| Summary: | The current auxiliary transportation system lacks effective control strategy. The vehicles waiting in the blind area at the intersection are disorderly. And it is difficult for one vehicle to give another the right of way. It is prone to collision accidents, resulting in low transport efficiency. This paper proposes an automatic control system of auxiliary transportation traffic light based on UWB precise positioning. The system determines the distribution requirements of UWB positioning base stations at typical intersections. The system sets two control parameters of position information and driving state, various release mechanisms and interval management and control strategies. The system specifies the sequencing principle and priority of forks. And the system has three control modes of automatic control, manual control and timing switching. Firstly, the UWB positioning base station scans the data of the vehicle positioning card. The logic controller reads the vehicle data information of the positioning base station in real time and solves the position information and the driving state of the vehicle. The logic controller controls the traffic light to execute the control command and directs the transportation vehicles to pass in an orderly manner. The logic controller is connected with an upper computer through a ring network. The upper computer can issue a control instruction to remotely change the light. And the logic controller uploads various information such as driving data, abnormal driving behaviors, traffic light states of underground vehicles to a mine vehicle dispatching system of the upper computer in real time. Therefore, the combination of local control and remote auxiliary control is realized. The system is tested in a simulated roadway. The result shows that the logic controller code operates normally. The logic response time of the system is＜200 ms. The response time of the traffic light state switching is＜1 s. And the curve alarm can correctly execute the alarm command. Dahaize Coal Mine uses trackless vehicles to carry out underground transportation tasks. There are about 140 recorded vehicles. The transportation lines are not fixed and the transportation tasks are intensive. The traffic at important intersections is large. The application results of the system in the complex environment of Dahaize Coal Mine show that the intersection information configuration is flexible. The system can highly adapt to various forms of intersections on-site, and meet the specific needs of intersection management and control. By adjusting the control threshold, the system can adjust the size of the intersection control area to adapt to the change of on-site transportation flow. The positioning base station adopts different data acquisition strategies, which reduces the laying quantity and construction cost of the positioning sub station. The upper computer can monitor the traffic scheduling status of underground vehicles in real time, monitor the driving behavior of vehicles, and realize the remote control of traffic lights.
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