CN113888140B - Mine auxiliary transportation intelligent management platform based on RFID technology - Google Patents
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Abstract
The invention discloses an intelligent management platform for mine auxiliary transportation based on an RFID technology, which comprises a cloud platform, mine 'one-net' communication, auxiliary transportation equipment, RFID information coding and tracking equipment, an air door and a turnout controller, wherein the mine auxiliary transportation and RFID tags are combined by adopting an RFID wireless radio frequency identification technology, and a three-in-one mine material information dynamic coding and visual tracking system is established through a reader-writer fixed at a key node, a handheld terminal and the management platform. Under complex geological conditions, aiming at the problems of multiple types, multiple targets, multiple demands of coal auxiliary transportation, large gradient change of transportation roadways, multiple turning of a variable slope and multiple moving times, the intelligent management platform is adopted, a two-level label method is provided, material information is labeled by establishing a coal storage intelligent coding system, collected label data is subjected to edge calculation and analysis processing by a server through LANDMARC algorithm, position information of the material is obtained, modeling of auxiliary transportation 'ground to ground' and 'ground to air' transfer scenes is performed by using Unity3D three-dimensional software, rendering modeling is performed on the transportation scenes by combining with GIS (geographic information system) geographic tracking technology, virtual and real combination is performed, material position pictures are displayed at a dispatching platform end in real time, and intelligent information management and auxiliary transportation visual tracking of the coal mine materials are realized.
Description
Technical Field
The invention relates to the technical field of RFID (radio frequency identification), and belongs to the application field of combination of intelligent warehouse management, material auxiliary transportation and whole mine communication network arrangement of coal enterprises, in particular to an intelligent management platform which is used for automatically identifying material information, realizing dynamic coding of materials, and comprises a platform, a handheld terminal and a fixed reader-writer for mine material management and auxiliary transportation visual tracking.
Background
The mine material placement environment is disordered, the warehouse-in and warehouse-out information registration operation is not standard, and one-object multi-code and warehouse-in information data management is disordered. Under complex geological conditions, the geological structure of a mining area is abnormal and complex, the surrounding rock of a roadway is mostly complex soft rock, a top plate is easy to break and fall off, a bottom plate is seriously swelled, the gradient change of the roadway is large, the slope change and turning are large, the underground auxiliary transportation materials are various, the demand points are more, a plurality of air doors, turnouts and various auxiliary transportation devices are mutually reversed and mutually cooperated, and the whole auxiliary transportation process of the materials can be completed.
Traditional auxiliary transportation transfer process is comparatively complicated, relates to the winch in shaft bottom parking area and changes the electric locomotive in upper portion parking area into monorail crane transport vechicle, and traditional transfer needs when the vehicle arrives, and the transportation personnel stops, carries out the material transfer by the transfer personnel again, and when air door, switch, the transportation personnel manually opens the air door or dials the trouble, has not only the potential safety hazard, and inefficiency has seriously restricted the development of auxiliary transportation, is the key that needs to solve.
The coal mining area is in the remote area more, auxiliary transportation tunnel is tortuous, and electromagnetic signal can't penetrate the coal seam and realize full mine coverage, and electromagnetic signal transmission loss is big for communication is unsmooth in pit, and system data can not in time update, and auxiliary transportation vehicle's position information and the interior material information of standard container can't be transmitted to management platform, hardly realize emergent dispatch to interim urgent material, lack the visual tracking to mine material auxiliary transportation.
Disclosure of Invention
The invention mainly aims to design an intelligent management platform for mine auxiliary transportation based on an RFID technology. Based on a B/S architecture, an auxiliary transportation intelligent management platform is designed and developed by taking J2EE as a development platform, mine material information is labeled by means of the advantages of RFID (radio frequency identification) technology, radio frequency signals sent by active labels on standard containers are detected through readers arranged at auxiliary transportation important nodes, demodulation signals are transmitted to a server through a downhole communication base station, the signals are analyzed through a background program, and the real-time position information of the materials is obtained by processing through LANDMARC algorithms. By constructing a mine material and equipment coding system, taking a standard container as a carrier, constructing a database and establishing dynamic association with an active tag, realizing dynamic coding, modeling a transfer scene through Unity3D three-dimensional software, applying a GIS map tracking technology, and combining a roadway blind supplement scheme of mine communication, the intelligent management and visual tracking of auxiliary transportation of a full mine coal mine are realized.
Aiming at the problems of nonstandard and nonstandard mine material information management, such as auxiliary transportation of various kinds, multiple targets, multiple demands and various transportation equipment relay of mine materials, the Internet is combined with intelligent mine construction, a software platform is written by means of a powerful computer network technology, RFID terminal equipment is selected for use, powerful technology and hardware support are provided for realization of a system, a management and control platform is established, and development and practicability are further improved.
The mine auxiliary transportation intelligent management platform based on the RFID technology comprises logistics warehouse management and auxiliary transportation visual tracking of coal enterprises:
The complex geological conditions are that geological structures of mining areas are abnormal and complex, roadway surrounding rocks are mostly composite soft rocks, roof plates are easy to break and fall off, bottom plates are seriously raised, the section of an auxiliary transportation roadway can reach 10-15 square meters, the propulsion length of a coal face is shorter, the gradient change of the roadway is larger, the slope change and turning are more, a single transportation vehicle cannot meet the transportation requirement, and the whole process needs relay transportation of a plurality of transportation devices of winches, electric locomotives and monorail cranes;
The management platform is provided with an enterprise resource management system (ERP) interface, and data acquired by material purchasing, warehouse in and out information, gaps and management information are transmitted to a corresponding system processing layer;
The database consists of static data and dynamic data, wherein the static data represents the state of a thing under objective conditions, and the dynamic data represents the state of a certain thing which changes along with the change of time;
the auxiliary transportation unloading point workers rapidly detect material information in the standard container through the handheld terminal and timely feed back misplaced and missing information to the dispatching platform;
The first-level tag adopts a passive tag, the information of the material in-out warehouse, inventory and warehouse positions is checked, and the information is written into the RFID passive tag after checking, so that the material information is tagged and used for material information management;
the secondary label adopts an active label, emits radio frequency signals, and adopts a positioning algorithm to perform optimized positioning analysis for real-time position tracking;
The auxiliary transportation roadway is characterized in that an automatic air door and a turnout are selected, and when materials are about to arrive, an instruction of a management platform can be received to control the air door to open or close or the turnout to swing;
The auxiliary transportation standard container is internally provided with a plurality of materials, the material information is built into a database and dynamically associated with the active tag, and when the material information in the material standard container is changed, the upper computer can display the material information in real time;
the system-selected intrinsic safety type gigabit intelligent access gateway is connected to an underground gigabit ring network switch through an optical cable, and is supported to be distributed in an underground main roadway through a chain type, ring type and tree type network structure;
the platform is provided with Supermap, unity D3D engines for rendering and modeling the transportation scene, so that the auxiliary transportation scene is displayed more truly, and the material position picture is displayed in real time;
The RFID radio frequency tag adopts a mode of combining an active tag and a passive tag, adopts a reader-writer with an RS232/485 communication interface or a WG26/34 communication protocol, writes material information into the passive tag, writes position information into the active tag, and completes material marking and inventory operation of an unloading and inventory worker by matching with a corresponding handheld terminal;
The RFID active tag performs signal tracking based on signal strength information (RSSI), adopts an optimized LANDMARC algorithm through signal transmission power received by a reader-writer, and combines a Fries (Fris) transmission formula Calculating to obtain the position information of the standard container;
the RFID device is arranged at an important node of 'loading-transferring-unloading', and the RFID data acquisition equipment and the middleware acquire signals and upload the signals to the data processing platform for analysis and processing, so that the state change of materials in the standard container is reflected in real time, and the database information is updated in time, and further, the material system management and the monitoring management of the RFID equipment are realized;
The problem of the blind area of the mine communication signals is that the electromagnetic signals cannot penetrate through a coal seam to realize the whole mine coverage due to complex distribution of underground coal mine roadways, the underground coal mine roadways are different in length, the electromagnetic signal transmission loss is large, and multipath fading exists, so that the coverage range of each base station underground coal mine is very limited, and the blind area exists in mine communication;
The system visually tracks three-in-one of an RFID reader, a material management platform and a handheld terminal which are arranged at important nodes, and a complete information acquisition and material tracking system is constructed;
The management platform establishes a signal transmission interface with the auxiliary transport vehicle, and can timely and accurately extract state data through combination of software and hardware, and receive and issue control commands;
The mine auxiliary transportation process needs ground-to-ground reloading and comprises a mine LED display screen, a voice alarm device, a fixed car blocking device, a monorail reloading robot, an electric locomotive transportation robot and a flatbed train equipment device, wherein all the devices can be communicated with a management platform through an underground base station;
The mine auxiliary transportation relates to 'ground-to-air' transfer, and comprises a mine LED screen, a fixed car blocking device, an automatic turnout, a monorail crane transportation robot and an RFID reader-writer device, wherein the automatic turnout can receive a management platform dispatching instruction, and when an electric locomotive reaches a to-be-determined position, the instruction can be triggered to finish turnout;
The problem of the signal blind area is that the electromagnetic signals cannot penetrate through a coal seam to realize full mine coverage due to complex distribution of underground coal mine roadways, the underground coal mine roadways are different in length, the electromagnetic signal transmission loss is large, multipath fading exists, and therefore the coverage range of each base station underground coal mine is very limited, and a blind area exists in mine communication;
The mine equipment comprises an auxiliary transportation vehicle, an air door turnout controller, an electronic display screen, a traffic light and a voice prompt system, the management platform is used for grasping material transportation position information in real time according to analysis and calculation of RFID position data, and the preparation state of each underground equipment is controlled or reminded through different interface protocols, so that the modernization and intelligent control of auxiliary transportation is realized;
When the auxiliary transportation automatic monitoring device fails, the fault alarm processing of the management platform system comprises an RFID reader alarm inquiry interface, a material library abnormal inquiry interface and a vehicle alarm inquiry interface, corresponding buttons are selected on a main page to enter corresponding interfaces, a reader serial number, a virtual position code number, whether the fault occurs and a fault self-diagnosis function are displayed, and if major faults occur, an auxiliary transportation person can press an emergency alarm button;
The air door and turnout controller comprises a main control unit, a servo motor, a servo hydraulic mechanism, a signal display and transmission system, the material management platform obtains material position information by analyzing an active tag, signals are transmitted to the main control unit of the air door and turnout controller through A/D conversion, and the main control unit controls the air door to open or close or the turnout to switch according to a scheduling instruction, so that automatic work of the air door and turnout is realized, and smooth operation of auxiliary transportation is ensured.
The invention has the beneficial effects that:
The invention designs and develops an auxiliary transportation management platform based on a B/S architecture by means of RFID (radio frequency identification) technology. And building a three-level coding system of the mine materials, building a database, building dynamic association with a standard container, reading radio frequency tag information in real time through RFID readers fixed at different positions, demodulating and processing signals through a baseband processing unit by a mine communication base station, and carrying out position analysis and calculation by a LANDMARC positioning algorithm to realize the dynamic coding and the visual monitoring of auxiliary transportation of the mine materials. Through the three kinds of wireless blind technical scheme that mends that propose, thoroughly solve the blind area problem that probably exists in the pit, guaranteed the smoothness of whole mine network communication, through carrying out the flowcharts, standardization operation to the transshipment that the auxiliary transportation overall process relates, air door, switch, carry out the labeller with the material information, establish the connection through handheld terminal and management platform, master the material information in real time, improved auxiliary transportation mechanization, intellectuality, standardization degree, reduced the cost greatly, improved the reliability of work, high-efficient safety, labour saving and time saving.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a functional architecture diagram of a material management platform of the intelligent management platform of the present invention;
FIG. 2 is a schematic diagram of RFID dynamic visual tracking;
FIG. 3 is a system software flow diagram;
FIG. 4 is a flow chart of the visual monitoring of material assisted transportation of the present invention;
FIG. 5 is a flow chart of a "ground to ground" transfer of a bottom hole yard;
FIG. 6 is a flow chart of an upper yard "ground to air" transfer;
FIG. 7 is a discharge point material audit flow diagram;
FIG. 8 is a topology of a mine communication network;
fig. 9 is a wireless communication blind-mate scheme.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the terms "ground to ground" and "ground to air" are mentioned herein to describe the transfer process of the auxiliary transportation device, but these devices, components and elements should not be limited by these, and that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The mine auxiliary transportation intelligent management platform based on the RFID technology comprises mine material dynamic coding and auxiliary transportation visual tracking:
As shown in FIG. 1, the intelligent management platform for mine materials is mainly divided into three modules, namely a material management system, an RFID management system and a material scheduling system, wherein the material management system module mainly has the functions of warehousing, ex-warehouse, warehouse transfer and inventory, the RFID management system module mainly has the functions of dynamic coding, real-time positioning and information reading and writing, and the material scheduling system module mainly has the functions of vehicle identification, vehicle information coordination and transportation path planning.
The mine material management platform and the air door and turnout controllers perform data transmission, analysis, processing and control functions through an interface protocol, real-time complex interaction and edge calculation of data are achieved, different workers are assigned different functional authorities, corresponding SQL SERVER scripts are generated by the script component according to different requests, and the core data processor performs analysis and processing to achieve intelligent decision-making of material auxiliary transportation.
The material management system module of the mine material intelligent management platform adopts SQL SERVER database technology and mainly comprises material warehouse in-out information storage, material disc warehouse information storage, material tracing manufacturer information storage, personnel information storage, user information storage and scheduling information storage. The method can perform adding and deleting operations on all stored data, call a local server through background design development, synchronously update in a database when logging in an interface registration account and scheduling material personnel, and operate script commands through software and hardware to maintain the normal functions of the data.
The material management platform configures different login authorities according to the working demands of different personnel, and warehouse management personnel and auxiliary transportation personnel perform corresponding operations, such as a dispatching platform supervisor, by configuring a handheld terminal: distribution menu, role, authority, user login, real-time signal acquisition and emergency response, ground square staff: distribution menu, material information management, RFID tag management, user, role, unloading point staff: distribution menu, user, material information management.
As shown in fig. 2, the visual tracking of the auxiliary transportation of the mine materials needs to arrange RFID read-write equipment at key nodes of a material outlet, a ground industrial square, a well bottom yard, an air door, a turnout, an upper yard and various material demand points, the RFID read-write equipment at each key node can acquire the tag information of an auxiliary transportation train, the tag information is uploaded to a dynamic coding and data processing platform through an RFID data acquisition equipment to demodulate and process radio frequency signals, and the processed signals are displayed on a dispatching platform, so that the visual tracking of the auxiliary transportation of the materials is realized.
The RFID fixed reader-writer is mainly used for receiving and transmitting radio frequency signals and consists of radio frequency signal demodulation and data transmission protocols, the reader-writer is combined with a radio frequency tag, based on a TCP/IP protocol, an RS232 or 485 communication interface and a 4G or wifi6 connection mode are adopted to construct a physical architecture of an intelligent Internet of things of mine materials, a data packet is taken as a basic unit, a cloud computing and B/S architecture is adopted, a cache information connection detector is used for screening and filtering tag information.
As shown in fig. 3, when the reader detects the radio frequency tag, the reader needs to include four processes of starting RFID THREAD threads, starting active 2.4GHz threads, detecting material information on line and analyzing serial data, so as to realize RFID communication signal receiving and related data sending. The starting of the active 2.4GHz thread mainly refers to initializing character format, frame structure and time sequence information, allowing multiple tags to enter the range of a reader-writer and reasonably select the multiple tags from the range. The material information online detection mainly comprises the steps of selecting 20ms as a cycle to detect an active tag passing through a reader-writer in real time and preprocessing acquired tag information. Analyzing the serial data mainly means decoding the data acquired by the reader through the microprocessor, judging whether the tag information is consistent with the cooperative vehicle or not, and displaying the material position information through the management platform.
The RFID reader-writer detects active tag information, performs position information calculation through LANDMARC optimization algorithm, judges auxiliary transport vehicle position information, if judging that the vehicle does not reach an air door/turnout, the auxiliary transport vehicle continues to advance, if judging that the vehicle reaches the air door/turnout, the material management platform starts the air door/turnout in advance through the controller, and smooth and efficient passing of the auxiliary transport vehicle is ensured.
As shown in fig. 4, after collecting the material demand information of each unloading point in the pit, the underground auxiliary transportation of the coal mine distributes a scheduling instruction, and a ground industry square staff conveys the material in the warehouse to a ground industry square stock dump area according to a scheduling list, and specifically comprises the following steps:
Step one: the material management platform gathers the material information of all the underground demand points, allocates corresponding standard containers according to the characteristics of the material information, and allocates an auxiliary transportation material scheduling list to the handheld terminals of corresponding staff;
step two: the warehouse staff selects corresponding materials according to the scheduling list, the materials are transported to a mining area ground industrial square through a ground transport vehicle, and the ground industrial square scheduling staff carries out auditing on the RFID tag information of the materials;
step three: the mining area dispatching room carries the materials to the gantry crane according to the dispatching list, the gantry crane puts the materials into standard containers according to the material distribution list, and the intelligent loading system grabs the corresponding standard containers according to the dispatching instruction and loads the corresponding standard containers onto the winch;
step four: the car stopping device of the winch car train is relieved, a transfer robot of a ground industrial square pushes a winch to be connected with a hook head car of a hoist, and after the connection is confirmed, the transfer robot is automatically removed;
step five: through the auxiliary wellhead, after passing through a first-slope three-gear device, position information calculation is carried out through LANDMARC optimization algorithm, when a transport vehicle train approaches a parking point of a slope, a management platform prompts information of vehicles and batches to be arrived through an LED display screen or a voice alarm, reminds a transfer point worker to prepare, and dispatches a monorail transfer robot to arrive at a designated position for waiting;
Step six: judging the position information of the auxiliary transportation winch, if the vehicle does not reach the parking point of the sloping field, continuing to operate, if the vehicle does not reach the parking point of the sloping field, as shown in fig. 5, carrying out ground-to-ground transfer on a bottom yard, starting a car stopping device, fixing a transportation train without sliding a slope, starting a standard container to be transported to the train by a monorail transfer robot, and repeating grabbing operation to enable the standard container to be carried out;
step seven: after the transfer is completed, the monorail transfer robot is separated, the electric locomotive transport robot is automatically connected with the transport vehicle row according to a dispatching instruction, the fixed car blocking device is closed, and the electric locomotive transport robot starts to operate;
Step eight: the electric locomotive is transported in the roadway, radio frequency signals collected by a reader-writer arranged at an important node are processed by LANDMARC optimization algorithm, position information of train transportation is obtained, and when the train of the electric locomotive approaches a turning-around yard of the upper yard, a management platform prompts upcoming vehicles and batch information through an LED display screen or a voice alarm;
step nine: the method comprises the steps that positioning calculation is conducted through a server, position information of an electric locomotive is judged, if the vehicle is judged not to reach an upper parking lot, the auxiliary transport vehicle continues to move forward, if the vehicle is judged to be close to the upper parking lot, space unloading of the upper parking lot is conducted as shown in fig. 6, the vehicle and batch information to be reached are prompted through a mining LED screen or mining voice alarm, and a management platform dispatches a reloading robot in advance to prepare for reloading;
Step ten: the management platform starts the car stopping device to prevent the transport car train from sliding, the transport robot of the electric locomotive automatically unhooks, runs to the rear of the car train through an automatic turnout of a turning-around car park, is connected with the car train, closes the car stopping device, and pushes the car train to advance to the position of 'waiting for driving in' of the upper car park, and the electric locomotive unhooks the car train;
Step eleven: the management platform dispatches the monorail lifting conveying robot to reach the upper part of the train, the transfer robot picks up the standard container and places the standard container on the monorail lifting conveying robot, the grabbing operation is repeated, and after the transfer is completed, the monorail lifting conveying robot operates;
Step twelve: as shown in fig. 7, a material auditing flow chart of an unloading point, when a material reaches the unloading point, a corresponding standard container is dropped, a worker of the unloading point checks material information according to a scheduling list, automatically scans an RFID passive tag through a handheld terminal, performs information management on an operation interface, checks damaged or missing material information and uploads the material information to a management platform;
Step thirteen: if the waste is required to be transported back to the ground, a worker can check the corresponding waste information through the handheld terminal and upload the waste information to the platform, and material information management at the unloading point is completed, wherein the process is the whole auxiliary transportation process.
As shown in fig. 8, the mine 'one-net' communication comprises a communication base station, a smart phone, a core switch, an air door, a turnout controller and an LED display screen device, so as to realize the underground network communication, ensure the control of an underground device by a management platform and the processing of an RFID positioning algorithm, integrate the characteristics of the mine 'one-net' communication and the tag information acquisition by an RFID reader-writer, build a mine auxiliary transportation communication network, and directly transmit the information to a main server through the base station arranged underground for data processing after the RFID reader-writer detects the active tag information, thereby improving the mine signal processing efficiency.
The communication base station adopts an intrinsic safety type gigabit intelligent access gateway deployed underground, is deployed and designed according to the distance of 600 meters, is in butt joint with a gigabit network switch gigabit interface through a gigabit optical port, covers all areas of a mine by gigabit branches, and has the functions of ring network redundancy and WLAN management.
The communication base station provides hundred-megaphotoelectric interfaces, CAN bus interfaces, I/O interfaces, 4G wireless access and WIFI wireless access, and meanwhile has a man-vehicle-object accurate positioning sensing module, an environment sensing access module and a signal control module, and a material management and auxiliary transportation intelligent transmission network and a everything sensing network are built.
As shown in fig. 9, in order to ensure reliable and effective communication in the coal mine, three blind compensation schemes are proposed for the problem of network communication blind areas of a wireless communication system of a mine:
Scheme 1: for the laneway blind supplement problem of common scenes, the coverage area of underground wireless signals is enlarged by adopting a multi-base station networking mode, the underground signal coverage of a coal mine can be ensured by adopting the multi-base station networking mode, the communication blind area is eliminated, the influence of multipath fading can be reduced, the communication quality is improved, and therefore, base stations are arranged in each laneway of the mine, the blind area of wireless communication is eliminated, and the coverage of underground wireless signals of the coal mine is realized;
Scheme 2: when the wireless relay blind-supplementing technology is adopted in the situation that the wireless relay is unable to be connected to a backbone network, wireless signals are relayed from one relay point to the next relay point by utilizing the wireless relay function of an AP, and a new wireless coverage area is formed, so that a plurality of wireless relay coverage point relay modes are formed, and the purpose of extending the coverage area of the wireless network is finally achieved;
scheme 3: for the signal blind area problem caused by bending of a narrow roadway, a leakage communication blind supplementing technology is adopted, a large number of bidirectional repeaters are adopted, the functional modules of a leakage communication system are added by serial connection of the repeaters, the signal blind area problem caused by the influence of the external environment of roadway shape, cross section, branches, turning, inclination and roadway surrounding rock medium in the underground can be solved, and the channel transmission is stable.
In particular, it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. The mine auxiliary transportation intelligent management platform based on the RFID technology comprises a material management system, a material scheduling system and an RFID management system; the material management system comprises warehouse entry, warehouse exit, warehouse transfer and inventory functions; the material scheduling system comprises a vehicle-object cooperation and path planning function; the RFID management system comprises dynamic coding and real-time positioning functions, and particularly based on a dynamic database, acquires the position information of a transport vehicle train through an RFID reader arranged at a key node, and integrates underground communication and wireless blind supplementing technologies to realize material information checking management of auxiliary transportation in a ground-to-ground transfer of a bottom yard, an empty transfer of an upper yard and an underground unloading point; the dynamic database adopts SQL SERVER database management technology to realize the storage, the application and the management of data, and the efficient storage of data resources, thereby realizing the management and the visual tracking of the dynamic information of mine materials; the RFID radio frequency tag adopts a mode of combining an active tag and a passive tag, adopts a reader-writer with an RS232/485 communication interface or a WG26/34 communication protocol, writes material information into the passive tag, writes position information into the active tag, and completes material marking and inventory operation of an unloading inventory worker by matching with a corresponding handheld terminal; the method specifically comprises the following steps:
step one: the material management platform gathers the material information of all the underground demand points, distributes corresponding standard containers according to the characteristics of the material information, and distributes an auxiliary transportation material scheduling list to the handheld terminals of corresponding staff;
step two: the warehouse staff selects corresponding materials according to the scheduling list, the materials are transported to a mining area ground industrial square through a ground transport vehicle, and the ground industrial square scheduling staff carries out auditing on the RFID tag information of the materials;
step three: the mining area dispatching room carries the materials to the gantry crane according to the dispatching list, the gantry crane puts the materials into standard containers according to the material distribution list, and the intelligent loading system grabs the corresponding standard containers according to the dispatching instruction and loads the corresponding standard containers onto the winch;
step four: the car stopping device of the winch car train is relieved, a transfer robot of a ground industrial square pushes a winch to be connected with a hook head car of a hoist, and after the connection is confirmed, the transfer robot is automatically removed;
Step five: through the auxiliary wellhead, after passing through a first-slope three-gear device, carrying out position information calculation by LANDMARC optimization algorithm, when a transport vehicle train approaches a parking point of a slope, prompting information of vehicles and batches to be arrived by a management platform through an LED display screen or a voice alarm, reminding a transfer point worker of being ready, and scheduling a monorail transfer robot to arrive at a designated position for waiting;
Step six: judging the position information of the auxiliary transportation winch, if the vehicle does not reach the sloping field parking point, continuing to run, if the vehicle does not reach the sloping field parking point, carrying out ground-to-ground transfer on a bottom yard, starting a car stopping device, fixing a transportation train without sliding a slope, starting a standard container to be transported to the train by a single-rail transfer robot, and repeating grabbing operation to carry the standard container;
step seven: after the transfer is completed, the monorail transfer robot is separated, the electric locomotive transport robot is automatically connected with the transport vehicle row according to a dispatching instruction, the fixed car blocking device is closed, and the electric locomotive transport robot starts to operate;
Step eight: the electric locomotive is transported in the roadway, radio frequency signals collected by a reader-writer arranged at an important node are processed by LANDMARC optimization algorithm, position information of train transportation is obtained, and when the train of the electric locomotive approaches a turning-around yard of the upper yard, a management platform prompts upcoming vehicles and batch information through an LED display screen or a voice alarm;
step nine: the method comprises the steps that positioning calculation is conducted through a server, position information of an electric locomotive is judged, if the vehicle is judged not to reach an upper parking lot, the auxiliary transport vehicle continues to move forward, if the vehicle is judged to be close to the upper parking lot, space empty transfer is conducted on the upper parking lot, the vehicle and batch information to be arrived are prompted through a mining LED screen or mining voice alarm, and a management platform dispatches a transfer robot in advance to prepare transfer;
Step ten: the management platform starts the car stopping device to prevent the transport car train from sliding, the transport robot of the electric locomotive automatically unhooks, runs to the rear of the car train through an automatic turnout of a turning-around car park, is connected with the car train, closes the car stopping device, and pushes the car train to advance to the position of 'waiting for driving in' of the upper car park, and the electric locomotive unhooks the car train;
Step eleven: the management platform dispatches the monorail lifting conveying robot to reach the upper part of the train, the transfer robot picks up the standard container and places the standard container on the monorail lifting conveying robot, the grabbing operation is repeated, and after the transfer is completed, the monorail lifting conveying robot operates;
step twelve: when the materials reach the unloading point, the corresponding standard container is dropped, the unloading point worker checks the material information according to the scheduling list, automatically scans the RFID passive tag through the handheld terminal, performs information management on an operation interface, checks damaged or missing material information and uploads the material information to the management platform;
Step thirteen: if the waste is required to be transported back to the ground, a worker can check the corresponding waste information through the handheld terminal and upload the waste information to the platform, and material information management at the unloading point is completed, wherein the process is the whole auxiliary transportation process.
2. The management platform of claim 1, wherein: the roadway blind compensation technology is characterized in that as underground coal mine roadways are complex in distribution, electromagnetic signal transmission loss is large, blind areas exist in mine communication, and three blind compensation schemes are provided according to different blind area conditions:
Scheme 1: for the laneway blind supplement problem of common scenes, the coverage area of underground wireless signals is enlarged by adopting a multi-base station networking mode, the underground signal coverage of a coal mine can be ensured by adopting the multi-base station networking mode, the communication blind area is eliminated, the influence of multipath fading can be reduced, the communication quality is improved, and therefore, base stations are arranged in each laneway of the mine, the blind area of wireless communication is eliminated, and the coverage of underground wireless signals of the coal mine is realized;
Scheme 2: when the wireless relay blind-supplementing technology is adopted in the situation that the wireless relay is unable to be connected to a backbone network, wireless signals are relayed from one relay point to the next relay point by utilizing the wireless relay function of an AP, and a new wireless coverage area is formed, so that a plurality of wireless relay coverage point relay modes are formed, and the purpose of extending the coverage area of the wireless network is finally achieved;
Scheme 3: for the signal blind area problem caused by bending of a narrow roadway, a leakage communication blind supplementing technology is adopted, a large number of bidirectional repeaters are adopted, the functional modules of a leakage communication system are added by serial connection of the repeaters, the signal blind area problem caused by the influence of external environments such as roadway shape, section, branches, turning, inclination, roadway surrounding rock medium and the like in the pit can be solved, and the channel transmission is stable.
3. The management platform of claim 1, wherein: the ground-to-ground transfer is to transfer the electric locomotive to the winch, the winch is conveyed to a sloping field parking point in a well bottom yard, the hook head locomotive is removed, the transfer robot conveys the standard container to the train, and the electric locomotive and the train are automatically in butt joint to realize the auxiliary transportation transfer process of the winch transfer electric locomotive.
4. The management platform of claim 1, wherein: the ground-to-air transfer is that when an electric locomotive arrives at a designated position at an upper parking lot, the electric locomotive is removed, the electric locomotive runs to the tail of a train through a turnout, the train is pushed to the upper parking lot, a management platform dispatches a monorail lifting conveying robot to arrive at the upper part of the train, and the transfer robot grabs a standard container and is placed on a monorail crane transport vehicle, so that transfer from the electric locomotive to the monorail crane is realized.
5. The intelligent management platform of claim 1, wherein: the platform adopts Supermap, unity D three-dimensional engine to model the key scene of the transportation scene, adopts GIS map to render the auxiliary transportation roadway, and more truly displays the auxiliary transportation scene and displays the position picture of the material in real time.
6. The intelligent management platform of claim 1, wherein: the system is characterized in that the system is formed by integrating visual tracking with an RFID reader, a material management platform and a handheld terminal which are arranged at important nodes, and a complete information acquisition and material tracking system is constructed.
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| US11772687B1 (en) | 2022-03-21 | 2023-10-03 | China University Of Mining And Technology | Low-energy-consumption grading and positioning method for coal mine auxiliary transportation vehicle and system thereof |
| CN114970792A (en) * | 2022-06-10 | 2022-08-30 | 国网辽宁省电力有限公司电力科学研究院 | Novel digital management label of power grid physical equipment |
| CN115653672B (en) * | 2022-06-22 | 2023-07-04 | 中国矿业大学 | Intelligent transfer system for auxiliary inclined shaft bottom yard and control method |
| CN115762212B (en) * | 2022-11-14 | 2024-06-18 | 山西工程职业学院 | Multi-subsystem-fused coal mine auxiliary transportation intelligent integrated dispatching command system |
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