CN112291765B - Communication system of mining robot - Google Patents

Communication system of mining robot Download PDF

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Publication number
CN112291765B
CN112291765B CN202011040256.7A CN202011040256A CN112291765B CN 112291765 B CN112291765 B CN 112291765B CN 202011040256 A CN202011040256 A CN 202011040256A CN 112291765 B CN112291765 B CN 112291765B
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wireless communication
mining
robot
control information
information
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CN112291765A (en
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赵文生
高思伟
崔耀
董文博
刘帅
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Beijing Meike Tianma Automation Technology Co Ltd
Beijing Tianma Intelligent Control Technology Co Ltd
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Beijing Meike Tianma Automation Technology Co Ltd
Beijing Tianma Intelligent Control Technology Co Ltd
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Priority to CN202011040256.7A priority Critical patent/CN112291765B/en
Publication of CN112291765A publication Critical patent/CN112291765A/en
Priority to PCT/CN2021/119906 priority patent/WO2022063175A1/en
Priority to AU2021348500A priority patent/AU2021348500A1/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Selective Calling Equipment (AREA)
  • Telephonic Communication Services (AREA)

Abstract

The application discloses a communication system of mining robot, the system includes: the robot comprises a robot main body, a controller and a communication assembly, wherein the controller is connected with the communication assembly, and the communication assembly comprises N wireless communication modules; i wireless communication modules, which are used for transmitting inspection frequency information and first-class state information to the exploitation control center; the N-i wireless communication modules are used for sending second-class state information to the exploitation control center, receiving control information sent by the exploitation control center and feeding back response information corresponding to the control information to the exploitation control center; and the controller is used for receiving the control information from the N-i wireless communication modules and controlling the robot main body to execute the action of matching the control information. The system receives and transmits information in parallel through multiple channels, so that the problem that the mining robot is blocked and jammed in the operation process due to information transmission delay is avoided, the reliability in the control communication process is ensured, and the operation efficiency of the mining robot is improved.

Description

Communication system of mining robot
Technical Field
The present application relates to the field of communications technologies, and in particular, to a communications system for a mining robot.
Background
The intelligent coal mining is the most important technical development area of the current coal mining, the coal resource mining in China mainly uses underground coal mines, the comprehensive mechanized mining occupies a relatively large area, the intelligent and automatic mining is realized on a fully-mechanized mining working face, the intelligent mining based on remote visualization or the intelligent mining in a transparent working face mode is very important, the visual clarity and the visual clarity are important, and as a new technology developed in recent years, mining robots are increasingly valued by mining groups, research institutions and equipment enterprises.
At present, video of a mining robot is generally transmitted through a WiFi network, but because a fully mechanized mining face is an up-and-down long and narrow area, a plurality of wireless access devices are required to be deployed on the fully mechanized mining face. Therefore, the mining robot needs to be frequently switched between the two wireless access devices in the working process, and in this case, the communication bandwidth tends to drop, so that video jamming, control information blocking and delay are caused.
Disclosure of Invention
The present application aims to solve one of the technical problems in the related art at least to some extent.
Therefore, a first object of the present application is to provide a communication system of a mining robot, which is used for solving the technical problems of low reliability, poor effectiveness and poor timeliness in the control communication process in the prior art.
A second object of the present application is to provide a communication system for a fully mechanized coal mining face.
A third object of the present application is to provide a communication system suitable for intelligent mining.
To achieve the above object, an embodiment of a first aspect of the present application provides a communication system of a mining robot, including: the robot comprises a robot main body, a controller and a communication assembly, wherein the controller is connected with the communication assembly, the communication assembly comprises N wireless communication modules, and N is a positive integer greater than or equal to 2; i wireless communication modules, which are used for transmitting patrol video information acquired by the mining robot in the running process and first-class state information of the mining robot to a mining control center, wherein i is a positive integer greater than or equal to 1; the N-i wireless communication modules are used for sending second-class state information to the exploitation control center, receiving control information for the exploitation robot sent by the exploitation control center, and feeding back response information corresponding to the control information to the exploitation control center; the controller is used for receiving the control information from the N-i wireless communication modules and controlling the robot main body to execute the action of matching the control information.
According to one embodiment of the present application, a communication protocol between any two wireless communication modules of the N wireless communication modules is different; or the N wireless communication modules comprise wireless communication modules which adopt the same communication protocol but different communication channels.
According to one embodiment of the present application, further comprising: the input end of the data processing component is connected with the N-i wireless communication modules, and the output end of the data processing component is connected with the controller; the data processing component is used for receiving the control information from the N-i wireless communication modules, carrying out reconstruction processing on the control information and sending the control information after the reconstruction processing to the controller.
According to one embodiment of the present application, the data processing component is further configured to extract a time stamp and an validity period of the control information, identify expired control information from the received control information according to the time stamp and the validity period, and filter the expired control information.
According to an embodiment of the present application, the data processing component is further configured to extract a sequence number and/or a timestamp of the control information, identify duplicate control information from the received control information according to the sequence number and/or the timestamp, and perform deduplication processing on the duplicate control information.
According to an embodiment of the present application, the data processing component is further configured to identify, according to the sequence number, control information with consecutive sequence numbers from the received control information, and perform a splicing process on adjacent control signals with consecutive sequence numbers.
According to one embodiment of the present application, further comprising: the switch is connected with the at least one wireless communication module and the image acquisition device.
According to one embodiment of the present application, at least one of the N wireless communication modules adopts a WiFi communication protocol, and the remaining wireless communication modules adopt a wireless communication protocol different from the WiFi communication protocol.
The communication system of the mining robot comprises a robot main body, a controller and a communication assembly. Optionally, the inspection video information and the first-class state information of the mining robot can be transmitted to the mining control center through i wireless communication modules in the communication assembly, the second-class state information is transmitted to the mining control center through N-i wireless communication modules, the control information of the mining robot transmitted by the mining control center is received, the response information corresponding to the control information is fed back to the mining control center, and the robot main body is controlled to execute the action of matching the control information, so that the inspection of the mining robot on the fully-mechanized mining working surface and the remote control of the mining robot by an operator are realized. Therefore, the system can receive and send information in parallel through multiple channels, redundant communication is realized, the risk of blocking and even out of control in the operation process of the mining robot caused by information transmission delay is avoided, the effectiveness and reliability in the control communication process of the mining robot are ensured, and the operation efficiency of the mining robot is improved.
To achieve the above object, an embodiment of a second aspect of the present application provides a communication system of a fully mechanized coal mining face, the communication system of the fully mechanized coal mining face including: n wireless access devices arranged on the fully mechanized mining face; the switch is respectively connected with the exploitation control center and the N wireless access devices; the exploitation control center is used for receiving inspection video information acquired by the exploitation robot in the travelling process and first-class state information of the exploitation robot through i wireless communication modules in the N wireless access devices, receiving second-class state information of the exploitation robot through N-i wireless communication modules, sending control information to the exploitation robot, and receiving response information corresponding to the control information and fed back by the exploitation robot; wherein i is a positive integer greater than or equal to 1, and N is a positive integer greater than or equal to 2.
According to one embodiment of the present application, further comprising: the data processing module is respectively connected with the switch and the exploitation control center; the data processing module is used for receiving information from the N wireless communication modules, carrying out reconstruction processing on the received information and sending the information after the reconstruction processing to the mining control center.
According to the communication system of the fully-mechanized coal mining face, which is provided by the embodiment of the second aspect of the application, the N wireless access devices, the mining control center and the switch are arranged on the fully-mechanized coal mining face, so that the fully-mechanized coal mining face can take Ethernet as a support to realize communication with the mining robot. Further, by setting the data processing terminal, the received confirmation information or state information can be subjected to reconstruction processing such as filtering processing, deduplication processing, splicing processing and the like, so that the timeliness and reliability of the information are improved, and the effectiveness and reliability of the fully-mechanized mining face in the control communication process are further ensured.
To achieve the above object, an embodiment of a third aspect of the present application provides a communication system suitable for intelligent mining, including: a communication system of a mining robot as provided by an embodiment of a first aspect of the application, and a communication system of a fully mechanized mining face as provided by an embodiment of a second aspect of the application.
According to the communication system suitable for intelligent exploitation, which is provided by the embodiment of the third aspect of the application, the communication system comprises the communication system of the exploitation robot and the communication system of the fully-mechanized exploitation working face, the patrol of the fully-mechanized exploitation working face by the exploitation robot, the remote control of the exploitation robot by an operator and the communication of the fully-mechanized exploitation working face and the exploitation robot are realized, the risk of blocking and even out of control in the operation process of the exploitation robot caused by information transmission delay is avoided, the effectiveness and the reliability in the communication process of intelligent exploitation control are ensured, and the intelligent exploitation efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of a communication system of a mining robot in accordance with one embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a communication system of a mining robot in accordance with another embodiment of the present disclosure;
FIG. 3 is a schematic structural view of a communication system of a mining robot of yet another embodiment disclosed herein;
FIG. 4 is a schematic structural view of a communication system of a mining robot in accordance with yet another embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a communication network of one embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a communication system for a fully mechanized face according to one embodiment of the present disclosure;
FIG. 7 is a schematic illustration of the placement of wireless access devices for a fully mechanized face according to one embodiment of the disclosure;
FIG. 8 is a schematic structural view of a communication system of a fully mechanized face according to yet another embodiment of the present disclosure;
fig. 9 is a schematic diagram of a communication system suitable for intelligent mining in accordance with one embodiment of the present disclosure.
In the figure:
100-communication system of mining robot; 200-communication system of fully mechanized coal mining face; 300-a communication system suitable for intelligent mining; 10-a robot body; 20-a controller; 30-a communication component; 40-a mining control center; 50-a data processing component; 60-exchanger; 70-an image acquisition device; 80-positioning assembly; 90-data processing terminal.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
A communication system of a mining robot according to an embodiment of the present application is described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a communication system of a mining robot according to an embodiment of the present disclosure.
As shown in fig. 1, a communication system 100 of the mining robot in the present embodiment includes: a robot body 10, a controller 20, and a communication assembly 30.
The robot body 10 can perform operations on a comprehensive mechanized mining (fully mechanized mining) working surface, and is used for inspecting the mining condition of the fully mechanized mining working surface so as to realize visual, intelligent and automatic mining on the fully mechanized mining working surface.
And a controller 20 connected to the communication module 30 for receiving control information from the communication module 30 and controlling the robot body 10 to perform an action of matching the control information.
The control information may be set according to actual situations. For example, in order to realize the basic operation of the mining robot on the fully-mechanized mining face, control information can be set as information such as advancing, retreating, accelerating, decelerating, stopping and the like; for example, in order to ensure safety during the mining process and avoid explosion accidents caused by open fire on the fully mechanized mining face, control information such as gas overrun shutdown power failure can be set.
The communication component 30 is configured to wirelessly communicate with the mining control center 40 to transmit the inspection video information collected by the mining robot during the traveling process and the first-type state information of the mining robot to the mining control center 40, and to transmit the second-type state information to the mining control center 40.
The first type of state information may be any state information with low time-efficiency requirement, for example, in order to ensure that the mining robot can continuously and uninterruptedly collect the working condition of the fully-mechanized mining face, the first type of state information may be set to include battery power information; for another example, to enable periodic maintenance of the mining robot, a first type of status information may be set to include run length information. In summary, the information such as the battery power and the running time are all state information which does not have abrupt change, does not need to be detected in real time, and can be detected according to a preset time interval, namely the first type of state information.
The second type of state information may be any state information with higher timeliness requirement, for example, in order to avoid explosion accidents on a fully-mechanized mining working surface caused by overhigh gas content of the mining robot, the second type of state information may be set to include gas content information; for another example, to ensure that the mining robot can stop working or travel in an emergency, avoiding damage to the mining robot, it is necessary to monitor the emergency stop and lock state of the mining robot in real time, and to enable emergency braking of the mining robot in the emergency state, so that the second type of state information may be set to include the emergency stop and lock information of the mining robot. In summary, the key information such as gas content, emergency stop and locking, and other state information which may form a large potential safety hazard to the mining process and needs to be detected in real time are the second type of state information.
The communication component 30 is further configured to receive control information for the mining robot sent by the mining control center 40, and feed back response information corresponding to the control information to the mining control center 40.
In this embodiment, after the communication component 30 receives the control information for the mining robot sent by the mining control center 40, the response information corresponding to the control information may be fed back to the mining control center 40, so as to indicate that the control information sent by the mining control center 40 has been confirmed by the communication component 30 to be received without errors.
The response information corresponding to the control information may be set according to the actual situation. For example, acknowledgement information corresponding to the control information may be set as acknowledgement character/acknowledgement frame (Acknowledge Character, abbreviated ACK).
In the embodiment of the present application, the communication component 30 includes N wireless communication modules, where N is a positive integer greater than or equal to 2.
Note that, the communication module 30 includes at least 2 wireless communication modules, and in this application, specific types of wireless communication modules included in the communication module 30 are not limited, and may be set according to actual situations.
As one possible implementation, the communication protocol between any two wireless communication modules of the N wireless communication modules is different. For example, the communication module 30 may be configured to include 4 wireless communication modules that use a wireless broadband (WiFi) communication protocol, a zigbee (zigbee) communication protocol, an Ultra Wide Band (UWB) communication protocol, and a LoRa (LoRa) communication protocol. The above communication protocols are merely examples and are not intended to be limiting of the present application.
As another possible implementation, the N wireless communication modules include wireless communication modules that use the same communication protocol but different communication channels. For example, the zigbee communication protocol has 16 radio communication channels in the 2.4G frequency band, the number starts from 11, and the N radio communication modules may include 16 radio communication modules that all use the zigbee communication protocol, but the 16 radio communication modules each use 16 radio communication channels under the zigbee communication protocol. Among the N wireless communication modules, 12 wireless communication modules may all use the zigbee communication protocol, but the 12 wireless communication modules respectively use 16 wireless communication channels under the zigbee communication protocol. That is, all wireless communication channels under the same type of communication protocol may be fully occupied or may be partially occupied. That is, the communication protocols of the N wireless communication modules may be the same or different, but the frequency bands occupied by the N wireless communication modules are different. It should be noted that, in order to ensure that the communication component 30 transmits information to the mining control center 40, and that the reliability in the process that the communication component 30 receives the information transmitted by the mining control center 40, the inspection of the fully-mechanized mining face by the mining robot and the remote control of the mining robot by the operator are realized.
Alternatively, the inspection video information collected by the mining robot during traveling and the first type of state information of the mining robot may be transmitted to the mining control center 40 through i wireless communication modules, where i is a positive integer greater than or equal to 1.
The number of wireless communication modules for transmitting information to the mining control center 40 is smaller than the sum of the numbers of wireless communication modules in the communication module 30, and the type of wireless communication modules for transmitting information to the mining control center 40 may be set according to actual situations, for example, 1 wireless communication module, 2 wireless communication modules, and the like.
Further, the second type of status information may be sent to the mining control center through the N-i wireless communication modules, and the control information for the mining robot sent by the mining control center 40 may be received, and the response information corresponding to the control information may be fed back to the mining control center.
For example, the communication component 30 includes 4 wireless communication modules including a wireless communication module employing a WiFi communication protocol, a wireless communication module employing a zigbee communication protocol, a wireless communication module employing a UWB communication protocol, and a wireless communication module employing a LoRa communication protocol. Alternatively, the patrol video information collected by the mining robot during the traveling process and the first type of state information of the mining robot may be transmitted to the mining control center 40 through a WiFi wireless communication channel; the second type of status information is sent to the mining control center through the Zig-Bee wireless communication channel, the UWB wireless communication channel and the LoRa wireless communication channel, control information for the mining robot sent by the mining control center 40 is received, and response information corresponding to the control information is fed back to the mining control center.
In order to further improve the effectiveness and reliability of the mining robot in the control communication process, at least 2 wireless communication modules may be used to transmit the inspection video information collected by the mining robot in the travelling process and the first-type state information of the mining robot to the mining control center 40, so as to realize redundant transmission of the inspection video information and the first-type state information, and improve the reliability of information transmission.
For example, the communication component 30 includes 4 wireless communication modules including a wireless communication module employing a WiFi communication protocol, a wireless communication module employing a zigbee communication protocol, a wireless communication module employing a UWB communication protocol, and a wireless communication module employing a LoRa communication protocol. Alternatively, the patrol video information collected by the mining robot in the travelling process can be transmitted to the mining control center 40 through a WiFi wireless communication channel, and the first type of state information of the mining robot is transmitted to the mining control center 40 through a zigbee wireless communication channel; the second type of status information is sent to the mining control center via the UWB wireless communication channel and the LoRa wireless communication channel, and control information for the mining robot sent by the mining control center 40 is received, and response information corresponding to the control information is fed back to the mining control center.
It should be noted that the WiFi communication protocol has 13 wireless communication channels, the Zig-Bee communication protocol has 16 wireless communication channels, the LoRa has 8 wireless communication channels, and the UWB also has at least 4 wireless communication channels. In the application, a wireless communication channel under a WiFi communication protocol and a wireless communication channel under a Zig-Bee communication protocol can be utilized to transmit patrol video information and first-class state information; and transmitting the second type of state information by using one wireless communication channel under the LoRa communication protocol and one wireless communication channel under the UWB communication protocol, receiving the control information, and feeding back corresponding response information.
Thus, the communication system of the mining robot comprises a robot main body, a controller and a communication assembly. Optionally, the inspection video information and the first-class state information of the mining robot can be transmitted to the mining control center through i wireless communication modules in the communication assembly, the second-class state information is transmitted to the mining control center through N-i wireless communication modules, the control information of the mining robot transmitted by the mining control center is received, the response information corresponding to the control information is fed back to the mining control center, and the robot main body is controlled to execute the action of matching the control information, so that the inspection of the mining robot on the fully-mechanized mining working surface and the remote control of the mining robot by an operator are realized. Therefore, the system can receive and transmit information through multichannel parallel and multichannel redundant arrangement, the density of frequency and space domains is increased, the efficient utilization of time domains is realized, the risk of blocking and even out of control in the operation process of the mining robot due to information transmission delay is avoided, the effectiveness and reliability in the control communication process of the mining robot are ensured, and the operation efficiency of the mining robot is improved.
It should be noted that, the communication assembly includes N wireless communication modules, at least one of which adopts a WiFi equal-bandwidth communication protocol, and the rest of which adopts a wireless communication protocol different from the WiFi communication protocol. The wireless communication module, which adopts a WiFi communication protocol, is used to transmit the patrol video information and the first type of status information to the mining control center 40.
Further, in order to further improve the effectiveness and reliability of the mining robot in the control communication process, the remaining wireless communication modules can be further set to adopt different wireless communication protocols.
It should be noted that, when attempting to set the wireless communication protocol adopted by the remaining wireless communication modules, the Link Budget (Link Budget) of the wireless communication module adopting the different wireless communication protocols may be calculated, and the wireless communication protocol adopted by the remaining wireless communication modules may be determined according to the obtained Link Budget.
The link budget refers to a method for evaluating coverage capability of a wireless communication system by accounting all gains and attenuations in a transmitting end, a communication link, a propagation environment and a receiving end. Alternatively, the transmit power and the receive sensitivity of the wireless communication module using different wireless communication protocols may be obtained, and the transmit power and the receive sensitivity may be subtracted, so as to calculate the link budget.
For example, the transmit power and the receive sensitivity of the wireless communication module a using the wireless communication protocol a are 1w and-100 dbm, respectively, and it is known that the link budget of the wireless communication module a using the wireless communication protocol a is 130dbm.
Further, a wireless communication protocol meeting the communication requirements can be selected according to the link budget.
As one possible implementation, the obtained link budget may be compared with a preset link budget threshold, and a wireless communication protocol with a link budget greater than or equal to the link budget threshold is adopted as the communication protocol adopted by the wireless communication module.
The link budget threshold may be set according to practical situations, for example, the link budget threshold may be set to 135dbm of the underground medium-thickness fully-mechanized coal face.
As another possible implementation manner, all the obtained link budgets may be arranged in ascending order, and a wireless communication protocol with an order within a preset order range may be selected as the communication protocol adopted by the wireless communication module.
The preset sorting range may be set according to actual situations, for example, the preset sorting range may be set to be the first 5 bits.
In the application, the working frequency ranges of the wireless communication modules of different types are different, so that the application ranges of the wireless communication modules of different types do not generate an overlapping area, and the reliability of the wireless communication modules of different types in the control communication process is ensured.
Therefore, in the communication system of the mining robot, at least one wireless communication module of N wireless communication modules in the communication assembly adopts a WiFi communication protocol, and the rest wireless communication modules adopt wireless communication protocols different from the WiFi communication protocol. Therefore, the system can transmit the inspection video information and the first-class state information to the mining control center through the wireless communication module adopting the WiFi communication protocol, and transmit the second-class state information to the mining control center through the wireless communication module adopting the wireless communication protocol different from the WiFi communication protocol, and receive the control information aiming at the mining robot and transmitted by the mining control center, and feed back the response information corresponding to the control information to the mining control center, so that redundant communication is realized, the risks of blocking, blocking and even out of control in the operation process of the mining robot caused by information transmission delay are avoided, the effectiveness and the reliability in the control communication process of the mining robot are ensured, and the operation efficiency of the mining robot is improved. Further, the information transmission is carried out by selecting different types of communication modules, so that the aims of expanding the coverage frequency range of the communication system of the mining robot and improving the anti-interference capability are fulfilled according to the characteristic that the working frequency difference of the different types of communication modules is larger.
It should be noted that, because the fully-mechanized coal mining face is a long and narrow area partly wrapped by metal, the length can reach 300 meters, the width of the fully-mechanized coal mining face is only 2-3 meters, the height is only less than one meter, and the fully-mechanized coal mining face is uneven and undulates up and down, a plurality of wireless access devices are usually deployed on the fully-mechanized coal mining face so as to realize information transmission capable of covering the whole fully-mechanized coal mining face. However, since the plurality of wireless access units can transmit control information simultaneously, the controller 20 may receive the control information transmitted by the plurality of wireless access units.
Thus, in some embodiments, as shown in fig. 2, the communication system 100 of the mining robot further includes: a data processing component 50.
The data processing component 50 is configured to receive control information from the N-i wireless communication modules, perform reconstruction processing on the control information, and send the control information after the reconstruction processing to the controller 20. Wherein the input end of the data processing assembly 50 is connected with the N-i wireless communication modules, and the output end is connected with the controller 20.
Alternatively, the data processing assembly 50 may communicate with N-i wireless communication modules in the form of an industrial field bus (Fieldbus) or the like. The specific type of the industrial Fieldbus is not limited in this application, and may be set according to actual situations, for example, the industrial Fieldbus may be set as an industrial bus such as a foundation (Foudation Fieldbus, abbreviated as FF) Fieldbus, a local operation network (Local Operating Network Works, abbreviated as LonWorks) Fieldbus, and a Process (Process Fieldbus).
The control information for the mining robot transmitted from the mining control center 40 to the N-i wireless communication modules includes information for authenticating the control information, such as a time stamp (time stamp), a validity period, and a serial number. Accordingly, after receiving the control information, the N-i wireless communication modules send the control information to the data processing component 50, and the data processing component 50 extracts the time stamp, the validity period and the sequence number from the control information, and performs reconstruction processing on the control information according to the time stamp, the validity period and the sequence number.
Alternatively, the data processing component 50 may extract a time stamp and a validity period of the control information, identify expired control information from the received control information based on the time stamp and the validity period, and filter the expired control information.
For example, the Zig-Bee wireless communication module, the UWB wireless communication module and the LoRa wireless communication module are N-i wireless communication modules for receiving control information, and the time stamp of the control information extracted by the data processing component 50 is Sign (m, T) and the validity period T. Where m is data obtained by Hash (Hash) operation, and t is transmission time of control information. From Sign (m, T) and T, it is identified from the received control information that the expired control information was received from the UWB wireless communication module, at which point the expired control information may be filtered out and the control information received from the zigbee wireless communication module and the LoRa wireless communication module may be retained.
Further, the data processing component 50 may extract a sequence number and/or a time stamp of the control information, identify duplicate control information from the received control information according to the sequence number and/or the time stamp, and perform deduplication processing on the duplicate control information.
For example, the Zig-Bee wireless communication module, the UWB wireless communication module and the LoRa wireless communication module are N-i wireless communication modules for receiving control information, and the sequence numbers of the control information extracted by the data processing component 50 are A, A and B, respectively, and at this time, it is identified that the control information sent by the Zig-Bee wireless communication module and the UWB wireless communication module is repetitive, then the control information sent by any channel of the Zig-Bee wireless communication module and the UWB wireless communication module can be reserved, and the repetitive control information sent by the remaining channel can be removed.
Also for example, the Zig-Bee wireless communication module, the UWB wireless communication module and the LoRa wireless communication module are N-i wireless communication modules for receiving control information, and the time stamps of the control information extracted by the data processing assembly 50 are Sign (m 1 ，t 1 )、Sign(m 1 ，t 1 ) Sum Sign (m) 2 ，t 2 ) At this time, the control information sent by the Zig-Bee wireless communication module and the UWB wireless communication module is identified to be repeated, so that the control information sent by any channel of the Zig-Bee wireless communication module and the UWB wireless communication module can be reserved, and the repeated control information sent by the remaining channel can be removed.
For another example, the Zig-Bee wireless communication module, the UWB wireless communication module and the LoRa wireless communication module are N-i wireless communication modules for receiving the control information, and the sequence numbers of the control information extracted by the data processing component 50 are A, A and B respectively, at this time, the control information sent by the UWB wireless communication module can be reserved, and the repeated control information sent by the Zig-Bee wireless communication module can be removed. Further, the time stamps of the control information transmitted from the UWB wireless communication module and the LoRa wireless communication module extracted by the data processing component 50 are Sign (m 1 ，t 1 ) Sum Sign (m) 1 ，t 1 ) At this time, the control information transmitted in the UWB wireless communication module may be reserved, and the repeated control information transmitted by the LoRa wireless communication module may be removed.
When attempting to identify duplicate control information from received control information according to a sequence number and a time stamp and performing duplicate removal processing, the present application does not limit the identification sequence, and may identify according to the sequence number and identify according to the time stamp; the identification may be performed based on the time stamp and the sequence number.
Further, the data processing component 50 may identify control information with consecutive sequence numbers from the received control information according to the sequence numbers, and perform splicing processing on adjacent control signals with consecutive sequence numbers.
For example, the Zig-Bee wireless communication module, the UWB wireless communication module and the LoRa wireless communication module are N-i wireless communication modules for receiving control information, and the control information extracted by the data processing assembly 50 has a sequence number A, C, D. At this time, adjacent control signals having consecutive sequence numbers received from the UWB wireless communication module and the LoRa wireless communication module may be subjected to the concatenation processing.
In this case, the data processing component may perform reconstruction processing and then send the control information after the reconstruction processing to the controller, so as to ensure that the robot main body can perform correct and reliable actions.
Therefore, the communication system of the mining robot is provided with the data processing assembly, receives the control information from the N-i wireless communication modules, carries out the reconstruction processing such as filtering processing, deduplication processing and splicing processing on the control information, and then sends the control information after the reconstruction processing to the controller, so that the robot main body is prevented from executing actions matched with the outdated and repeated control information, the timeliness and reliability of the control information are improved, the effectiveness and reliability in the control communication process of the mining robot are further ensured, and the operation efficiency of the mining robot is improved.
In some embodiments, as shown in fig. 3, the communication system 100 of the mining robot further includes: an image acquisition device 70. Wherein i wireless communication modules and image capture device 70 are respectively connected to switch 60.
The switch 60 may send the patrol video information of the fully-mechanized mining face acquired by the image acquisition device 70 to the mining control center 40 through the i-type wireless communication module. Accordingly, the mining control center 40 is provided with a communication component, and the communication component can receive the inspection video information sent by the switch 60, so as to display the inspection video information for the operator of the mining control center 40 to check.
It should be noted that, since at least one image capturing device 70 is provided in the communication system 100 of the mining robot, the switch 60 may be connected to a plurality of image capturing devices 70 at the same time, so that the plurality of image capturing devices 70 can perform collision-free inspection video information transmission.
From this, the communication system of mining robot that this application provided, through setting up switch and image acquisition device, the inspection video information of the comprehensive face of adopting that gathers with image acquisition device sends to the exploitation control center, has ensured the timeliness of inspection video information transmission in-process to make exploitation control center's operating personnel monitor the condition of comprehensive face in real time, simultaneously, can also carry out further optimization to the operation process of mining robot through the monitoring record of inquiry storage, further promoted mining robot's operating efficiency.
It should be noted that, since the fully mechanized mining face is an up-down and long and narrow area, in order to further ensure reliability and effectiveness in the process of controlling communication, each wireless communication module in the communication assembly 30 includes M wireless communication units, and the installation positions of the M wireless communication units on the mining robot are different. Wherein M is a positive integer greater than or equal to 1.
The specific number and the mounting position of the wireless communication units on the mining robot are not limited, and the wireless communication units can be set according to actual situations. For example, one wireless communication unit may be provided in front of, behind, left of, and right of the mining robot, and four wireless communication units 1 wireless communication modules may be provided. For example, one wireless communication unit may be provided in front of and behind the mining robot, two wireless communication units may be provided in the left and right sides, and 1 wireless communication module may be provided by six wireless communication units.
In this application, the operating frequency bands of M wireless communication units allowed to belong to the same wireless communication module in different directions are the same.
From this, the communication system of mining robot that this application provided sets up M wireless communication unit in every wireless communication module among communication module, and the mounted position of M wireless communication unit on mining robot is different, can further ensure reliability and the validity in the control communication process, has further promoted mining robot's operating efficiency simultaneously.
It should be noted that, since a plurality of different types of wireless access devices are disposed in the fully mechanized mining face, in order to ensure that the mining robot can switch to the matched wireless access device in the working process, as shown in fig. 4, the communication system 100 of the mining robot provided in the present application further includes: positioning assembly 80.
And the positioning component 80 is connected with the controller 20 and is used for positioning the mining robot, acquiring the position information of the mining robot and sending the position information to the controller 20. Further, the controller 20 may determine that each wireless communication module is to be accessed to the target wireless access device according to the positioning information, and control each wireless communication module to switch to the corresponding target wireless access device.
Alternatively, the target wireless access device may be the wireless access device closest to the mining robot within coverage of the communication information.
For example, three wireless access devices A, B, C are provided near the mining robot, and the mining robot is positioned by the positioning unit 80 to obtain the position information of the mining robot and send the position information to the controller 20. Further, the controller 20 may select, as the target wireless access device, the wireless access device C closest to the mining robot within the communication coverage area according to the positioning information, and control each wireless communication module to switch to the wireless access device C.
The specific positioning manner of the positioning assembly 80 is not limited in this application, and may be set according to actual situations. Alternatively, the driving mileage of the mining robot can be collected through a distance measuring device arranged in the positioning assembly 80, and specific position information of the mining robot on the fully-mechanized mining face is determined according to the driving mileage; alternatively, the current specific position information of the mining robot may be directly acquired by a positioning device provided in the positioning assembly 80.
Therefore, the communication system of the mining robot is used for positioning the mining robot by additionally arranging the positioning assembly, acquiring the position information of the mining robot and sending the position information to the controller. Further, the controller can determine that each wireless communication module is to be connected to the target wireless access device according to the positioning information, and control each wireless communication module to be switched to the corresponding target wireless access device, so that the mining robot can be switched to the matched wireless access device in the operation process, the reliability and the effectiveness in the communication process can be further ensured, and meanwhile, the operation efficiency of the mining robot is further improved.
In practical application, the communication system of the mining robot according to the present application can build a communication network as shown in fig. 5. The communication system of the 1 mining robot corresponds to at least 1 fully-mechanized mining face, the communication system of the at least 1 mining robot forms a local area network with a base station in an area where the fully-mechanized mining face is located, and the at least 1 base station forms a link with a mining control center through the communication network and is finally connected to at least 1 terminal. The communication network may be a network constructed by an operator such as a mobile network.
The terminal may be a mobile device or a computer. The terminal can monitor the condition of the fully mechanized coal mining face, so that operators of a mining control center and related personnel in different places can timely know the operation progress of the mining robot.
The communication system of the mining robot can feed back the condition of the fully-mechanized mining face to the terminal through the communication component.
Fig. 6 is a schematic structural diagram of a communication system of a fully mechanized face according to one embodiment of the present disclosure.
As shown in fig. 6, the communication system 200 of the fully mechanized coal mining face in the present embodiment includes: n wireless access points, a production control center 40, and a switch 60.
The mining control center 40 is configured to receive, through i wireless communication modules in the N wireless access devices, inspection video information collected by the mining robot in the traveling process and first-class state information of the mining robot, receive second-class state information of the mining robot through N-i wireless communication modules, send control information to the mining robot, and receive response information corresponding to the control information and fed back by the mining robot; wherein i is a positive integer greater than or equal to 1, and N is a positive integer greater than or equal to 2.
Optionally, N wireless access devices are arranged on the fully mechanized mining face at intervals and connected with the WiFi access device and/or the rest access devices so as to prolong the communication distance. Wherein, because the communication coverage area of the WiFi access device is smaller than that of the rest access devices, the WiFi access device is distributed more densely than the rest access device. The specific setting mode of the access device can be set according to the actual situation, as a possible implementation mode, as shown in fig. 7, 5 comprehensive access devices are arranged on the fully mechanized coal mining face, and are respectively connected with the WiFi access device and/or the rest access devices.
Further, the last integrated access device arranged on the fully mechanized mining face is connected with a switch 60, and then the mining control center 40 is accessed through the switch 60 based on the Ethernet. The mining control center 40 is provided with a display terminal and a control component, and then sends a display instruction to the display terminal through the control component so as to control the display terminal to display the condition of the fully-mechanized mining face, so that the fully-mechanized mining face can be supported by Ethernet, and communication with the mining robot is realized.
In some embodiments, as shown in fig. 8, the communication system 200 of the fully-mechanized coal mining face proposed in the present application further includes: a data processing module 90.
The data processing module 90 is connected to the switch 60 and the mining control center 40, and is configured to receive information from the N wireless communication modules, perform reconstruction processing on the received information, and send the information after the reconstruction processing to the mining control center 40.
Alternatively, the data processing module 90 may receive information from the N wireless communication modules, extract a time stamp, a validity period, and a sequence number from the received information, respectively identify expiration information from the received information according to the time stamp, the validity period, and the sequence number, and filter the expiration control information; identifying repeated information from the received information, and performing de-duplication processing on the repeated information; and identifying the information with continuous serial numbers from the received information, and performing splicing processing on adjacent messages with continuous serial numbers. Wherein the received information includes a first type of status information, a second type of status information, and acknowledgement information.
From this, the communication system of fully mechanized coal mining face that this application provided sets up N wireless access ware, exploitation control center and switch through fully mechanized coal mining face for fully mechanized coal mining face can regard Ethernet as the support, realizes the communication with exploitation robot. Further, by setting the data processing terminal, the received information can be subjected to reconstruction processing such as filtering processing, deduplication processing and splicing processing, so that timeliness and reliability of the information are improved, and effectiveness and reliability in the process of controlling communication of the fully-mechanized mining face are further ensured. Fig. 9 is a schematic diagram of a communication system 300 suitable for intelligent mining in accordance with one embodiment of the present disclosure.
As shown in fig. 9, a communication system 300 suitable for intelligent mining in the present embodiment includes: communication system 100 of the mining robot and communication system 200 of the fully mechanized mining face.
From this, communication system suitable for intelligent exploitation that this application provided, including the communication system of exploitation robot and combine the communication system of adopting the working face, can realize that exploitation robot to combine to be surveyed, operating personnel to exploitation robot's remote control to combine the communication of working face and exploitation robot, avoided leading to the card of exploitation robot operation in-process because of information transmission delay, even out of control risk, ensured the validity and the reliability of intelligent exploitation control communication in-process, promoted intelligent exploitation efficiency.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (5)

1. A communication system for a mining robot, comprising:
The robot comprises a robot main body, a controller, a data processing assembly and a communication assembly, wherein the controller is connected with the communication assembly, the communication assembly comprises N wireless communication modules, and N is a positive integer greater than or equal to 2;
the system comprises i wireless communication modules, a mining control center and a wireless communication module, wherein the i wireless communication modules are used for transmitting inspection frequency information acquired by the mining robot in the travelling process and first-type state information of the mining robot to the mining control center, at least one wireless communication module in the i wireless communication modules adopts a WiFi communication protocol, the rest wireless communication modules adopt wireless communication protocols different from the WiFi communication protocol, when the wireless communication protocols adopted by the rest wireless communication modules are set, the link budget of the wireless communication modules adopting different wireless communication protocols is calculated, the wireless communication protocol adopted by the rest wireless communication modules is determined according to the link budget, and i is a positive integer greater than or equal to 1;
n-i wireless communication modules are used for sending second-type state information to the exploitation control center, receiving control information for the exploitation robot sent by the exploitation control center, and feeding back response information corresponding to the control information to the exploitation control center, wherein the number of the wireless communication modules for transmitting information to the exploitation control center is smaller than N;
The input end of the data processing component is connected with the N-i wireless communication modules, the output end of the data processing component is connected with the controller, the data processing component is used for receiving the control information from the N-i wireless communication modules, carrying out reconstruction processing on the control information, and sending the control information after the reconstruction processing to the controller, wherein the reconstruction processing on the control information comprises the following steps: the data processing component extracts the sequence number of the control information, identifies repeated control information from the received control information according to the sequence number, and performs de-duplication processing on the control information according to the repeated control information;
the data processing component is further used for identifying control information with continuous sequence numbers from the received control information according to the sequence numbers and performing splicing processing on adjacent control signals with continuous sequence numbers;
the controller is used for receiving the control information from the N-i wireless communication modules and controlling the robot main body to execute the action of matching the control information.
2. The mining robot communication system of claim 1, wherein a communication protocol between any two of the N wireless communication modules is different; or the N wireless communication modules comprise wireless communication modules which adopt the same communication protocol but different communication channels.
3. The communication system of the mining robot according to claim 1 or 2, characterized in that the reconstruction processing of the control information further includes: the data processing component extracts the time stamp and the effective period of the control information, identifies out-of-date control information from the received control information according to the time stamp and the effective period, and filters the out-of-date control information.
4. A communication system for a fully mechanized coal mining face adapted for use in a communication system for a mining robot as claimed in any one of claims 1 to 3, comprising:
n wireless access devices arranged on the fully mechanized mining face;
the switch is respectively connected with the exploitation control center, the data processing assembly and the N wireless access devices;
the exploitation control center is used for receiving the inspection video information acquired by the exploitation robot in the travelling process and the first-class state information of the exploitation robot through the i wireless communication modules in the N wireless access devices, receiving the second-class state information of the exploitation robot through the N-i wireless communication modules, sending control information to the exploitation robot, and receiving response information corresponding to the control information and fed back by the exploitation robot.
5. A communication system adapted for intelligent mining, comprising:
a communication system of a mining robot as claimed in any one of claims 1-3, and a communication system of a fully mechanized mining face as claimed in claim 4.
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