Multi-stage ropeway control method and multi-stage ropeway control device

Abstract

The present invention provides a multi-section cableway control method and a multi-section cableway control device, wherein the method is applied to a multi-section cableway, the multi-section cableway includes a plurality of cableway nodes, the plurality of cableway nodes are connected end to end so that the multi-section cableway is in a closed loop state, and the multi-section cableway control method includes: obtaining a control instruction; when the control instruction is a driving control instruction, controlling the cableway nodes to start progressively in sections to achieve a smooth start of the multi-section cableway; when the control instruction is a braking control instruction, controlling the cableway nodes to brake progressively in sections to achieve a smooth braking of the multi-section cableway. The present invention can achieve a smooth start or brake of each cableway node in a multi-section cableway, and by starting or braking the cableway nodes in sections progressively, the impact of starting or braking of multiple high-power motors on the power grid can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of cableway control, and in particular to a multi-stage cableway control method and a multi-stage cableway control device. Background Art

[0002] The independently operated single-stage passenger ropeway has a large limitation in its transportation distance due to the limited driving capacity. Moreover, after the first launch of the single-stage ropeway, the number of line hoists and the transportation volume are relatively fixed. At present, the longest transportation distance of the domestic single-stage passenger ropeway does not exceed 3 kilometers.

[0003] With the in-depth development of tourism and skiing markets, the single-stage cableway drive control system can no longer meet the market demand for ultra-long-distance, high-driving-power passenger cableways. Therefore, finding a multi-stage cableway control method has become a research hotspot. Summary of the invention

[0004] The present invention provides a multi-section cableway control method and a multi-section cableway control device, which can perform segmented progressive start or braking on each cableway node in the multi-section cableway, so as to realize smooth start or braking of the multi-section cableway.

[0005] The present invention provides a multi-section cableway control method, which is applied to the multi-section cableway. The multi-section cableway comprises a plurality of cableway nodes, which are connected end to end so that the multi-section cableway is in a closed-loop state. The cableway nodes at least comprise a plurality of hangers, motors corresponding to the hangers, and a drive controller. The multi-section cableway control method comprises: obtaining a control instruction, wherein the control instruction comprises a drive control instruction and a brake control instruction; when the control instruction is a drive control instruction, controlling the cableway nodes to start progressively in sections so as to achieve smooth starting of the multi-section cableway; when the control instruction is a brake control instruction, controlling the cableway nodes to brake progressively in sections so as to achieve smooth braking of the multi-section cableway.

[0006] According to a multi-segment cableway control method provided by the present invention, when the control instruction is a drive control instruction, controlling the segmented progressive start of the cableway nodes includes: S1: determining a first target cableway node based on the drive control instruction, the first target cableway node being the cableway node to be started first determined based on the drive control instruction; S2: controlling the first target cableway node to start at a preset speed, and controlling a first clutch connected to the first target cableway node and the first front cableway node to be placed in a running state, and controlling a second clutch connected to the first target cableway node and the first rear cableway node to be placed in a braking state, the first front cableway node The first rear cableway node is a cableway node which is adjacent to and in front of the first target cableway node in the running direction of the multi-segment cableway, and the first rear cableway node is a cableway node which is adjacent to and behind the first target cableway node in the running direction of the multi-segment cableway; S3: when the running speed of the first target cableway node meets the preset target running speed, the second clutch is placed in the running state, and the first rear cableway node is used as the new first target cableway node to repeat steps S2 to S3 until each cableway node in the multi-segment cableway runs step by step according to the preset target running speed in a progressive manner.

[0007] According to a multi-segment cableway control method provided by the present invention, when the control instruction is a braking control instruction, controlling the segmented progressive braking of the cableway node includes: S4: determining a second target cableway node based on the braking control instruction, the second target cableway node being the cableway node that is first braked based on the braking control instruction; S5: controlling the second target cableway node to perform deceleration braking according to a preset speed, and controlling the third clutch connecting the second target cableway node to the second front cableway node to be placed in a braking state, and controlling the second target cableway node to be connected to the second rear cableway node The fourth clutch of the second cableway node is placed in a braking state, the second front cableway node is a cableway node adjacent to the second target cableway node and located in front of the second target cableway node in the running direction of the multi-segment cableway, and the second rear cableway node is a cableway node adjacent to the second target cableway node and located behind the second target cableway node in the running direction of the multi-segment cableway; S6: when the second target cableway node brakes and decelerates according to the preset running speed, a delayed braking instruction is set, and the braking moment for the second front cableway node and the second rear cableway node is determined based on the delayed braking instruction, and when the braking moment is reached Under the present invention, the second front cableway node and the second rear cableway node are controlled to decelerate and brake according to the preset speed respectively, and the fifth clutch connecting the second front cableway node and the second front cableway node is controlled to be placed in a braking state, and the sixth clutch connecting the second rear cableway node and the second rear cableway node is controlled to be placed in a braking state, wherein the second front cableway node is a cableway node adjacent to and located in front of the second front cableway node in the running direction of the multi-segment cableway, and the second rear cableway node is adjacent to and located in the second rear cableway node in the running direction of the multi-segment cableway. The cableway node behind the rear cableway node; S7: when the second front cableway node and the second rear cableway node brake and decelerate according to the preset running speed, a delayed braking instruction is set, and the braking moment of the second front cableway node and the second rear cableway node is determined based on the delayed braking instruction. When the braking moment is reached, the second front cableway node and the second rear cableway node are respectively used as the new second front cableway node and the new second rear cableway node to repeat steps S6 to S7 until each cableway node in the multi-segment cableway is braked to decelerate step by step according to the preset speed in a progressive manner.

[0008] According to a multi-section cableway control method provided by the present invention, when the control instruction is a drive control instruction, after the cableway nodes are controlled to start progressively in sections, the method also includes: obtaining a verification instruction; based on the verification instruction, cyclically detecting the operating parameters of each cableway node in the multi-section cableway, the operating parameters at least include operating speed, communication signal, and hydraulic system data; when the operating parameters do not meet the preset data, initiating a braking control instruction.

[0009] According to a multi-section cableway control method provided by the present invention, before obtaining the control instruction, the multi-section cableway control method also includes: obtaining a coordinated departure control instruction; based on the coordinated departure control instruction, controlling the switch of each cableway node to be at an entry and exit position, and operating the cableway node according to a preset departure speed and a preset running direction; when monitoring that the hoist in the subsequent cableway node enters the switch position of the current cableway node, adjusting the switch of the current cableway node from the entry and exit position to the running position, and recording the number of hoists passing through the switch position; when monitoring that the number of the hoists reaches the preset sending number, placing the switch of the current cableway node at the entry and exit position.

[0010] According to a multi-section cableway control method provided by the present invention, when the control instruction is a driving control instruction, after controlling the cableway nodes to start progressively in sections, the multi-section cableway control method also includes: obtaining a coordinated vehicle collection control instruction; based on the coordinated vehicle collection control instruction, controlling the switches of each cableway node to be at the entry and exit positions, and operating the cableway nodes according to a preset vehicle collection speed and a preset running direction.

[0011] According to a multi-section cableway control method provided by the present invention, when the control instruction is a driving control instruction, after the cableway nodes are controlled to start progressively in sections, the multi-section cableway control method also includes: obtaining an instruction for increasing the number of hoists for the entire line; when it is detected that the hoists in the previous cableway node enter the switch position of the current cableway node, starting the hoist counting based on the instruction for increasing the number of hoists for the entire line, and placing the switch of the current cableway node at the entry and exit position, and operating the current cableway node at a preset departure speed and a preset running direction, so as to increase the number of hoists based on the switch; when it is detected that the number of hoists increased based on the switch reaches a preset number, adjusting the switch from the entry and exit position to the running position.

[0012] According to a multi-segment cableway control method provided by the present invention, when the control instruction is a driving control instruction, after the cableway node is controlled to be started progressively in sections, the multi-segment cableway control method also includes: obtaining a hanger increase instruction for a preset node line; based on the hanger increase instruction for the preset node line, placing the switch of the current cableway node corresponding to the hanger increase instruction for the preset node line at an entry and exit position, and operating the current cableway node at a preset departure speed and a preset running direction until the hanger to be increased enters the current cableway node; when it is monitored that the hanger of the front cableway node approaches the rear cableway node via the current cableway node, placing the switch between the current cableway node and the rear cableway node at a direct connection position The switch is placed in a turning position so that the hoist of the front cableway node enters the rear cableway node, wherein the front cableway node is a cableway node adjacent to and located in front of the current cableway node in the running direction of the multi-segment cableway, and the rear cableway node is a cableway node adjacent to and located behind the current cableway node in the running direction of the multi-segment cableway; when it is monitored that the additional hoist and the original hoist on the current cableway node approach the rear cableway node via the current cableway node, the switch between the current cableway node and the rear cableway node, as well as the switch between the current cableway node and the front cableway node are placed in a turning position so that the additional hoist and the original hoist on the current cableway node circulate on the current cableway node.

[0013] According to a multi-section cableway control method provided by the present invention, when the control instruction is a driving control instruction, after the cableway nodes are controlled to start progressively in sections, the multi-section cableway control method also includes: obtaining an instruction to reduce the number of hoists on the entire line; when it is monitored that the hoists in the previous cableway node enter the switch position of the current cableway node, starting the hoist counting based on the instruction to reduce the number of hoists on the entire line, and placing the switch of the current cableway node at the entry and exit position, and operating the current cableway node according to a preset car collection speed and a preset running direction, so as to reduce the number of hoists based on the switch; when it is monitored that the number of hoists reduced based on the switch reaches a preset number, adjusting the switch from the entry and exit position to the running position.

[0014] The present invention also provides a multi-section cableway control device, which is applied to the multi-section cableway. The multi-section cableway includes multiple cableway nodes, and the multiple cableway nodes are connected end to end to make the multi-section cableway in a closed-loop state. The cableway nodes include multiple hoisting devices, motors corresponding to the hoisting devices, and a drive controller. The multi-section cableway control device includes: a first module, used to obtain control instructions, the control instructions include drive control instructions and brake control instructions; a second module, used to control the cableway nodes to start progressively in sections when the control instructions are drive control instructions, so as to achieve smooth starting of the multi-section cableway; a third module, used to control the cableway nodes to brake progressively in sections when the control instructions are brake control instructions, so as to achieve smooth braking of the multi-section cableway.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the multi-section cableway control method as described above is implemented.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the multi-section cableway control method as described in any one of the above is implemented.

[0017] A multi-section cableway control method and a multi-section cableway control device provided by the present invention are applied to a multi-section cableway. By controlling the segmented progressive start of the cableway nodes when a drive control instruction is obtained, and controlling the segmented progressive braking of the cableway nodes when a brake control instruction is obtained, smooth starting or braking of each cableway node in the multi-section cableway can be achieved. By starting or braking the cableway nodes segmentally progressively, the impact of starting or braking of multiple high-power motors on the power grid can be effectively avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a flow chart of the multi-section cableway control method provided by the present invention;

[0020] Figure 2 It is a structural schematic diagram of the multi-section cableway provided by the present invention;

[0021] Figure 3 It is a flow chart of controlling the segmented progressive start of the cableway nodes provided by the present invention when the control instruction is a driving control instruction;

[0022] Figure 4 It is a flow chart of controlling the segmented progressive braking of a cableway node provided by the present invention when the control instruction is a braking control instruction;

[0023] Figure 5 It is a structural schematic diagram of a multi-section cableway control device provided by the present invention;

[0024] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention.

[0025] Reference numerals:

[0026] 1: driving station of the first section cableway node; 2: detour station between the first section cableway node and the second section cableway node; 3: detour station between the second section cableway node and the third section cableway node; 4: detour station between the third section cableway node and the fourth section cableway node; 5: driving station of the fourth section cableway node; 6: driving station motor; 7: wire rope; 8: hoist. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] A single-stage ropeway (such as a single-stage passenger ropeway) is composed of an independent drive station and a detour station, and the control system controls the independent drive equipment to complete the work of cyclically transporting passengers.

[0029] Figure 2 It is a structural schematic diagram of the multi-section cableway provided by the present invention.

[0030] Combination Figure 2 For explanation, a multi-section cableway can be understood as connecting multiple single-section cableways into a whole, each section of the cableway is composed of an independent drive station and a detour station, and the drive stations or detour stations of two adjacent sections of the cableway are connected together by a mechanical structure transition. Among them, a multi-section cableway line with four sections of cableway (corresponding to 4 cableway nodes) is used as an example for explanation, wherein the drive station 1 of the first section of the cableway node can include a drive station motor 6 (corresponding to a motor) and a drive controller, and the drive station 1 of the first section of the cableway node can drive the hoist 8 of the first section of the cableway node to operate through a wire rope 7. The detour station 2 between the first section of the cableway node and the second section of the cableway node can connect the first section of the cableway node and the second section of the cableway node. The detour station 3 between the second section of the cableway node and the third section of the cableway node can connect the second section of the cableway node and the third section of the cableway node. The detour station 4 between the third section of the cableway node and the fourth section of the cableway node can connect the third section of the cableway node and the fourth section of the cableway node. The driving station 5 of the fourth section cableway node can drive the hoisting device 8 of the fourth section cableway node to operate through the steel wire rope 7.

[0031] The multi-section cableway provided by the present invention can be operated independently as multiple single-section cableways, or can be operated in conjunction with an entire device. The multi-section cableway provided by the present invention can also be connected end to end through multiple cableway nodes to form a closed loop state.

[0032] The multi-section cableway provided by the present invention can be formed by connecting multiple independent single-section cableways, and each section of the cableway drive equipment is regarded as a fixed node (corresponding to the cableway node). The multi-section cableway collaborative linkage control system uses the monitoring terminal PC as the management center, sends instructions to the multi-section cableway drive equipment nodes through the PLC, the PLC executes the preset control command set, and the independent drive controller receives the instructions to drive the uncoupled high-power motor of each cableway node to start, stop and stably operate. Among them, the uncoupled high-power motor of each cableway node drags each single-section cableway mechanical equipment: including connecting shafts, reducers and drive wheels, wire ropes, etc., and then drives the entire multi-section cableway mechanical structure, so that the multi-section cableway finally operates smoothly and linked at the system configuration speed. The system monitors the operating status of each cableway node in the multi-section cableway, the position of the turnouts in the entire line garage, and the precise positioning of the hoisting equipment in real time through the monitoring PC, so as to realize the collaborative sending and receiving of vehicles in multiple garages on the entire line, and the function of dynamically adjusting the number of hoisting equipment according to busy and idle times.

[0033] It should be noted that the multi-section ropeway control method provided by the present invention can be implemented by a multi-section ropeway cooperative control system, wherein the multi-section ropeway cooperative control system may include a control system structure, a drive control unit structure, a communication network structure, and an operation instruction and status monitoring command set. In the application process, the multi-section ropeway cooperative control system can implement the multi-section ropeway control method through the aforementioned modules.

[0034] Figure 1 It is a flow chart of the multi-section cableway control method provided by the present invention.

[0035] In an exemplary embodiment of the present invention, Figure 1 It can be seen that the multi-stage cableway control method may include steps 110 to 130, and each step will be introduced below.

[0036] In step 110 , a control instruction is acquired, wherein the control instruction includes a driving control instruction and a braking control instruction.

[0037] In one embodiment, the control command may be initiated by a control terminal PC that is in communication with each cableway node in the multi-section cableway and received by the multi-section cableway. In one example, the control instruction may include a drive control instruction and a brake control instruction, wherein the drive control instruction is used to control each cableway node in the multi-section cableway to start progressively and increase speed in stages to complete the start-up process. The brake control instruction is used to control each cableway node in the multi-section cableway to brake and stop in stages.

[0038] In step 120, when the control instruction is a driving control instruction, the cableway nodes are controlled to start progressively in sections to achieve a smooth start of the multi-section cableway.

[0039] In step 130, when the control instruction is a braking control instruction, the cableway nodes are controlled to perform segmented progressive braking to achieve smooth braking of the multi-segment cableway.

[0040] In one embodiment, when a multi-section cableway receives a drive control instruction, the cableway nodes can be controlled to start in a hierarchical and progressive manner based on the drive control instruction to achieve a smooth start of the multi-section cableway, thereby avoiding the impact on the power grid caused by the simultaneous start of multiple high-power motors.

[0041] In another embodiment, when the multi-section cableway receives a braking control instruction, the cableway nodes can be controlled to perform segmented decreasing radial braking based on the braking control instruction to achieve smooth braking of the multi-section cableway, thereby avoiding the impact on the power grid caused by the simultaneous starting or braking of multiple high-power motors.

[0042] The multi-section cableway control method provided by the present invention is applied to the multi-section cableway. By controlling the segmented progressive start of the cableway nodes when a driving control instruction is obtained, and controlling the segmented progressive braking of the cableway nodes when a braking control instruction is obtained, the smooth start or braking of each cableway node in the multi-section cableway can be achieved. By the segmented progressive start or braking of the cableway nodes, the impact of the start or braking of multiple high-power motors on the power grid can be effectively avoided.

[0043] Figure 3 It is a flow chart of controlling the segmented progressive start of the cableway nodes provided by the present invention when the control instruction is a driving control instruction.

[0044] In an exemplary embodiment of the present invention, Figure 3 It can be seen that when the control instruction is a driving control instruction, controlling the segmented progressive start of the cableway nodes may include steps 310 to 330, and each step will be introduced below.

[0045] In step 310, a first target cableway node is determined based on the drive control instruction, wherein the first target cableway node is a cableway node that is first started and is determined based on the drive control instruction.

[0046] In one embodiment, a drive control instruction may be obtained. Furthermore, the cableway node (corresponding to the first target cableway node) to be started first in the multi-segment cableway may be determined based on the drive control instruction. In the application process, the first target cableway node may be used as the starting point, and other cableway nodes adjacent to the first target cableway node may be progressively driven to start in stages, so as to achieve a smooth start of the entire multi-segment cableway.

[0047] In step 320, the first target cableway node is controlled to start at a preset speed, and the first clutch connecting the first target cableway node and the first front cableway node is controlled to be in a running state, and the second clutch connecting the first target cableway node and the first rear cableway node is controlled to be in a braking state.

[0048] The first front cableway node is a cableway node that is adjacent to the first target cableway node and located in front of the first target cableway node according to the running direction of the multi-segment cableway. The first rear cableway node is a cableway node that is adjacent to the first target cableway node and located behind the first target cableway node according to the running direction of the multi-segment cableway.

[0049] In one embodiment, for a multi-section cableway consisting of N sections of cableway nodes, the first section of the cableway node is taken as the first target cableway node for explanation. It should be noted that, since the multi-section cableway is a closed-loop cableway, that is, the first section of the cableway node is connected to the Nth section of the cableway node. It can be understood that the first front cableway node can be the Nth section of the cableway node, and the first rear cableway node can be the second section of the cableway node.

[0050] Continuing to use the above embodiment as an example for explanation, in one example, the first target cableway node (e.g., the first section cableway node) is controlled to start at a preset speed, and the first clutch connecting the first target cableway node and the first front cableway node is controlled to be in a running state, that is, the N~1 section connecting section clutch is controlled to be in a running state. In addition, the second clutch connecting the first target cableway node and the first rear cableway node can be controlled to be in a braking state, that is, the 1~2 section connecting section clutch is controlled to be in a braking state. Until the speed of the first section cableway rises to a preset speed (e.g., 1m / s), the start command of the second section drive controller can be activated.

[0051] In step 330, when the running speed of the first target cableway node meets the preset target running speed, the second clutch is placed in the running state, and steps 320 to 330 are repeatedly performed with the first rear cableway node as the new first target cableway node, until each cableway node in the multi-section cableway runs step by step according to the preset target running speed.

[0052] In one embodiment, when the operating speed of the first target cableway node reaches the preset target operating speed, the second clutch can be placed in an operating state. Further, the first rear cableway node (e.g., the second cableway node) is used as the new first target cableway node to repeat steps 320 to 330 (i.e., the clutch connecting the second cableway node and the third cableway node is placed in a braking state), until each cableway node in the multi-section cableway is progressively operated at the preset target operating speed. It should be noted that the preset target operating speed can be adjusted according to actual conditions, and in this embodiment, it is not specifically limited.

[0053] Continuing with the above-mentioned embodiment as an example, when the speed of the first section of the cableway increases to a preset speed (e.g., 1 m / s), the second clutch can be put into operation, that is, the drive controller of the second section of the cableway node is activated and started. Further, the motor of the second section of the cableway starts to increase speed, and at the same time, the clutch of the connecting section of the 1st to 2nd section of the cableway node is put into operation, and the clutch of the connecting section of the 2nd to 3rd section of the cableway node is put into braking state. Until the speed of the second section of the cableway increases to a preset speed (e.g., 1 m / s).

[0054] Furthermore, the speed of the 3rd to Nth sections of the cableway is increased in sequence until the speed of the Nth section of the cableway reaches the preset speed (for example, 1m / s), and the speed-up command of the drive controller of the 1st section of the cableway node is activated. The motor of the 1st section of the cableway node begins to increase in speed, and at the same time, the clutch of the connecting section of the Nth to 1st section of the cableway node is placed in the running state, and the clutch of the connecting section of the 1st to 2nd section of the cableway node is placed in the braking state. The speed of the 2nd to Nth sections of the cableway nodes is increased in sequence until the speed of the Nth section of the cableway node reaches 2m / s. Similarly, the 1st to Nth sections of the cableway nodes automatically perform a step-by-step progressive speed increase until the linkage speed of the 1st to Nth sections of the cableway nodes reaches the system set speed (for example, 6m / s). Finally, the automatic delayed start of multiple sections of the cableway and the start-up task of the step-by-step progressive speed increase of each section can be completed.

[0055] It should be noted that this embodiment is applied to the scenario of hierarchical start-up of the entire line of multi-section ropeways. Through the multi-section ropeway control method described in this embodiment, the multi-section ropeway can be controlled to start automatically with a delay in sections, and each section can be gradually increased in speed until the entire line of multiple sections finally reaches the system set speed task. In this embodiment, the clutch control of the adjacent section connection section can effectively control the spacing between the adjacent sections of the hoisting equipment during the startup process to avoid too close spacing between the hoisting equipment. This command set can effectively alleviate the impact on the power grid caused by the simultaneous startup of high-power motors in the multi-section ropeways of the entire line.

[0056] Figure 4 It is a flow chart of controlling the segmented progressive braking of a cableway node provided by the present invention when the control instruction is a braking control instruction.

[0057] In an exemplary embodiment of the present invention, Figure 4It can be seen that, in the case where the control instruction is a braking control instruction, controlling the segmented progressive braking of the cableway node may include steps 410 to 440, and each step will be introduced below.

[0058] In step 410, a second target cableway node is determined based on the braking control instruction, wherein the second target cableway node is a cableway node that is first braked and is determined based on the braking control instruction.

[0059] In one embodiment, a braking control instruction may be obtained. Further, the cableway node (corresponding to the second target cableway node) to be braked first in the multi-segment cableway may be determined based on the braking control instruction. In the application process, the second target cableway node may be used as the starting point to progressively drive the other cableway nodes adjacent to the first target cableway node to brake in stages, so as to achieve smooth braking of the entire multi-segment cableway.

[0060] In step 420, the second target cableway node is controlled to perform deceleration braking according to a preset speed, and the third clutch connecting the second target cableway node and the second front cableway node is controlled to be placed in a braking state, and the fourth clutch connecting the second target cableway node and the second rear cableway node is controlled to be placed in a braking state.

[0061] In step 430, when the second target cableway node brakes and decelerates according to the preset running speed, a delayed braking instruction is set, and the braking moment for the second front cableway node and the second rear cableway node is determined based on the delayed braking instruction. When the braking moment is reached, the second front cableway node and the second rear cableway node are controlled to decelerate and brake according to the preset speed respectively, and the fifth clutch connecting the second front cableway node and the second front cableway node is controlled to be placed in a braking state, and the sixth clutch connecting the second rear cableway node and the second rear cableway node is controlled to be placed in a braking state.

[0062] In step 440, when the second front cableway node and the second rear cableway node brake and decelerate according to the preset running speed, a delayed braking instruction is set, and the braking moment of the second further front cableway node and the second further rear cableway node is determined based on the delayed braking instruction. When the braking moment is reached, the second further front cableway node and the second further rear cableway node are used as the new second front cableway node and the new second rear cableway node, respectively, and steps 430 to 440 are repeatedly executed until each cableway node in the multi-section cableway is braked to decelerate step by step according to the preset speed in a progressive manner.

[0063] Among them, the second front cableway node is a cableway node adjacent to the second target cableway node and located in front of the second target cableway node according to the running direction of the multi-segment cableway. The second rear cableway node is a cableway node adjacent to the second target cableway node and located behind the second target cableway node according to the running direction of the multi-segment cableway. The second front cableway node is a cableway node adjacent to the second front cableway node and located in front of the second front cableway node according to the running direction of the multi-segment cableway. The second rear cableway node is a cableway node adjacent to the second rear cableway node and located behind the second rear cableway node according to the running direction of the multi-segment cableway.

[0064] In one embodiment, for a multi-section cableway consisting of N sections of cableway nodes, the first section of the cableway node is taken as the second target cableway node for explanation. It should be noted that since the multi-section cableway is a closed-loop cableway, that is, the first section of the cableway node is connected to the Nth section of the cableway node. It can be understood that the second front cableway node can be the Nth section of the cableway node, and the second rear cableway node can be the second section of the cableway node. The second front cableway node can be the N-1th section of the cableway node. The second rear cableway node can be the third section of the cableway node.

[0065] It should be noted that the second target cableway node may also be a cableway node where a fault occurs.

[0066] Continuing to use the above-mentioned embodiment as an example for explanation, in one example, the fault of the Nth section cableway node is used for explanation. First, a general fault of the Nth section cableway node is identified, and the drive controller safety stop command of the Nth section cableway node can be activated, and then the two sections of the cableway nodes adjacent to the Nth section cableway node: the N+1th section (corresponding to the second rear cableway node) and the N-1th section (corresponding to the second front cableway node) and the two connecting section clutches of the Nth section cableway node (including the third clutch and the fourth clutch) are placed in the braking position to avoid the collision of the Nth section cableway node with the adjacent section hoist. At the same time, the general fault shutdown timer is started, with a delay of 1.5 seconds, and the safety shutdown instructions of the N+1th section cableway node and the N-1th section cableway node are activated at the same time.

[0067] The Nth section of the cableway node with a general fault decelerates and brakes according to the set stop curve. If the braking deceleration is greater than 0.5m / s2, the first-level brake of the Nth section of the cableway node responds at zero speed, and the first-level brake timer function of the Nth section of the cableway node is started. After 1.5 seconds, the second and third-level brakes respond again until the Nth section of the cableway node stops running. After receiving the shutdown command, the N+1 section of the cableway node and the N-1 section of the cableway node brake and decelerate according to the set stop deceleration curve, and at the same time, the clutches of the adjacent sections of the N+1 section of the cableway node and the N+2 section of the cableway node (corresponding to the second rear cableway node) and the adjacent sections of the N-1 section of the cableway node and the N-2 section of the cableway node (corresponding to the second front cableway node) are placed in the braking state. The braking deceleration of the two sections is also judged. If it is greater than 0.5m / s2, the two-section first-level brakes respond at zero speed, and the first-level brake timer function is started at the same time. After 1.5 seconds, the secondary and tertiary brakes respond again until the N+1 section cableway node and the N-1 section cableway node stop running. According to the general fault shutdown timer time indication, the subsequent adjacent sections are shut down in sequence until all the 1 to N sections of cableway nodes are shut down, ending the command set process.

[0068] It should be noted that this embodiment is applied to the operation of a multi-section cableway. When a general fault occurs in a certain section, the entire line is decelerated and shut down in sections, that is, the fault section is shut down in a radial state from the adjacent section, completing the task of smooth braking of the equipment on the entire line due to a general fault. Through this embodiment, it is possible to effectively avoid the large impact on the power grid caused by the simultaneous safe braking and shutdown of the entire line due to a general fault in a certain section.

[0069] In order to further introduce the process of controlling the segmented progressive braking of a cableway node provided by the present invention when the control instruction is a braking control instruction, the following will be explained in conjunction with an application scenario in which a power failure occurs in a certain section during the operation of a multi-section cableway.

[0070] In one embodiment, the above-mentioned embodiment is continued to be used as an example for explanation, and the power failure of the Nth section cableway node is continued as an example. First, the power failure of the Nth section cableway node is identified, the endurance control power supply of the device in this section is automatically started, the shutdown command of the Nth section cableway node drive controller is activated, and then the two sections of the cableway adjacent to the Nth section cableway node: the N+1 section and the N-1 section, and the two connecting section clutches of the Nth section cableway node are placed in the braking position. At the same time, the power failure shutdown timer is started, the delay is 2 seconds, and the emergency shutdown instructions of the N+1 section and the N-1 section are activated. The first-level brake of the power failure section (the Nth section cableway node) responds immediately, and the Nth section cableway node begins to decelerate. If it is judged that the first-level braking deceleration of the Nth section cableway node is greater than 0.75m / s2, the second-level and third-level brakes of the Nth section cableway node wait for the Nth section cableway node to drop to zero speed before responding. If the first-level braking deceleration of the Nth section is less than 0.75m / s2, the second-level braking deceleration of the Nth section will respond immediately. If the second-level braking deceleration of the Nth section cableway node is greater than 0.5m / s2, the third-level brake of the Nth section cableway node will respond after the Nth section cableway node drops to zero speed. If the second-level braking deceleration of the Nth section cableway node is less than 0.5m / s2, the third-level brake of the Nth section cableway node will respond immediately until the Nth section cableway node stops running. After receiving the shutdown command, the N+1 section and the N-1 section will brake and decelerate according to the set emergency stop deceleration curve, and at the same time, the clutch of the connecting section between the N+1 section and the adjacent section of the N+2 section, and the connecting section between the N-1 section and the adjacent section of the N-2 section will be placed in the braking state. Similarly, if the braking deceleration of the two sections is greater than 0.75m / s2, the two-level first-level brakes will respond at zero speed, and the first-level brake timer function will be started at the same time. After 2 seconds, the second-level and third-level brakes will respond again. The N+1 section and the N-1 section equipment will stop running. According to the time indication of the power failure shutdown timer, the subsequent adjacent sections are shut down in sequence until all the cableway nodes from section 1 to section N are shut down.

[0071] In this embodiment, by starting the power-off cruising, the entire cableway performs power-off segmented braking. The power-off segment starts the brake graded braking function, braking according to the power-off braking deceleration curve, and the non-power-off segment brakes according to the emergency stop deceleration curve. The power-off fault segment is shut down in a radial state to the adjacent segment. This embodiment can avoid the huge impact on the power grid caused by the simultaneous emergency braking of the entire line due to a power failure in a multi-section cableway. In this embodiment, the adjacent segment connecting segment clutch control is used to effectively avoid the adjacent segment hoisting equipment from being too close and colliding.

[0072] In order to further introduce the process of controlling the segmented progressive braking of the cableway nodes provided by the present invention when the control instruction is a braking control instruction, the following will be described in conjunction with an application scenario in which a multi-segment cableway executes a normal stop command.

[0073] In one embodiment, the above-mentioned embodiment is used as an example for explanation. When the whole cableway equipment is ready for normal shutdown, the monitoring PC can send a normal shutdown command to the drive controller of the first cableway node through the PLC, and start the normal shutdown timer at the same time, delaying for 1 second, and activating the normal shutdown command of the second and Nth cableway nodes at the same time. The first cableway node brakes according to the positive stop deceleration curve set by the system, with a deceleration greater than 0.3m / s2, and puts the clutches of the adjacent sections: the second cableway node and the Nth cableway node and the two connecting sections of the first cableway node into a braking state to avoid the spacing between the hoist of the first cableway node and the hoist of the second cableway node or the Nth cableway node being too close. The second cableway node and the Nth cableway node execute the positive stop deceleration curve after 1 second, and put the clutches of the third cableway node and the N-1th cableway node adjacent to them into a braking state. When the running speed of the first section of the cableway node drops to zero speed, the first section of the cableway node's first brake responds, and the first section of the brake timer function is started at the same time. After 1 second, the second and third brakes of the first section of the cableway node respond, and the first section of the cableway node stops. The second section of the cableway node and the Nth section of the cableway node slow down to zero speed and stop after 1 second, and the third brake response sequence is the same as the first section of the cableway node. According to the normal shutdown timer time indication, the third section of the adjacent section of the cableway node and the N-1 section of the cableway node, the fourth section of the cableway node and the N-2 section of the cableway node, etc. stop in turn until all the 1st to Nth section of the cableway nodes stop, completing the normal shutdown segmented braking task.

[0074] In yet another exemplary embodiment of the present invention, Figure 1 The above embodiment is used as an example for explanation. In the case where the control instruction is a driving control instruction, after the cableway nodes are controlled to start progressively in sections (corresponding to step 120), the multi-section cableway control method may further include the following steps:

[0075] Obtain verification instructions;

[0076] Based on the verification instruction, cyclically detect the operating parameters of each cableway node in the multi-section cableway, wherein the operating parameters may at least include operating speed, communication signal, and hydraulic system data;

[0077] When the operating parameters do not meet the preset data, a braking control command is initiated.

[0078] It should be noted that the preset data can be adjusted according to actual conditions and is not specifically limited in this embodiment. In one embodiment, the operating parameters of each cableway node in the multi-section cableway can be automatically monitored, including lubrication system and hydraulic system data information. According to the number of spreaders performing transportation tasks on the entire line, the spreader spacing is calculated, and the spreader spacing is automatically adjusted.

[0079] In one example, during operation, the communication interruption fault of the first section cableway node can be detected cyclically, the operating speed of the first section cableway node can be monitored cyclically to see if it matches the set speed, and the operating speed of the first section cableway node can be monitored cyclically to see if it matches the speeds of the two adjacent sections, namely the second section and the Nth section. If the above fault occurs, the braking control instruction is executed immediately. Among them, the braking control instruction can be a general fault shutdown command for a certain section, and the braking control instruction is used to control the segmented deceleration and shutdown of all cableway nodes in the entire multi-section cableway node. Furthermore, the 1st to Nth section cableway nodes can also be monitored cyclically according to the monitoring method of the first section cableway node. Through this embodiment, in the scenario where the multi-section cableway is linked to maintain stable operation, the operation data can be monitored in real time, and the fault can be detected immediately to ensure safe operation.

[0080] In yet another exemplary embodiment of the present invention, Figure 1 The above embodiment is used as an example for explanation. Before obtaining the control instruction (corresponding to step 110), the multi-stage cableway control method may further include the following steps:

[0081] Obtain coordinated departure control instructions;

[0082] Based on the coordinated departure control instructions, the switches of each cableway node are controlled to be in the entry and exit positions, and the cableway nodes are operated according to the preset departure speed and preset running direction;

[0083] When it is detected that the hoist in the subsequent cableway node enters the turnout position of the current cableway node, the turnout of the current cableway node is adjusted from the storage position to the running position, and the number of hoists passing the turnout position is recorded;

[0084] When it is detected that the number of hoists reaches the preset sending number, the switch of the current cableway node is placed at the entry and exit position.

[0085] It should be noted that the access position is a position of the turnout. When the turnout is in the access position, the sling can enter the cableway node through the turnout. The operating position is another position of the turnout. When the turnout is in the operating position, the sling cannot enter the cableway node through the turnout, but the integrity of the operating route of the entire section cableway can be ensured. The preset sending quantity can also be adjusted according to actual conditions, and is not specifically limited in this embodiment.

[0086] In one embodiment, continuing to use the aforementioned embodiment as an example, it can be set that there are N garages at the 1 to N sections of the cableway node. Set a multi-section simultaneous departure mode for the entire line. During the application process, the garage switches of the 1 to N sections of the cableway nodes can all be placed in the storage position (corresponding to the storage and exit positions) to prepare for the coordinated departure of multiple garages. The 1 to N sections of the cableway nodes run smoothly at the set receiving and dispatching speed, and the garages of the 1 to N sections of the cableway nodes start to depart. If the rear vehicle (corresponding to the hoist in the rear cableway node) enters the switch area of ​​the current cableway node (for example, the first section of the cableway node), the garage switch of the first section of the cableway node is placed in the operating position, and the operating position of the garage switch of this section is monitored at the same time. If the switch is not in the operating position, a braking control instruction is immediately initiated, such as a general fault shutdown command set for a certain section.

[0087] Furthermore, the function of the counter for the garage switch of the first section of the cableway node to switch from the receiving and dispatching position to the operating position is started, and the number of conversions is set to m1. The function of the counter for the number of hoists that have been dispatched from the garage of the (1+m1) section of the cableway node is started, and the number of hoists that have been dispatched from the garage of this section is set to n1. Identify the n1 number of hoists of the (1+m1) section of the cableway node passing through the switch area of ​​the first section of the cableway node, place the garage switch of the first section of the cableway node in the entry and exit position, and the garages of the 1st to Nth sections of the cableway nodes continue to dispatch. Until all the garages of the 1st to Nth sections have completed the task of dispatching hoists. In this embodiment, the case where the rear vehicle first enters the garage switch area of ​​the first section of the cableway node after the entire line is dispatched is taken as an example. This embodiment is also applicable to the scenario where the rear vehicle first enters the garage of other sections.

[0088] In this embodiment, it is applicable to the scenario where multiple garages of a multi-section cableway send and receive vehicles at the same time. By automatically controlling the switches of multiple garages, the number of lifting devices that have been released from the garage is automatically identified, and the task of sending and receiving lifting devices from multiple garages to the entire line and retrieving them is completed. Compared with the scenario where a single garage sends and receives vehicles one by one, this embodiment can improve the efficiency of sending and receiving vehicles on the entire line.

[0089] In yet another exemplary embodiment of the present invention, Figure 1 The above embodiment is used as an example for explanation. In the case where the control instruction is a driving control instruction, after the cableway nodes are controlled to start progressively in sections (corresponding to step 120), the multi-section cableway control method further includes the following steps:

[0090] Obtain coordinated vehicle collection control instructions;

[0091] Based on the coordinated car collection control instructions, the switches of each cableway node are controlled to be at the entry and exit positions, and the cableway nodes are operated according to the preset car collection speed and preset running direction.

[0092] In one embodiment, similar to the coordinated dispatching process, the switches of each cableway node can be controlled to be in the in-and-out position, and the cableway node can be operated according to the preset collecting speed and the preset running direction. It should be noted that in the process of collecting and dispatching, the preset running direction is the opposite direction.

[0093] In another embodiment, the above-mentioned embodiment is continued as an example for explanation. After the switches of each cableway node are controlled to be at the in-and-out storage position based on the coordinated car collection control instruction, and the cableway node is operated according to the preset car collection speed and the preset running direction, the multi-stage cableway control method further includes:

[0094] When it is monitored that the number of hoists returning to the warehouse at the cableway node reaches a preset value, the switch at the cableway node is placed in the out-of-operation position.

[0095] It is understandable that when the number of hoisting devices returned to the warehouse by the cableway node (corresponding to the number of hoisting devices returned to the warehouse) reaches the upper limit of the cableway node (corresponding to the preset value), the hoisting device retraction based on the cableway node is stopped, and the switch of the cableway node is placed in the out-of-operation position. The preset value can be adjusted according to actual conditions and is not specifically limited in this embodiment.

[0096] In yet another exemplary embodiment of the present invention, Figure 1 The above embodiment is used as an example for explanation. In the case where the control instruction is a driving control instruction, after the cableway nodes are controlled to start progressively in sections (corresponding to step 120), the multi-section cableway control method further includes the following steps:

[0097] Obtain additional issuance instructions for all line spreaders;

[0098] When it is detected that the spreader in the previous cableway node enters the turnout position of the current cableway node, the spreader counting is started based on the spreader increase instruction for the entire line, and the turnout of the current cableway node is placed at the entry and exit position, and the current cableway node is operated at a preset departure speed and a preset running direction, so as to increase the spreader based on the turnout;

[0099] When it is detected that the number of additional hoists based on the turnout reaches the preset number, the turnout is adjusted from the storage position to the operating position.

[0100] In one embodiment, the current multi-section cableway is in a low-volume operation state during off-peak hours. The operating speed of the entire line can be set to 2 meters per second, and the number of slings M is 1 / 3 of the total number of vehicles. The spacing between slings is 3 times the spacing of the total vehicle, that is, 3 / 3 beats. The additional sling mode of the entire line can be set. In one example, taking the additional slings in the garage of the first section of the cableway node as an example, waiting for the front vehicle to pass through the turnout area of ​​the first section of the cableway node (corresponding to the current cableway node), the front vehicle sling can be marked as the first front vehicle, and the front vehicle sling count-up function can be started. Then the turnout of the first section of the cableway node is placed in the receiving and dispatching position to prepare for additional slings. After the additional sling passes the starting position, it is marked, and the total number of additional slings and the single number count-up function are started. When the number of additional slings reaches 2, it is the cutoff condition for a single additional issuance, and the turnout of the first section of the cableway node is placed in the operating position. The first front car mark position is the starting area of ​​the additional hoist. The spacing of the hoist in this area is based on the spacing of the whole car, that is, 1 / 3. When the total number of additional hoists reaches 2M, the additional task of the whole line is completed, and the speed of the whole line is restored to 6 meters / second. The capacity of the multi-stage ropeway increases to 3 times the small capacity during idle time.

[0101] In this embodiment, in case of a sudden increase in the number of tourists requiring a temporary increase in the capacity of the entire line, the number of hoists can be increased throughout the line to meet the demand for temporary increase in the capacity of the multi-section cableway throughout the line.

[0102] In yet another exemplary embodiment of the present invention, Figure 1 The above embodiment is used as an example for explanation. In the case where the control instruction is a driving control instruction, after the cableway nodes are controlled to start progressively in sections (corresponding to step 120), the multi-section cableway control method further includes the following steps:

[0103] Get the additional instructions for the spreaders of the preset node line;

[0104] Based on the additional transmission instruction of the hoist of the preset node line, the switch of the current cableway node corresponding to the additional transmission instruction of the preset node line is placed at the entry and exit position, and the current cableway node is operated at the preset departure speed and preset running direction until the additional transmission hoist enters the current cableway node;

[0105] When it is monitored that the hoist of the front cableway node approaches the rear cableway node via the current cableway node, the switch between the current cableway node and the rear cableway node is placed in a direct connection position so that the hoist of the front cableway node enters the rear cableway node, wherein the front cableway node is a cableway node adjacent to and located in front of the current cableway node in the running direction of the multi-segment cableway, and the rear cableway node is a cableway node adjacent to and located behind the current cableway node in the running direction of the multi-segment cableway;

[0106] When it is monitored that the additional hoist and the original hoist on the current cableway node are approaching the rear cableway node through the current cableway node, the switch between the current cableway node and the rear cableway node, as well as the switch between the current cableway node and the front cableway node are placed in the turning position, so that the additional hoist and the original hoist on the current cableway node can circulate on the current cableway node.

[0107] It should be noted that the direct connection position is a position where the turnout is located. When the turnout is in the direct connection position, the sling can pass between the connected cableway nodes. The turning position is a position where the turnout is located. When the turnout is in the turning position, the sling cannot pass between the connected cableway nodes, but can only circulate in the cableway where it is located.

[0108] In one embodiment, the number of current multi-section cableway slings is set to half, and the spacing of the slings on the entire line is executed according to the half-car spacing, that is, 2 / 2 beats. Take the garage of the first section cableway node as an example to add slings to the second section cableway node. When the current car (corresponding to the sling of the front cableway node) passes through the switch area of ​​the first section cableway node and passes the starting position, the front car sling can be marked as the first front car, and the front car sling count-up function can be started. Then the switch of the first section cableway node is placed in the storage and exit position, and the additional sling is out of the warehouse. After passing the starting position, it can be marked as the first additional sling, and the additional sling count-up function can be started. The spacing of the slings in the additional section is executed according to the full car spacing, that is, 1 / 2 beats. Each time the number of additional slings is increased, the switch of the first section cableway node is placed in the operating position, which means that the additional sling task is completed. When the number of additional slings reaches the upper limit of the number of slings that can be accommodated in one section, the additional task is stopped.

[0109] Furthermore, the marked first preceding vehicle passes through the turnout area on the upside of the 2nd-3rd connecting section, and the marked first additional hoist reaches the turning area of ​​the 2nd-3rd connecting section, and the turnout on the upside of the 2nd-3rd connecting section is placed in the turning position. After the additional hoist enters the turning area of ​​the 2nd section, the turnout on the upside of the 2nd-3rd connecting section is placed in the direct connection position, and the counting function of the preceding vehicle passing through the turnout area on the upside of the 2nd-3rd connecting section is started. There is no vehicle in the turnout area on the downside of the 2nd-3rd connecting section, and the turnout on the downside of the 2nd-3rd connecting section is placed in the turning position, and the marked additional hoist enters the downside of the 2nd section, and the counting function of the additional hoist entering the downside of the 2nd section is started. The marked preceding vehicle passes through the turnout area on the downside of the 1-2nd connecting section, and the marked additional hoist reaches the turning area of ​​the 1-2nd connecting section. The turnout on the downside of the 1-2nd connecting section is placed in the turning position. After the additional hoist enters the turning area of ​​the 2nd section, the turnout on the downside of the 1-2nd connecting section is placed in the direct connection position, and the counting function of the preceding vehicle passing through the turnout area on the downside of the 1-2nd connecting section is started. There is no vehicle in the turnout area on the upside of the 1-2nd connecting section, and the turnout on the upside of the 1-2nd connecting section is placed in the turning position. The marked additional hoist enters the upside of the 2nd section in a cycle, and the turnout on the upside of the 1-2nd connecting section is placed in the direct connection position. When the number of additional hoists passing through the downside of the 2nd section reaches the upper limit of the number of hoists that can be accommodated in the 2nd section, it indicates that the task of adding hoists from the garage of the 1st section cableway node to the 2nd section cableway node is completed.

[0110] In this embodiment, if there is a surge in the number of tourists on a certain section of a multi-section cableway and it is necessary to temporarily increase the local capacity, this embodiment can add hoists to a certain section of the cableway to meet the special demand of increasing the capacity of only that section of the cableway while keeping the capacity of the other sections unchanged.

[0111] In yet another exemplary embodiment of the present invention, Figure 1 The above embodiment is used as an example for explanation. In the case where the control instruction is a driving control instruction, after the cableway nodes are controlled to start progressively in sections (corresponding to step 120), the multi-section cableway control method further includes the following steps:

[0112] Obtain the instruction to reduce the number of spreaders on the entire line;

[0113] When it is detected that the spreader in the previous cableway node enters the turnout position of the current cableway node, the spreader counting is started based on the spreader reduction instruction of the entire line, and the turnout of the current cableway node is placed at the in-and-out storage position, and the current cableway node is operated according to the preset car collection speed and preset running direction, so as to reduce the spreader based on the turnout;

[0114] When it is detected that the number of hangers based on the reduction of turnouts reaches the preset number, the turnouts are adjusted from the storage position to the operating position.

[0115] In one embodiment, the current multi-section cableway is in a busy and high-capacity operation state, the number of spreaders M is the number of all cars, and the spacing between spreaders is based on the spacing of all cars, that is, 1 / 4 beat. First, set the idle spreader full-line reduction mode, and the full-line operating speed is reduced from 6 m / s to 2 m / s. Taking the reduction of spreaders in the garage of the first section of the cableway node as an example, wait for the front car to pass through the switch area of ​​the first section of the cableway node, then mark the front car spreader as the first front car, and start the front car spreader count-up function. Then place the switch of the first section of the cableway node in the entry and exit position, and prepare to reduce the spreader and return it to the warehouse. After the reduced spreader passes the starting position, it is marked, and the total number of reduced spreaders count-up function is started.

[0116] During the application process, each time the number of reduced slings is increased, the switch of the first section of the cableway node is placed in the operating position to complete the task of reducing slings. The marked position of the first front car (corresponding to the sling in the front cableway node) is the starting area for reducing slings. The spacing of slings in this area is half the spacing, that is, 2 / 4. When the total number of reduced slings reaches M / 2, the task of reducing slings on the entire line is completed, and the transportation volume of the multi-section cableway is reduced to 1 / 6 of the maximum transportation volume during busy hours.

[0117] In this embodiment, in case of a decrease in the number of tourists, it is necessary to temporarily reduce the transportation volume of the entire line. By recovering a certain number of hoists and reducing the speed of the entire line, the transportation volume of the entire line can be reduced to achieve energy saving during idle time.

[0118] Based on the same concept, the present invention also provides a multi-stage cableway control device. The multi-stage cableway control device provided by the present invention is described below, and the multi-stage cableway control device described below and the multi-stage cableway control method described above can be referred to each other.

[0119] Figure 5 It is a structural schematic diagram of the multi-section cableway control device provided by the present invention.

[0120] In an exemplary embodiment of the present invention, a multi-section cableway control device can be applied to a multi-section cableway. The multi-section cableway includes a plurality of cableway nodes, which are connected end to end to form a closed loop state. The cableway nodes at least include a plurality of hoisting devices, motors corresponding to the hoisting devices, and a drive controller. Figure 5 It can be seen that the multi-stage cableway control device can include a first module 510 to a third module 530, and each step will be described below.

[0121] The first module 510 is used to obtain control instructions, wherein the control instructions may include drive control instructions and brake control instructions; the second module 520 can be configured to control the segmented progressive start of the cableway nodes when the control instruction is a drive control instruction, so as to achieve smooth start of the multi-section cableway; the third module 530 can be configured to control the segmented progressive braking of the cableway nodes when the control instruction is a brake control instruction, so as to achieve smooth braking of the multi-section cableway.

[0122] In another exemplary embodiment of the present invention, the second module 520 controls the cableway nodes to start progressively in sections when the control instruction is a drive control instruction in the following manner: S1: Based on the drive control instruction, determine the first target cableway node, the first target cableway node being the cableway node to be started first determined based on the drive control instruction; S2: Control the first target cableway node to start at a preset speed, and control the first clutch connecting the first target cableway node and the first front cableway node to be in a running state, and control the second clutch connecting the first target cableway node and the first rear cableway node to be in a braking state, wherein, The first front cableway node is a cableway node adjacent to and located in front of the first target cableway node in the running direction of the multi-segment cableway, and the first rear cableway node is a cableway node adjacent to and located behind the first target cableway node in the running direction of the multi-segment cableway; S3: when the running speed of the first target cableway node meets the preset target running speed, the second clutch is placed in the running state, and the first rear cableway node is used as the new first target cableway node to repeat steps S2 to S3 until each cableway node in the multi-segment cableway runs step by step according to the preset target running speed.

[0123] In another exemplary embodiment of the present invention, the third module 530 controls the cableway node to brake progressively in sections in the following manner when the control instruction is a braking control instruction: S4: determining the second target cableway node based on the braking control instruction, wherein the second target cableway node is the cableway node that is first braked based on the braking control instruction; S5: controlling the second target cableway node to perform deceleration braking according to a preset speed, and controlling the third clutch connecting the second target cableway node and the second front cableway node to be placed in a braking state, and controlling the second target cableway node to be connected to the second rear cableway node; The fourth clutch connected to the second point is placed in a braking state, wherein the second front cableway node is a cableway node adjacent to the second target cableway node and located in front of the second target cableway node in the running direction of the multi-segment cableway, and the second rear cableway node is a cableway node adjacent to the second target cableway node and located behind the second target cableway node in the running direction of the multi-segment cableway; S6: when the second target cableway node brakes and decelerates according to the preset running speed, a delayed braking instruction is set, and the braking time of the second front cableway node and the second rear cableway node is determined based on the delayed braking instruction, and when the braking time is reached At the start moment, the second front cableway node and the second rear cableway node are controlled to decelerate and brake according to the preset speed respectively, and the fifth clutch connecting the second front cableway node and the second front-end cableway node is controlled to be placed in a braking state, and the sixth clutch connecting the second rear cableway node and the second rear-end cableway node is controlled to be placed in a braking state, wherein the second front-end cableway node is a cableway node adjacent to and located in front of the second front cableway node in the running direction of the multi-segment cableway, and the second rear-end cableway node is adjacent to and located in front of the second rear cableway node in the running direction of the multi-segment cableway. at the cableway node behind the second rear cableway node; S7: when the second front cableway node and the second rear cableway node brake and decelerate according to the preset running speed, a delayed braking instruction is set, and the braking moment of the second further front cableway node and the second further rear cableway node is determined based on the delayed braking instruction, and when the braking moment is reached, the second further front cableway node and the second further rear cableway node are respectively used as the new second front cableway node and the new second rear cableway node to repeat steps S6 to S7 until each cableway node in the multi-segment cableway is braked to decelerate step by step according to the preset speed in a progressive manner.

[0124] In another exemplary embodiment of the present invention, the second module 520 is used to: obtain a verification instruction; based on the verification instruction, cyclically detect the operating parameters of each cableway node in the multi-section cableway, wherein the operating parameters include at least an operating speed, a communication signal, and a hydraulic system data; and initiate a braking control instruction when the operating parameters do not meet the preset data.

[0125] In another exemplary embodiment of the present invention, the first module 510 is used to: obtain a coordinated departure control instruction; based on the coordinated departure control instruction, control the switches of each cableway node to be at the entry and exit position, and operate the cableway node according to a preset departure speed and a preset running direction; when it is monitored that the hoist in the subsequent cableway node enters the switch position of the current cableway node, adjust the switch of the current cableway node from the entry and exit position to the running position, and record the number of hoists passing through the switch position; when it is monitored that the number of hoists reaches the preset sending number, place the switch of the current cableway node at the entry and exit position.

[0126] In another exemplary embodiment of the present invention, the second module 520 is used to: obtain a coordinated vehicle collection control instruction; based on the coordinated vehicle collection control instruction, control the switches of each cableway node to be at the entry and exit positions, and operate the cableway node according to a preset vehicle collection speed and a preset running direction.

[0127] In another exemplary embodiment of the present invention, the second module 520 is used to: obtain an instruction for additional hoisting equipment for the entire line; when it is detected that the hoisting equipment in the previous cableway node enters the switch position of the current cableway node, start the hoisting equipment counting based on the instruction for additional hoisting equipment for the entire line, and place the switch of the current cableway node in the entry and exit position, and operate the current cableway node at a preset departure speed and a preset running direction, so as to increase the number of hoists based on the switch; when it is detected that the number of hoists increased based on the switch reaches a preset number, adjust the switch from the entry and exit position to the running position.

[0128] In another exemplary embodiment of the present invention, the second module 520 is used to: obtain the hoist increase instruction of the preset node line; based on the hoist increase instruction of the preset node line, place the switch of the current cableway node corresponding to the hoist increase instruction of the preset node line at the entry and exit position, and operate the current cableway node at a preset departure speed and a preset running direction until the hoist to be increased enters the current cableway node; when it is monitored that the hoist of the front cableway node is approaching the rear cableway node through the current cableway node, place the switch between the current cableway node and the rear cableway node in a direct connection position to allow the hoist of the front cableway node to enter the rear cableway node. , wherein the front cableway node is a cableway node adjacent to the current cableway node and located in front of the front cableway node according to the running direction of the multi-segment cableway, and the rear cableway node is a cableway node adjacent to the current cableway node and located behind the current cableway node according to the running direction of the multi-segment cableway; when it is monitored that the additional sling and the original sling on the current cableway node are approaching the rear cableway node via the current cableway node, the switch between the current cableway node and the rear cableway node, as well as the switch between the current cableway node and the front cableway node are placed in the turning position, so that the additional sling and the original sling on the current cableway node can circulate on the current cableway node.

[0129] In another exemplary embodiment of the present invention, the second module 520 is used to: obtain an instruction to reduce the number of hoists on the entire line; when it is monitored that the hoists in the previous cableway node enter the switch position of the current cableway node, start the hoist counting based on the instruction to reduce the number of hoists on the entire line, and place the switch of the current cableway node at the entry and exit position, and operate the current cableway node at a preset car collection speed and a preset running direction, so as to reduce the number of hoists based on the switch; when it is monitored that the number of hoists reduced based on the switch reaches a preset number, adjust the switch from the entry and exit position to the running position.

[0130] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logic instructions in the memory 630 to execute the multi-segment ropeway control method. In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of software function units and can be stored in a computer-readable storage medium when sold or used as an independent product. On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by the processor, the computer can execute the multi-segment ropeway control method provided by the above-mentioned methods.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-stage cableway control method, characterized in that: Applied to a multi-section cableway, the multi-section cableway includes a plurality of cableway nodes, the plurality of cableway nodes are connected end to end so that the multi-section cableway is in a closed loop state, the cableway nodes at least include a plurality of hoisting devices, motors corresponding to the hoisting devices, and a drive controller, and the multi-section cableway control method includes: Acquiring control instructions, wherein the control instructions include driving control instructions and braking control instructions; In the case where the control instruction is the driving control instruction, controlling the cableway nodes to start progressively in sections, so as to achieve a smooth start of the multi-section cableway; When the control instruction is the braking control instruction, the cableway node is controlled to perform segmented progressive braking to achieve smooth braking of the multi-segment cableway, wherein, when the control instruction is the braking control instruction, the cableway node is controlled to perform segmented progressive braking, specifically including: S4: determining a second target cableway node based on the braking control instruction, wherein the second target cableway node is a cableway node that is first braked and is determined based on the braking control instruction; S5: Control the second target cableway node to decelerate and brake according to a preset speed, control the third clutch connecting the second target cableway node and the second front cableway node to be in a braking state, and control the fourth clutch connecting the second target cableway node and the second rear cableway node to be in a braking state, wherein the second front cableway node is a cableway node adjacent to the second target cableway node and located in front of the second target cableway node according to the running direction of the multi-segment cableway, and the second rear cableway node is a cableway node adjacent to the second target cableway node and located behind the second target cableway node according to the running direction of the multi-segment cableway; S6: When the second target cableway node brakes and decelerates according to a preset running speed, a delayed braking instruction is set, and the braking moment for the second front cableway node and the second rear cableway node is determined based on the delayed braking instruction. When the braking moment is reached, the second front cableway node and the second rear cableway node are controlled to decelerate and brake according to the preset speed respectively, and the fifth clutch connecting the second front cableway node and the second front cableway node is controlled to be placed in a braking state, and the sixth clutch connecting the second rear cableway node and the second rear cableway node is controlled to be placed in a braking state, wherein the second front cableway node is a cableway node adjacent to the second front cableway node and located in front of the second front cableway node according to the running direction of the multi-segment cableway, and the second rear cableway node is a cableway node adjacent to the second rear cableway node and located behind the second rear cableway node according to the running direction of the multi-segment cableway; S7: When the second front cableway node and the second rear cableway node brake and decelerate according to the preset running speed, a delayed braking instruction is set, and the braking moment of the second front cableway node and the second rear cableway node is determined based on the delayed braking instruction. When the braking moment is reached, the second front cableway node and the second rear cableway node are used as the new second front cableway node and the new second rear cableway node, respectively, and steps S6 to S7 are repeatedly executed until each cableway node in the multi-section cableway is braked to decelerate step by step according to the preset speed in a progressive manner.

2. The multi-stage ropeway control method according to claim 1, characterized in that: When the control instruction is the driving control instruction, controlling the cableway node to start progressively in sections specifically includes: S1: determining a first target cableway node based on the drive control instruction, wherein the first target cableway node is a cableway node that is first started and is determined based on the drive control instruction; S2: Controlling the first target cableway node to start at a preset speed, controlling a first clutch connecting the first target cableway node and the first front cableway node to be in a running state, and controlling a second clutch connecting the first target cableway node and the first rear cableway node to be in a braking state, wherein the first front cableway node is a cableway node adjacent to the first target cableway node and located in front of the first target cableway node in the running direction of the multi-segment cableway, and the first rear cableway node is a cableway node adjacent to the first target cableway node and located behind the first target cableway node in the running direction of the multi-segment cableway; S3: When the running speed of the first target cableway node meets the preset target running speed, the second clutch is placed in a running state, and steps S2 to S3 are repeatedly performed with the first rear cableway node as the new first target cableway node, until each cableway node in the multi-section cableway runs step by step in a progressive manner according to the preset target running speed.

3. The multi-stage ropeway control method according to claim 1 or 2, characterized in that: In the case where the control instruction is the driving control instruction, after controlling the cableway nodes to start progressively in sections, the multi-section cableway control method further includes: Obtain verification instructions; Based on the verification instruction, cyclically detect the operating parameters of each of the cableway nodes in the multi-segment cableway, wherein the operating parameters at least include operating speed, communication signal, and hydraulic system data; When the operating parameters do not meet the preset data, the braking control instruction is initiated.

4. The multi-stage ropeway control method according to claim 1, characterized in that: Before obtaining the control instruction, the multi-section cableway control method further includes: Obtain coordinated departure control instructions; Based on the coordinated departure control instruction, the switches of each of the cableway nodes are controlled to be at the entry and exit positions, and the cableway nodes are operated according to the preset departure speed and the preset running direction; When it is detected that the hoist in the subsequent cableway node enters the switch position of the current cableway node, the switch of the current cableway node is adjusted from the access position to the running position, and the number of the hoist passing the switch position is recorded; When it is monitored that the number of the hoisting devices reaches the preset sending number, the switch of the current cableway node is placed at the entry and exit position.

5. The multi-stage ropeway control method according to claim 1, characterized in that: In the case where the control instruction is the driving control instruction, after controlling the cableway nodes to start progressively in sections, the multi-section cableway control method further includes: Obtain coordinated vehicle collection control instructions; Based on the coordinated vehicle collection control instruction, the switches of each cableway node are controlled to be at the entry and exit positions, and the cableway nodes are operated according to the preset vehicle collection speed and the preset running direction.

6. The multi-stage ropeway control method according to claim 1, characterized in that: In the case where the control instruction is the driving control instruction, after controlling the cableway nodes to start progressively in sections, the multi-section cableway control method further includes: Obtain additional issuance instructions for all line spreaders; When it is detected that the spreader in the previous cableway node enters the turnout position of the current cableway node, the spreader counting is started based on the full-line spreader additional issuance instruction, and the turnout of the current cableway node is placed at the storage and access position, and the current cableway node is operated at a preset departure speed and a preset running direction, so as to increase the spreader issuance based on the turnout; When it is monitored that the number of additional spreaders based on the turnout reaches a preset number, the turnout is adjusted from the storage position to the operating position.

7. The multi-stage ropeway control method according to claim 1, characterized in that: In the case where the control instruction is the driving control instruction, after controlling the cableway nodes to start progressively in sections, the multi-section cableway control method further includes: Get the additional instructions for the spreaders of the preset node line; Based on the additional spreader issuance instruction of the preset node line, the switch of the current cableway node corresponding to the additional spreader issuance instruction of the preset node line is placed at the entry and exit position, and the current cableway node is operated at a preset departure speed and a preset running direction until the additional spreader enters the current cableway node; When it is monitored that the hoist of the front cableway node approaches the rear cableway node via the current cableway node, the switch between the current cableway node and the rear cableway node is placed in a direct connection position so that the hoist of the front cableway node enters the rear cableway node, wherein the front cableway node is a cableway node adjacent to the current cableway node and located in front of the current cableway node according to the running direction of the multi-segment cableway, and the rear cableway node is a cableway node adjacent to the current cableway node and located behind the current cableway node according to the running direction of the multi-segment cableway; When it is monitored that the additional hoist and the original hoist on the current cableway node are approaching the rear cableway node via the current cableway node, the switch between the current cableway node and the rear cableway node, and the switch between the current cableway node and the front cableway node are placed in a turning position, so that the additional hoist and the original hoist on the current cableway node can circulate on the current cableway node.

8. The multi-stage ropeway control method according to claim 1, characterized in that: In the case where the control instruction is the driving control instruction, after controlling the cableway nodes to start progressively in sections, the multi-section cableway control method further includes: Obtain the instruction to reduce the number of spreaders on the entire line; When it is detected that the spreader in the previous cableway node enters the turnout position of the current cableway node, the spreader counting is started based on the full-line spreader reduction instruction, and the turnout of the current cableway node is placed at the storage entry and exit position, and the current cableway node is operated according to the preset car collection speed and preset running direction, so as to reduce the spreader based on the turnout; When it is monitored that the number of hangers reduced based on the turnout reaches a preset number, the turnout is adjusted from the storage position to the operating position.

9. A multi-stage cableway control device, characterized in that: Applied to a multi-section cableway, the multi-section cableway includes a plurality of cableway nodes, the plurality of cableway nodes are connected end to end so that the multi-section cableway is in a closed loop state, the cableway nodes at least include a plurality of hoisting devices, motors corresponding to the hoisting devices, and a drive controller, the multi-section cableway control device is used to implement the multi-section cableway control method according to any one of claims 1 to 8, the device includes: A first module is used to obtain a control instruction, wherein the control instruction includes a driving control instruction and a braking control instruction; The second module is used for controlling the cableway nodes to start progressively in sections when the control instruction is the drive control instruction, so as to achieve a smooth start of the multi-section cableway; The third module is used to control the segmented progressive braking of the cableway node when the control instruction is the braking control instruction, so as to achieve smooth braking of the multi-segment cableway.

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