CN115352499A - Intelligent driving monorail transportation system based on 5G mining communication system - Google Patents
Intelligent driving monorail transportation system based on 5G mining communication system Download PDFInfo
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- CN115352499A CN115352499A CN202211173234.7A CN202211173234A CN115352499A CN 115352499 A CN115352499 A CN 115352499A CN 202211173234 A CN202211173234 A CN 202211173234A CN 115352499 A CN115352499 A CN 115352499A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/70—Details of trackside communication
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Abstract
The invention discloses an intelligent driving monorail transportation system based on a 5G mining communication system, belongs to the field of mining transportation, and is used for solving the problem that most current monorail routes are monitored by means of manual inspection or simple monitoring equipment.
Description
Technical Field
The invention belongs to the field of mining transportation, relates to a monorail transportation technology, and particularly relates to an intelligent driving monorail transportation system based on a 5G mining communication system.
Background
The monorail system is a medium-traffic-volume rail transportation system which combines a vehicle and a special rail beam into a whole to run, the rail beam is not only a bearing structure of the vehicle, but also a guide rail for running of the vehicle, and the monorail system is one of urban rail transit line systems. There are two main types of monorail systems: one is the way that the vehicle runs astride a single beam, called straddle type monorail system, and the other is the way that the vehicle runs suspended on a single beam, called suspension type monorail system. The monorail system is suitable for traffic corridors with the maximum section passenger flow of 1.0-3.0 ten thousand people times in one-way peak hours. Because the occupied area is small, the system is completely isolated from other traffic modes, the operation is safe and reliable, and the construction adaptability is strong.
Most of the current single-track routes are monitored by means of manual inspection or simple monitoring equipment, the transportation conditions of the single-track transport vehicle cannot be monitored and judged whether the single-track transport vehicle meets obstacles or not by means of manual inspection or simple monitoring, and the route conditions of the single-track routes cannot be analyzed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent driving monorail transportation system based on a 5G mining communication system.
The technical problem to be solved by the invention is as follows:
how to carry out transportation monitoring and obstacle meeting judgment on a monorail transport vehicle on a mining monorail route and analyzing the route condition of the monorail route.
The purpose of the invention can be realized by the following technical scheme:
the intelligent driving monorail transportation system based on the 5G mining communication system comprises a processor and a server, wherein the server is connected with the processor through a 5G communication module, the processor is connected with a data acquisition module, a brake module and an alarm module, the server is connected with a transportation monitoring module, an intelligent cooperation module, a fault encountering analysis module, a display module and a monorail analysis module, the data acquisition module is used for acquiring real-time running data and real-time monorail data of a monorail transport vehicle on a plurality of monorail lines and sending the real-time running data and the real-time monorail data to the processor, the processor sends the real-time running data and the real-time monorail data to the server, and the server sends the real-time running data to the transportation monitoring module and the real-time monorail data to the monorail analysis module and the fault encountering analysis module;
the transportation monitoring module is used for carrying out transportation monitoring on the monorail transport vehicles on the monorail lines to obtain mark points with different colors on the monorail lines and feeding the mark points back to the server, and the server sends the mark points with different colors on the monorail lines to the intelligent cooperation module and the display module; the single-track analysis module is used for analyzing the plurality of single-track routes to obtain an emergency turning route, a normal turning route and corresponding colors in the single-track routes and feeding the emergency turning route, the normal turning route and the corresponding colors in the single-track routes back to the server, and the server sends the emergency turning route, the normal turning route and the corresponding colors in the single-track routes to the intelligent cooperation module and the display module; the display module is used for displaying the mark points with different colors on the single-rail route, the emergency turning route, the normal turning route and the corresponding colors in the single-rail route;
the obstacle encountering analysis module is used for carrying out obstacle encountering analysis on the monorail transport vehicle on the monorail route, generating an obstacle encountering processing signal or a normal running signal and feeding the obstacle encountering processing signal or the normal running signal back to the server, if the server receives the normal running signal, not carrying out any operation, and if the server receives the obstacle encountering processing signal, forwarding the obstacle encountering processing signal to the intelligent cooperation module; the intelligent cooperation module is used for carrying out intelligent cooperation on the monorail transport vehicle and generating a braking deceleration signal or an emergency braking signal.
Further, the real-time operation data is real-time positions and real-time speed values of the monorail transport vehicle on the monorail lines;
the real-time single-track data are turning points and turning numbers of a plurality of single-track lines, the bending degree and the height difference of each turning, and a real-time image of the single-track line is obtained based on the real-time position of the single-track transport vehicle.
Further, the transportation monitoring process of the transportation monitoring module is specifically as follows:
acquiring real-time positions of adjacent single-rail transport vehicles on a plurality of single-rail routes, and acquiring real-time intervals of the adjacent single-rail transport vehicles according to the real-time positions; wherein, the adjacent monorail transport vehicles comprise a front monorail transport vehicle and a rear monorail transport vehicle;
comparing the real-time interval with a preset safety interval, and if the real-time interval is larger than the preset safety interval, representing the adjacent monorail transport vehicles on the monorail route by adopting green mark points;
if the real-time distance is smaller than or equal to the preset safe distance, acquiring a real-time speed value of the adjacent monorail transport vehicles;
when the real-time speed values of the adjacent single-track transport vehicles are equal, the adjacent single-track transport vehicles are in a relative static state, and the adjacent single-track transport vehicles in the relative static state are represented on a single-track route by adopting green mark points;
when the real-time speed values of the adjacent single-track transport vehicles are not equal, and the real-time speed value of the front single-track transport vehicle is larger than that of the rear single-track transport vehicle, representing the rear single-track transport vehicle on a single-track route by adopting green mark points;
when the real-time speed values of the adjacent single-track transport vehicles are not equal, and the real-time speed value of the rear single-track transport vehicle is larger than that of the front single-track transport vehicle, the rear single-track transport vehicle is represented on a single-track route by using yellow mark points;
and when the real-time speed value of any one of the adjacent monorail transport vehicles is zero, representing that any one of the adjacent monorail transport vehicles is in a static state, and representing the monorail transport vehicle in the static state on a monorail route by adopting red mark points.
Further, the analysis process of the monorail analysis module is as follows:
acquiring the height difference and the turning number in a plurality of single-track lines, and calculating the transportation difficulty value of the single-track line;
comparing the transport difficulty value with a transport difficulty threshold value, and judging that the route grade of the single-track route is a first route grade, a second route grade or a third route grade;
respectively obtaining turning points and bending degrees of each turning in the single-track route under different route levels, and marking each turning in the single-track route under different route levels as dangerous turning and common turning by comparing the bending degrees with a bending degree threshold value;
and marking the emergency turning route in the corresponding single-track route as a blue route according to the turning point of the dangerous turning, and marking the normal turning route in the corresponding single-track route as a cyan route according to the turning point of the ordinary turning.
Furthermore, the grade of the first route grade is higher than that of the second route grade, and the grade of the second route grade is higher than that of the third route grade;
if the single-track route is in the first route grade, the bending threshold value is Y1 degree; if the single-track route is at the second route grade, the bending threshold value is Y2 degrees; if the single-track route is at a third route grade, the bending threshold is Y3 degrees; wherein Y1, Y2 and Y3 are all fixed degrees, and Y1 is more than Y2 and more than Y3;
the curvature threshold of the single-track route is smaller when the route grade of the route grade is higher.
Further, the analysis process of the obstacle encountering analysis module is as follows:
obtaining a real-time image of the monorail line based on the real-time position of the monorail transport vehicle to obtain a route picture of the monorail line and a traveling direction picture of the monorail transport vehicle;
extracting real-time contour maps of all objects in the route picture and the advancing direction picture, acquiring preset contour maps of various objects stored in a server, and matching the real-time contour maps with the preset contour maps by adopting a contour comparison method;
if the matching is successful, judging that the route picture and the advancing direction picture have obstacles, generating obstacle processing signals, and if the matching is failed, judging that the route picture and the advancing direction picture have no obstacles, and generating normal driving signals.
Further, the intelligent cooperation module is used for carrying out intelligent cooperation on the monorail transport vehicle, and the intelligent cooperation process specifically comprises the following steps:
according to the real-time position of the monorail transport vehicle, if the real-time position is about to reach an emergency turning route, a braking deceleration signal is generated, and if the real-time position is about to reach a normal turning route, no operation is performed;
if the obstacle-encountering processing signal is received, an emergency braking signal is generated, if a green marking point is received, no operation is carried out, if a yellow marking point is received, a braking deceleration signal is generated, and if a red marking point is received, an emergency braking signal is generated.
Further, the intelligent cooperation module feeds back the generated braking deceleration signal or emergency braking signal to a server, and the server sends the braking deceleration signal or emergency braking signal to the processor;
the processor generates a braking deceleration instruction to be loaded to the braking module when receiving a braking deceleration signal, and the braking module is used for braking and decelerating the single-rail transport vehicle;
the processor generates an alarm instruction to be loaded to the alarm module and an emergency brake instruction to be loaded to the brake module when receiving the emergency brake signal, and the brake module is used for carrying out emergency braking on the monorail transport vehicle and carrying out alarm work corresponding to the alarm module on the monorail transport vehicle.
Compared with the prior art, the invention has the beneficial effects that:
the invention carries out transportation monitoring on a monorail transport vehicle on a plurality of monorail lines through a transportation monitoring module, obtains marking points with different colors on the monorail lines, sends the marking points to an intelligent cooperation module and a display module, simultaneously analyzes the monorail lines through a monorail analysis module, obtains an emergency turning line, a normal turning line and corresponding colors in the monorail lines, sends the emergency turning line, the normal turning line and the corresponding colors to the intelligent cooperation module and the display module, displays the marking points with different colors on the monorail lines, the emergency turning line, the normal turning line and the corresponding colors in the monorail lines through the display module, then carries out obstacle encountering analysis on the monorail transport vehicle on the monorail lines through the obstacle encountering analysis module, generates obstacle encountering processing signals or normal running signals, sends the obstacle encountering processing signals to the intelligent cooperation module if the obstacle encountering processing signals are generated, finally carries out intelligent cooperation on the monorail transport vehicle through the intelligent cooperation module, generates braking deceleration signals or emergency braking signals, and the braking module and the alarm module carry out corresponding operation according to the signals.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is an overall system block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In an embodiment, please refer to fig. 1, the intelligent driving monorail transportation system based on the 5G mining communication system includes a monorail transportation vehicle and a processor arranged in the monorail transportation vehicle, the processor is connected with a data acquisition module, a braking module and an alarm module, in the specific implementation, the alarm module is an alarm installed on the monorail transportation vehicle, the braking module is a braking brake, an emergency brake and the like on the monorail transportation vehicle, the processor is connected with a server through the 5G communication module, and the server is connected with a transportation monitoring module, an intelligent cooperation module, an obstacle-encountering analysis module, a display module and a monorail analysis module;
the data acquisition module is used for acquiring real-time operation data and real-time single-rail data of a single-rail transport vehicle on a plurality of single-rail lines and sending the real-time operation data and the real-time single-rail data to the processor, and when the data acquisition module is used specifically, the data acquisition module comprises a GPS (global positioning system) locator, a velocimeter, a level gauge (level gauge), a camera and the like but is not limited to the GPS locator, the velocimeter, the level gauge, the camera and the like, the processor sends the real-time operation data and the real-time single-rail data to the server, the server sends the real-time operation data to the transportation monitoring module, and the server sends the real-time single-rail data to the single-rail analysis module and the obstacle encountering analysis module;
specifically, the real-time operation data includes real-time positions, real-time speed values and the like of the monorail transport vehicle on the plurality of monorail lines; the real-time single-track data comprises turning points (the turning points are the starting point and the ending point of turning), the turning number, the bending degree and the height difference of each turning of a plurality of single-track lines, a real-time image (specifically, a real-time image 10 meters ahead of the current single-track transport vehicle) of the single-track lines is obtained based on the real-time position of the single-track transport vehicle, and the like;
the transportation monitoring module is used for carrying out transportation monitoring on the monorail transport vehicles on the monorail routes, and the transportation monitoring process specifically comprises the following steps:
acquiring real-time positions of adjacent single-rail transport vehicles on a plurality of single-rail routes, and acquiring real-time intervals of the adjacent single-rail transport vehicles according to the real-time positions; wherein, the adjacent monorail transport vehicles comprise a front monorail transport vehicle and a rear monorail transport vehicle;
comparing the real-time interval with a preset safety interval, and if the real-time interval is larger than the preset safety interval, representing the adjacent monorail transport vehicles on the monorail route by adopting green mark points;
if the real-time distance is smaller than or equal to the preset safety distance, acquiring a real-time speed value of the adjacent monorail transport vehicles;
when the real-time speed values of the adjacent single-track transport vehicles are equal, the adjacent single-track transport vehicles are in a relative static state, and the adjacent single-track transport vehicles in the relative static state are represented on a single-track route by adopting green mark points;
when the real-time speed values of the adjacent single-track transport vehicles are not equal, and the real-time speed value of the front single-track transport vehicle is larger than that of the rear single-track transport vehicle, representing the rear single-track transport vehicle on a single-track route by adopting green mark points;
when the real-time speed values of the adjacent single-track transport vehicles are not equal, and the real-time speed value of the rear single-track transport vehicle is larger than that of the front single-track transport vehicle, the rear single-track transport vehicle is represented on a single-track route by using yellow mark points;
when the real-time speed value of any one of the adjacent monorail transport vehicles is zero, the monorail transport vehicle represents that any one of the adjacent monorail transport vehicles is in a static state, and the monorail transport vehicle in the static state is represented on a monorail route by adopting red mark points;
the transportation monitoring module feeds back the mark points with different colors on the single-rail route to the server, the server sends the mark points with different colors on the single-rail route to the intelligent cooperation module and the display module, the display module is used for displaying the mark points with different colors on the single-rail route, and particularly, the display module can be a large display screen in an operation supervision room of the intelligent driving monorail transportation system;
the single-track analysis module is used for analyzing a plurality of single-track routes, and the analysis process is as follows:
acquiring height differences GCi and turning numbers WSi in a plurality of single-track lines, wherein i =1,2, … …, z and z are positive integers, and i represents the number of the single-track line;
calculating a transportation difficulty value YKi of the monorail route through a formula YKi = GCi × a1+ WSi × a 2; in the formula, a1 and a2 are both weight coefficients with fixed numerical values, and the values of a1 and a2 are both greater than zero;
if YKi is not less than X2, the route grade of the monorail route is the first route grade;
if X2 is more than YKi is more than or equal to X1, the route grade of the single-track route is a second route grade;
if X1 is more than YKi, the route grade of the monorail route is a third route grade; wherein X1 and X2 are transportation difficulty threshold values with fixed numerical values, and X1 is less than X2;
understandably, the first route level is higher than the second route level, and the second route level is higher than the third route level;
respectively obtaining a turning point and a bending degree of each turning in the single-track route under different route levels, and marking each turning in the single-track route under different route levels as a dangerous turning and a common turning by comparing the bending degree with a bending degree threshold, wherein the specific examples are as follows:
if the monorail route is at the first route level, the bending threshold value can be 30 degrees specifically;
if the monorail route is at a second route level, the bending threshold may specifically be 40 degrees;
if the single-track route is at a third route grade, the bending threshold value can be specifically 50 degrees;
therefore, when the route grade of the route grade is higher, the curvature threshold of the single-track route is smaller, and in specific implementation, the curvature threshold can be specifically set according to actual conditions, and the method is only specifically used for explanation and is convenient to understand;
marking the corresponding emergency turning route (obtained from the starting point and the ending point of the turning) in the single-track route as a blue route according to the turning point of the dangerous turning, and marking the corresponding normal turning route in the single-track route as a cyan route according to the turning point of the common turning;
the single-track analysis module feeds back an emergency turning route, a normal turning route and corresponding colors in the single-track route to the server, the server sends the emergency turning route, the normal turning route and the corresponding colors in the single-track route to the intelligent cooperation module and the display module, and the display module is used for displaying the emergency turning route, the normal turning route and the corresponding colors in the single-track route;
in the embodiment, different colors are adopted to represent the marking points, the emergency turning route and the normal turning route, red, yellow, green, blue and cyan are preferably adopted to represent in the scheme, and other colors can be adopted to carry out marking when the specific setting is carried out, as long as the colors can be conveniently distinguished;
the obstacle encountering analysis module is used for analyzing the obstacles on the monorail transport vehicle on the monorail route, and the analysis process is as follows:
obtaining a real-time image of the monorail line based on the real-time position of the monorail transport vehicle to obtain a line picture of the monorail line and a traveling direction picture of the monorail transport vehicle;
extracting real-time contour maps of all objects in the route picture and the advancing direction picture, acquiring preset contour maps of various objects stored in a server, and matching the real-time contour maps with the preset contour maps by adopting a contour comparison method;
the method comprises the steps that a real-time contour map and a preset contour map are placed in an overlapping mode, if the number of generated cross points and the area of a cross area are smaller than a set threshold value, matching is conducted, otherwise, the cross points and the area of the cross area are not matched, a plurality of matched preset contour maps exist, corresponding same weight coefficients are distributed for the number of the cross points and the area of the cross area respectively, then a value obtained by adding and summing the two is calculated, and the minimum value is the matched preset contour map;
if the matching is successful, judging that the route picture and the traveling direction picture have obstacles, and generating obstacle processing signals; wherein, the obstacles comprise leaves, fragments, static monorail transport vehicles and the like on the monorail line;
if the matching fails, judging that the route picture and the advancing direction picture have no obstacles, and generating a normal driving signal;
the obstacle encountering analysis module feeds back an obstacle encountering processing signal or a normal driving signal to the server, if the server receives the normal driving signal, no operation is carried out, and if the server receives the obstacle encountering processing signal, the obstacle encountering processing signal is forwarded to the intelligent cooperation module;
the intelligent cooperation module is used for intelligently cooperating the monorail transport vehicle, and the intelligent cooperation process specifically comprises the following steps:
according to the real-time position of the monorail transport vehicle, if the real-time position is about to reach an emergency turning route, a braking deceleration signal is generated, and if the real-time position is about to reach a normal turning route, no operation is performed;
if an obstacle encountering processing signal is received, generating an emergency braking signal;
if a green mark point is received, no operation is performed, if a yellow mark point is received, a braking deceleration signal is generated, and if a red mark point is received, an emergency braking signal is generated;
the intelligent cooperation module feeds back the braking deceleration signal or the emergency braking signal that generate to the server, the server is with braking deceleration signal or emergency braking signal transmission to treater, the treater produces braking deceleration instruction loading to braking module when receiving braking deceleration signal, braking module is used for carrying out the braking deceleration with the monorail transport vechicle, the treater generates alarm instruction loading to alarm module and generates emergency braking instruction loading to braking module when receiving emergency braking signal, braking module is used for carrying out emergency braking with the monorail transport vechicle, and the alarm module that corresponds on the monorail transport vechicle carries out alarm work.
In another embodiment, a working method of an intelligent driving monorail transportation system based on a 5G mining communication system is provided, and the working method specifically comprises the following steps:
step S101, a data acquisition module acquires real-time running data and real-time single-track data of a single-track transport vehicle on a plurality of single-track lines and sends the real-time running data and the real-time single-track data to a processor, the processor sends the real-time running data and the real-time single-track data to a server, the server sends the real-time running data to a transportation monitoring module, and the server sends the real-time single-track data to a single-track analysis module and an obstacle encountering analysis module;
s102, a transportation monitoring module carries out transportation monitoring on the monorail transport vehicles on a plurality of monorail routes, obtains real-time positions of adjacent monorail transport vehicles on a plurality of monorail routes, obtains real-time intervals of the adjacent monorail transport vehicles according to the real-time positions, compares the real-time intervals with preset safe intervals, if the real-time intervals are larger than the preset safe intervals, represents the adjacent monorail transport vehicles on the monorail routes by adopting green mark points, if the real-time intervals are smaller than or equal to the preset safe intervals, obtains real-time speed values of the adjacent monorail transport vehicles, represents the adjacent monorail transport vehicles in a relative static state when the real-time speed values of the adjacent monorail transport vehicles are equal, represents the adjacent monorail transport vehicles in the relative static state on the monorail routes by adopting the green mark points, and when the real-time speed values of the adjacent monorail transport vehicles are unequal, when the real-time speed value of any one of the adjacent single-track transport vehicles is zero, the rear single-track transport vehicle is in a static state, the single-track transport vehicle in the static state is represented on the single-track route by adopting red mark points, the transportation monitoring module feeds back the mark points with different colors on the single-track route to the server, and the server sends the mark points with different colors on the single-track route to the intelligent cooperation module and the display module, the display module is used for displaying the mark points with different colors on the single-rail route;
step S103, analyzing the plurality of single-track routes through a single-track analysis module to obtain height differences GCi and turning numbers WSi in the plurality of single-track routes, calculating to obtain a transportation difficulty value YKi of the single-track route through a formula YKi = GCi × a1+ WSi × a2, if YKi is not less than X2, the route grade of the single-track route is a first route grade, if X2 > YKi is not less than X1, the route grade of the single-track route is a second route grade, if X1 > YKi, the route grade of the single-track route is a third route grade, and turning points and bending degrees of each turning in the single-track routes under different route grades are respectively obtained, the method comprises the steps that each turning in a single-track route under different route grades is marked as a dangerous turning and a common turning according to a bending degree comparison bending degree threshold value, an emergency turning route in a corresponding single-track route is marked as a blue route according to a turning point of the dangerous turning, a normal turning route in the corresponding single-track route is marked as a cyan route according to a turning point of the common turning, an emergency turning route, a normal turning route and corresponding colors in the single-track route are fed back to a server by a single-track analysis module, the server sends the emergency turning route, the normal turning route and the corresponding colors in the single-track route to an intelligent cooperation module and a display module, and the emergency turning route, the normal turning route and the corresponding colors in the single-track route are displayed by the display module;
step S104, the obstacle encountering analysis module carries out obstacle encountering analysis on the monorail transport vehicle on the monorail route, a real-time image of the monorail route is obtained based on the real-time position of the monorail transport vehicle, a route picture of the monorail route and a traveling direction picture of the monorail transport vehicle are obtained, real-time contour maps of all objects in the route picture and the traveling direction picture are extracted, preset contour maps of various objects stored in a server are obtained, the real-time contour maps and the preset contour maps are matched by adopting a contour comparison method, if the matching is successful, the route picture and the traveling direction picture are judged to have obstacles, an obstacle encountering processing signal is generated, if the matching is failed, the route picture and the traveling direction picture are judged to have no obstacles, a normal traveling signal is generated, the obstacle encountering analysis module feeds the obstacle encountering processing signal or the normal traveling signal back to the server, if the server receives the normal traveling signal, no operation is carried out, and if the server receives the obstacle encountering processing signal, the server forwards the obstacle encountering processing signal to the intelligent cooperation module;
step S105, the intelligent cooperation module intelligently cooperates the monorail transport vehicle, according to the real-time position of the monorail transport vehicle, if the real-time position is to reach an emergency turning route, a braking deceleration signal is generated, if the real-time position is to reach a normal turning route, no operation is performed, if an obstacle-encountering processing signal is received, an emergency braking signal is generated, if a green marking point is received, no operation is performed, if a yellow marking point is received, a braking deceleration signal is generated, if a red marking point is received, an emergency braking signal is generated, the intelligent cooperation module feeds the generated braking deceleration signal or the emergency braking signal back to the server, the server sends the braking deceleration signal or the emergency braking signal to the processor, the processor generates a braking deceleration instruction to load to the braking module when receiving the braking deceleration signal, the braking module brakes and decelerates the monorail transport vehicle, the processor generates an alarm instruction to load to the alarm module and generates an emergency braking instruction to load to the braking module when receiving the emergency braking signal, the braking module emergently brakes the monorail transport vehicle, and the alarm module on the monorail transport vehicle performs alarm work.
The above formulas are all calculated by taking the numerical value of the dimension, the formula is a formula of the latest real situation obtained by collecting a large amount of data and performing software simulation, the preset parameters in the formula are set by the technical personnel in the field according to the actual situation, the weight coefficient and the scale coefficient are specific numerical values obtained by quantizing each parameter, and the subsequent comparison is convenient.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The intelligent driving monorail transportation system based on the 5G mining communication system is characterized by comprising a processor and a server, wherein the server is connected with the processor through a 5G communication module, the processor is connected with a data acquisition module, a braking module and an alarm module, the server is connected with a transportation monitoring module, an intelligent cooperation module, a fault analysis module, a display module and a monorail analysis module, the data acquisition module is used for acquiring real-time operation data and real-time monorail data of a monorail transport vehicle on a plurality of monorail lines and sending the real-time operation data and the real-time monorail data to the processor, the processor sends the real-time operation data and the real-time monorail data to the server, and the server sends the real-time operation data to the transportation monitoring module and the real-time monorail data to the monorail analysis module and the fault analysis module;
the transportation monitoring module is used for carrying out transportation monitoring on the monorail transport vehicles on the monorail lines to obtain mark points with different colors on the monorail lines and feeding the mark points back to the server, and the server sends the mark points with different colors on the monorail lines to the intelligent cooperation module and the display module; the single-track analysis module is used for analyzing the plurality of single-track routes to obtain an emergency turning route, a normal turning route and corresponding colors in the single-track routes and feeding the emergency turning route, the normal turning route and the corresponding colors in the single-track routes back to the server, and the server sends the emergency turning route, the normal turning route and the corresponding colors in the single-track routes to the intelligent cooperation module and the display module; the display module is used for displaying the mark points with different colors on the single-track route, the emergency turning route, the normal turning route and the corresponding colors in the single-track route;
the obstacle encountering analysis module is used for carrying out obstacle encountering analysis on the monorail transport vehicle on the monorail route, generating an obstacle encountering processing signal or a normal running signal and feeding the obstacle encountering processing signal or the normal running signal back to the server, if the server receives the normal running signal, not carrying out any operation, and if the server receives the obstacle encountering processing signal, forwarding the obstacle encountering processing signal to the intelligent cooperation module; the intelligent cooperation module is used for carrying out intelligent cooperation on the monorail transport vehicle and generating a braking deceleration signal or an emergency braking signal.
2. The intelligent driving monorail transportation system based on the 5G mining communication system according to claim 1, wherein the real-time operation data is real-time position and real-time speed values of a monorail transportation vehicle on a plurality of monorail lines;
the real-time single-track data are turning points and turning numbers of a plurality of single-track lines and the bending degree and height difference of each turning, and a real-time image of the single-track line is obtained based on the real-time position of the single-track transport vehicle.
3. The intelligent driving monorail transportation system based on the 5G mining communication system according to claim 1, wherein a transportation monitoring process of the transportation monitoring module is specifically as follows:
acquiring real-time positions of adjacent single-rail transport vehicles on a plurality of single-rail routes, and acquiring real-time intervals of the adjacent single-rail transport vehicles according to the real-time positions; wherein, the adjacent monorail transport vehicles comprise a front monorail transport vehicle and a rear monorail transport vehicle;
comparing the real-time interval with a preset safety interval, and if the real-time interval is larger than the preset safety interval, representing the adjacent monorail transport vehicles on the monorail route by adopting green mark points;
if the real-time distance is smaller than or equal to the preset safe distance, acquiring a real-time speed value of the adjacent monorail transport vehicles;
when the real-time speed values of the adjacent single-track transport vehicles are equal, the adjacent single-track transport vehicles are in a relative static state, and the adjacent single-track transport vehicles in the relative static state are represented on a single-track route by adopting green mark points;
when the real-time speed values of the adjacent single-track transport vehicles are not equal, and the real-time speed value of the front single-track transport vehicle is larger than that of the rear single-track transport vehicle, representing the rear single-track transport vehicle on a single-track route by adopting green mark points;
when the real-time speed values of the adjacent single-track transport vehicles are not equal, and the real-time speed value of the rear single-track transport vehicle is larger than that of the front single-track transport vehicle, the rear single-track transport vehicle is represented on a single-track route by using yellow mark points;
and when the real-time speed value of any one of the adjacent monorail transport vehicles is zero, representing that any one of the adjacent monorail transport vehicles is in a static state, and representing the monorail transport vehicle in the static state on a monorail route by using a red mark point.
4. The intelligent driving monorail transportation system based on the 5G mining communication system as claimed in claim 1, wherein the monorail analysis module specifically comprises the following analysis processes:
acquiring the height difference and the turning number in a plurality of single-track lines, and calculating the transportation difficulty value of the single-track line;
comparing the transport difficulty value with a transport difficulty threshold value, and judging that the route grade of the single-track route is a first route grade, a second route grade or a third route grade;
respectively obtaining turning points and bending degrees of each turning in the single-track route under different route levels, and marking each turning in the single-track route under different route levels as dangerous turning and common turning by comparing the bending degrees with a bending degree threshold value;
and marking the emergency turning route in the corresponding single-track route as a blue route according to the turning point of the dangerous turning, and marking the normal turning route in the corresponding single-track route as a cyan route according to the turning point of the ordinary turning.
5. The intelligent-drive monorail transportation system based on a 5G mining communication system of claim 4, wherein a first route level is higher in grade than a second route level, and the second route level is higher in grade than a third route level;
if the single-track route is in the first route grade, the bending threshold value is Y1 degree; if the single-track route is at the second route grade, the bending threshold value is Y2 degrees; if the single-track route is at a third route grade, the bending threshold is Y3 degrees; wherein Y1, Y2 and Y3 are all fixed degrees, and Y1 is more than Y2 and more than Y3;
the curvature threshold of the single-track route is smaller when the route grade of the route grade is higher.
6. The intelligent driving monorail transportation system based on the 5G mining communication system according to claim 1, wherein the obstacle analysis module specifically performs the following analysis process:
obtaining a real-time image of the monorail line based on the real-time position of the monorail transport vehicle to obtain a line picture of the monorail line and a traveling direction picture of the monorail transport vehicle;
extracting real-time contour maps of all objects in the route picture and the advancing direction picture, acquiring preset contour maps of various objects stored in the server, and matching the real-time contour maps with the preset contour maps by adopting a contour comparison method;
if the matching is successful, judging that the route picture and the advancing direction picture have obstacles, generating obstacle processing signals, and if the matching is failed, judging that the route picture and the advancing direction picture have no obstacles, and generating normal driving signals.
7. The intelligent driving monorail transportation system based on the 5G mining communication system according to claim 1, wherein the intelligent cooperation module is configured to perform intelligent cooperation on monorail transportation vehicles, and the intelligent cooperation process specifically includes the following steps:
according to the real-time position of the monorail transport vehicle, if the real-time position is about to reach an emergency turning route, a braking deceleration signal is generated, and if the real-time position is about to reach a normal turning route, no operation is performed;
if the obstacle-encountering processing signal is received, an emergency braking signal is generated, if a green marking point is received, no operation is carried out, if a yellow marking point is received, a braking deceleration signal is generated, and if a red marking point is received, an emergency braking signal is generated.
8. The intelligent driving monorail transportation system based on the 5G mining communication system of claim 7, wherein the intelligent cooperation module feeds back the generated braking deceleration signal or emergency braking signal to a server, and the server sends the braking deceleration signal or emergency braking signal to the processor;
the processor generates a braking deceleration instruction to be loaded to the braking module when receiving a braking deceleration signal, and the braking module is used for braking and decelerating the single-rail transport vehicle;
the processor generates an alarm instruction to be loaded to the alarm module and an emergency brake instruction to be loaded to the brake module when receiving the emergency brake signal, and the brake module is used for carrying out emergency braking on the monorail transport vehicle and carrying out alarm work corresponding to the alarm module on the monorail transport vehicle.
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