with high priority to release, converting the priority of the fork into the inactive state after releasing, and releasing the fork with the next priority, so as to circulate until the number of the active priorities is zero or vehicles in all the active priorities have been walked.

Further, the configuration information further includes: timeout release policy and priority release policy,

when the in-situ waiting time of all vehicles in the fork exceeds the maximum stopping time, or when the releasing time of the fork reaches the maximum releasing time and the vehicles still wait for releasing, the controller executes a timeout releasing strategy;

the timeout release strategy comprises the following steps: immediately ending the current release fork, and inspecting the next fork serial number needing release; if only one fork needs to be released at present, continuing to release the current fork; if at least two forks need to be released, sequentially releasing according to the priority order of the forks;

when the vehicle passing time exceeds 30 seconds, the controller starts to execute the priority release strategy;

the priority release strategy comprises the following steps:

if only one fork meets the priority release condition, the controller releases the fork preferentially;

if a plurality of fork ports meet the priority release condition, sequencing the plurality of fork ports according to the priority, and if the number of vehicles in a certain fork port is at least five more than the number of vehicles in the fork port with the highest priority, releasing the fork port preferentially; and if not, sequentially releasing the fork according to the priority order.

The invention has the beneficial effects that different control strategies can be selected to release the vehicle according to roadway conditions, namely, a sleeve control method is provided with a plurality of release plans, and a worker can select a proper control strategy according to release requirements of current working conditions, so that the transportation efficiency is improved. The combined control method disclosed by the invention has the advantages of high integration level, good adaptability and good robustness, and can further improve the intellectualization of underground coal mine vehicle dispatching and release.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a schematic diagram of the combined control and management system of the present invention;

FIG. 2 is a flow chart of the joint control method of the coal mine underground roadway intersection;

FIG. 3 is a schematic diagram of the installation distribution of the combined control and management system of the present invention;

FIG. 4 is a schematic illustration of positive and negative area division of the present invention;

FIG. 5 is a schematic diagram of the deployment effect of different numbers of positioning base stations according to the present invention;

FIG. 6 is a schematic diagram of a positioning base station of the present invention deployed at different types of intersections;

FIG. 7 is a schematic illustration of the determination of vehicle location information of the present invention;

FIG. 8 is a schematic view of the direction of travel of the vehicle of the present invention;

FIG. 9 is a schematic diagram of the present invention implementing a single port control strategy;

FIG. 10 is a schematic illustration of a joint management area of the present invention;

FIG. 11 is a schematic diagram of the present invention implementing a hostile latching strategy;

FIG. 12 is a schematic diagram of the present invention implementing an interval locking strategy;

FIG. 13 is a schematic diagram of the present invention implementing a staggered yard linkage strategy.

FIG. 14 is a schematic diagram of a first state of the present invention for performing an intersection crossing linkage strategy;

FIG. 15 is a schematic diagram of a second state of the present invention for performing an intersection crossing linkage strategy;

FIG. 16 is a schematic view of a third state of the present invention for performing an intersection crossing linkage strategy;

FIG. 17 is a schematic diagram of a fourth state of the present invention for performing an intersection crossing linkage strategy;

FIG. 18 is a schematic diagram of the present invention implementing a cart joint management and control strategy;

fig. 19 is a schematic diagram of the present invention executing a fork priority policy.

In the figure: 100. a joint management and control system; 101. a controller; 102. positioning a base station; 103. a vehicle positioning card; 104. a signal lamp; 105. an upper computer; 106. an audible and visual alarm.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 and 3, the joint control method for the coal mine underground roadway intersection comprises a joint control system 100, wherein the joint control system 100 comprises: the vehicle positioning system comprises a controller 101, a positioning base station 102, a vehicle positioning card 103, a signal lamp 104 and an upper computer 105, wherein the positioning base station 102 is in communication connection with the controller 101 (for example, through UDP protocol), the vehicle positioning card 103 is in communication connection with the positioning base station 102 (for example, through UWB communication), the signal lamp 104 is in communication connection with the controller 101 (for example, through RS485 communication), and the controller 101 is in communication connection with the upper computer 105 (for example, through MODBUS_TCP communication). The positioning base station 102 can read the identity information and the position of the vehicle positioning card 103, the controller 101 can send a UDP request frame to the positioning base station 102 to acquire the identity information and the position of the vehicle positioning card 103, the controller 101 can control the state change of the signal lamp 104, and the upper computer 105 can acquire a release strategy remotely issued by the dispatching center and send the release strategy to the corresponding controller 101 for execution. In this embodiment, the number of controllers 101, positioning base stations 102, vehicle positioning cards 103 and signal lamps 104 is plural, and the adjacent controllers 101 can communicate with each other according to the actual situation of the intersection. The controller 101, the positioning base station 102 and the signal lamp 104 can be arranged at a specified position of an intersection, and the vehicle positioning card 103 is arranged on a vehicle and moves along with the vehicle.

As shown in fig. 2, the joint control method of the coal mine underground roadway intersection comprises the following steps:

s1, the upper computer 105 determines configuration information of the intersection, wherein the configuration information comprises the number of intersections of the current intersection, the positions of the positioning base stations 102, the number of the positioning base stations 102, the distance between the positioning base stations 102 and the center of the current intersection and an intersection priority strategy, and the upper computer 105 issues the intersection configuration information to the corresponding controller 101.

S2, when the vehicle approaches the intersection, the positioning base station 102 can read the information of the vehicle positioning card 103 and send the information to the controller 101, and the controller 101 analyzes the information of the vehicle positioning card 103 and forms a vehicle information list.

S3, if the current roadway road condition is a single road junction, the controller 101 releases the vehicle according to a single road junction control strategy; if the current roadway road condition is multiple intersections, the controller 101 releases the vehicle according to the regional joint management and control strategy; if the current roadway road condition is provided with a wrong parking lot, the controller 101 releases the vehicle according to a wrong-vehicle linkage strategy.

In other words, the invention can select different control strategies to release the vehicle according to roadway conditions, namely, a sleeve control method is provided with a plurality of release plans, and a worker can select a proper control strategy according to release requirements of current working conditions. The combined control method disclosed by the invention has the advantages of high integration level, good adaptability and good robustness, and can further improve the intellectualization of underground coal mine vehicle dispatching and release.

Specifically, after receiving the intersection configuration information, the controller 101 preferentially determines whether the transceiving states of the positioning base station 102 and the signal lamp 104 are normal, and if the fault or abnormality of the positioning base station 102 and the signal lamp 104 is found, the controller 101 executes the flashing of the fault lamp to prompt the staff that the current system has the fault. When a vehicle approaches an intersection, the positioning base station 102 can read the identity information and the position information of the vehicle positioning card 103 of the vehicle and send the identity information and the position information to the corresponding controller 101, the controller 101 forms a vehicle information list of the current intersection according to the identity information and the position information of the vehicle positioning card 103, and the controller 101 can judge the behaviors of entering, exiting, dropping, running a red light and the like of the vehicle in the vehicle information list and update the vehicle information list controlled by the intersection in real time.

When the positioning base station 102 is installed at an intersection, positive and negative areas and position information elements of the intersection may be determined, for example, as shown in fig. 4, the positioning base station 102 is installed at a first intersection, the intersection area where the positioning base station 102 is located is a negative area, and the opposite intersection area is a positive area, whereby the position information of the vehicle with respect to the intersection is negative when the vehicle travels in the negative area, the position information of the vehicle with respect to the intersection is positive when the vehicle travels in the positive area, and the value at the reference line O is zero. The positioning base station 102 includes two antennas, an antenna closer to the intersection is denoted as a near antenna J, an antenna farther from the intersection is denoted as a far antenna Y, a distance between the near antenna J and the far antenna Y is 5 meters, a distance between the near antenna J and the reference line O is Sc, a distance between the far antenna Y and the reference line O is Sr, a distance between the center of the positioning base station 102 and the reference line O is So, and Scr represents half a distance between the near antenna J and the far antenna Y, that is, 2.5 meters.

In this embodiment, the number of configuration of the positioning base stations 102 is related to the effective scanning range and intersection characteristics of the positioning base stations 102. For example, referring to fig. 5, the number of the turnouts at a certain intersection is three, the positioning base station 102 can scan a white area and a gray area at the same time, if only one positioning base station 102 is provided, the positioning base station 102 collects that the position information of two marking points "X" are the same, and are all the positive areas of the positioning base station 102, so that it is impossible to determine whether the vehicle is at the second turnout or the third turnout; if two positioning base stations 102 are installed at different forks, the position information of the two marking points 'X' collected by the positioning base station 102 at the fork II is different, and the two marking points 'X' are respectively located in the negative area and the positive area of the positioning base station 102 at the fork II, and by combining the data collected by the two positioning base stations 102, the specific azimuth of the vehicle can be determined. Thus, assuming that the number of intersections is N, the number of positioning base stations 102 should be at least N-1, and the positioning base stations 102 are installed at different intersections. If the number of the intersections is plural, the intersection where the roadway is located in the descending direction is generally named as a first intersection, and then the other intersections are named in a clockwise direction (as shown in fig. 6).

The position information of the vehicle can be analyzed by the positioning base station 102, the distance value between the two antennas and the vehicle can be used as two characteristic values, the position information of the vehicle can be obtained according to the sizes of the two characteristic values, and the positive and negative of the position information can be determined by combining the position information elements. Specifically, the following three cases can be distinguished:

first, referring to fig. 7 (a) and 7 (c), when the vehicle is located on the left side of the near antenna J, two situations are included: (1) The vehicle is positioned on the left side of the far antenna Y, (2) the vehicle is positioned between the near antenna J and the far antenna Y; assuming that the distance between the near antenna J and the vehicle is Z, the distance D between the vehicle and the reference line O can be expressed as: d= - (sc+z), the distance D is a negative value because the vehicle is in the negative area of the positioning base station 102 at this time.

Second, referring to fig. 7 (b), when the vehicle is located on the left side of the reference line O and on the right side of the near antenna J, the distance D between the vehicle and the reference line O can be expressed as: d= - (Sc-Z), the distance D is a negative value because the vehicle is in the negative area of the positioning base station 102 at this time.

Third, referring to fig. 7 (c), when the vehicle is located on the right side of the reference line O, the distance D between the vehicle and the reference line O may be expressed as: d= (Z-Sc), the distance D is a positive value because the vehicle is in the positive area of the positioning base station 102 at this time.

After determining the position information of the vehicle, the controller 101 needs to determine the current running state of the vehicle, where the running state may include forward running, forward running in the negative direction, stopping and initializing states (as shown in fig. 8), the initializing states refer to the state that the vehicle positioning card 103 is scanned by the positioning base station 102 for the first time or the forward and backward scanning states are discontinuous, the initializing states are denoted as "9", the stopping states refer to the state when the vehicle is stationary, denoted as "0", the forward running refers to the running of the vehicle from the negative area to the positive area, denoted as "1", the forward running in the negative direction refers to the running of the vehicle from the positive area to the negative area, and denoted as "2". The controller 101 can determine the running state of the vehicle by comparing the position information of the vehicle at the present time (denoted as pellinldis) with the position information of the vehicle at the previous time (TempDis).

The judgment conditions of the initialization state may include: the vehicle position information at the previous moment is zero, (2) the vehicle position information at the previous moment is positive, the vehicle position information at the current moment is negative, and (3) the vehicle position information at the previous moment is negative, and the vehicle position information at the current moment is positive. At this time, the running state of the vehicle is judged to be "9", the position information of the vehicle at the previous time is made equal to the position information of the vehicle at the current time, and the initialization operation is performed.

The judging conditions of the stopped state include: considering the influence of factors such as positioning fluctuation and vehicle body inertia, the positioning base station 102 needs to scan the vehicle positioning card 103 for 100 times continuously, and if the difference between the position information at the front and rear time is less than 3 meters (namely, fallinDis-TempDis <300 and FallinDis-TempDis > -300), the vehicle is judged to be in a stopped state. At this time, the running state is set to "0" without updating the position information of the vehicle at the previous time. When the positioning base station 102 scans, the number of times with the difference less than 3 meters is recorded as TempTimes, if the current TempTimes is less than 100, the scanning accumulation is continued, and if the TempTimes has reached 100, the scanning is stopped. When the vehicle changes to other driving states, the TempTimes are cleared.

The judgment conditions of the negative direction running state include: the positioning base station 102 needs to scan the vehicle positioning card 103 for 100 times continuously, and if the value of the position information of the vehicle at the current moment minus the position information of the vehicle at the last moment is less than or equal to minus 3 meters (namely, fallinDis-TempDis is less than or equal to minus 300), the vehicle moves a distance in the negative direction, and the running state of the vehicle is judged to be the state '2'. At this time, the position information of the vehicle at the previous moment is made to be equal to the position information of the vehicle at the current moment, and the scanning times are cleared.

The judgment conditions of the forward running state include: the positioning base station 102 needs to scan the vehicle positioning card 103 for 100 times continuously, if the value of the position information of the vehicle at the current moment minus the position information of the vehicle at the last moment is more than or equal to positive 3 meters (namely, fallinDis-TempDis is more than or equal to 300), the vehicle is indicated to move a distance in the positive direction, and the running state of the vehicle is judged to be state '1'. At this time, the position information of the vehicle at the previous moment is made to be equal to the position information of the vehicle at the current moment, and the scanning times are cleared.

In this embodiment, the single road junction control strategy is to let go of the vehicle according to the distance between the vehicle and the center of the road junction. Specifically, referring to fig. 9, an enqueue threshold, a lock threshold, and an unlock threshold may be set. When the distance between the vehicle and the center of the intersection is smaller than the enqueue threshold, the vehicle is judged to be in the enqueue state, and the controller 101 counts the vehicle into a list of vehicles to be released. When the distance between the vehicle and the center of the intersection is smaller than the blocking threshold, the vehicle is judged to be in a blocking state, the controller 101 controls the signal lamp of the running direction of the vehicle to be green, the vehicle is allowed to pass, the controller 101 controls the signal lamps of other running directions to be red, and other vehicles are forbidden to pass. When the distance between the vehicle and the center of the intersection is greater than the unlocking threshold, the vehicle is judged to be in an unlocking state, and the controller 101 controls the signal lamps in other driving directions to be green, so that the forbidden limit is released.

In this embodiment, if the current roadway condition is multiple intersections, there is a partial area between two adjacent intersections that is associated. For example, taking two intersections as an example (please refer to fig. 10), the third intersection of the first intersection and the first intersection of the second intersection are related to each other, and the middle gray area is the area needing joint control. The regional joint management and control strategy comprises the following steps: (1) If the road condition of the current roadway is that bidirectional driving is enabled and only one-way traffic is allowed at the same time, the intersections at the two ends of the current roadway should be opened with hostile locking strategies; (2) If the current roadway road condition is easy to be congested, the intersections at the two ends of the current roadway should open an interval locking strategy.

Referring to fig. 11, taking two intersections as an example, the hostile blocking strategy includes:

state1: the vehicle is driven from the first intersection of the first intersection to the hostile blocking area, and the vehicle does not pass the blocking threshold of the first intersection, at this time, the controller 101 controls all the signal lamps 104 of the first intersection and the second intersection to be green lamps. Thus, the first intersection and the second intersection can normally pass.

State2: the vehicle has driven the blocking threshold of the first intersection, at this time, the controller 101 controls the signal lamp 104 of the first intersection to be a green lamp, controls the signal lamps 104 of the second intersection and the third intersection of the first intersection to be red lamps, and controls the signal lamps 104 of the first intersection of the second intersection, the second intersection and the third intersection to be green lamps. Therefore, the second fork and the third fork of the first intersection are in the no-pass state, and the vehicles at the first fork are given way, and at the moment, the vehicles still can normally pass because the vehicles do not enter the combined control area.

State3: the vehicle has driven through the unlocking threshold of the third intersection of the first intersection, namely, the vehicle enters the hostile locking area, at this time, the controller 101 controls the signal lamps 104 of the first intersection and the second intersection of the first intersection to be red lamps, controls the signal lamps of the second intersection and the third intersection of the second intersection to be red lamps, and controls the signal lamps 104 of the third intersection of the first intersection and the first intersection of the second intersection to be green lamps. At this time, the first and second intersections of the first intersection, and the second and third intersections of the second intersection are all in a communication prohibition state, so that other vehicles are prevented from driving in, and the vehicles entering the hostile blocking area can continue to travel towards the second intersection.

Therefore, through states 1 to 4, the controller 101 controls the linkage adjustment of the signal lamps 104 of the first intersection and the second intersection, so that the vehicle can smoothly pass through the hostile blocking area, and the vehicle is prevented from being jammed or a traffic accident is avoided.

Referring to fig. 12, taking two intersections as an example, the interval locking policy includes:

state1: a plurality of vehicles simultaneously drive from a first intersection of a first intersection and a third intersection of a second intersection to an interval locking area, the vehicles do not drive through a locking threshold of the first intersection and a locking threshold of the third intersection of the second intersection, and the controller 101 controls all signal lamps 104 of the first intersection and the second intersection to be green lamps. That is, two vehicles simultaneously travel to the section locking area, and when both vehicles do not travel through the locking threshold of the intersection, the two intersections can normally pass.

State2: the multiple vehicles simultaneously drive through the blocking threshold of the first turnout of the first intersection and the blocking threshold of the third turnout of the second intersection, at this time, the controller 101 controls the signal lamps 104 of the first turnout of the first intersection and the third turnout of the second intersection to be green lamps, controls the signal lamps 104 of the second turnout of the first intersection and the third turnout of the second intersection to be red lamps, and controls the signal lamps 104 of the first turnout of the second intersection and the third turnout of the second intersection to be red lamps. Thus, only vehicles at the first fork of the first intersection and the third fork of the second intersection can enter the section locking area, and vehicles at other forks are forbidden to pass.

State3: when a plurality of vehicles continuously enter the zone locking area and the vehicles in the zone locking area exceed M vehicles, the controller 101 controls the signal lamps 104 of the first fork and the second fork of the first intersection to be red lamps, controls the signal lamps 104 of the second fork and the third fork of the second intersection to be red lamps and controls the signal lamps 104 of the third fork of the first intersection and the first fork of the second intersection to be green lamps. Therefore, vehicles at the first fork and the second fork of the first intersection and vehicles at the second fork and the third fork of the second intersection can be forbidden to enter the interval locking area, vehicles in the interval locking area are preferentially ensured to exit the interval locking area as soon as possible, and accidents are prevented from being caused.

State4: and when the number of vehicles in the interval locking area is less than M, ending the interval locking strategy and executing the single-port control strategy. For example, M is 5, and the size of M is specifically determined according to roadway conditions and underground conditions.

Thus, through states 1 to 4, the controller 101 controls the linkage adjustment of the signal lamps 104 of the two intersections, so that smooth passing of vehicles at the two intersections can be ensured, congestion is avoided, and transportation efficiency is improved.

When a wrong parking place is arranged in the coal mine environment, the wrong parking place can be utilized to dredge the vehicle. The staggered linkage strategy comprises the following steps: if the current roadway road condition is two intersections, no intersection exists, and two wrong yards are adjacent, the intersections at the two ends of the current roadway are required to start a wrong yard linkage strategy. If the current roadway road condition is three intersections, three intersections are provided, and each intersection is provided with a wrong parking lot, the three intersections of the current roadway should start an intersection wrong-car linkage strategy. Signal lamps 104 are respectively arranged at two ends of each wrong parking lot. The size of the wrong parking lot is based on accommodating one vehicle.

Referring to fig. 13, the wrong-way driving linkage strategy includes:

state1: both the first intersection and the second intersection have vehicles to drive in, and the vehicles at the first intersection enter the control range of the signal lamps 104, at this time, the controller 101 controls the two signal lamps 104 at the first intersection to be green lamps, controls the first signal lamp 104 at the second intersection to be red lamps, controls the second signal lamp 104 at the second intersection to be green lamps, at this time, the vehicles at the second intersection can enter the second intersection to avoid, and the vehicles at the first intersection can continue to move straight.

State2: when a vehicle at the first intersection passes through the first wrong parking lot, the controller 101 controls the second signal lamp 104 of the first wrong parking lot to be a yellow lamp so as to remind the rear vehicle of slowing down.

State3: when a vehicle at the first intersection passes through the second intersection, the controller 101 controls the first signal lamp 104 of the second intersection to be a green lamp, controls the second signal lamp 104 of the second intersection to be a yellow lamp (reminds a vehicle behind to slow down), controls the second signal lamp 104 of the first intersection to be a red lamp (forbids the vehicle at the first intersection from continuously driving in), at this time, the vehicle stopped in the second intersection can continuously drive towards the first intersection, and after the vehicle at the second intersection passes through the second intersection, the controller 101 controls the first signal lamp 104 of the second intersection to be the yellow lamp (reminds the vehicle behind to slow down).

State4: when the vehicles at the second intersection continue to run, after the vehicles at the second intersection pass through the first wrong parking lot, the controller 101 controls the first signal lamp 104 of the first wrong parking lot to be a yellow lamp (reminding the vehicles at the rear of the vehicle to slow down), controls the second signal lamp 104 of the first wrong parking lot to be a green lamp, and controls the two signal lamps 104 of the second wrong parking lot to be both green lamps; when the vehicle at the second intersection exits the first intersection, the controller 101 controls the two signal lamps 104 of the first intersection to be green. Vehicles at the first intersection and the second intersection can continue to drive in.

Therefore, through State 1-State 4, the controller 101 controls linkage change between the signal lamps 104 of two wrong yards, vehicles at the first intersection and the second intersection can smoothly pass through, the situation that the vehicles can not avoid due to intersection of the two vehicles can not occur, tunnel congestion is avoided, and transportation efficiency is improved.

Referring to fig. 14 to 17, the intersection-crossing linkage strategy includes:

the three turnouts are provided with signal lamps 104,

state1: when three intersections all have vehicles to drive in, and the vehicles at the first intersection enter the control range of the signal lamp 104, at this moment, the controller 101 controls two signal lamps 104 of the first intersection to be green lamps, controls the signal lamps 104 of the first intersection to be red lamps, controls the signal lamps of the second intersection and the third intersection to be green lamps, controls the first signal lamp 104 of the second intersection to be red lamps, controls the second signal lamp 104 of the second intersection to be green lamps, controls the first signal lamp 104 of the third intersection to be red lamps, and controls the second signal lamp 104 of the third intersection to be green lamps. Therefore, other vehicles at the second intersection and the third intersection can be prevented from continuously entering, and the current vehicle at the first intersection can pass smoothly.

State2: if the vehicle at the first intersection is planned to exit from the second intersection, the controller 101 controls the first signal lamp 104 of the third intersection to become a green lamp, the controller 101 controls the signal lamp 104 of the third intersection to become a red lamp (in this way, the vehicle at the third intersection can exit from the third intersection for waiting), the signal lamp 104 of the first intersection is controlled to become a green lamp, the signal lamp 104 of the second intersection is controlled to become a yellow lamp (for reminding the vehicle at the rear of the vehicle to slow down), the controller 101 controls the second signal lamp 104 of the first intersection to become a red lamp (for temporarily prohibiting other vehicles at the first intersection from entering), and when the vehicle at the first intersection exits from the second intersection, the controller 101 controls the second signal lamp 104 of the second intersection to become a yellow lamp (for reminding the vehicle at the rear of the vehicle to slow down), and controls the signal lamp 104 of the second intersection to become a green lamp (for preparing the vehicle at the third intersection to travel).

State3: if the vehicle at the third intersection is planned to exit from the first intersection, the controller 101 controls the signal lamp 104 at the third intersection to be a green lamp (allowing the vehicle at the third intersection to pass through), controls the signal lamp 104 at the second intersection to be a red lamp, at this time, the vehicle at the third intersection can enter the road at the first intersection, and then the controller 101 controls the signal lamp 104 at the first intersection to be a yellow lamp (reminding the vehicle at the rear of the vehicle to slow down), and controls the signal lamp 104 at the third intersection to be a red lamp (prohibiting the vehicle at the rear of the vehicle from continuously entering); when the vehicle at the third intersection passes through the first intersection, the controller 101 controls the signal lamps 104 at the first intersection to be green (allowing the rear vehicle to pass), and controls the two signal lamps 104 at the second intersection to be green, at this time, the vehicle at the second intersection can exit from the second intersection. After the vehicle at the second intersection exits from the second wrong parking lot, the controller 101 can change the first signal lamp 104 of the second wrong parking lot into a yellow lamp to remind the vehicle behind to slow down.

State4: if the vehicle at the second intersection is planned to drive out from the first intersection, when the vehicle at the second intersection passes through the first intersection, the controller 101 controls the signal lamp 104 at the first intersection to be a yellow lamp (prompting the vehicle behind to slow down), controls the signal lamp 104 at the second intersection to be a green lamp, controls the two signal lamps 104 at the second intersection to be green lamps, controls the two signal lamps 104 at the third intersection to be green lamps (in this way, provides for other vehicles to drive), and when the vehicle at the second intersection passes through the first intersection, the controller 101 controls the signal lamp 104 at the first intersection to be a yellow lamp (prompting the vehicle behind to slow down), and controls the signal lamp 104 at the first intersection to be a green lamp. Thus, other vehicles can continue to drive into traffic.

Therefore, through linkage transformation of the three wrong yards and the signal lamps 104 of the three fork roads, vehicles at the three road junctions can pass smoothly, collision accidents can not occur, the situation of vehicle congestion can not occur, and the transportation efficiency can be improved.

The combined control method comprises various control strategies, is suitable for various underground working condition environments and transportation demands of coal mines, and a dispatching center can select a proper control strategy according to the actual working condition environments and send the proper control strategy to the upper computer 105, and then the proper control strategy is sent to the relevant controller 101 by the upper computer 105 for executing control. That is, the invention has formulated different individual control strategies according to different working condition environments in advance, and after the invention is installed by staff, the scheduling and transportation of the underground vehicle can be realized only by selecting an adaptive control strategy, so that the time for restarting is saved, the transportation efficiency is improved, and the project progress is prevented from being delayed.

The vehicles are all transport vehicles, such as rubber-tyred vehicles, and if large vehicles (such as bracket carrier vehicles, command vehicles and the like) meet in the roadway, the controller 101 releases the vehicles according to a combined management and control strategy of the large vehicles.

Referring to fig. 18, the cart joint management and control strategy includes:

state1: if the large-sized vehicle is driven in at the second intersection and the large-sized vehicle does not reach the entrance threshold of the second intersection, the first intersection and the second intersection release the vehicle according to a single-intersection control strategy.

State2: when a large vehicle reaches the entrance threshold of the second intersection, the controller 101 controls the signal lamp 104 of the third intersection of the first intersection to be a green lamp, controls the signal lamp 104 of the first intersection of the second intersection to be a green lamp so as to clear the vehicles in the combined area, then the controller 101 controls the signal lamps 104 of the first intersection and the second intersection of the first intersection to be red lamps, controls the signal lamps 104 of the second intersection and the third intersection of the second intersection to be red lamps, and prevents other vehicles from driving in.

State3: when all vehicles in the combined area leave, the signal lamp 104 of the third fork of the second intersection is controlled to be a green lamp, the large vehicle can pass, the signal lamp 104 of the first fork and the signal lamp 104 of the second fork of the first intersection are controlled to be red lamps by the controller 101, and the signal lamp 104 of the first fork and the signal lamp 104 of the second fork of the second intersection are controlled to be red lamps, so that other vehicles are prevented from entering to influence the large vehicle to pass.

Therefore, when a large vehicle enters the roadway, the large vehicle can smoothly pass through the linkage change of the signal lamps 104 of the states 1 to 4, and the running safety and the transportation efficiency of the underground vehicle are improved.

Specifically, in this embodiment, the fork priority policy includes: step-by-step definition is carried out on the priorities of the fork ports, the first priority is the highest priority, and the fork ports are ordered according to the order from high priority to low priority; when a vehicle enters a fork, the priority corresponding to the fork is in an active state, otherwise, the priority is in an inactive state; and sequencing the priority of the active state, selecting the fork with high priority to release, converting the priority of the fork into the inactive state after releasing, and releasing the fork with the next priority, so as to circulate until the number of the active priorities is zero or vehicles in all the active priorities have been walked. Referring to fig. 19, taking five priorities as examples, numbers 1-5 respectively indicate that the priorities are from high to low, a solid line frame indicates an active state, a dotted line frame indicates an inactive state, and a dotted line frame indicates release, all the fork ports are firstly arranged according to the priority order, if both the priorities are on the way of priority one and five, the fork port corresponding to the priority one is firstly released, if the priority three is on the way of priority one release, after the priority one is off, the fork port corresponding to the priority three is firstly released, if the priority four is on the way of priority three release, after the priority three is off, the fork port corresponding to the priority four is firstly released, after the priority four is off, the fork port corresponding to the priority five is released, and when the fork port corresponding to the priority five is off, all the fork ports are rearranged according to the priorities. In practical applications, the priority order of the fork may be set according to the underground transportation requirement.

In this embodiment, the configuration information further includes: timeout release policy and priority release policy. The controller 101 executes a timeout release strategy when all vehicles within the fork have been waiting in place for a maximum stop time, or when the release time of the fork has reached a maximum release time and there are still vehicles waiting to be released.

The timeout release strategy includes: immediately ending the current release fork, and inspecting the next fork serial number needing release; if only one fork needs to be released at present, continuing to release the current fork; if at least two forks need to be released, sequentially releasing according to the priority order of the forks; when the vehicle passing time exceeds 30 seconds, the controller 101 starts executing the priority release strategy.

The priority release strategy comprises the following steps: if only one fork meets the priority release condition, the controller 101 releases the fork preferentially; if a plurality of fork ports meet the priority release condition, sequencing the plurality of fork ports according to the priority, and if the number of vehicles in a certain fork port is at least five more than the number of vehicles in the fork port with the highest priority, releasing the fork port preferentially; and if not, sequentially releasing the fork according to the priority order. The preferential release condition refers to that when the number of vehicles entering the fork reaches a certain number, for example five vehicles, the fork is preferentially released.

In this embodiment, the joint management and control system 100 may further include an audible and visual alarm 106, where the audible and visual alarm 106 is communicatively connected to the controller 101, and when the vehicle enters the intersection blind area or enters the curve, the controller 101 may control the audible and visual alarm 106 to issue an alarm to alert the driver.

In summary, the system of the joint control method for the coal mine underground roadway intersections can be flexibly configured, is highly adaptive to various intersection forms of the roadway, and meets various requirements of joint control of the intervals. The positioning base station 102 can be configured for traffic control of a plurality of forks only by accessing the industrial ring network, so that the arrangement difficulty of the positioning base station 102 is reduced. The method has strong logic control performance, various release mechanisms are matched with various working conditions of underground auxiliary transportation, the logic response time is less than 200ms, and the signal lamp state response time is less than 1s for the whole-flow independent control of each vehicle access port. The method can also generate the current access list data of the vehicle in real time to control the vehicle. According to the invention, different control strategies can be selected to release the vehicle according to roadway conditions, namely, a sleeve control method is provided with a plurality of release plans, and a worker can select a proper control strategy according to release requirements of current working conditions. The combined control method disclosed by the invention has the advantages of high integration level, good adaptability and good robustness, and can further improve the intellectualization of underground coal mine vehicle dispatching and release.

With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined as the scope of the claims.

Claims

1. The joint control method for the coal mine underground roadway intersections is characterized by comprising a joint control system (100), wherein the joint control system (100) comprises: the vehicle positioning device comprises a controller (101), a positioning base station (102), a vehicle positioning card (103), a signal lamp (104) and an upper computer (105), wherein the positioning base station (102) is in communication connection with the controller (101), the vehicle positioning card (103) is in communication connection with the positioning base station (102), the signal lamp (104) is in communication connection with the controller (101), and the controller (101) is in communication connection with the upper computer (105);

s1, the upper computer (105) determines configuration information of intersections, wherein the configuration information comprises the number of intersections of the current intersection, the positions of positioning base stations (102), the number of the positioning base stations (102), the distance between the positioning base stations (102) and the center of the current intersection and an intersection priority strategy, and the upper computer (105) issues the intersection configuration information to a corresponding controller (101);

S2, when a vehicle approaches an intersection, the positioning base station (102) can read information of the vehicle positioning card (103) and send the information to the controller (101), and the controller (101) analyzes the information of the vehicle positioning card (103) and forms a vehicle information list;

s3, if the current roadway road condition is a single road port, the controller (101) releases the vehicle according to a single road port control strategy; if the current roadway road condition is multiple intersections, the controller (101) releases the vehicle according to the regional joint management and control strategy; if the current roadway road condition is provided with a wrong parking lot, the controller (101) releases the vehicle according to a wrong-vehicle linkage strategy;

the staggered linkage strategy in the step S3 comprises the following steps:

signal lamps (104) are respectively arranged at two ends of each wrong parking lot;

the staggered car park linkage strategy comprises the following steps:

State1: the first intersection and the second intersection are both provided with vehicles which are driven in, vehicles at the first intersection enter the control range of the signal lamps (104) at first, at the moment, the controller (101) controls the two signal lamps (104) at the first intersection to be green lamps, controls the first signal lamp (104) at the second intersection to be red lamps, controls the second signal lamp (104) at the second intersection to be green lamps, at the moment, the vehicles at the second intersection can enter the second intersection to avoid, and the vehicles at the first intersection can continue to move straight;

state2: when a vehicle at the first intersection passes through the first wrong parking lot, the controller (101) controls a second signal lamp (104) of the first wrong parking lot to be a yellow lamp so as to remind a vehicle behind to slow down;

state3: when a vehicle at the first intersection passes through the second intersection, the controller (101) controls a first signal lamp (104) of the second intersection to be a green lamp, controls a second signal lamp (104) of the second intersection to be a yellow lamp, and controls a second signal lamp (104) of the first intersection to be a red lamp, at the moment, the vehicle stopped in the second intersection can continue to travel towards the first intersection, and when the vehicle at the second intersection passes through the second intersection, the controller (101) controls the first signal lamp (104) of the second intersection to be the yellow lamp;

State4: when the vehicles at the second intersection continue to run, after the vehicles at the second intersection pass through the first wrong parking lot, the controller (101) controls a first signal lamp (104) of the first wrong parking lot to be a yellow lamp, controls a second signal lamp (104) of the first wrong parking lot to be a green lamp, and controls two signal lamps (104) of the second wrong parking lot to be green lamps; when a vehicle at the second intersection exits the first intersection, the controller (101) controls two signal lamps (104) of the first intersection to be green lamps;

the intersection staggered car linkage strategy comprises the following steps:

signal lamps (104) are arranged at the three turnouts,

state1: when vehicles enter at three intersections, vehicles at the first intersection enter the control range of the signal lamps (104), at the moment, the controller (101) controls the two signal lamps (104) of the first intersection to be green lamps, controls the signal lamps (104) of the first intersection to be red lamps, controls the signal lamps of the second intersection and the third intersection to be green lamps, controls the first signal lamp (104) of the second intersection to be red lamps, controls the second signal lamp (104) of the second intersection to be green lamps, controls the first signal lamp (104) of the third intersection to be red lamps, controls the second signal lamp (104) of the third intersection to be green lamps, and at the moment, the vehicles at the second intersection can enter the second intersection to avoid, and the vehicles at the third intersection can enter the third intersection to avoid;

State2: if a vehicle at the first intersection is planned to drive out from the second intersection, the controller (101) controls a first signal lamp (104) of a third intersection to be changed into a green lamp, the controller (101) controls the signal lamp (104) of the third intersection to be changed into a red lamp, the signal lamp (104) of the first intersection to be changed into a green lamp, the signal lamp (104) of the second intersection to be changed into a yellow lamp, the controller (101) controls a second signal lamp (104) of the first intersection to be changed into a red lamp, and after the vehicle at the first intersection drives out of the second intersection, the controller (101) controls the second signal lamp (104) of the second intersection to be changed into a yellow lamp, and the signal lamp (104) of the second intersection to be changed into a green lamp;

state3: if the vehicle at the third intersection is planned to exit from the first intersection, the controller (101) controls the signal lamp (104) at the third intersection to be a green lamp, controls the signal lamp (104) at the second intersection to be a red lamp, at the moment, the vehicle at the third intersection can enter the road at the first intersection, then the controller (101) controls the signal lamp (104) at the first intersection to be a yellow lamp, and controls the signal lamp (104) at the third intersection to be a red lamp; when a vehicle at the third intersection passes through the first intersection, the controller (101) controls the signal lamps (104) at the first intersection to be green, and controls the two signal lamps (104) at the second intersection to be green, so that the vehicle at the second intersection can exit from the second intersection;

State4: if the vehicle at the second intersection is planned to drive out from the first intersection, when the vehicle at the second intersection drives through the first intersection, the controller (101) controls the signal lamp (104) at the first intersection to be a yellow lamp, controls the signal lamp (104) at the second intersection to be a green lamp, controls the two signal lamps (104) at the second intersection to be green lamps, controls the two signal lamps (104) at the third intersection to be green lamps, and controls the first signal lamp (104) at the first intersection to be a yellow lamp and controls the second signal lamp (104) at the first intersection to be a green lamp after the vehicle at the second intersection drives through the first intersection.

2. The method for joint control of coal mine underground roadway intersections as claimed in claim 1, wherein in step S3, the region joint control strategy comprises:

3. The joint control method of coal mine underground roadway intersections of claim 2, wherein the hostile locking strategy comprises:

State1: the vehicle drives from the first intersection of the first intersection to the hostile locking area, and the vehicle does not drive through the locking threshold of the first intersection, at this time, the controller (101) controls all signal lamps (104) of the first intersection and the second intersection to be green lamps;

state2: the vehicle has driven the blocking threshold of the first fork of the first intersection, at this moment, the controller (101) controls the signal lamp (104) of the first fork of the first intersection to be a green light, controls the signal lamp (104) of the second fork and the signal lamp (104) of the third fork of the first intersection to be a red light, and controls the signal lamp (104) of the first fork, the second fork and the third fork of the second intersection to be a green light;

state3: the unlocking threshold of the third intersection of the first intersection is that the vehicle enters an hostile locking area, at the moment, the controller (101) controls the signal lamps (104) of the first intersection and the second intersection of the first intersection to be red lamps, controls the signal lamps of the second intersection and the third intersection of the second intersection to be red lamps, and controls the signal lamps (104) of the third intersection of the first intersection and the first intersection of the second intersection to be green lamps;

4. The joint control method of coal mine underground roadway intersections of claim 2, wherein the section locking strategy comprises:

state1: a plurality of vehicles simultaneously drive from a first intersection of a first intersection and a third intersection of a second intersection to an interval locking area, the vehicles do not drive through a locking threshold of the first intersection and a locking threshold of the third intersection of the second intersection, and a controller (101) controls all signal lamps (104) of the first intersection and the second intersection to be green lamps;

state2: the method comprises the steps that a plurality of vehicles simultaneously drive through a blocking threshold of a first turnout of a first intersection and a blocking threshold of a third turnout of a second intersection, at this time, a controller (101) controls signal lamps (104) of the first turnout of the first intersection and the third turnout of the second intersection to be green lamps, controls signal lamps (104) of the second turnout of the first intersection and the third turnout of the second intersection to be red lamps, and controls signal lamps (104) of the first turnout of the second intersection and the third turnout of the second intersection to be red lamps;

state3: when a plurality of vehicles continuously enter a zone locking area and the vehicles in the zone locking area exceed M vehicles, a controller (101) controls signal lamps (104) of a first fork and a second fork of a first intersection to be red lights, controls signal lamps (104) of the second fork and a third fork of the second intersection to be red lights and controls signal lamps (104) of the third fork of the first intersection and the first fork of the second intersection to be green lights;

5. The joint control method of coal mine underground roadway intersections of claim 1, further comprising:

s4, if a large-sized vehicle meeting exists in the roadway, the controller (101) releases the vehicle according to a large-sized vehicle combined management and control strategy;

the cart joint management and control strategy comprises the following steps:

state2: when a large vehicle reaches the entrance threshold of a second intersection, the controller (101) controls a signal lamp (104) of a third intersection of the first intersection to be a green lamp, controls the signal lamp (104) of the first intersection of the second intersection to be a green lamp so as to clear the vehicle in the joint area, then the controller (101) controls the signal lamps (104) of the first intersection and the second intersection of the first intersection to be red lamps, and controls the signal lamps (104) of the second intersection and the third intersection of the second intersection to be red lamps so as to prevent other vehicles from driving in;

State3: when all vehicles in the combined area leave, the controller (101) controls the signal lamp (104) of the third turnout of the first intersection to be a green lamp, controls the signal lamp (104) of the third turnout of the second intersection to be a green lamp, and the controller (101) controls the signal lamps (104) of the first turnout and the second turnout of the first intersection to be red lamps, and controls the signal lamps (104) of the first turnout and the second turnout of the second intersection to be red lamps;

6. The joint control method for coal mine underground roadway intersections of claim 1, wherein the intersection priority strategy comprises:

7. The joint control method of coal mine underground roadway intersections of claim 2, wherein the configuration information further comprises: timeout release policy and priority release policy,

when all vehicles in the fork have in-situ waiting time exceeding the maximum stop time, or when the release time of the fork has reached the maximum release time and the vehicles still wait for release, the controller (101) executes a timeout release strategy;

when the vehicle passing time exceeds 30 seconds, the controller (101) starts executing the priority release strategy;

the priority release strategy comprises the following steps:

if only one fork meets the priority release condition, the controller (101) releases the fork preferentially;