Underground intelligent traffic control method and system based on joint dispatching unit

Abstract

The invention relates to an underground intelligent traffic control method and system based on a joint dispatching unit, and belongs to the technical field of coal mine underground traffic management. The method comprises the steps that a joint scheduling unit composed of a master base station and at least one slave base station is arranged, the master base station communicates with the slave base stations through a TCP / IP protocol, and vehicle UWB positioning data are acquired in real time; and based on a preset locking distance range and a preset unlocking distance range, the master base station operates an intelligent scheduling algorithm to generate a signal lamp control instruction, and controls the state of a signal lamp connected with the master base station and the slave base station through RS485. The system adopts a distributed architecture, a centralized controller is not needed, a master-slave mode and locking / unlocking parameters are dynamically configured, and a single base station can participate in a plurality of scheduling units at the same time. According to the invention, accurate dispatching of underground vehicles is realized, flexibility, expansibility and robustness are obviously improved, construction cost is reduced, and the method is suitable for complex scenes such as roadways, forks and crossroads.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground coal mine traffic management, and relates to an underground intelligent traffic control method and system based on a joint dispatching unit. Background Art

[0002] Auxiliary transportation in underground coal mines is a key link to ensure production. Currently, it mainly relies on tools such as rail locomotives and rubber-tired vehicles without rails. However, the underground roadway environment is complex, with problems such as narrow spaces, dense curves and intersections. In the traditional manual driving mode, due to insufficient information guidance, it is easy to cause vehicle violations, traffic jams and even safety accidents. In addition, the underground geological conditions are changeable and the personnel mobility is large. If the vehicle position cannot be accurately grasped in real time, the rescue efficiency will be seriously affected.

[0003] In the prior art, a centralized controller is generally used to achieve vehicle positioning and signal lamp control, that is, the centralized controller in the section receives the positioning data and analyzes it, and then locks and controls the relevant section. However, this solution has significant defects:

[0004] (1) The centralized controller needs to continuously process multi-section data, resulting in an increase in overall energy consumption;

[0005] (2) It is necessary to deploy an additional centralized controller and supporting communication lines, increasing the construction and maintenance costs;

[0006] (3) The signal lamp control depends on a fixed locking logic and cannot dynamically adjust the locking range according to the roadway topology, making it difficult to adapt to complex scenarios such as intersections and crossroads;

[0007] (4) When new equipment is added or the road section is adjusted, it is necessary to reconstruct the centralized control logic, and the system expansion cost is high.

[0008] In addition, in the existing methods, the signal lamp control is decoupled from the vehicle positioning, and cannot respond to the dynamic position change of the vehicle in real time, resulting in scheduling lag. For example, when a vehicle enters a narrow section, if the opposing direction signal lamp cannot be locked in advance, it is easy to cause a meeting conflict; and improper unlocking timing may reduce the traffic efficiency.

[0009] Therefore, there is an urgent need for a low-energy consumption, highly flexible and scalable underground intelligent traffic control method to solve the inherent defects of the centralized control architecture, realize precise vehicle positioning and dynamic coordination of signal lamps, and improve the safety and efficiency of underground transportation. Summary of the Invention

[0010] In view of this, the purpose of the present invention is to provide an underground intelligent traffic control method and system based on a joint dispatching unit. The method proposes a segment vehicle position information sharing algorithm based on the joint dispatching unit, establishes a preemptive locking on-site dispatching management mechanism, and realizes the intelligent traffic control of underground locomotives, rubber-wheeled trackless vehicles and other vehicles. The method realizes UWB precise positioning through positioning base stations and vehicle cards, and sets a joint dispatching unit according to the road sections where traffic lights are installed as needed. The joint dispatching unit consists of a main base station and one or more slave base stations. The slave base station sends the vehicle positioning information to the main base station. The main base station generates a vehicle dispatching queue based on the vehicle positioning information of each base station, and then generates a traffic light control instruction based on the set locking distance range and unlocking distance range by the vehicle dispatching algorithm. The main base station sends the traffic light control command to the slave base station. The main and slave base stations control their respective traffic lights according to the control command, and finally realize the intelligent traffic control of underground vehicles. The technical design of this invention adopts the same hardware and software for the base stations, and the master-slave mode is configured through the host computer. The same base station can participate in up to two joint scheduling units at the same time, which improves the flexibility and scalability of the entire system. The technical design of the invention does not require the deployment of a separate centralized controller, which greatly reduces the construction cost.

[0011] In order to achieve the above object, the present invention provides the following technical solutions:

[0012] An underground intelligent traffic control method based on a joint dispatching unit comprises the following steps:

[0013] S1: A joint dispatching unit is set up on the target road section, wherein the joint dispatching unit includes a master base station, at least one slave base station and a corresponding signal light, wherein the master base station communicates with the slave base station via TCP / IP protocol, and each base station is connected to the corresponding signal light via RS485;

[0014] S2: The master base station obtains the vehicle positioning data of itself and the slave base stations in real time and generates a vehicle dispatch queue;

[0015] S3: The master base station generates a control instruction through a traffic light intelligent scheduling algorithm according to a preset locking distance range and unlocking distance range; the locking distance range is used to trigger the red light state of the hostile traffic light, and the unlocking distance range is used to release the red light state of the hostile traffic light;

[0016] S4: The master base station sends a control instruction to the corresponding slave base station, and the master base station and the slave base station control the status of their respective signal lights according to the instruction.

[0017] Further, the joint scheduling unit is configured in a master-slave structure, where the master base station and the slave base station are respectively connected to a signal lamp; when a vehicle enters the locking range of the master base station, the master base station controls its own signal lamp to be green and the signal lamp of the slave base station to be red; when the vehicle enters the unlocking range of the slave base station, the master base station controls the signal lamp of the slave base station to switch to green.

[0018] Further, the joint scheduling unit is configured in a master-multi-slave structure, including a master base station and multiple slave base stations, which is applicable to the fork road section; when a vehicle enters the locking range of any base station, the master base station controls the signal lamp of this base station to be green and the signal lamps of the other hostile base stations to be red; when the vehicle enters the unlocking range of any hostile base station, the master base station controls all the hostile signal lamps to switch to green.

[0019] Further, the locking distance range and the unlocking distance range are dynamically configured by the host computer and adjusted according to the position of the on-site signal lamp; the master base station and the slave base station adopt the same hardware, and the master-slave mode is set by the host computer.

[0020] An underground intelligent transportation control system based on a joint scheduling unit, comprising:

[0021] A joint scheduling unit module, which consists of 1 master base station, at least 1 slave base station and corresponding signal lamps;

[0022] A positioning module, which is used to obtain the vehicle position through the UWB positioning of the master base station and the slave base stations;

[0023] A scheduling algorithm module, which is integrated in the master base station and generates signal lamp control instructions according to the vehicle positioning data and the preset locking / unlocking distance range;

[0024] A communication module, where the master base station communicates with the slave base stations through the TCP / IP protocol and controls the signal lamp status through RS485.

[0025] Further, the master base station is a TCP client, and the slave base station is a TCP server; the master base station actively connects to the slave base station and polls to obtain the vehicle positioning data.

[0026] Further, a single base station participates in two joint scheduling units at the same time, and the base station serves as the master base station or the slave base station of different scheduling units in the host computer configuration.

[0027] Further, the signal lamp intelligent scheduling algorithm performs the following operations:

[0028] a. Detect whether the vehicle enters the locking range. If it is not locked, mark the locking state and control the hostile signal lamps to be red;

[0029] b. Detect whether the locked vehicle enters the unlocking range of the hostile base station. If it is satisfied, unlock it and switch the hostile signal lamps to green.

[0030] Furthermore, the master base station stores a vehicle scheduling queue, in which the locked base station, the hostile base station and the historical changes of the signal lamp status of the vehicle are recorded.

[0031] Furthermore, the locked distance range and the unlocked distance range are dynamic interval values, which are adjusted in real time by the host computer according to the roadway topology.

[0032] The beneficial effects of the present invention are as follows:

[0033] (1) By setting the locked distance range and the unlocked distance range as dynamically adjustable interval values, it supports flexible configuration of the signal lamp control area according to the actual layout of the roadway (such as curves and intersections). When the position of the signal lamp changes or early control is required, only the parameters need to be modified by the host computer, without hardware reconstruction, greatly simplifying the on-site deployment and later maintenance.

[0034] (2) The master base station and the slave base station achieve distributed communication through the TCP / IP protocol. The host computer only needs to issue initial configuration parameters (such as locked / unlocked range, master-slave relationship). Even if the communication of the host computer is interrupted, the joint scheduling unit can still operate autonomously based on the local algorithm, avoiding system paralysis caused by the failure of the central node.

[0035] (3) Adopting a modular joint scheduling unit design, a single base station can participate in two scheduling units at the same time (such as being the master base station of one unit and the slave base station of another unit), and the seamless expansion of the underground road network is realized through the superimposed unit. When adding a new section, only a base station needs to be added and the master-slave relationship needs to be configured, without modifying the existing system architecture.

[0036] (4) Abandoning the traditional centralized controller, embedding the intelligent scheduling algorithm into the master base station, and using the existing base station hardware to realize distributed control, reducing the investment in additional equipment. At the same time, the master and slave base stations adopt a unified hardware platform, and the functions are distinguished through software configuration, reducing the complexity of spare parts management and procurement costs.

[0037] (5) Based on the UWB precise positioning data and the preemptive locking mechanism, signal lamp control instructions are generated in real time to ensure that the signal lamp in the hostile direction is locked in advance (red light) before the vehicle enters the dangerous area, and quickly unlocked (green light) after the vehicle leaves, reducing the waiting time of the vehicle, avoiding meeting conflicts, and at the same time reducing the risk of human illegal driving.

[0038] (6) Supporting complex sections such as intersections and multi-fork roads through a one-master-multi-slave architecture (such as one master and three slaves), and dynamically allocating the signal lamp priority in combination with the real-time update of the vehicle scheduling queue, solving the adaptation problem of the traditional fixed locking strategy under complex topologies and improving the traffic efficiency of the entire road network.

[0039] Other advantages, objectives, and features of the present invention will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the following specification. Brief Description of the Drawings

[0040] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be described in detail preferably with reference to the accompanying drawings, where:

[0041] Figure 1 It is a schematic diagram of the joint scheduling unit;

[0042] Figure 2 It is a schematic diagram of the implementation principle of a one-master + one-slave joint scheduling unit;

[0043] Figure 3 It is a schematic diagram of the implementation principle of a one-master + two-slave joint scheduling unit;

[0044] Figure 4 It is a schematic diagram of the implementation principle of a one-master + three-slave joint scheduling unit;

[0045] Figure 5 It is a schematic diagram of the dual joint scheduling unit;

[0046] Figure 6 It is a working flowchart of the master base station;

[0047] Figure 7 It is a working flowchart of the slave base station;

[0048] Figure 8 It is a flowchart of the intelligent scheduling algorithm for signal lights. Detailed Embodiments

[0049] The following illustrates the embodiments of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention schematically. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0050] Among them, the attached drawings are only for illustrative purposes, showing only schematic diagrams rather than physical diagrams, and should not be construed as limiting the present invention; in order to better illustrate the embodiments of the present invention, some components in the attached drawings will be omitted, enlarged or reduced, which does not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted.

[0051] In the attached drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the attached drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the attached drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0052] I. Joint Scheduling Unit

[0053] As Figure 1 shown, the joint scheduling unit consists of 1 main base station, 1 or more slave base stations, and multiple signal lights. The main and slave base stations communicate through the TCP / IP protocol, and the signal lights communicate with each base station through RS485. The main base station is a TCP client, and the slave base station is a TCP server. The main base station actively connects to the slave base station and obtains the vehicle positioning information within the range of the slave base station. The main base station comprehensively analyzes the vehicle information of itself and each slave base station, combines the locking distance range and unlocking distance range of each base station, generates a signal light control instruction according to the vehicle scheduling algorithm, and sends the signal light control instruction to each slave base station. Then, the main and slave base stations control their respective signal lights through RS485 according to the control instruction.

[0054] II. Implementation Principle of Joint Scheduling Unit

[0055] (1) Glossary

[0056] Main base station: It has functions such as positioning, intelligent scheduling algorithm for signal lights, and controlling signal lights.

[0057] Slave base station: It has functions such as positioning and controlling signal lights.

[0058] Locking base station: The ranging base station where the vehicle first enters the locking range in the joint scheduling unit.

[0059] Hostile base station: The base stations other than the locking base station within the joint scheduling unit.

[0060] Hostile signal light: The signal light connected to the hostile base station.

[0061] Locking range: Set for locking hostile base stations and hostile signal lights. When the vehicle is in an unlocked state and enters the locking range of the current base station, the signal lights connected to all hostile base stations are controlled to be red lights.

[0062] Unlocking range: Set for unlocking hostile base stations and hostile signal lights. When the vehicle is in a locked state and the current ranging base station is a hostile base station, and it enters the unlocking range of the current base station, all hostile signal lights are controlled to be green lights.

[0063] (2) One master + one slave joint dispatching unit

[0064] As Figure 2 shown, the one master + one slave joint dispatching unit consists of 1 master base station, 1 slave base station, and 2 signal lights, and is suitable for being arranged on straight sections or curved sections. Data sharing is achieved between the master base station and the slave base station through the TCP / IP protocol. When vehicle 1 enters the locking range of the master base station, the master base station adds vehicle 1 to the vehicle dispatching queue of the joint dispatching unit, records the locking base station of vehicle 1 as the master base station, and the hostile base station as the slave base station. At this time, the signal light state generated by the intelligent dispatching algorithm is that the signal light of the locking base station is green, and the signal light of the hostile base station is red. Therefore, the master base station controls the signal light 1 connected to itself to be green, and notifies the slave base station through TCP to control the hostile signal light, that is, signal light 2, to be red. At this time, vehicle 2 enters the refuge chamber or waits in place. When vehicle 1 enters the unlocking range of the slave base station, the signal light state generated by the intelligent dispatching algorithm is that the signal light of the locking base station is green, and the signal light of the hostile base station is green. Therefore, the master base station controls the signal light 1 connected to itself to be green, and notifies the slave base station through TCP to control the hostile signal light, that is, signal light 2, to be green, and then clears the locked state of vehicle 1. After vehicle 1 completely exits the unlocking range, vehicle 1 is removed from the vehicle dispatching queue.

[0065] After vehicle 2 waits to meet vehicle 1, it continues to drive forward. When vehicle 2 enters the locking range of the slave base station, the master base station adds vehicle 2 to the vehicle dispatching queue of the joint dispatching unit, records the locking base station of vehicle 2 as the slave base station, and the hostile base station as the master base station. At this time, the signal light state generated by the intelligent dispatching algorithm is that the signal light of the locking base station is green, and the signal light of the hostile base station is red. Therefore, the master base station controls the signal light 1 connected to itself to be red, and notifies the slave base station through TCP to control the signal light of the locking base station, that is, signal light 2, to be green. When vehicle 2 enters the unlocking range of the master base station, the signal light state generated by the intelligent dispatching algorithm is that the signal light of the locking base station is green, and the signal light of the hostile base station is green. Therefore, the master base station controls the signal light 1 connected to itself to be green, and notifies the slave base station through TCP to control the signal light of the locking base station, that is, signal light 2, to be green, and then clears the locked state of vehicle 2. After vehicle 2 completely exits the unlocking range, vehicle 2 is removed from the vehicle dispatching queue.

[0066] Setting the locking distance and unlocking distance as a distance range greatly facilitates on-site installation and subsequent flexible adjustment. If the signal light moves to a new position later, or it is necessary to control the signal light in advance at a certain position, only the locking distance range and unlocking distance range need to be modified through the host computer according to the on-site installation situation.

[0067] (3) One master + two slave joint dispatching unit

[0068] As Figure 3 shown, the one master + two slave joint dispatching unit consists of 1 master base station, 2 slave base stations, and 3 signal lights, and is suitable for being arranged on the section of a three-way intersection.

[0069] Data sharing is achieved between the master base station and the slave base stations through the TCP / IP protocol. When vehicle 1 enters the locking range of the master base station, the master base station adds vehicle 1 to the vehicle dispatching queue of the joint dispatching unit, records the locking base station of vehicle 1 as the master base station, and the hostile base stations as slave base station 2 and slave base station 3. At this time, the signal light state generated by the intelligent dispatching algorithm is that the signal light of the locking base station is green, and the signal lights of the hostile base stations are red. Therefore, the master base station controls the connected signal light 1 to be green, and notifies slave base station 2 and slave base station 3 through TCP to control the hostile signal lights, namely signal lights 2 and 3, to be red. When vehicle 1 enters the unlocking range of any one of the slave base stations, the signal light state generated by the intelligent dispatching algorithm is that the signal light of the locking base station is green, and the signal lights of the hostile base stations are green. Therefore, the master base station controls the connected signal light 1 to be green, and notifies slave base station 2 and slave base station 3 through TCP to control the hostile signal lights, namely signal lights 2 and 3, to be green, and then clears the locking state of vehicle 1. After vehicle 1 completely exits the unlocking range, vehicle 1 is removed from the vehicle dispatching queue.

[0070] (4) One master + three slave joint dispatching unit

[0071] As Figure 4 shown, the one master + three slave joint dispatching unit consists of 1 master base station, 3 slave base stations, and 4 signal lights, and is suitable for being arranged on the section of an intersection.

[0072] Data sharing is achieved between the master base station and the slave base stations through the TCP / IP protocol. When vehicle 1 enters the locking range of slave base station 3, the master base station adds vehicle 1 to the vehicle scheduling queue of the joint scheduling unit, records the locked base station of vehicle 1 as slave base station 3, and the hostile base stations as the master base station, slave base station 2, and slave base station 4. At this time, the signal light status generated by the intelligent scheduling algorithm is that the signal light of the locked base station is green, and the signal lights of the hostile base stations are red. Therefore, the master base station notifies slave base station 3 through TCP to control the connected signal light 3 to be green, notifies slave base station 2 and slave base station 4 through TCP to control the hostile signal lights, namely signal lights 2 and 4, to be red, and controls the connected signal light 1 of itself to be red. When vehicle 1 enters the unlocking range of any one of the hostile home base stations, the signal light status generated by the intelligent scheduling algorithm is that the signal light of the locked base station is green, and the signal lights of the hostile base stations are green. Therefore, the master base station notifies slave base station 3 through TCP to control the connected signal light 3 to be green, notifies slave base station 2 and slave base station 4 through TCP to control the hostile signal lights, namely signal lights 2 and 4, to be green, and controls the connected signal light 1 of itself to be green. Then, the locked status of vehicle 1 is cleared, and after vehicle 1 completely exits the unlocking range, vehicle 1 is removed from the vehicle scheduling queue.

[0073] III. Principle of Dual Joint Scheduling Unit Implementation

[0074] The same base station can simultaneously participate in two joint scheduling units for underground signal light control. As Figure 5 shown, base station 1, base station 2, signal light 1, and signal light 2 form joint scheduling unit A, and base station 2, base station 3, signal light 3, and signal light 4 form joint scheduling unit B. Among them, base station 2 simultaneously participates in joint scheduling unit A and joint scheduling unit B, and simultaneously connects signal light 2 and signal light 4. The master-slave mode of base station 2 in the two scheduling units is set by the upper computer. Scheduling unit A and scheduling unit B are not limited to the one master + one slave mode, and can also be the one master + two slaves or one master + three slaves mode. Each scheduling unit is implemented according to the principle of joint scheduling unit implementation described above. By analogy, base station 1 and base station 3 can also form another joint scheduling unit with subsequent base stations respectively. This implementation method of dual joint scheduling units further reduces the number of underground devices, thereby further reducing the system cost.

[0075] IV. Base Station Workflow

[0076] Base stations are divided into master base stations and slave base stations. The master base station is responsible for functions such as positioning, signal light intelligent control algorithm, and controlling signal lights, and the slave base station is responsible for functions such as positioning and controlling signal lights. The master-slave mode of the base station is configured by the upper computer.

[0077] (1) Master Base Station Workflow

[0078] The workflow diagram of the master base station is as Figure 6As shown in the figure, the master base station works according to the following steps:

[0079] S1: The host computer configures the base station as the master mode, and at the same time sends the locking range, unlocking range, number of slave base stations, IP addresses of slave base stations, address numbers of slave base stations, addresses of signal lights connected to slave base stations, locking range and unlocking range of slave base stations to the master base station;

[0080] S2: The master base station operates in the TCP client mode and actively connects to the slave base station TCP server;

[0081] S3: Poll each slave base station to obtain the vehicle positioning data of the slave base station, and at the same time send the signal light control instructions generated by the intelligent scheduling algorithm to the corresponding slave base station;

[0082] S4: After obtaining the vehicle positioning data of the slave base station, add the vehicle positioning data of the slave base station to the vehicle scheduling queue;

[0083] S5: The vehicle positioning data successfully located by the master base station itself is also added to the vehicle scheduling queue;

[0084] S6: Regularly run the intelligent scheduling algorithm engine, comprehensively process the data in the vehicle scheduling queue, generate the control status of each signal light according to the locking range and unlocking range of the master and slave base stations, and send it to the corresponding slave base station through step S3, and control the signal lights connected to this base station through RS485.

[0085] (2) Slave base station work process

[0086] The work flow chart of the slave base station is as Figure 7 shown, and the slave base station works according to the following steps:

[0087] S1: The host computer configures the base station as the slave mode, and at the same time sends the IP address of the master base station, the address number of the master base station, and the address of the signal light connected to this base station to the slave base station;

[0088] S2: The slave base station operates in the TCP server mode and waits for the master base station to connect;

[0089] S3: Receive the polling command sent by the master base station, obtain the signal light control instructions sent by the master base station, and at the same time return the local vehicle positioning data to the master base station;

[0090] S4: The vehicle positioning data successfully located by the slave base station itself is added to the local vehicle queue;

[0091] S5: Control the signal lights connected to this base station through RS485 according to the signal light control instructions sent by the master base station.

[0092] (3) Signal light intelligent scheduling algorithm

[0093] The intelligent signal lamp scheduling algorithm runs on the master base station, which is responsible for comprehensively analyzing the vehicle positioning information in the joint scheduling unit, and finally generating control instructions for each signal lamp, and sending them to each slave base station through polling commands.

[0094] The flow chart of the intelligent signal lamp scheduling algorithm is as Figure 8 shown, and the running steps are as follows:

[0095] S1: Check whether there is unprocessed vehicle data in the vehicle scheduling queue. If so, go to S2;

[0096] S2: Whether the current vehicle is in a locked state. If it is in a locked state, go to S3; otherwise, go to S5.

[0097] S3: Whether the current vehicle enters the unlocking range of the hostile base station. If so, go to S4; otherwise, go to S1.

[0098] S4: Clear the locked state of the vehicle, and set the state of the hostile signal lamp to the green light state, and go to S1.

[0099] S5: Whether the current vehicle enters the locking range of the current ranging base station. If so, go to S6; otherwise, go to S1.

[0100] S6: Set the current vehicle to the locked state, the locking base station is the current ranging base station, at the same time set the state of the signal lamp received by the locking base station to the green light state, and set the state of the hostile signal lamp to the red light state, and go to S1.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the present technical solution, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An underground intelligent traffic control method based on a joint dispatching unit, characterized in that: The following steps are involved: S1: A joint dispatching unit is set up on the target road section, wherein the joint dispatching unit includes a master base station, at least one slave base station and a corresponding signal light, wherein the master base station communicates with the slave base station via TCP / IP protocol, and each base station is connected to the corresponding signal light via RS485; S2: The master base station obtains the vehicle positioning data of itself and the slave base stations in real time and generates a vehicle dispatch queue; S3: The master base station generates a control instruction through a traffic light intelligent scheduling algorithm according to a preset locking distance range and unlocking distance range; the locking distance range is used to trigger the red light state of the hostile traffic light, and the unlocking distance range is used to release the red light state of the hostile traffic light; S4: The master base station sends a control instruction to the corresponding slave base station, and the master base station and the slave base station control the status of their respective signal lights according to the instruction.

2. The underground intelligent traffic control method based on the joint dispatching unit according to claim 1 is characterized in that: The joint scheduling unit is configured as a master-slave structure, and the master base station and the slave base station are respectively connected to a signal light; when the vehicle enters the locking range of the master base station, the master base station controls its own signal light to green and the signal light of the slave base station to red; when the vehicle enters the unlocking range of the slave base station, the master base station controls the signal light of the slave base station to switch to green.

3. The underground intelligent traffic control method based on the joint dispatching unit according to claim 1 is characterized in that: The joint dispatching unit is configured as a one-master-multiple-slave structure, including a master base station and multiple slave base stations, and is suitable for a fork in the road section; When the vehicle enters the locking range of any base station, the main base station controls the signal light of the base station to green, and the signal lights of other hostile base stations to red; when the vehicle enters the unlocking range of any hostile base station, the main base station controls all hostile signal lights to switch to green.

4. The underground intelligent traffic control method based on the joint dispatching unit according to claim 1 is characterized in that: The locking distance range and the unlocking distance range are dynamically configured by the host computer and adjusted according to the location of the on-site signal light; the master base station and the slave base station use the same hardware, and the master-slave mode is set by the host computer.

5. An underground intelligent traffic control system based on a joint dispatching unit, characterized in that: include: The joint dispatch unit module consists of one master base station, at least one slave base station and corresponding signal lights; Positioning module, used to obtain the vehicle position through UWB positioning of the main base station and the slave base station; The dispatch algorithm module is integrated into the main base station and generates signal light control instructions based on the vehicle positioning data and the preset lock / unlock distance range; Communication module, the master base station communicates with the slave base station through TCP / IP protocol and controls the status of the signal light through RS485.

6. The underground intelligent traffic control system based on the joint dispatching unit according to claim 5 is characterized in that: The master base station is a TCP client, and the slave base station is a TCP server; the master base station actively connects to the slave base station and polls to obtain vehicle positioning data.

7. The underground intelligent traffic control system based on the joint dispatching unit according to claim 5 is characterized in that: A single base station participates in two joint scheduling units at the same time, and the base station serves as a master base station or a slave base station of different scheduling units in the upper computer configuration.

8. The underground intelligent traffic control system based on the joint dispatching unit according to claim 5 is characterized in that: The traffic light intelligent scheduling algorithm performs the following operations: a. Detect whether the vehicle has entered the locking range. If not, mark the locking state and control the hostile signal light to red; b. Detect whether the locked vehicle enters the unlocking range of the hostile base station. If so, unlock it and switch the hostile signal light green.

9. The underground intelligent traffic control system based on the joint dispatching unit according to claim 5 is characterized in that: The main base station stores a vehicle dispatch queue, which records the vehicle's locked base station, hostile base station and signal light status change history.

10. The underground intelligent traffic control system based on the joint dispatching unit according to claim 5 is characterized in that: The locking distance range and the unlocking distance range are dynamic interval values, which are adjusted in real time by the host computer according to the lane topology.

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