CN115035735B - Method for controlling signal lamp under mine - Google Patents
Method for controlling signal lamp under mine Download PDFInfo
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- CN115035735B CN115035735B CN202210713531.XA CN202210713531A CN115035735B CN 115035735 B CN115035735 B CN 115035735B CN 202210713531 A CN202210713531 A CN 202210713531A CN 115035735 B CN115035735 B CN 115035735B
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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Abstract
The invention discloses a method for controlling signal lamps in a mine, which groups the signal lamps in the mine, and respectively executes different processing steps based on the conditions of the number of the current signal lamps, the traffic light state of the current signal lamps, the number of red lights or green lights under the same lamp group, the number of vehicles to be driven and the like, thereby realizing the intelligent control of the signal lamps in the mine.
Description
Technical Field
The invention belongs to the technical field of mine traffic, and particularly relates to a method for controlling a signal lamp under a mine.
Background
Since the mine is environmentally complicated, it is necessary to ensure the safety of personnel on the one hand and to improve the operation efficiency of the equipment on the other hand. Underground transportation is a key link of mine production, and with increasing importance on mine safety and continuous enhancement of supervision of the country, underground transportation safety production monitoring systems of large and medium-sized mining enterprises are developed and equipped.
The distribution of the underground roadways of the mine is the same as that of ground traffic, and the complexity is high. At present, signal lamps are not installed in existing mines, and along with increasing underground vehicles (manned vehicles, material transporting vehicles, command vehicles, mine trucks and the like), roadway congestion and collision accidents often occur, so that safety is affected, and production efficiency is affected.
Because the underground traffic and the ground traffic are controlled in different ways. For production needs, the signal lamp cannot be controlled in a mode that the red and green signal lamps alternate cyclically, so the control method is more complicated than the ground signal lamp control. Because the control is complicated, the traffic light management mode of some mines is controlled manually, namely when a vehicle arrives at a certain intersection, a driver of the vehicle controls the lights of the opposite intersections to turn into red lights. Therefore, the control of the signal lamp is low in efficiency, unsafe and incapable of completely meeting the production requirement.
Unlike ground roads, the underground roadway of the mine can be constructed into a bidirectional multilane. Due to the cost and safety requirements, many places or old mines basically adopt a one-way and two-way construction mode, namely a mode of only one lane passing in two ways. In this mode, the dependence on traffic lights is high.
Main intersection types of the mine underground road:
breaking the head: as shown in fig. 1, in order to facilitate disposal of waste such as waste rocks and garbage on a mine, a waste disposal site 11 is specially repaired at some place downhole on the mine. The path to such a location is a broken path. In this place, only one vehicle can enter. After the garbage is poured in, the garbage is poured out, and after the garbage is driven out, another vehicle can enter. Therefore, a signal lamp 10 is required to be installed at the broken-end intersection, when a vehicle enters, the signal lamp is arranged to be red to remind other vehicles that the vehicle cannot enter, other vehicles need to wait in the lane 20 for the vehicle to pass by, after the vehicle in the lane comes out, the signal lamp is arranged to be green, and then other vehicles enter again. The intersection is simple to control, and a common driver can control the intersection manually, so that the defect that the control is troublesome is that once the driver forgets to control or recover, traffic jam can be caused.
One-way road: as shown in fig. 2, in some areas, one-way roads are constructed for cost savings and for quick construction. Only one vehicle can pass through the one-way lane at the same time, and other vehicles need to wait in the lane 20. When the vehicles on the one-way road go out of the one-way road, the vehicles in the opposite direction can enter the one-way road, otherwise, traffic jam can be caused. The one-way control method is more complicated than the broken road, the condition that two parties come needs to be considered, and 2 signal lamps 10 need to be installed. When no vehicle is in use, both sides are green lights. When one side of the vehicle comes in, one side of the vehicle keeps a green light and the other side of the vehicle turns into a red light. When the vehicle goes out of the one-way road, whether the vehicle follows the rear of the vehicle or not needs to be judged, and if the vehicle follows the rear of the vehicle, the current states of the 2 signal lamps are kept unchanged. When all following vehicles pass through the one-way road, whether vehicles to be driven exist in the lane of the vehicle passing by on one side of the red light needs to be judged. If there is a vehicle to be driven, the red light is set to green, and the other green light is set to red. And if one side of the red light corresponds to the lane of the vehicle passing by without the vehicle to be driven, the red light is placed to be green.
For a one-way road, if a signal lamp is manually controlled, the control is troublesome. The driver of the front vehicle cannot know whether the rear vehicle follows the vehicle. 2 signal lamps need to be controlled simultaneously to change correspondingly. Traffic congestion occurs as soon as control is wrong or forgotten. If the traditional program control method is adopted, the implementation is complex, separate control methods need to be provided for the signal lamps on two sides of each one-way road, and the control program becomes complex along with the increase of the number of the one-way road sections.
The T-shaped intersection: as shown in fig. 3, the control of the t-port signal light is more complicated than the one-way lane control. When a vehicle arrives at one intersection, the signal lamps 10 at the other two intersections need to be red because the vehicle cannot be judged to turn in which direction. And judging whether the vehicle follows the vehicle after the vehicle passes another signal lamp or turns a curve. If the car is followed, the signal lamp is kept unchanged. After the follow-up car turns over the bend. Vehicles can pass through other intersections. At this time, because there are 2 red light intersections, it is necessary to determine whether there are vehicles waiting to run at the two red light intersections. And if no vehicle to be driven exists, placing the signal lamps of the two red light intersections to be green, and waiting for the vehicle to pass. If only one red light intersection has the vehicle to be driven, the original green light intersection is placed with the red light, and the red light of the vehicle to be driven is placed with the green light. The vehicle to be driven can pass through. And after the waiting vehicle passes another signal lamp or turns a corner, continuously judging whether a following vehicle exists behind the waiting vehicle. If the car is followed, the state of the signal lamp is kept unchanged. If the vehicle is not followed, whether vehicles to be driven exist at the other two intersections or not is judged. If vehicles to be driven exist at the other two intersections, the vehicles at the intersection are judged to arrive first, the signal lamps of the intersection are turned green, and the signal lamps of the other two intersections are turned red.
At a multi-branch road: as shown in fig. 4, there are many multi-branch intersections such as crossroads, five-branch intersections, six-branch intersections, and the like in the mine, and the control of the intersection signal lamps 10 is more complicated. When a vehicle comes from one intersection, other intersections wait until the vehicle passes through the intersection, and the vehicles at the other intersections can not pass through. The problem of who is led to the first place due to the plurality of waiting intersections. If conventional control methods are used, each intersection provides a separate control algorithm. One is that the control logic is complex, referring to the T-shaped intersection control logic, the multi-branch intersection control logic of crossroads, five-fork intersections, six-fork intersections and the like is very complex. The other is the inability to flexibly strain. The logic is hard to realize, and along with production requirements, if an intersection is additionally arranged on a roadway, the original control logic fails, the control logic needs to be developed again, time and labor are consumed, and the test is not good.
In the present invention, the one-way road, the t-junction, and the various multi-branch intersections are collectively referred to as an intersection.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for controlling a signal lamp under a mine, which has simple control logic, can adapt to various intersection types and can meet the requirement of the expansion of the intersection under the mine, so as to overcome the defects in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for controlling signal lamps under a mine is suitable for a one-way and two-way road under the mine, and is characterized in that:
the method comprises the steps that a mine traffic controller is configured and used for obtaining the position of each vehicle under a mine, the position and the red-green state of each signal lamp under the mine and controlling the red-green state of each signal lamp;
configuring a signal lamp grouping database, a vehicle priority database and a signal lamp priority database;
each signal lamp is provided with a to-be-driven vehicle cache, and each vehicle is provided with a last-time passing signal lamp cache;
the group database groups the signal lamps, one signal lamp of the broken road is divided into a group, and each signal lamp of the same intersection is divided into a group;
the mine traffic controller controls signal lamps of vehicles arriving at the intersection through the following steps;
the mine traffic controller acquires that a current vehicle reaches a current signal lamp, judges the number of signal lamps in a lamp group where the current signal lamp is located according to the signal lamp grouping database, if the number of the signal lamps is 1, the mine traffic controller executes a step of controlling the signal lamps at the end of the vehicle, and if the number of the signal lamps is more than 1, the mine traffic controller executes a step of controlling the signal lamps at the intersection;
the control steps of the broken-end street signal lamp are as follows: the mine traffic controller further judges whether the current signal lamp is a green lamp or a red lamp, if the current signal lamp is the red lamp, the current vehicle enters a lane for passing by for waiting, the current vehicle identification code is recorded at the end of the to-be-driven vehicle cache of the current signal lamp until the mine traffic controller detects that the first-ranked vehicle in the to-be-driven cache under the current signal lamp passes through the current signal lamp again, the current signal lamp is set to be the green lamp, the first-ranked vehicle identification code is removed from the to-be-driven vehicle cache of the current signal lamp, and at the moment, the newly-ranked vehicle in the to-be-driven vehicle cache of the current signal lamp enters a head-off road; if the current vehicle directly enters the broken road when the current vehicle passes through the current signal lamp, the mine traffic controller sets the current signal lamp as a red lamp after learning that the current vehicle passes through the current signal lamp, and records the identification code of the current vehicle into a to-be-driven vehicle cache of the current signal lamp;
the intersection processing steps are as follows: the mine traffic controller further judges whether the current signal lamp is a green lamp or a red lamp, and if the current signal lamp is a green lamp, the mine traffic controller executes an intersection green lamp processing step; if the current signal lamp is a red lamp, the mine traffic controller executes the step of red lamp processing at the intersection;
the intersection green light processing steps are as follows: the mine traffic controller further judges whether a green light exists under the same lamp group, if the green light exists under the same lamp group, the mine traffic controller executes a step of processing multiple green lights at the intersection, and if only the current signal light under the same lamp group is the green light, the mine traffic controller executes a step of processing single green light at the intersection;
the intersection multiple green light processing steps are as follows: the mine traffic controller further judges whether vehicles arrive at the same time under the green lights of the same lamp group, if the vehicles arrive at the same time, the mine traffic controller executes the multiple-green-light multiple-vehicle processing step of the intersection, and if only the arriving vehicles exist under the current signal lamp in the multiple green lights of the lamp group, the mine traffic controller executes the multiple-green-light single-vehicle processing step of the intersection;
the intersection multi-green-light multi-vehicle processing steps are as follows: the mine traffic control compares the priority of the vehicles which arrive at the same time according to the vehicle priority data, keeps the green light of the signal lamp corresponding to the vehicle with the highest priority unchanged, enables the vehicle with the highest priority to pass, records the signal lamp identification code of the green light into the last passing signal lamp cache of the vehicle with the highest priority, records the vehicle identification code with the highest priority into the tail of the to-be-driven vehicle cache of the signal lamp with the green light, sets the other signal lamps of the same lamp group as the green light as the red light, and records the to-be-driven vehicle identification codes under each red light of the lamp group into the to-be-driven vehicle cache of the corresponding signal lamp; if the priority levels of all the simultaneously arriving vehicles are the same, the mine traffic controller further judges which priority level is the highest in the green signal lamps according to the signal lamp priority level database, keeps the green lamp of the signal lamp with the high priority level unchanged, enables the corresponding vehicle to pass, records the signal lamp identification code with the highest priority level into the last passing signal lamp cache of the current passing vehicle, records the vehicle identification code of the current passing vehicle into the tail end of the waiting vehicle cache of the signal lamp with the highest priority level, sets other signal lamps of the green lamp under the same lamp group as the red lamp, enables the corresponding arriving vehicle to wait in a wrong lane, and records the waiting vehicle identification code into the waiting vehicle cache of the corresponding signal lamps which are newly set as the red lamp;
the processing steps of the multiple green lamps single vehicle at the intersection are as follows: the mine traffic controller keeps the green light of the current signal lamp unchanged, allows the current vehicle to pass, records the identification code of the current signal lamp into the last passing signal lamp cache of the current vehicle, simultaneously records the identification code of the current vehicle into the tail of the waiting vehicle cache of the current signal lamp, and sets other signal lamps which are green lights in the same lamp group as red lights;
the intersection single green light processing steps are as follows: the mine traffic controller keeps the current signal lamp green, allows the current vehicle to pass, records the current signal lamp identification code into the last passing signal lamp cache of the current vehicle, and simultaneously records the current vehicle identification code into the to-be-driven vehicle cache end of the current signal lamp;
the intersection red light processing steps are as follows: the mine traffic controller inquires whether a last-time passing signal lamp identification code exists in a last-time passing signal lamp cache of a current vehicle, and if the last-time passing signal lamp identification code does not exist, the mine traffic controller records the current signal lamp identification code into the last-time passing signal lamp cache of the current vehicle and simultaneously records the current vehicle identification code into the tail of a to-be-driven vehicle cache of the current signal lamp; if the identification code of the signal lamp which passes through last time exists, the mine traffic controller judges whether the current signal lamp and the signal lamp which passes through last time are in the same lamp group according to the signal lamp group database, if so, the mine traffic controller executes the step of processing the red lamp and the same lamp group of the intersection, and if not, the mine traffic controller executes the step of processing the non-different lamp groups of the intersection;
the intersection red light and lamp group processing steps are as follows: the mine traffic controller removes the current vehicle identification code from the vehicle cache to be driven of the signal lamp which the current vehicle passes through last time, judges whether other vehicles to be driven exist under the signal lamp which the current vehicle passes through last time, and keeps the state of the current signal lamp unchanged if other vehicles to be driven exist; if no other vehicles to be driven exist, the mine traffic controller continuously judges whether vehicles to be driven exist under other red-light signal lamps under the same lamp group, if vehicles to be driven exist under other red-light signal lamps, the mine traffic controller executes a step of processing vehicles to be driven on a plurality of red lights of the same lamp group at the intersection, and if only vehicles to be driven exist under the red-light signal lamps at present, the mine traffic controller executes a step of processing vehicles to be driven on a single red light of the same lamp group at the intersection; if all the signal lamps with red lights have no vehicles to be driven, executing the processing step that the vehicles to be driven do not exist under the same lamp group at the intersection;
the processing steps of the vehicles with the red lights waiting for running in the same lamp group at the intersection are as follows: the mine traffic controller judges which vehicle in the vehicles to be driven under the signal lamps with red lamps has the highest priority according to the signal lamp priority database, the mine traffic controller sets the signal lamp corresponding to the vehicle with the highest priority as a green lamp to allow the vehicle with the highest priority to pass through, the signal lamp identification code which is newly set as the green lamp enters the last-time passing signal lamp cache of the vehicle with the highest priority, and the signal lamp which is the green lamp before the signal lamp under the same lamp group is set as the red lamp; if the priorities of the vehicles to be driven under the signal lamps with red lamps are the same, the mine traffic controller judges which signal lamp has the highest priority among the signal lamps with red lamps according to the signal lamp priority database, the mine traffic controller sets the signal lamp with the highest priority as a green lamp, allows the vehicle corresponding to the signal lamp with the highest priority to pass, records the signal lamp identification code with the highest priority into the last passing signal lamp cache of the current passing vehicle, and sets the signal lamp which is the green lamp in the same lamp group as the red lamp;
the processing steps of the vehicle with the single red light waiting for running in the same lamp group at the intersection are as follows: the mine traffic controller sets the current signal lamp as a green lamp to allow the current vehicle to pass, records the identification code of the current signal lamp into the last-time passing signal lamp cache of the current vehicle, and sets the signal lamp which is the green lamp before in the same lamp group as a red lamp;
the method comprises the following steps of: the mine traffic controller sets all signal lamps which are red lamps under the same lamp group as green lamps to wait for vehicles to pass;
the intersection red light non-identical lamp group processing steps are as follows: and the mine traffic controller adds the current vehicle identification code into the to-be-driven vehicle cache of the current signal lamp.
By adopting the technical scheme, the signal lamps are grouped, and different processing steps are respectively executed based on the number of the current signal lamps, the traffic light state of the current signal lamps, the number of red lights or green lights under the same lamp group, the number of vehicles to be driven and the like, so that the intelligent control of the signal lamps under the mine is realized.
Drawings
FIG. 1 is a schematic diagram of a broken end path;
FIG. 2 is a schematic diagram of a one-way lane;
FIG. 3 is a schematic view of a T-junction;
FIG. 4 is a schematic view of a multi-branch intersection;
fig. 5 is a schematic diagram of a mine signal lamp control system of the invention.
Detailed Description
As shown in fig. 5, the method for controlling the signal lights under the mine is provided with a mine traffic controller 100, a signal light grouping database 200, a vehicle priority database 300, and a signal light priority database 400. Each vehicle 500 is configured with a last-time-passing signal lamp cache 501, and each signal lamp 600 is configured with a pending vehicle cache 601.
The mine traffic controller 100 communicates with the signal light group database 200, the vehicle priority database 300, the signal light priority database 400, each vehicle 500, each last pass signal light cache 501, each signal light 600, and each pending vehicle cache 601. The mine traffic controller 100 communicates with the beacons placed on the vehicle 500, and the accurate positioning of the vehicle 500 under the mine is realized through the beacons.
The mine traffic controller 100 can acquire the position information of each signal lamp based on an underground electronic map of a mine, can also acquire the red and green state of each signal lamp, can acquire the position information of each vehicle in real time through an underground accurate positioning technology, and can also control the red and green state of each signal lamp. Since the mine traffic controller acquires the signal lamp position information and the red and green states and acquires the vehicle position information through the mine underground accurate positioning technology, which are known by the technical personnel in the field, the description is omitted here.
The signal lamp grouping database groups signal lamps, and the grouping is divided according to the specific conditions of the intersection, for example: the broken road only needs a signal lamp control, consequently divide into a set of with a signal lamp on the broken road, the one-way road needs two signal lamp control, consequently divide into a set of with two signal lamps of one-way road head and the tail, the T-shaped crossing needs three signal lamp to control, consequently divide into a set of with the three signal lamp that the T-shaped crossing corresponds, the crossroad needs four signal lamps to control, consequently, divide into a set with four signals that the crossroad corresponds, … …, to the intersection promptly, each signal lamp of same intersection divide into a set ofly.
The signal lamps of the same lamp group have the attribute of mutual exclusion, namely, in the same lamp group, when a vehicle arrives, only one signal lamp is green at the same time, and the other signal lamps are all red. For example, a lamp group consisting of two signal lamps at two ends A, B on a single-row track is "mutually exclusive": the method comprises the following steps that an A-end vehicle comes, a signal lamp of the A-end is kept to be a green lamp, and a signal lamp of a B-end vehicle needs to be a red lamp; similarly, when a vehicle comes from the end B, the signal lamp at the end B is kept to be green, and the signal lamp at the end A is required to be red, otherwise traffic jam can be caused. The signal lamp group formed by the three signal lamps of the T-junction A, B, C must be mutually exclusive: when the automobile comes from the port A, the signal lamp at the port A is kept to be a green lamp, and the signal lamp at the port B, C needs to be a red lamp; the signal lamp of the port A, C must be a red lamp; the signal lamp of the port A, B of the port C coming vehicle must be a red lamp.
The last passing signal buffer 501 is used to record the signal identification code of the vehicle passing through, but only records the signal identification code of the vehicle passing through last time, and deletes the signal identification code of the previous passing signal. For example, when a #1 vehicle passes through a t-junction, the a-junction signal lamp passing through the t-junction will enter the a-junction signal lamp identification code into the #1 last-pass signal lamp cache corresponding to the #1 vehicle, delete the other signal lamp identification codes previously in the #1 last-pass signal lamp cache, and when the B-junction signal lamp passing through the t-junction, enter the B-junction signal lamp identification code into the #1 last-pass signal lamp cache corresponding to the #1 vehicle, and delete the a-junction signal lamp identification code originally entered in the #1 last-pass signal lamp cache.
The waiting vehicle cache is used for recording the waiting vehicles under the corresponding signal lamps, and if a plurality of waiting vehicles exist, the identification codes of the waiting vehicles are sequentially arranged in the waiting vehicle cache according to the arrival time sequence.
The traffic light identification code is usually a traffic light number, and the I P address of the traffic light may be used as the signal identification code. The vehicle identification code is typically a beacon number placed on the vehicle.
The underground vehicles have priorities, generally the priorities of the vehicles are commanded to be higher than those of people-carrying vehicles, and the priorities of the people-carrying vehicles are higher than those of freight vehicles, so a vehicle priority database needs to be configured.
The signal lamps also have priority, and generally the uplink signal lamps are larger than the downlink signal lamps, or the priority sequence is arranged on the signal lamps (for example, the signal lamp at the A port is larger than the signal lamp at the B port, and the signal lamp at the B port is larger than the signal lamp at the C port), so the signal lamp priority database is also configured.
The mine traffic controller of the invention controls the signal lamps of the vehicles arriving at the intersection through the following steps:
and the mine traffic controller judges the number of signal lamps in a lamp group where the current signal lamp is located according to a signal lamp grouping database when the current vehicle reaches the current signal lamp, if the number of the signal lamps is 1, the mine traffic controller executes the step of controlling the signal lamps of the broken end, and if the number of the signal lamps is more than 1, the mine traffic controller executes the step of controlling the signal lamps of the intersection.
S100 step of controlling broken-end street signal lamp
When the current vehicle reaches the vicinity of the broken-end intersection signal lamp, the mine traffic controller further judges whether the current signal lamp is green or red, if the current signal lamp is red, the current vehicle enters a lane for passing by for waiting, the current vehicle identification code is recorded at the tail end of the to-be-driven vehicle cache of the current signal lamp until the mine traffic controller detects that the first-ranked vehicle in the to-be-driven cache under the current signal lamp passes through the current signal lamp again, the current vehicle exits the broken-end road, the current signal lamp is set to be green, the first-ranked vehicle identification code is removed from the to-be-driven vehicle cache of the current signal lamp, and at the moment, the first-ranked vehicle in the to-be-driven vehicle cache of the current signal lamp enters the broken-end road; if the current vehicle directly enters the head-off road, the traffic controller sets the current signal lamp as a red lamp after knowing that the current vehicle passes through the current signal lamp, and records the identification code of the current vehicle into the to-be-driven vehicle cache of the current signal lamp.
S200 intersection processing step
When the vehicle reaches the position near the intersection signal lamp, the mine traffic controller further judges whether the current signal lamp is a green lamp or a red lamp, and if the current signal lamp is a green lamp, the mine traffic controller executes the intersection green lamp processing step; and if the current signal lamp is a red lamp, the mine traffic controller executes the red lamp processing step of the intersection.
S210 intersection green light processing step
If the current signal lamp is a green lamp, the mine traffic controller further judges whether a green lamp is arranged under the same lamp group, if the green lamp is arranged under the same lamp group, the mine traffic controller executes the step of processing multiple green lamps at the intersection, and if only the current signal lamp is a green lamp under the same lamp group, the mine traffic controller executes the step of processing single green lamp at the intersection.
S211 intersection multiple green light processing step
If the same lamp group has green lamps, the mine traffic controller further judges whether vehicles arrive at the same time under the green lamps of the same lamp group, if the vehicles arrive at the same time, the mine traffic controller executes the steps of processing multiple vehicles with multiple green lamps at the intersection, and if the vehicles arrive only under the current signal lamp in the multiple green lamps of the lamp group, the mine traffic controller executes the steps of processing the multiple vehicles with multiple green lamps at the intersection.
S211/1 intersection multiple green light multiple vehicle processing step
If a plurality of green lights under the light group simultaneously arrive at the vehicle, the mine traffic controller compares the priority of which vehicle in the vehicles simultaneously arrives with the highest priority according to the priority data of the vehicles, the mine traffic controller keeps the green light of the signal light corresponding to the vehicle with the highest priority unchanged, so that the vehicle with the highest priority passes through, the signal light identification code of the green light is recorded into the last passing signal light cache of the vehicle with the highest priority, the vehicle identification code with the highest priority is recorded into the tail end of the waiting vehicle cache of the signal light of the green light, the other signal lights of the same light group, which are green lights, are red lights, and the identification codes of the waiting vehicles under each red light under the light group are recorded into the waiting vehicle cache of the corresponding signal light; if the priority of each simultaneously arriving vehicle is the same, the mine traffic controller further judges which priority is the highest in the green signal lamps according to the signal lamp priority database, the mine traffic controller keeps the green lamp of the signal lamp with the high priority unchanged to enable the corresponding vehicle to pass, the signal lamp with the highest priority is recorded into the last passing signal lamp cache of the current passing vehicle, the current passing vehicle identification code is recorded into the tail end of the waiting vehicle cache of the signal lamp with the highest priority, other signal lamps with the green lamp under the same lamp group are red lamps, the corresponding arriving vehicle is enabled to wait in a lane crossing, and the waiting vehicle identification code is recorded into the waiting vehicle cache of each corresponding signal lamp which is newly the red lamp.
S211/2 intersection multi-green light single vehicle processing step
If only one of the green lights of the plurality of green lights under the light group reaches the vehicle, the mine traffic controller keeps the green light of the current signal light unchanged, the current vehicle passes, the current signal light is recorded into the last passing signal light cache of the current vehicle, meanwhile, the current vehicle identification code is recorded into the tail of the standby vehicle cache of the current signal light, and other signal lights which are green lights in the same light group are placed in red.
S212 Single green light processing step at intersection
If the vehicle reaches the green light state of the signal light, and only one green light is under the light group, the vehicle is shown to run with the vehicle, the mine traffic controller keeps the green light of the current signal light unchanged, the current vehicle passes, the identification code of the current signal light is recorded into the last-time passing signal light cache of the current vehicle, and meanwhile, the identification code of the current vehicle is recorded into the tail of the to-be-run vehicle cache of the current signal light.
S220 the intersection red light processing step is
If the current signal lamp is red, the mine traffic controller inquires whether the last-time passing signal lamp identification code exists in the last-time passing signal lamp cache of the current vehicle, if the last-time passing signal lamp identification code does not exist, the fact that the vehicle firstly arrives under the signal lamp is indicated, the mine traffic controller records the current signal lamp identification code into the last-time passing signal lamp cache of the current vehicle, and simultaneously records the current vehicle identification code into the tail of the to-be-driven vehicle cache of the current signal lamp; if the identification code of the signal lamp passing last time exists, the mine traffic controller judges whether the current signal lamp and the signal lamp passing last time are in the same lamp group according to the signal lamp group database, if the current signal lamp and the signal lamp passing last time are in the same lamp group, the mine traffic controller executes the step of processing red lamps and red lamps in the same lamp group in the crossroad, and if the current signal lamp and the signal lamp passing last time are not in the same lamp group, the mine traffic controller executes the step of processing non-different lamp groups in the crossroad.
S221 intersection red light and lamp group processing step
If the signal lamp which is currently red and the signal lamp which is passed by the current vehicle last time are the same lamp group, the fact that the vehicle goes out of the lamp group is indicated (namely the vehicle passes through the intersection), the mine traffic controller removes the current vehicle from the vehicle cache to be driven of the signal lamp which is passed by the current vehicle last time, and judges whether other vehicles to be driven exist under the signal lamp which is passed by the current vehicle last time. If other vehicles to be driven exist, the following vehicles exist behind the current vehicle, and the mine traffic controller keeps the current signal lamp state unchanged. If no other vehicles to be driven exist, the mine traffic controller continuously judges whether other red-light signal lamps under the same lamp group have vehicles to be driven, if so, the mine traffic controller executes a step of processing a plurality of red-light vehicles to be driven at the same lamp group of the intersection, and if only the current signal lamp has the vehicle to be driven, the mine traffic controller executes a step of processing the single red-light vehicles to be driven at the same lamp group of the intersection; and if all the signal lamps with red lights have no vehicles to be driven, executing the processing step that the vehicles to be driven do not exist under the same lamp group at the intersection.
S221/1 intersection same lamp group multiple red lamp vehicle waiting for running processing step
The mine traffic controller judges which vehicle in the vehicles to be driven under the red lights has the highest priority according to the signal lamp priority database, the mine traffic controller sets a signal lamp corresponding to the vehicle with the highest priority as a green lamp, the vehicle with the highest priority is allowed to pass, a signal lamp which is newly set as the green lamp enters the last passing signal lamp cache of the vehicle with the highest priority, and the signal lamp which is set as the green lamp before the vehicle under the same lamp group is set as the red lamp; if the priorities of the vehicles waiting for running under the red lights are the same, the mine traffic controller judges which signal lamp in the signal lamps with the red lights has the highest priority according to the signal lamp priority database, the mine traffic controller sets the signal lamp with the highest priority as a green lamp, the vehicle corresponding to the signal lamp with the highest priority is allowed to pass, the signal lamp with the highest priority is recorded into the last passing signal lamp cache of the current passing vehicle, and the signal lamp which is the green lamp in the same lamp group is set as the red lamp.
S221/2 intersection same lamp group single red lamp vehicle waiting to run processing step
If the vehicle to be driven is under only one red light in the light group, the mine traffic controller sets the current signal lamp as a green light to allow the current vehicle to pass, records the current signal lamp into the last passing signal lamp cache of the current vehicle, and sets the signal lamp which is the green light in the same light group as the red light.
S221/3 processing step for vehicles not waiting to run under the same lamp group at the intersection
And if no vehicles waiting to run exist under all red lights in the light group, the mine traffic controller sets all the signal lights which are red lights under the same light group as green lights to wait for the vehicles to run through.
S221 the red light non-identical lamp group processing step at the intersection is
The vehicle entering lamp group and the lamp group corresponding to the last passing signal lamp of the vehicle are not the same lamp group, which indicates that the vehicle runs to the current intersection from other intersections, so the mine traffic controller records the current vehicle identification code in the to-be-driven vehicle cache of the current signal lamp.
According to the detailed description, the control method of the signal lamp in the mine realizes the intelligent control of the signal lamp in the mine, has the advantages of simple logic, adaptability to various intersection types, and capability of meeting the requirement of continuous expansion of the intersection in the mine, reduces the control difficulty of the signal lamp in the mine, improves the control precision of the signal lamp, and greatly improves the communication efficiency and the safety of vehicles.
Claims (5)
1. A method for controlling signal lamps under a mine is suitable for a one-way and two-way road under the mine, and is characterized in that:
the method comprises the steps that a mine traffic controller is configured and used for obtaining the position of each vehicle under a mine, the position and the red-green state of each signal lamp under the mine and controlling the red-green state of each signal lamp;
configuring a signal lamp grouping database, a vehicle priority database and a signal lamp priority database;
each signal lamp is provided with a to-be-driven vehicle cache, and each vehicle is provided with a last-time passing signal lamp cache;
the group database groups the signal lamps, one signal lamp of a broken road is divided into one group, and each signal lamp of the same intersection is divided into one group;
the mine traffic controller controls signal lamps of vehicles arriving at the intersection through the following steps;
the mine traffic controller acquires that a current vehicle reaches a current signal lamp, judges the number of signal lamps in a lamp group where the current signal lamp is located according to the signal lamp grouping database, if the number of the signal lamps is 1, the mine traffic controller executes a step of controlling the signal lamps at the end of the vehicle, and if the number of the signal lamps is more than 1, the mine traffic controller executes a step of controlling the signal lamps at the intersection;
the control steps of the broken-end street signal lamp are as follows: the mine traffic controller further judges whether the current signal lamp is a green lamp or a red lamp, if the current signal lamp is the red lamp, the current vehicle enters a lane for passing by for waiting, the current vehicle identification code is recorded at the end of the to-be-driven vehicle cache of the current signal lamp until the mine traffic controller detects that the first-ranked vehicle in the to-be-driven cache under the current signal lamp passes through the current signal lamp again, the current signal lamp is set to be the green lamp, the first-ranked vehicle identification code is removed from the to-be-driven vehicle cache of the current signal lamp, and at the moment, the newly-ranked vehicle in the to-be-driven vehicle cache of the current signal lamp enters a head-off road; if the current vehicle directly enters the broken road when the current vehicle passes through the current signal lamp, the mine traffic controller sets the current signal lamp as a red lamp after learning that the current vehicle passes through the current signal lamp, and records the identification code of the current vehicle into a to-be-driven vehicle cache of the current signal lamp;
the intersection processing steps are as follows: the mine traffic controller further judges whether the current signal lamp is a green lamp or a red lamp, and if the current signal lamp is a green lamp, the mine traffic controller executes an intersection green lamp processing step; if the current signal lamp is a red lamp, the mine traffic controller executes the step of red lamp processing at the intersection;
the intersection green light processing steps are as follows: the mine traffic controller further judges whether a green light exists under the same lamp group, if the green light exists under the same lamp group, the mine traffic controller executes a multi-green-light processing step of the intersection, and if only the current signal lamp under the same lamp group is the green light, the mine traffic controller executes a single-green-light processing step of the intersection;
the intersection multiple green light processing steps are as follows: the mine traffic controller further judges whether vehicles arrive at the same time under the green lights of the same lamp group, if the vehicles arrive at the same time, the mine traffic controller executes the multiple-green-light multiple-vehicle processing step of the intersection, and if only the arriving vehicles exist under the current signal lamp in the multiple green lights of the lamp group, the mine traffic controller executes the multiple-green-light single-vehicle processing step of the intersection;
the intersection multi-green-light multi-vehicle processing steps are as follows: the mine traffic control compares and arrives which vehicle in the vehicles has the highest priority at the same time according to the vehicle priority data, keeps the signal lamp corresponding to the vehicle with the highest priority unchanged, enables the vehicle with the highest priority to pass, records the signal lamp identification code of the signal lamp with the green lamp into the last passing signal lamp cache of the vehicle with the highest priority, records the vehicle identification code with the highest priority into the tail end of the to-be-driven vehicle cache of the signal lamp with the green lamp, sets the other signal lamps which are green lamps in the same lamp group as the red lamps, and records the to-be-driven vehicle identification code under each red lamp in the to-be-driven vehicle cache of the corresponding signal lamp; if the priority levels of all the simultaneously arriving vehicles are the same, the mine traffic controller further judges which priority level is the highest in the green signal lamps according to the signal lamp priority level database, keeps the green lamp of the signal lamp with the high priority level unchanged, enables the corresponding vehicle to pass, records the signal lamp identification code with the highest priority level into the last passing signal lamp cache of the current passing vehicle, records the vehicle identification code of the current passing vehicle into the tail end of the waiting vehicle cache of the signal lamp with the highest priority level, sets other signal lamps of the green lamp under the same lamp group as the red lamp, enables the corresponding arriving vehicle to wait in a wrong lane, and records the waiting vehicle identification code into the waiting vehicle cache of the corresponding signal lamps which are newly set as the red lamp;
the processing steps of the multiple green lamps single vehicle at the intersection are as follows: the mine traffic controller keeps the green light of the current signal lamp unchanged, allows the current vehicle to pass, records the identification code of the current signal lamp into the last passing signal lamp cache of the current vehicle, simultaneously records the identification code of the current vehicle into the tail of the waiting vehicle cache of the current signal lamp, and sets other signal lamps which are green lights in the same lamp group as red lights;
the intersection single green light processing steps are as follows: the mine traffic controller keeps the current signal lamp green, allows the current vehicle to pass, records the current signal lamp identification code into the last passing signal lamp cache of the current vehicle, and simultaneously records the current vehicle identification code into the to-be-driven vehicle cache end of the current signal lamp;
the intersection red light processing steps are as follows: the mine traffic controller inquires whether a last-time passing signal lamp identification code exists in a last-time passing signal lamp cache of a current vehicle, and if the last-time passing signal lamp identification code does not exist, the mine traffic controller records the current signal lamp identification code into the last-time passing signal lamp cache of the current vehicle and simultaneously records the current vehicle identification code into the tail of a to-be-driven vehicle cache of the current signal lamp; if the identification code of the signal lamp which passes through last time exists, the mine traffic controller judges whether the current signal lamp and the signal lamp which passes through last time are in the same lamp group according to the signal lamp group database, if so, the mine traffic controller executes the step of processing the red lamp and the same lamp group of the intersection, and if not, the mine traffic controller executes the step of processing the non-different lamp groups of the intersection;
the intersection red light and lamp group processing steps are as follows: the mine traffic controller removes the current vehicle identification code from the vehicle cache to be driven of the signal lamp which the current vehicle passes through last time, judges whether other vehicles to be driven exist under the signal lamp which the current vehicle passes through last time, and keeps the state of the current signal lamp unchanged if other vehicles to be driven exist; if no other vehicles to be driven exist, the mine traffic controller continuously judges whether vehicles to be driven exist under other red-light signal lamps under the same lamp group, if vehicles to be driven exist under other red-light signal lamps, the mine traffic controller executes a step of processing vehicles to be driven on a plurality of red lights of the same lamp group at the intersection, and if only vehicles to be driven exist under the red-light signal lamps at present, the mine traffic controller executes a step of processing vehicles to be driven on a single red light of the same lamp group at the intersection; if all the signal lamps with red lights have no vehicles to be driven, executing the processing step that the vehicles to be driven do not exist under the same lamp group at the intersection;
the method for processing the vehicles with the red lights waiting for running in the same lamp group at the intersection comprises the following steps: the mine traffic controller judges which vehicle among the vehicles to be driven under the signal lamps with red lamps has the highest priority according to the signal lamp priority database, the mine traffic controller sets the signal lamp corresponding to the vehicle with the highest priority as a green lamp to allow the vehicle with the highest priority to pass, a signal lamp identification code which is newly set as the green lamp enters the last-time passing signal lamp cache of the vehicle with the highest priority, and the signal lamp which is the green lamp before under the same lamp group is set as the red lamp; if the priority levels of the vehicles to be driven under the signal lamps with the red lamps are the same, the mine traffic controller judges which signal lamp with the highest priority level is the highest in the signal lamps with the red lamps according to the signal lamp priority level database, the mine traffic controller sets the signal lamp with the highest priority level as the green lamp, the vehicle corresponding to the signal lamp with the highest priority level passes through the signal lamp, the signal lamp identification code with the highest priority level is recorded into the last passing signal lamp cache of the current passing vehicle, and the signal lamp with the green lamp in the same lamp group is set as the red lamp;
the processing steps of the vehicle with the single red light waiting for running in the same lamp group at the intersection are as follows: the mine traffic controller sets the current signal lamp as a green lamp to allow the current vehicle to pass, records the current signal lamp identification code into the last passing signal lamp cache of the current vehicle, and sets the signal lamp which is the green lamp in the same lamp group as a red lamp;
the method comprises the following steps of: the mine traffic controller sets all signal lamps which are red lamps under the same lamp group as green lamps to wait for vehicles to pass;
the intersection red light non-identical lamp group processing steps are as follows: and the mine traffic controller adds the current vehicle identification code into a to-be-driven vehicle cache of the current signal lamp.
2. The downhole signal lamp control method according to claim 1, wherein: the vehicle identification code is a beacon number placed on the vehicle.
3. The downhole signal lamp control method according to claim 1, wherein: the signal lamp identification code is a signal lamp number or a signal lamp IP address.
4. The method for controlling the signal lamp under the mine according to claim 1, wherein: and the mine traffic controller acquires the position of each signal lamp based on an underground electronic map.
5. The downhole signal lamp control method according to claim 1, wherein: the mine traffic controller learns the positions of the vehicles based on a mine positioning technology.
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| JP2015166974A (en) * | 2014-03-04 | 2015-09-24 | 住友電工システムソリューション株式会社 | Traffic light controller and traffic light control method |
| CN105843150A (en) * | 2016-06-16 | 2016-08-10 | 兰州理工大学 | Mine single lane vehicle operation control signal system and control method thereof |
| CN113596726A (en) * | 2021-08-10 | 2021-11-02 | 中煤科工集团重庆研究院有限公司 | Mine vehicle position accurate tracking and intelligent scheduling system and method |
| WO2022116361A1 (en) * | 2020-12-01 | 2022-06-09 | 山东交通学院 | Traffic light control method and system based on urban trunk line vehicle queuing length |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2015166974A (en) * | 2014-03-04 | 2015-09-24 | 住友電工システムソリューション株式会社 | Traffic light controller and traffic light control method |
| CN105843150A (en) * | 2016-06-16 | 2016-08-10 | 兰州理工大学 | Mine single lane vehicle operation control signal system and control method thereof |
| WO2022116361A1 (en) * | 2020-12-01 | 2022-06-09 | 山东交通学院 | Traffic light control method and system based on urban trunk line vehicle queuing length |
| CN113596726A (en) * | 2021-08-10 | 2021-11-02 | 中煤科工集团重庆研究院有限公司 | Mine vehicle position accurate tracking and intelligent scheduling system and method |
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