CN117022386A - Underground rail transportation unmanned method, system and terminal - Google Patents
Underground rail transportation unmanned method, system and terminal Download PDFInfo
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Abstract
The application relates to an unmanned method, system and terminal for underground rail transportation, which belong to the technical field of underground transportation of mines, and the unmanned method comprises the following steps: pre-establishing a triple warning area, wherein the triple warning area is represented by different colors; judging whether an obstacle exists in the warning area in the running process of the electric locomotive, wherein the obstacle comprises personnel and/or other objects; if yes, the color of the specific warning area where the obstacle is further judged; and executing corresponding warning actions according to the colors of the specific warning areas, wherein each warning area and each warning action are in a unique mapping relation. The application has the beneficial effects that the staff can know the distance from the electric locomotive to the staff in time, and the safety of the roadway is further improved.
Description
Technical Field
The application relates to the technical field of underground transportation of mines, in particular to an underground rail transportation unmanned method, an underground rail transportation unmanned system and a terminal.
Background
The mine underground plane transportation mainly adopts an electric locomotive as a hook to connect a bottom side mine unloading car to complete reciprocating unidirectional circulating transportation in an underground gallery.
The current publication number is CN102700569A, and the publication date is 2012-10-03 discloses a mining electric locomotive pedestrian monitoring method and an alarm system based on image processing, wherein the system comprises a video acquisition module, an image processing module and an audible and visual alarm module; the video acquisition module acquires images in front of the motor vehicle by using an infrared camera; the image processing module comprises image preprocessing, rail identification and fitting and pedestrian identification; the audible and visual alarm module comprises an audible and visual alarm and a control circuit. The image preprocessing adopts an image self-adaptive correction method based on the combination of a genetic algorithm and a normalized incomplete Beta function and a binarization method based on an image of a pulse coupling neural network; the rail identification and fitting adopts a fuzzy edge detection rapid algorithm based on genetic algorithm threshold improvement to identify the rail and a heuristic connection method to fit the rail; and the pedestrian identification adopts a pulse coupling neural network image binarization method realized based on the FPGA to detect the pedestrian moving on the track.
Although the electric locomotive can judge whether a person exists in front of the running through collecting the image information of the running direction, and alarm is carried out when the person exists, namely, no matter how far the pedestrian is from the electric locomotive, the person is detected to carry out alarm; the pedestrian can not know whether the electric locomotive is far or near with the pedestrian through the alarm, so that the situation of untimely avoidance is possibly caused, and the safety is required to be improved.
Disclosure of Invention
In order to enable staff to know the distance between an electric locomotive and the staff in time and further improve the safety of a roadway, the application provides an underground rail transportation unmanned method, an underground rail transportation unmanned system and a terminal.
In a first aspect, the present application provides an underground rail transportation unmanned method, which adopts the following technical scheme:
a method of unmanned downhole rail transit comprising:
pre-establishing a triple warning area, wherein the triple warning area is represented by different colors;
judging whether an obstacle exists in the warning area in the running process of the electric locomotive, wherein the obstacle comprises personnel and/or other objects;
if yes, the color of the specific warning area where the obstacle is further judged;
and executing corresponding warning actions according to the colors of the specific warning areas, wherein each warning area and each warning action are in a unique mapping relation.
Through adopting above-mentioned technical scheme, through setting up triple warning area to when making the staff appear in different warning areas, can carry out corresponding warning action, the staff can roughly judge the far and near condition of electric locomotive from self according to the warning action, thereby carries out timely avoidance, consequently further improved the security in tunnel.
Optionally, the specific step of determining whether the obstacle exists in the warning area includes:
judging whether label information of a ranging label is acquired or not, wherein the ranging label is carried by a person and is stuck by other objects, and a ranging base station is pre-installed on an electric locomotive;
if yes, determining that an obstacle exists in the warning area;
the specific step of further judging the color of the specific warning area where the obstacle is located comprises the following steps:
determining the distance from the obstacle to the electric locomotive according to the tag information;
and determining the color of the warning area in which the obstacle falls based on the distance.
Optionally, the unmanned method further comprises:
acquiring position information of an electric locomotive;
and controlling the operation and switching of the nearest electric turnout machine based on the position information and the pre-planned driving route.
By adopting the technical scheme, after the position information is acquired, if the electric turnout machine exists near the electric locomotive, the electric turnout machine is required to run according to the running route of the electric locomotive, and then the electric turnout machine nearest to the electric locomotive is controlled to run and switch.
Optionally, the specific step of obtaining the position information of the electric locomotive includes:
acquiring range position information of an electric locomotive based on wireless base stations which are arranged in a roadway in advance;
acquiring the driving distance of the electric locomotive based on a photoelectric shaft encoder pre-installed on a driven wheel of the electric locomotive;
judging whether the serial number information of the radio frequency RF card is read or not, wherein the roadway is arranged in a segmented mode in advance, the radio frequency RF card is arranged at each fork of the roadway in advance, and a radio frequency card reader is arranged on the electric locomotive;
if yes, determining accurate position information of the electric locomotive based on the number information and the driving distance;
performing fuzzy matching on the accurate position information and the range position information;
and if the two pieces of information are matched, determining the accurate position information as actual position information.
By adopting the technical scheme, the wireless base station can roughly position the electric locomotive; if the radio frequency card reader reads the number information of the radio frequency RF card, determining the accurate position information of the electric locomotive according to the driving distance and the number information, and if the electric locomotive only depends on the number information, errors are likely to exist; and then, carrying out fuzzy matching on the accurate position information and the range position information, and further judging whether the accurate position information is at the range position or not, so that errors are further eliminated, and further accurate positioning of the electric locomotive can be realized.
Optionally, the unmanned method further comprises:
generating a picture position of the electric locomotive in the roadway map based on the position information of the electric locomotive and roadway map pixels;
and displaying the picture to be positioned in the roadway map.
By adopting the technical scheme, the electric locomotive position in the roadway can be conveniently positioned and tracked by monitoring personnel.
Optionally, the specific step of generating the picture position of the electric locomotive in the roadway map based on the position information of the electric locomotive and the roadway map pixels includes:
judging the zone section to which the electric locomotive belongs according to the position information of the electric locomotive;
calling an associated pixel calculation mode according to the zone bit section and combining the roadway map pixels;
obtaining an X-axis pixel and a Y-axis pixel according to the pixel calculation mode;
and generating a picture position of the electric locomotive in the roadway map based on the X-axis pixels and the Y-axis pixels.
Optionally, the pixel calculation mode includes a straight line pixel calculation mode and a curve pixel calculation mode, the straight line pixel calculation mode is applicable to a roadway straight line segment, and the curve pixel calculation mode is applicable to a roadway curve end;
the straight line pixel calculation mode comprises the following steps:
the X-axis pixels are: px=px1+ (L-L1) kx1J 1;
wherein, px1 is the initial pixel value of the electric locomotive at the starting point of the straight line segment; l is the actual distance of the electric locomotive running; l1 is an initial actual position value of the electric locomotive at the starting point of the straight line segment; slope of Kx1 electric locomotive running straight line; j1 is a specific moving position of the electric locomotive and a picture pixel distance ratio coefficient; px is the real-time X-axis pixel position of the electric locomotive;
as with the X-axis calculation, the Y-axis pixels are: py=py1+ (L-L1) Ky 1J 1;
the curve pixel calculation mode comprises the following steps:
the X-axis pixels are:
Px=r*{cos[(L-L1)/L12]* a+b ]-cosb}+Px1 ；
wherein r is the radius of a picture pixel corresponding to an electric locomotive running curve; l is the actual distance of the electric locomotive running; l1 is an initial actual position value of the electric locomotive at the starting point of the straight line segment; l12 is the length of the arc of the section; a is the rotation angle of the arc of the section; b is the initial angle of the arc; px1 is an initial pixel value of the electric locomotive at the starting point of the straight line segment, and Px is the real-time X-axis pixel position of the electric locomotive;
as with the X-axis calculation, the Y-axis pixels are:
Py=r*{sin[(L-L1)/L12]* a+b ]-sinb}+Py1。
by adopting the technical scheme, in a roadway running in a straight line, the current pixel coordinate position of the electric locomotive in a picture is calculated by means of the slope coefficient according to the position starting point XY coordinate position and the running distance of the electric locomotive. In a roadway running in a curve mode, according to the position starting point XY coordinate position and the running distance of the electric locomotive, the current pixel coordinate position of the electric locomotive in a picture is calculated by means of an arc of running of the electric locomotive in the roadway.
In a second aspect, the application provides a downhole rail transportation unmanned system, which adopts the following technical scheme:
a downhole rail transit unmanned system comprising:
the warning area establishing module is used for establishing a triple warning area in advance, wherein the triple warning area is represented by different colors;
the judging module is used for judging whether an obstacle exists in the warning area or not in the running process of the electric locomotive, wherein the obstacle comprises personnel and/or other objects; if yes, the color of the specific warning area where the obstacle is further judged;
and the warning action execution module executes corresponding warning actions according to the colors of the specific warning areas, wherein each warning area and each warning action are in a unique mapping relation.
By adopting the technical scheme, the triple warning areas are built through the warning area building module, so that when workers appear in different warning areas, the warning action executing module can execute corresponding warning actions, and the workers can roughly judge the distance situation of the electric locomotive from the workers according to the warning actions, so that the workers can avoid timely, and the safety of a roadway is further improved.
In a third aspect, the present application provides a terminal, which adopts the following technical scheme:
a terminal, comprising:
the memory is used for storing an underground rail transportation unmanned program;
and the processor is used for executing a program stored in the memory so as to realize the steps of the underground rail transportation unmanned method.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer readable storage medium storing a computer program loadable by a processor and performing the above method of unmanned downhole rail transit.
In summary, the present application has at least the following advantages:
1. the triple warning areas are established, and according to the colors of the specific warning areas, the purpose of executing corresponding warning actions is that staff can roughly judge the distance situation of the electric locomotive from the staff according to the warning actions, so that the staff can avoid timely, and the safety of a roadway is further improved.
2. Based on the position information of the electric locomotive and the roadway map pixels, the purpose of generating the picture position of the electric locomotive in the roadway map is to facilitate the monitoring personnel to locate and track the position of the electric locomotive in the roadway.
Drawings
FIG. 1 is a block flow diagram of an embodiment of a method of the present application;
FIG. 2 is a schematic diagram of a triple alert region straight line segment;
FIG. 3 is a schematic diagram of a triple alert zone curve;
FIG. 4 is a block flow chart of the specific judgment steps of S120-S130;
FIG. 5 is a block flow diagram of another implementation of an embodiment of the method of the present application;
FIG. 6 is a block flow diagram of the specific steps of S210;
FIG. 7 is a block flow diagram of yet another implementation of the method embodiment of the present application;
FIG. 8 is a block flow diagram of the specific steps of S310;
FIG. 9 is a block diagram of a system according to an embodiment of the present application;
FIG. 10 is a block diagram of another implementation of an embodiment of the system of the present application;
fig. 11 is a block diagram of a further implementation of the system embodiment of the present application.
Reference numerals illustrate: 101. the warning area building module; 102. a judging module; 103. a warning action execution module; 104. a position information acquisition module; 105. a control module; 106. a distance acquisition module; 107. a matching module; 108. a picture position generating module; 109. a display module; 110. calling a module; 111. an X-axis pixel obtaining module; 112. and a Y-axis pixel obtaining module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to fig. 1 to 11 in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The first embodiment of the application discloses an underground rail transportation unmanned method. Referring to fig. 1, as an embodiment of the unmanned method, the unmanned method may include S110 to S140:
s110, pre-establishing a triple warning area, wherein the triple warning area can be represented by different colors;
s120, judging whether an obstacle exists in the warning area or not in the running process of the electric locomotive;
s130, if yes, further judging the color of a specific warning area where the obstacle is located;
and S140, executing corresponding warning actions according to the colors of the specific warning areas.
Specifically, the triple alert regions may be a yellow region, a purple region, and a red region, respectively, the purple region being outside the red region, the yellow region being outside the purple region. A ranging base station is installed on the electric locomotive, a triple warning area is established according to the range of the ranging base station, and the ranging range is sequentially a yellow area, a purple area and a red area from the farthest to the nearest. As particularly shown in fig. 2 and 3. In other embodiments, the division of the alert areas may be performed in other ways.
The obstacle comprises one or two of personnel and other objects; the warning action corresponding to the yellow area can be that the electric locomotive sends out an early warning voice prompt through the voice module to prompt that pedestrians are required to avoid in the running process of the electric locomotive; the warning action corresponding to the purple area can be that the electric locomotive is decelerated to 0.5 m/s; the red area corresponds to the warning action which can be "the electric locomotive immediately stops and brakes". In addition, the flashing alarm with different degrees can be simultaneously carried out, and the alarm is more rapid from a yellow area to a red area. It should be noted that, each warning area and the warning action are unique mapping relation.
Referring to fig. 4, specific steps judged in S120 and S130 may include S121 to S124:
s121, judging whether label information of a ranging label is acquired or not;
s122, if yes, determining that an obstacle exists in the warning area;
s123, determining the distance from the obstacle to the electric locomotive according to the tag information;
s124, determining the color of the warning area in which the obstacle falls based on the distance.
Specifically, the ranging base station installed on the electric locomotive can be a UWB base station, the effective distance range of detection is 0.5-50 m, 360-degree dead angle-free monitoring can be achieved, the influence of sight distance is small, an Ultra Wideband (UWB) positioning technology is adopted, carriers in a traditional communication system are not needed, and data are transmitted by sending and receiving pulses with nanosecond or subtle levels or less.
The personnel wear the ranging labels in advance, and other objects are also pasted with the ranging labels in advance; when an operator carrying a ranging tag enters a set measuring alarm range of a ranging base station, tag information sent by the ranging tag is obtained, and then the distance between the ranging tag and an electric locomotive can be obtained according to the tag information, so that the color of an alarm area where an obstacle falls can be determined. After the tag information is obtained, the vehicle-mounted voice device starts to prompt and alarm, and the distance measuring tag worn by the operator buzzes and vibrates. In addition, if more than two vehicles provided with the ranging base stations enter the set measuring alarm range of the ranging base stations, the vehicle-mounted device starts alarm prompt, and gives out different-level audible and visual alarms according to the distance and the judgment of the dangerous degree of the opposite vehicles, so that the occurrence of vehicle collision accidents is effectively prevented and stopped.
Referring to fig. 5, as another embodiment of the unmanned method, the unmanned method may further include S210 to S220:
s210, acquiring position information of an electric locomotive;
s220, controlling the operation and switching of the nearest electric turnout machine based on the position information and the pre-planned driving route.
Referring to fig. 6, specific steps for acquiring position information of an electric locomotive may include S211-S216:
s211, acquiring range position information of an electric locomotive based on wireless base stations which are arranged in a roadway in advance;
s212, acquiring the driving distance of the electric locomotive based on a photoelectric shaft encoder pre-installed on a driven wheel of the electric locomotive;
s213, judging whether the serial number information of the radio frequency RF card is read, wherein the roadway is arranged in a segmented mode in advance, the radio frequency RF card is arranged at each fork of the roadway in advance, and a radio frequency card reader is arranged on the electric locomotive;
s214, if yes, determining accurate position information of the electric locomotive based on the number information and the driving distance;
s215, performing fuzzy matching on the accurate position information and the range position information;
and S216, if the two pieces of information are matched, determining the accurate position information as actual position information.
Specifically, the base station positioning of the electric locomotive adopts a 5G/4G base station (wireless base station) and a vehicle-mounted network bridge which are arranged in a roadway, so that the position range positioning of the electric locomotive is realized, and the positioning precision has a great relationship with the arrangement density of the base stations. The counting mode of the encoder is continuous counting, the counting position is stored in the controller in the electric locomotive in real time, the power supply of the encoder adopts direct current 24V to supply power, the interfaces A and B are connected into a high-speed input channel connected to the controller, and the position pulse code acquisition of the electric locomotive is realized. The electric locomotive confirms the position and the section of the electric locomotive by identifying the number of the Radio Frequency (RF) card; meanwhile, the linear positioning of the electric locomotive is realized by matching with the driving distance. When the accurate position and the range position are matched in a fuzzy way, if the difference value of the two positions is within a preset threshold value, the two positions are matched.
Referring to fig. 7, as another embodiment of the unmanned driving, the unmanned driving method may further include S310 to S320:
s310, generating a picture position of the electric locomotive in a roadway map based on the position information of the electric locomotive and roadway map pixels;
s320, displaying the picture position in the roadway map.
Specifically, the roadway map is displayed on a display screen in the ground monitoring room, and the picture position of the electric locomotive (namely the position of the electric locomotive in the roadway map) is generated in the roadway map through the position information of the electric locomotive and the roadway map pixels and is displayed on the display screen.
Referring to fig. 8, specific steps of S310 may include S311-S314:
s311, judging the zone section to which the electric locomotive belongs according to the position information of the electric locomotive;
s312, calling an associated pixel calculation mode according to the zone bit section and by combining roadway map pixels;
s313, obtaining an X-axis pixel and a Y-axis pixel according to a pixel calculation mode;
s314, generating a picture position of the electric locomotive in the roadway map based on the X-axis pixel and the Y-axis pixel.
Specifically, since the zones (areas) and the sections are divided in advance for the roadway, each zone contains a plurality of sections. The pixel calculation modes comprise a straight line pixel calculation mode and a curve pixel calculation mode, wherein the straight line pixel calculation mode is suitable for a roadway straight line segment, and the curve pixel calculation mode is suitable for a roadway curve end. For example, the electric locomotive is in section 1-1, which means that the electric locomotive is in section 1, if the section is a straight line section, the straight line pixel calculation mode is called, and if the section is a curve section, the curve pixel calculation mode is called. The straight line pixel calculation method comprises the following steps:
the X-axis pixels are: px=px1+ (L-L1) kx1J 1;
wherein, px1 is the initial pixel value of the electric locomotive at the starting point of the straight line segment; l is the actual distance of the electric locomotive running; l1 is an initial actual position value of the electric locomotive at the starting point of the straight line segment; slope of Kx1 electric locomotive running straight line; j1 is a specific moving position of the electric locomotive and a picture pixel distance ratio coefficient; px is the real-time X-axis pixel position of the electric locomotive;
as with the X-axis calculation, the Y-axis pixels are: py=py1+ (L-L1) Ky 1J 1;
the curve pixel calculation mode comprises the following steps:
the X-axis pixels are:
Px=r*{cos[(L-L1)/L12]* a+b ]-cosb}+Px1 ；
wherein r is the radius of a picture pixel corresponding to an electric locomotive running curve; l is the actual distance of the electric locomotive running; l1 is an initial actual position value of the electric locomotive at the starting point of the straight line segment; l12 is the length of the arc of the section; a is the rotation angle of the arc of the section; b is the initial angle of the arc; px1 is an initial pixel value of the electric locomotive at the starting point of the straight line segment, and Px is the real-time X-axis pixel position of the electric locomotive;
as with the X-axis calculation, the Y-axis pixels are:
Py=r*{sin[(L-L1)/L12]* a+b ]-sinb}+Py1。
in a roadway running in a straight line, the current pixel coordinate position of the electric locomotive in a picture is calculated by means of slope coefficients according to the position starting point XY coordinate position and the running distance of the electric locomotive. In a roadway running in a curve mode, according to the position starting point XY coordinate position and the running distance of the electric locomotive, the current pixel coordinate position of the electric locomotive in a picture is calculated by means of an arc of running of the electric locomotive in the roadway.
The implementation principle of the embodiment is as follows:
judging whether an obstacle exists in the warning area or not in the running process of the electric locomotive, if so, further judging a specific warning area where the obstacle is located, and executing corresponding warning action according to the specific warning area; and acquiring the position information of the electric locomotive in real time, and controlling the operation and switching of the adjacent electric turnout machine based on the position information and the pre-planned driving route.
Based on the method embodiment, a second embodiment of the application discloses a downhole rail transportation unmanned system. Referring to fig. 9, as an embodiment of the unmanned system, the unmanned system may include:
the warning region establishing module 101 is configured to pre-establish a triple warning region, where the triple warning region can be represented by different colors;
the judging module 102 is configured to judge whether an obstacle exists in the warning area during the running process of the electric locomotive, where the obstacle includes a worker and/or other objects; if yes, the color of the specific warning area where the obstacle is further judged;
the warning action execution module 103 executes corresponding warning actions according to the colors of specific warning areas, and each warning area and each warning action are in a unique mapping relation.
In addition, the determining module 102 may determine whether tag information of the ranging tag is acquired, if yes, determine that an obstacle exists in the warning area, then determine a distance from the obstacle to the electric locomotive according to the tag information, and determine a color of the warning area in which the obstacle falls based on the distance.
Referring to fig. 10, as another embodiment of the unmanned system, the unmanned system may further include:
the position information obtaining module 104 is configured to obtain position information of the electric locomotive, and obtain range position information of the electric locomotive based on a wireless base station pre-arranged in a roadway;
a distance acquisition module 106 for acquiring a travel distance of the electric locomotive based on a photoelectric shaft encoder pre-installed on a driven wheel of the electric locomotive; the judging module 102 judges whether the serial number information of the radio frequency RF card is read, if so, the accurate position of the electric locomotive is determined based on the serial number information and the driving distance;
the matching module 107 is configured to perform fuzzy matching on the accurate position information and the range position information, and if the accurate position information and the range position information match, determine that the accurate position information is actual position information;
the control module 105 controls the adjacent electric turnout machine to operate very switch on the basis of the actual position information and the pre-planned driving route.
Referring to fig. 11, as another embodiment of the unmanned system, the unmanned system may further include:
a screen position generation module 108 that generates a screen position of the electric locomotive in the tunnel map based on the position information of the electric locomotive and the tunnel map pixels;
a display module 109, configured to display a screen position in the roadway map;
the judging module 102 is used for judging the location section of the electric locomotive according to the position information of the electric locomotive;
a calling module 110, configured to call an associated pixel calculation mode according to the location area and in combination with the roadway map pixels;
an X-axis pixel obtaining module 111, configured to obtain an X-axis pixel according to a pixel calculation manner;
the Y-axis pixel obtaining module 112 is configured to obtain a Y-axis pixel according to the pixel calculation mode.
The implementation principle of the embodiment is as follows:
in the running process of the electric locomotive, the judging module 102 judges whether an obstacle exists in the warning area, if yes, the judging module 102 further judges the specific warning area where the obstacle exists, and the warning action executing module 103 executes corresponding warning actions according to the specific warning area; the position information acquisition module 104 acquires the position information of the electric locomotive in real time, and the control module 105 controls the operation and switching of the adjacent electric turnout machine based on the position information and the pre-planned driving route.
The third embodiment of the present application further provides a terminal, where the terminal may be a client such as a computer or a smart phone, and the system is built in the terminal, and the terminal may include: a memory and a processor;
the memory is used for storing the underground rail transportation unmanned program;
the processor is used for executing a program stored on the memory to realize the steps of the underground rail transportation unmanned method.
The memory may be communicatively coupled to the processor via a communication bus, which may be an address bus, a data bus, a control bus, or the like.
In addition, the memory may include Random Access Memory (RAM) or may include non-volatile memory (NVM), such as at least one disk memory.
And the processor may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), etc.; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
A fourth embodiment of the present application provides a computer readable storage medium storing a computer program capable of being loaded by a processor and performing the above-described method of downhole rail transit unmanned.
Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media. Among other things, the usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), etc.
The foregoing description of the preferred embodiments of the application is not intended to limit the scope of the application, as any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (10)
1. A method of unmanned downhole rail transport comprising:
pre-establishing a triple warning area, wherein the triple warning area is represented by different colors;
judging whether an obstacle exists in the warning area in the running process of the electric locomotive, wherein the obstacle comprises personnel and/or other objects;
if yes, the color of the specific warning area where the obstacle is further judged;
and executing corresponding warning actions according to the colors of the specific warning areas, wherein each warning area and each warning action are in a unique mapping relation.
2. The method for unmanned downhole rail transit of claim 1, wherein the step of determining whether an obstacle is present in the warning area comprises:
judging whether label information of a ranging label is acquired or not, wherein the ranging label is carried by a person and is stuck by other objects, and a ranging base station is pre-installed on an electric locomotive;
if yes, determining that an obstacle exists in the warning area;
the specific step of further judging the color of the specific warning area where the obstacle is located comprises the following steps:
determining the distance from the obstacle to the electric locomotive according to the tag information;
and determining the color of the warning area in which the obstacle falls based on the distance.
3. A method of unmanned downhole rail transit as defined in claim 1, further comprising:
acquiring position information of an electric locomotive;
and controlling the operation and switching of the nearest electric turnout machine based on the position information and the pre-planned driving route.
4. A method of unmanned downhole rail transit as claimed in claim 3, wherein the step of obtaining positional information of the electric locomotive comprises:
acquiring range position information of an electric locomotive based on wireless base stations which are arranged in a roadway in advance;
acquiring the driving distance of the electric locomotive based on a photoelectric shaft encoder pre-installed on a driven wheel of the electric locomotive;
judging whether the serial number information of the radio frequency RF card is read or not, wherein the roadway is arranged in a segmented mode in advance, the radio frequency RF card is arranged at each fork of the roadway in advance, and a radio frequency card reader is arranged on the electric locomotive;
if yes, determining accurate position information of the electric locomotive based on the number information and the driving distance;
performing fuzzy matching on the accurate position information and the range position information;
and if the two pieces of information are matched, determining the accurate position information as actual position information.
5. A method of unmanned downhole rail transit of claim 4, further comprising:
generating a picture position of the electric locomotive in the roadway map based on the position information of the electric locomotive and roadway map pixels;
and displaying the picture to be positioned in the roadway map.
6. The method according to claim 5, wherein the specific step of generating the screen position of the electric locomotive in the roadway map based on the position information of the electric locomotive and roadway map pixels comprises:
judging the zone section to which the electric locomotive belongs according to the position information of the electric locomotive;
calling an associated pixel calculation mode according to the zone bit section and combining the roadway map pixels;
obtaining an X-axis pixel and a Y-axis pixel according to the pixel calculation mode;
and generating a picture position of the electric locomotive in the roadway map based on the X-axis pixels and the Y-axis pixels.
7. The method for unmanned underground rail transportation according to claim 6, wherein the pixel calculation mode comprises a straight line pixel calculation mode and a curve pixel calculation mode, the straight line pixel calculation mode is suitable for a roadway straight line segment, and the curve pixel calculation mode is suitable for a roadway curve end;
the straight line pixel calculation mode comprises the following steps:
the X-axis pixels are: px=px1+ (L-L1) kx1J 1;
wherein, px1 is the initial pixel value of the electric locomotive at the starting point of the straight line segment; l is the actual distance of the electric locomotive running; l1 is an initial actual position value of the electric locomotive at the starting point of the straight line segment; slope of Kx1 electric locomotive running straight line; j1 is a specific moving position of the electric locomotive and a picture pixel distance ratio coefficient; px is the real-time X-axis pixel position of the electric locomotive;
as with the X-axis calculation, the Y-axis pixels are: py=py1+ (L-L1) Ky 1J 1;
the curve pixel calculation mode comprises the following steps:
the X-axis pixels are:
Px=r*{cos[(L-L1)/L12]* a+b ]-cosb}+Px1 ；
wherein r is the radius of a picture pixel corresponding to an electric locomotive running curve; l is the actual distance of the electric locomotive running; l1 is an initial actual position value of the electric locomotive at the starting point of the straight line segment; l12 is the length of the arc of the section; a is the rotation angle of the arc of the section; b is the initial angle of the arc; px1 is an initial pixel value of the electric locomotive at the starting point of the straight line segment, and Px is the real-time X-axis pixel position of the electric locomotive;
as with the X-axis calculation, the Y-axis pixels are:
Py=r*{sin[(L-L1)/L12]* a+b ]-sinb}+Py1。
8. a downhole rail transit unmanned system, comprising:
the warning area establishing module (101) is used for establishing a triple warning area in advance, wherein the triple warning area is represented by different colors;
the judging module (102) is used for judging whether an obstacle exists in the warning area or not in the running process of the electric locomotive, wherein the obstacle comprises personnel and/or other objects; if yes, the color of the specific warning area where the obstacle is further judged;
and the warning action execution module (103) executes corresponding warning actions according to the colors of the specific warning areas, wherein each warning area and each warning action are in a unique mapping relation.
9. A terminal, comprising:
the memory is used for storing an underground rail transportation unmanned program;
a processor for executing a program stored on a memory to perform the steps of the method of unmanned downhole rail transit as claimed in any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method of downhole rail transit unmanned as claimed in any of claims 1-7.
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| CN202311124767.0A CN117022386A (en) | 2023-09-02 | 2023-09-02 | Underground rail transportation unmanned method, system and terminal |
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| CN202311124767.0A CN117022386A (en) | 2023-09-02 | 2023-09-02 | Underground rail transportation unmanned method, system and terminal |
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