CN101392656B - Hydraulic support electrohydraulic control system and ad hoc network method thereof - Google Patents
Hydraulic support electrohydraulic control system and ad hoc network method thereof Download PDFInfo
- Publication number
- CN101392656B CN101392656B CN2007101951894A CN200710195189A CN101392656B CN 101392656 B CN101392656 B CN 101392656B CN 2007101951894 A CN2007101951894 A CN 2007101951894A CN 200710195189 A CN200710195189 A CN 200710195189A CN 101392656 B CN101392656 B CN 101392656B
- Authority
- CN
- China
- Prior art keywords
- node
- equipment
- communication
- routing node
- network
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses an electric liquid control system for a hydraulic support and a self-organizing network method. The system mainly comprises a primary device group H, a slave device group S, a power supply and communication medium group CI between primary devices, and a power supply and communication medium group CII between the primary devices and slave devices, wherein the primary devices are sequentially connected in series from the head to the tail without isolation devices, and the primary devices and at least partial slave devices form a communication network in a self-organizingnetwork mode to realize the communication of information; and each device which takes part in the network organization is taken as an independent network node to take part in the network organization, thereby realizing the self-organization, the automatic routing and the network self-management of a self-organizing network through the initialization process, the network establishment process, andautomatic data routing and network self-management processes by a self-organizing method, solving the problems that the isolation is needed, the equipment failure leads to the communication failure of the system and so on existing in the prior art of electric liquid control systems of hydraulic supports of comprehensive mining caving coal of coal mines, and improving the safety, the reliability, and the production efficiency of the system.
Description
Technical field
The present invention relates to the MANET constructive method of a kind of coal mine fully-mechanized mining caving roof coal hydraulic support electrohydraulic control system and this system.
Background technology
Hydraulic support electrohydraulic control system is in the domestic and international coal mining mechanization field, realizes the key technology equipment of fully-mechanized mining working high-yield and high-efficiency, can enhance productivity greatly and automaticity.The hydraulic support electrohydraulic control system of China's employing at present mainly relies on external import.External hydraulic support electrohydraulic control technology has developed into the ripe stage, and this system has obtained general application in a plurality of countries such as China, the U.S., Australia, Germany, Poland, Britain, France, Japan, Russia.At present on the international market, German DBT, U.S. JOY and German MARCO company product dominate.
Fig. 1 illustrates existing hydraulic support electrohydraulic control system implementation, main equipment with its under be connected by cable between the equipment, connect by cable between the main equipment, connect by xegregating unit between the different electrical power power supply unit, from equipment can be devices such as controller subsystem, valve body, sensor, master and slave equipment number can be any number among 0～n, wherein n is a natural number, the xegregating unit number can be any number among 0～k, wherein k is a natural number, and the cable of each equipment room by separately is unidirectional or transmitted in both directions is digital or analog information.Several modes that communicate to connect below main employing the between each equipment in the prior art in the hydraulic support electrohydraulic control system:
(1) based on the hydraulic support electrohydraulic control system of serial communication modes such as RS232, RS485, RS422:
Its characteristics for need from the information of equipment by affiliated main equipment could and other main equipment between exchange, adopt serial communication mode between the main equipment, need to use xegregating unit between the different electrical power power supply unit.Hydraulic support electrohydraulic control system based on this connected mode, there is following shortcoming: 1) when communication failure appears in a certain main equipment in the work plane, owing to realize information exchange from equipment by affiliated main equipment in this system, thereby cause this to be forced to stop from the information exchange between equipment and the miscellaneous equipment, thereby the communication failure that will cause entire working surface influences production efficiency and safety; 2) owing to need to communicate, increased the traffic of main equipment thus, reduced the real-time of system communication by affiliated main equipment from facility information; 3) owing to can only carry out the information transmission between the main equipment successively, realize that the information transmission of entire working surface is consuming time many, influence system real time; 4) need to use spacer assembly between the different electrical power power supply unit, increase system cost, also reduced system reliability.
(2) based on the hydraulic support electrohydraulic control system of CAN group-net communication mode:
Its characteristics participate in networking for can be used as node from equipment with main equipment, need between the different electrical power power supply unit to use xegregating unit, and node can exit network under the situation that does not influence other node.Hydraulic support electrohydraulic control system based on CAN group-net communication mode, have following shortcoming: 1) the CAN interstitial content is limited, if participate in networking as node from equipment, main equipment limited amount in then netting, reduce face length, greatly influence the production efficiency of work plane, if under the situation that does not influence production efficiency, need to adopt principal and subordinate's networking mode, but need to increase relaying or interface processing links, and then increase system cost; 2) if only main equipment participates in networking, still need can realization information transmit from equipment by main equipment under it, when the main equipment communication failure, it will be ineffective under normal situation still from equipment, influence system's production efficiency and safety, and increase the traffic of main equipment, cause potential safety hazard thereby influence real-time communication; 3) need to use spacer assembly between the different electrical power power supply unit, increase system cost, also reduced system reliability.
Summary of the invention
The present invention is intended to disclose a kind of hydraulic support electrohydraulic control system and ad hoc network method thereof, to overcome existing shortcoming in the above-mentioned prior art, provides the hydraulic support electrohydraulic control system of a high-yield and high-efficiency.
The invention provides a kind of hydraulic support electrohydraulic control system, described hydraulic support electrohydraulic control system comprises: by the main equipment group H that main equipment H1～Hn forms, any one the main equipment Hx among the main equipment group H comprises from equipment Sx1～Sxm
x, all has formed from device cluster S from equipment; Power supply between power supply between the main equipment and communication media group CI and the master and slave equipment and communication media group CII, wherein power supply between the main equipment and communication media group CI comprise the power supply and communication media CI1～CIn-1, any one main equipment Hx and its among the main equipment group H comprised from equipment Sx1～Sxm
xBetween respectively by the power supply and communication media CIIx1～CIIxm
xConnect, power supply between all master and slave equipment and communication media have been formed power supply and communication media group CII, wherein n, m
xBe natural number, x is arbitrary natural number of 1～n.Each main equipment affiliated from the equipment number can be identical also can be different, each main equipment affiliated from equipment can be valve control subset also can be such as stroke sensor, pressure sensor, infrared sensor or other minute control module.The head and the tail xegregating unit that need not connected in series successively between each main equipment.
Each main equipment reaches to small part from equipment and forms communication network realization information communication as network node in the MANET mode in communication, and respectively the subnetwork node is set to routing node at least.Have between the non-routing node of the routing node of routing function and the no routing function in this routing node communication range and constitute set membership, non-routing node by affiliated father node realize with other network nodes between communicate by letter, its father node indicates its communications status when non-routing node fault, and child node will rebulid set membership between each network node under it when the routing node fault.
Main equipment and realize in the MANET mode that from the communication between the equipment communication medium of its self-organized network communication can be undertaken by wired or wireless network to small part.When communication medium when being wired, the self-organized network communication of described control system is called based on wired self-organized network communication; When communication medium when being wireless, the self-organized network communication of described control system is called based on wireless self-organized network communication.Each main equipment is divided into based on wired main equipment with based on wireless main equipment according to the difference of self-organized network communication mode, networking from equipment according to the difference of self-organized network communication mode can be divided into based on wired networking from equipment and based on wireless networking from equipment.
For do not participate in networking from equipment, the invention provides a kind of non-networking from equipment, should comprise from equipment: non-networking be from equipment interface, master control and actuator part.Be sensor or divide control module (as the valve control etc.) from equipment, when non-networking when equipment is sensor device, master control and actuator partly comprise sensor and processor, when non-networking when equipment divides control module for the valve control, master control and actuator partly comprise processor, driving, valve body interface, valve body.Wherein, when non-networking was sensor device from equipment, if this apparatus output signal is simulation or switching signal, its master control and actuator part can not comprise processor.Non-networking is passed through main from equipment interface, power supply power supply between equipment and the communication media group CII and communication media with its under the non-networking of main equipment link to each other from equipment interface, this type of is main, comprise the electric energy transmission medium and only be used for the line of communicating by letter between master-slave equipment or do not have other line (when communicating by letter with wireless mode between master-slave equipment) or signal link (when serving as that simulation or switching signal are when transmitting between master-slave equipment) from the power supply between the equipment and communication media, master control and actuator part link to each other with the supply of realization electric energy and the transmission of communication or signal by internal wiring from equipment interface with non-networking, when non-networking when equipment is realized being connected with communication mode between the main equipment under with it, its communication mode can be SPI, UART, IIC, Bluetooth, the infrared communication mode that waits.
Main equipment of the present invention comprises: keyboard portion, display part, main control part and interface section, and its interface section comprises host device interface I1～I3, and non-networking is from equipment interface I41～I4a, and networking is from equipment interface I5 (a+1)～I5m
x, be used to realize being used to realize with other main equipment, from the physical connection between the equipment, the physical connection of communicating by letter, electrical energy transfer.Wherein host device interface I2 links to each other with the host device interface I3 of the right adjacent main equipment of this main equipment by the power supply between the main equipment and the power supply among the communication media group CI and communication media, and host device interface I3 links to each other with the host device interface I2 of the left adjacent main equipment of this main equipment by the power supply between the main equipment and the power supply among the communication media group CI and communication media; The non-networking of main equipment links to each other from equipment with the affiliated 1～a number non-networking of this main equipment respectively by the power supply power supply between the master and slave equipment and the communication media group CII and communication media from equipment interface I41～I4a; The networking of this main equipment is from equipment interface I5 (a+1)～I5m
xBy the power supply among power supply between the master and slave equipment and the communication media group CII and communication media respectively with the affiliated a+1～m of this main equipment
xNumber networking links to each other from equipment.
Networking of the present invention comprises from equipment: networking is from equipment interface, master control and actuator part.Be sensor or divide control module (as the valve control etc.) from equipment, when networking when equipment is sensor device, master control and actuator partly comprise sensor and processor, when networking when equipment divides control module for the valve control, master control and actuator partly comprise processor, driving, valve body interface, valve body.Networking from equipment interface by the power supply power supply between the master and slave equipment and the communication media group CI I and communication media and under it arbitrary networking of main equipment from equipment interface (I5 (a+1)～I5m
x) link to each other.
Power supply when communicating between the described main equipment and communication media group CI by wireless network and participate in power supply between the master and slave equipment of networking and communication media group CII in comprise power line and as the connecting line of wired self-organized network communication medium to small part power supply and communication media; Power supply when communicating between the described main equipment and communication media group CI by wireless network and participate in power supply between the master and slave equipment of networking and communication media group CII in only comprise power line to small part power supply and communication media.
On the other hand, the invention provides a kind of ad hoc network method of hydraulic support electrohydraulic control system, each participates in networking equipment and realizes self-organized network communication as isolated node with wireless or wired connection mode, and its ad hoc network method is mainly realized from managing three processes by initialization, network foundation, the automatic route of data and network.
In the initialization procedure of ad hoc network method, mainly realize the setting of routing node and non-routing node, address.
Set up in the process at the network of ad hoc network method, mainly realize set membership between each routing node and the non-routing node determine and routing node in the determining of neighbor table to determine the communication network topology.
At the automatic route of data and network in management process, the main transmission that realizes route discovery and data, and the realization routing node is to the monitoring of the communications status of other routing nodes in its child node and the neighbor table, non-routing node is to the monitoring of his father's node communication state, its father node indicates its communications status when non-routing node fault, child node will experience network again and set up process and rebulid set membership between each node with new communications network topology more under it when the routing node fault, guarantee can walk around transmitting in the communication network topology of malfunctioning node after renewal by automatic route data under the state of certain or some node failures.
Initialization procedure comprises the steps:
Each node is provided with fixing 64 unique normal addresses according to geographical position of living in, equipment master slave relation;
Each node is provided with node type, and one 16 short address, position is set for routing node.
Network is set up process and is comprised the steps:
Non-routing node sends the networking request data frame in its communication coverage;
Routing node receives data, and the data that receive are judged;
If routing node receives the networking request data frame, return networking request-reply Frame;
Routing node sends broadcast data frame;
Non-routing node receives data;
If non-routing node receives networking request-reply Frame, the good routing node of the nearly signal of chosen distance is as father node, sends to network to father node and confirms Frame, and preserve father node information, 16 short addresses of this node are set;
If non-routing node does not receive networking request-reply Frame, then continue in its coverage, to send the networking request data frame;
Routing node receives data, and the data that receive are judged;
Network to confirm Frame if routing node receives, this device node as child node, and is kept at its information in the neighbor table;
If routing node receives broadcast data frame, return the reply data frame of broadcast data frame;
If routing node receives the reply data frame of broadcast data frame, other routing node information in its communication coverage is kept in the neighbor table according to the reply data frame.
Automatic route of data and network comprise the steps: from management process
Non-routing node sends to the data of father node or other node as child node to father node, or sends network to father node and keep Frame;
Routing node receives data, and the data that receive are judged;
If routing node receives the Frame that child node sends, check the destination address of Frame:, then directly be transmitted to destination address to child node echo reply data and deal with data or with data if the destination address of Frame is own or in neighbor table; If the destination address of Frame be not oneself also not in neighbor table, then to child node echo reply data and preserve the data that receive, in communication coverage, send the route requests Frame;
If routing node receives the route requests Frame, detect the destination address of route:, then return the route replies Frame to sending to the less routing node of own route requests and hop count if the destination address of route requests is own or in neighbor table; If the destination address of route requests is not that oneself is not also in neighbor table, then check whether there has been the routing iinformation that points to the same target address, if had such routing iinformation then no longer transmitted route requests, if there is no such routing iinformation is then preserved the reverse route that routing iinformation set up to point to the routing node that sends to own route requests, with the jumping figure information in the route requests add 1 and other routing node in its communication coverage transmit route requests;
If routing node receives the route replies Frame, check whether oneself is first routing node that sends route requests: if oneself be not first routing node that sends route requests, then according to the reverse routing forwarding route replies Frame of setting up, and set up and point to the forward route that the route that sends to own route requests connects power supply; If oneself be first routing node that sends route requests, be established to the forward route of the routing node that sends to own route replies, and the data of preserving are sent to this routing node;
If routing node receives Frame, check the destination address of Frame:, then receive data or data are transmitted to the destination address node if the destination address of Frame is own or in neighbor table; If the destination address of Frame be not oneself also not in neighbor table, then transmit Frame to next routing node according to the forward route of setting up;
The communication of child node is kept or other any Frame if routing node receives, then child node communication is normal and return communication and keep reply data therewith, if do not receive that the communication of child node is kept or other any Frame, child node communication failure and preserve the communications status of this node therewith then;
Routing node sends communication to other routing node and keeps frame, and beginning regularly: the communication of other node is kept or other any Frame if routing node receives in timing, and is then normal with this node communication; If routing node is kept or other any Frame in the communication that does not repeatedly all receive node in regularly, node communication fault therewith then, and preserve the state of this routing node;
Non-routing node receives data, keeps reply data then communicates by letter normally with father node if receive network, does not keep reply data if repeatedly receive network in the timing, and then with the father node communication failure, this node recurrent network is set up process.
The ad hoc network method of a kind of hydraulic support electrohydraulic control system provided by the invention can be the realization of programming voluntarily, also can be have described self-organization of network, automatically route, network be from the application such as existing protocol stacks such as industrial Ethernet, ZigBee, power line carriers of the characteristics of management.
By hydraulic support electrohydraulic control system provided by the invention and ad hoc network method, respectively participate in networking equipment (comprise main equipment or from equipment) in the system and participate in the networking communication as isolated node, realize the automatic route of data, self-organization of network is from management, under the situation of a certain equipment or some devices communicating fault, can realize the automatic renewal of network topology, data can be transmitted in the network after renewal, it can't communicate from device data effectively to overcome in the prior art master-failure, master-failure causes the problem of face communication fault, the automatic route of data in ad hoc network method, the communication data of each equipment can transmit by different approaches, effectively solve data serial transmission in the prior art, need to transmit the low problem of real-time communication that causes from device data by main equipment, the communication of guaranteeing non-malfunctioning node is unimpeded, hydraulic support electrohydraulic control system compared with prior art provided by the invention need not spacer assembly, effectively reduce system cost, improve the safety and the reliability of system.
Description of drawings
Fig. 1 is the hydraulic support electrohydraulic control system physical connection structure chart of prior art;
Fig. 2 is a hydraulic support electrohydraulic control system physical connection structure chart of the present invention;
Fig. 3 is the main equipment structured flowchart that the present invention is based on wired MANET;
Fig. 4 be the present invention is based on wired MANET from the device structure block diagram, wherein participate in networking from equipment, be sensor or divide control module (as the valve control) from equipment;
Fig. 5 is the main equipment structured flowchart that the present invention is based on wireless self-networking;
Fig. 6 be the present invention is based on wireless self-networking from the device structure block diagram, wherein participate in networking from equipment, be sensor or divide control module (as the valve control) from equipment;
Fig. 7 be the present invention is based on MANET from the device structure block diagram, wherein do not participate in networking from equipment, be sensor or divide control module (as the valve control) from equipment;
Fig. 8 illustrates the networking of wireless self-networking method and automatic route, the network realization flow from management;
Fig. 9 is the physical connection schematic diagram of each node wireline communication network;
Figure 10 illustrate by main equipment H1～H7 and separately be the MANET network topological diagram that example is formed from equipment;
Figure 11 is illustrated in the new network topological diagram that routing node H4 communication failure is the formation of example;
In order to understand the present invention better, the invention will be further described below in conjunction with the drawings and specific embodiments.
The specific embodiment
Fig. 2 illustrates hydraulic support electrohydraulic control system provided by the invention, and this control system comprises the main equipment group H that is made up of main equipment H1～Hn, and any one the main equipment Hx among the main equipment group H comprises from equipment Sx1～Sxm
x, all has formed from device cluster S from equipment, wherein n, m
xBe natural number, x is arbitrary natural number of 1～n; This control system also is included in power supply and power supply between communication media group CI and the master and slave equipment and the communication media group CII between the main equipment, wherein power supply between the main equipment and communication media group CI comprise the power supply and communication media CI1～CIn-1, any one main equipment Hx and its among the main equipment group H comprised from equipment Sx1～Sxm
xBetween respectively by the power supply and communication media CIIx1～CIIxm
xConnect, power supply between all master and slave equipment and communication media have been formed power supply and communication media group CII, n, m
x, x implication the same.Realize the transmission of electric energy and the physical connection of communication by power supply and communication media group CI between the main equipment, main equipment with between the equipment by powering and the transmission of communication media group CII realization electric energy and the physical connection of communicating by letter.Wherein, each main equipment affiliated from the equipment number can be identical also can be different, each main equipment affiliated from equipment can be valve control subset also can be such as sensor device such as stroke sensor, pressure sensor, infrared sensor or other minute control module.Main equipment obtaining communication information or obtain user's operational order by keyboard, and to miscellaneous equipment (comprise main equipment and from equipment) sending controling instruction or information; Obtain environmental information or miscellaneous equipment (comprise main equipment and from equipment) information or control instruction from equipment, realize control or to miscellaneous equipment (comprise main equipment and from equipment) forwarding information or control instruction.
On the other hand, each is main in communication, realize the transmission of information and control instruction with the networking of MANET mode from equipment, can be divided into based on wired and according to the difference of MANET communication transmission medium based on wireless self-organized network communication mode, it is different whether to participate in its internal construction of networking as node from the equipment basis, its main equipment of difference according to MANET communication transmission medium, from equipment, main equipment and from power supply between the equipment and communication media, the power supply between the main equipment and the internal construction of communication media are different, thus main equipment are divided into: based on the main equipment of wired MANET, main equipment based on wireless self-networking; To be divided into from equipment: based on wired networking from equipment, based on wireless networking from equipment, non-networking from equipment.Internal construction to the master and slave equipment under the various situations, each power supply and communication media describes below:
It is the main equipment structured flowchart based on wired MANET of example that Fig. 3 illustrates with main equipment H2.Main equipment based on wired MANET mainly is made up of relevant portions such as interface section, main control part, display part, keyboards.The interface section mainly realizes with other main equipment, from the physical connection between the equipment, the physical connection of communicating by letter, electrical energy transfer, comprise in the interface section host device interface I1, host device interface I2, host device interface I3, non-networking from equipment interface I41～I4a, networking from equipment interface I5 (a+1)～I5m.Host device interface I2 and I3 link to each other with host device interface I2 with CI2 host device interface I3 adjacent with a left side respectively and right adjacent main equipment by power supply and communication media CI1, wherein power and communication media CI1 and CI2 in comprise the electric energy transmission line and as the order wire of wired self-organized network communication medium.Non-networking links to each other from equipment with non-networking by power supply and communication media CII21～CII2a respectively from equipment interface I41～I4a, wherein power and communication media CII21～CII2a in the communication that comprises the electric energy transmission line and only be used for master-slave equipment (as I
2C, UART, SPI or the like) line or analog signal line or switch signal line or do not have other line (when adopting radio communication between the master-slave equipment).Networking links to each other from equipment with networking by power supply and communication media C42 (a+1)～C42m respectively from equipment interface I5 (a+1)～I5m, wherein power and communication media CII2 (a+1)～CII2m in comprise the electric energy transmission line and as the order wire of wired self-organized network communication medium.Inside, interface section at main equipment, the electric energy transmission line of each equipment interface links to each other by internal wiring, host device interface I2, I3, networking links to each other by internal wiring from wired group-net communication line of equipment interface I5 (a+1)～I5m, host device interface I1 is by internal wiring IN1 and host device interface I2, I3, networking links to each other from power supply and the group-net communication of equipment interface I5 (a+1)～I5m, by internal wiring IN2 electric energy and group-net communication line are connected into main control part, and this main equipment is connected into network as network node, each non-networking is handled by the main control part that internal wiring directly inserts this main equipment from signal or the order wire of equipment interface I41～I4a.
Fig. 4 illustrate with from equipment S2 (a+1) be example based on wired MANET from the device structure block diagram, wherein participate in networking from equipment, be sensor or divide control module (as the valve control etc.) from equipment.This type of mainly partly is made up of from equipment interface, master control and actuator networking from equipment, be connected from equipment interface I5 (a+1) with the networking of main equipment H2 by power supply and communication media CII2 (a+1), power and communication media CII2 (a+1) in comprise power line and as the connecting line of wired self-organized network communication medium.When equipment is sensor, master control and actuator partly comprise processor and sensor, and sensor is used for Information Monitoring, and processor is used to realize data processing, control and protocol conversion.When equipment divides control module for the valve control, master control and actuator partly comprise processor, driving, valve body interface, valve body, processor is used to realize that protocol conversion, the communication information are resolved, valve body control, and master control and actuator part link to each other to realize the supply and the network communication transmission of Information of electric energy by internal wiring from equipment interface with networking.
It is the main equipment structured flowchart based on wireless self-networking of example that Fig. 5 illustrates with main equipment H2.Main equipment based on wireless self-networking mainly is made up of relevant portions such as interface section, main control part, display part, keyboards.The interface section is mainly realized and other main equipment, the physical connection between the equipment, electrical energy transfer, comprise in the interface section host device interface I1, host device interface I2, host device interface I3, non-networking from equipment interface I41～I4a, networking from equipment interface I5 (a+1)～I5m
2Host device interface I1 by antenna receiving-sending radio communication information and with this main equipment H2 as network node access to wireless communication network, host device interface I2 links to each other with host device interface I2 with CI2 host device interface I3 adjacent with a left side respectively and right adjacent main equipment by power supply and communication media CI1 with I3, wherein only comprises the electric energy transmission line among power supply and communication media CI1 and the CI2 to realize the transmission of electric energy.Non-networking links to each other from equipment with non-networking by power supply and communication media CII21～CII2a respectively from equipment interface I41～I4a, wherein power and communication media CII21～CII2a in the communication that comprises power line and only be used for master-slave equipment (as I
2C, UART, SPI or the like) line or analog signal line or switch signal line or do not have other line (when adopting radio communication between the master-slave equipment).Networking is from equipment interface I5 (a+1)～I5m
2Respectively by power supply and communication media CII2 (a+1)～CII2m
2Link to each other from equipment with networking, wherein power supply and communication media CII2 (a+1)～CII2m
2In only comprise the electric energy transmission line to realize the transmission of electric energy.In the inside, interface section of main equipment, the electric energy transmission line of total interface links to each other, master-slave equipment communication or analog signal line or the switch signal line access main equipment control section of non-networking from equipment interface.Host device interface I1 introduces electric energy by internal wiring IN1, and electric energy and wireless mode information transmitted is connected into the main equipment control section of this main equipment H2 by internal wiring IN2.
Fig. 6 illustrate with from equipment S2 (a+2) be example based on wireless self-networking from the device structure block diagram, wherein participate in networking from equipment, be sensor or divide control module (as the valve control etc.) from equipment.This type of mainly partly is made up of from device communication interface, master control and actuator wireless networking from equipment, networking by power supply and communication media CII2 (a+2) and main equipment is connected the realization electrical energy transfer from equipment interface I5 (a+2), by antenna with this networking from equipment S2 (a+2) as the network node access of radio network.Comprise the electric energy transmission line among power supply and the communication media CII2 (a+2) to realize electrical energy transfer.When equipment is sensor, master control and actuator partly comprise processor and sensor, and sensor is used for Information Monitoring, and processor is used to realize data processing, control and protocol conversion.When equipment divides control module for the valve control, master control and actuator partly comprise processor, driving, valve body interface, valve body, and processor is used to realize that protocol conversion, the communication information are resolved, valve body control.
Fig. 7 illustrate with from equipment S21 be example based on MANET from the device structure block diagram, wherein do not participate in networking from equipment, be sensor or divide control module (as the valve control etc.) from equipment.This type of mainly partly is made up of from equipment interface, master control and actuator non-networking from equipment, is connected from equipment interface I41 with the non-networking of main equipment by power supply and communication media CII21.Comprise the electric energy transmission line among power supply and the communication media CII21 and only be used for the line of communicating by letter between master-slave equipment do not have other line (when communicate by letter with wireless mode between master-slave equipment) or signal link (when between master-slave equipment serve as simulate or during the switching signal transmission).When equipment is sensor, master control and actuator partly comprise sensor and may comprise processor, and sensor is used for Information Monitoring, when master-slave equipment with communication mode (as I
2C, RS232, SPI, wireless or the like) when connecting, master control and actuator partly comprise processor and are used to realize that sensor signal conversion, data are handled, data transmit-receive; When master-slave equipment connected with analog signal or switching signal, master control and actuator part can not comprise processor, and the simulation of sensor output or switching signal can directly enter main equipment via internal wiring by power supply and communication media CII21.When equipment divides control module for the valve control, master control and actuator partly comprise processor, driving, valve body interface, valve body, and processor is used to realize data transmit-receive, data parsing, the realization of valve body control logic etc.
On the other hand, each networking equipment (comprising that networking main equipment and networking are from equipment) is formed communication network in the MANET mode and is realized information communication as network node.Network node can be divided into two kinds by function: a kind of here we are called routing node in order to have the device node of routing function, and another is the device node of no routing function, and here we are called non-routing node.Wherein, routing node and non-routing node are set membership, non-routing node can only be that father node is connected to network by routing node, and non-routing node can only carry out information exchange with the routing node under it, can only carry out information exchange by routing node between the non-routing node.Routing node can and its affiliated non-routing node be to carry out information exchange between child node, other routing node, routing node can participate in route discovery, information transmit, by connecting the coverage etc. that other node comes extended network.Each networking equipment (comprising that main equipment and networking are from equipment) can be set to routing node or non-routing node.
Fig. 8 illustrates the realization flow of hydraulic pressure electrohydraulic control system ad hoc network method, each participates in networking equipment and realizes self-organized network communication as isolated node with wireless or wired connection mode, sets up process, the automatic route of data and network are realized hydraulic support electrohydraulic control system from management process ad hoc network method by initialization procedure, network.
1) initialization procedure, comprise: according to the residing geographical position of each main equipment, each networking subordinate relation from equipment and each main equipment, for each node is provided with unique fixing 64 locations longways, all preserve the tabulation of location longways of whole network in each node, determining this device node residing geographical position in the entire working surface network, and one 16 short address is set for each routing node distribution.
2) network is set up process, comprise: because transmission medium is to the attenuation of signal, no matter be wired or wireless transmission means, each node all has the maximum distance of a transfer of data under the situation of not carrying out the data forwarding, thereby cause each node that a communication coverage is all arranged, each non-routing node sends one and is masked as the Frame that request adds network in its communication coverage, the routing node that receives this Frame will return a reply data frame that comprises 16 short addresses distributing to this non-routing node, when non-routing node receives the reply data of the request of networking, select a nearest routing node as its father node according to the signal of the reply data frame that receives, 16 short addresses of this node are set to the address of its father node appointment and preserve his father's nodal information, send the Frame that is masked as the affirmation that networks to father node, if non-routing node is not received the reply data of routing node after sending the request msg that networks, then continue to send the networking request msg, its father node receives behind the affirmation Frame of non-routing node this non-routing node as child node and it is long, information such as short address are kept in the neighbor table of oneself; Each routing node sends the Frame that is masked as the broadcasting data in its communication coverage, each routing node receives echo reply Frame behind this Frame, the reply data frame of the broadcasting data that each routing node basis receives adds other routing node information in its communication coverage and is kept in the neighbor table of oneself, thereby sets up its self-organized network communication network.
3) automatic route of data and network are from management process, comprise: when a non-routing node when the another one node sends data, because non-routing node can only and communicate between the routing node under it, the data that this non-routing node will send to other node send to its father node, its father node receives the data that child node sends, and whether the destination address of checking these data is own or in its neighbor table, if the destination address of finding these data is for oneself or in its neighbor table, then to child node echo reply data and handle these data and maybe these data directly are transmitted to the destination address child node, if finding the destination address of these data is not that oneself is not also in its neighbor table, then preserve and in its communication coverage, send the Frame that comprises destination address and be masked as route requests to child node echo reply data and with these data, other each routing node receives and checks that whether destination address is own or in its neighbor table after these route requests data in its coverage, if the destination address of the route requests that receives is not neither oneself is also in neighbor table, and there is not the routing iinformation that points to same destination address, then preserve such as the routing node address that sends to own route requests, destination address, routing iinformations such as jumping figure are to set up the reverse route of pointing to the routing node that sends to own route requests, and the jumping figure value of information is added a back other each routing node in its communication coverage transmit route requests, oneself is not also in its neighbor table and existed the routing iinformation that points to same destination address then no longer to transmit route requests if the routing node that receives route requests is found its destination address, if routing node receives and is checked through destination address behind the route requests Frame is own or in its neighbor table then return the route replies Frame to the routing node that sends to own route requests, receive the routing node of route replies if first sends the routing node of route requests, then set up the forward route of this routing node to the routing node that sends to own route replies, and data are directly sent to this routing node, if receive the routing node of route replies is not first routing node that sends route requests, the routing node that receives the route replies Frame according to before the reverse routing forwarding route replies Frame set up when transmitting route requests and preserve the information that sends the route replies data and point to the forward route that sends or be transmitted to the routing node of own route replies to set up, when first routing node that sends route requests receives route replies, the routing node information that preservation sends to own route replies data is established to the route of this node and the data of preserving is sent to this routing node, the routing node that receives data checks that whether the destination is own or in neighbor table, if then receive data or data directly be transmitted to child node, in its neighbor table, then do not transmit data to next routing node if not oneself according to the forward route of preserving yet, receive data and check destination address up to first routing node that sends route replies, if destination address is oneself then data is handled, if destination address is its child node then sends the data to child node.
The neighbor table of upgrading each routing node by network from the timely adjustment of management network topology under the situation of network node communication failure is unimpeded with the communication of guaranteeing network.Each non-routing node regularly sends to its father node and is masked as the Frame of network operation and begins timing, its father node receives echo reply data behind this Frame, each routing node sends to contiguous routing node and is masked as the Frame of network operation and begins timing, each routing node receives echo reply data behind network operation Frame that its contiguous routing node sends, when repeatedly receiving in the neighbor table network operation of a certain routing node in timing, routing node do not reply, during arbitrary type data frame such as data, think this routing node communication failure and in neighbor table, indicate its state, when the network that does not repeatedly receive its certain child node when routing node in timing is kept arbitrary type data frame such as Frame data, think this child node communication failure and in neighbor table, indicate its state, when the network that does not repeatedly receive its father node when non-routing node in timing is kept reply data or other arbitrary type data frame, think that his father's node communication fault need carry out the network topology adjustment, this non-routing node is set up process with recurrent network, promptly in its communication coverage, send the Frame that the request of being masked as adds network, the routing node that receives this Frame will return a reply data frame that comprises 16 short addresses distributing to this non-routing node, if non-route point selects a nearest routing node as its new father node according to the signal of the reply data frame that receives, 16 short addresses of this node are set to the address of its new father node appointment and preserve his father's nodal information, send the Frame that is masked as affirmation to new father node, its new father node is grown this non-routing node after receiving the confirmation Frame as new child node and with it, information such as short address are kept in the neighbor table of oneself.
Fig. 9 illustrates by main equipment H1～H7, the affiliated networking of main equipment H1 is from equipment S1 (a+1), S1 (a+2), the affiliated networking of main equipment H2 is from equipment S2 (a+1), S2 (a+2), the affiliated networking of main equipment H3 is from equipment S3 (a+1), S3 (a+2), the affiliated networking of main equipment H4 is from equipment S4 (a+1), S4 (a+2), the affiliated networking of main equipment H5 is from equipment S5 (a+1), S5 (a+2), the affiliated networking of main equipment H6 is from equipment S6 (a+1), S6 (a+2), the affiliated networking of main equipment H7 is from equipment S7 (a+1), the physical connection schematic diagram of each node in the network that S7 (a+2) forms, H1 wherein, S2 (a+2), H4, S5 (a+2), H7 is set to routing node, remains each node and is set to non-routing node.Cast aside the physical connection on the electrical energy transfer, for hydraulic support electrohydraulic control system based on wired MANET, main equipment H1～H7 is by the order wire among the internal wiring IN1, power supply between the main equipment and the order wire in the communication media link together the group-net communication of each main equipment, by the master, power supply between equipment and the order wire the communication media with main equipment with link together from equipment, thereby realize based on the order wire physical connection between arbitrary networking equipment in the hydraulic support electrohydraulic control system of wired MANET (comprising that main equipment and networking are from equipment).For hydraulic support electrohydraulic control system based on wireless self-networking, cast aside the physical connection on the electrical energy transfer, realize the physical connection of communication between each networking equipment (comprising that main equipment and networking are from equipment) with wireless mode.The network of information transmission connects and is called network topology here, network topology is different with the network that the physical connection of each equipment is formed, network topology reflects the relation of exchanges data between each device node, just can carry out exchanges data between the node that only is connected in the network topology and promptly communicate by letter.
After Figure 10 illustrates and sets up process by initialization and network, by main equipment H1～H7 and the MANET network topology of forming from equipment separately thereof, H1 wherein, H4, H7, S2 (a+2), S5 (a+2) is designated as routing node, non-routing node S1 (a+1), the father node of S1 (a+2) is H1, non-routing node S2 (a+1), H2, H3, the father node of S3 (a+1) is S2 (a+2), non-routing node S3 (a+2), S4 (a+1), the father node of S4 (a+2) is H4, non-routing node S5 (a+1), H5, H6, the father node of S6 (a+1) is S5 (a+2), non-routing node S6 (a+2), S7 (a+1), the father node of S7 (a+2) is H7.Routing node S2 (a+2), H4 are in the communication coverage of routing node H1, routing node H1, H4, S5 (a+2) are in the communication coverage of routing node S2 (a+2), routing node H1, S2 (a+2), S5 (a+2), H7 are in the communication coverage of routing node H4, routing node S2 (a+2), H4, H7 are in the communication coverage of routing node S5 (a+2), and routing node H4, S5 (a+2) are in the communication coverage of routing node H7.Thus, routing node H1 can set up node S2 (a+1), H4, S1 (a+1), the neighbor table of S1 (a+2) relevant information, routing node S2 (a+2) can set up node H1, H4, S5 (a+2), S2 (a+1), H2, S2 (a+2), H3, the neighbor table of S3 (a+1) relevant information, routing node H4 can set up node H1, S2 (a+2), S5 (a+2), H7, S3 (a+2), S4 (a+1), the neighbor table of S4 (a+2) relevant information, routing node S5 (a+2) can set up node S2 (a+2), H4, H7, S5 (a+1), H5, H6, the neighbor table of S6 (a+1) relevant information, routing node H7 can set up node H4, S5 (a+2), S6 (a+2), S7 (a+1), the neighbor table of S7 (a+2) relevant information.
Being example with the data transmission procedure from non-routing node S1 (a+1) to node S7 (a+1) is elaborated to the automatic routing procedure of data, non-routing node S1 (a+1) sends the data to its father node H1, routing node H1 finds that the destination of notebook data is not neither oneself is also in the neighbor table of oneself, other routing node in its communication coverage sends the Frame that is masked as route requests, routing node S2 (a+2), H4 receives the destination address that detects requirement behind this route requests Frame neither oneself is not also in neighbor table and do not receive other route requests of pointing to its destination, then the jumping figure information in the route requests is added 1 and other routing node in its communication coverage transmit route requests, simultaneously with the destination address of route requests, send the address of the routing node H1 of route requests, jumping figure information is preserved to be established to the reverse route of H1.Routing node H1 in routing node S2 (a+2) communication coverage, H4, S5 (a+2) detects in the routing iinformation of preserving whether had the routing iinformation that points to identical destination after receiving the route requests Frame of forwarding, routing node H1, H4 detects and exists such routing iinformation then no longer to transmit route requests, S5 (a+2) detects that not have such routing iinformation and be checked through its destination address be not that oneself is not also in the neighbor table of oneself, then the jumping figure information in the route requests is added 1 and other routing node in its communication coverage transmit route requests, simultaneously with the destination address of route requests, send the address of the routing node S2 (a+2) of route requests, jumping figure information is preserved to be established to the reverse route of S2 (a+2); Routing node H1 in the routing node H4 communication coverage, S2 (a+2), S5 (a+2), H7 detects in the routing iinformation of preserving whether had the routing iinformation that points to identical destination after receiving the route requests Frame that H4 transmits, routing node H1, S2 (a+2), S5 (a+2) detects and exists such routing iinformation then no longer to transmit route requests, H7 detect do not have such routing iinformation or be checked through the jumping figure of the route requests that sends by H4 less and be checked through its destination address in the neighbor table of oneself, then returning route requests to H4 replys, routing node H4 transmits route replies and preserves the forward route of the information of H7 with foundation sensing H7 to H1 according to the reverse route of the sensing H1 that preserves after receiving route replies, H1 receives the information of preserving H4 after the route replies that H4 returns to set up the forward route of pointing to H4 and the data that the child node S1 (a+1) that preserves sends are transmitted according to the route of H1-H4-H7, and H7 is transmitted to data the destination node S7 (a+1) that is present in its neighbor table after receiving data again.
Not only to be main equipment but also to be that the H4 of routing node breaks down that to be example be elaborated from management process to the network of ad hoc network method, as non-routing node S3 (a+2), S4 (a+1), S4 (a+2) repeatedly sends to its father node H4 and is masked as the Frame that network keeps and does not receive and reply or during other type data frame, in its communication coverage, send the Frame that is masked as the request networking and receive routing node S2 (a+2), the reply data frame that S5 (a+2) returns, non-routing node S3 (a+2), the nearer routing node S2 (a+2) of S4 (a+1) chosen distance is as its new father node, 16 short addresses of oneself are set to the address of routing node S2 (a+2) appointment and send confirm Frame and preserve its new father node information, S2 (a+2) receives S3 (a+2), information with two new child nodes behind the affirmation Frame that S4 (a+1) sends is saved in the neighbor table, the nearer routing node S5 (a+2) of S4 (a+2) chosen distance is as its new father node, 16 short addresses of oneself are set to the address of routing node S5 (a+2) appointment and send confirm Frame and preserve its new father node information, the information that S5 (a+2) receives child node this is new behind the affirmation Frame that S4 (a+2) sends is saved in the neighbor table, thereby form new network topology, Figure 11 is illustrated in the new network topology that forms under the situation of routing node H4 communication failure, wherein non-routing node S1 (a+1), S1 (a+2) is a father node with routing node H1, non-routing node S2 (a+1), S3 (a+1), S3 (a+2), S4 (a+1), H2, H3 is a father node with routing node S2 (a+2), non-routing node S4 (a+2), S5 (a+1), S6 (a+1), H5, H6 is a father node with routing node S5 (a+2), non-routing node S6 (a+2), S7 (a+1), S7 (a+2) is a father node with routing node H7, form new network topology with this, non-routing node S1 (a+1) can pass to node S7 (a+2) by the node H4 as main equipment that communication failure is walked around with information in the path of H1-S2 (a+2)-S5 (a+2)-H7-S7 (a+2) under new network topology, thereby guarantees the smooth and easy of communication.
Hydraulic support electrohydraulic control system network capacity based on MANET can reach 65535 nodes greatly, its ad hoc network method is by its self-organization of network, from management, the characteristic of automatic route, solved exist in the hydraulic support electrohydraulic control system prior art when communication failure appears in a certain main equipment in the work plane, the communication failure that can cause entire working surface, the traffic of main equipment is big, can only carry out the information transmission between the main equipment successively, need to use problems such as spacer assembly between the different electrical power power supply unit, the safety that has improved system, reliability and production efficiency.
Claims (13)
1. hydraulic support electrohydraulic control system, described system comprises:
By the main equipment group H that main equipment H1～Hn forms, any one the main equipment Hx among the main equipment group H comprises from equipment Sx1～Sxm
x, all has formed from device cluster S from equipment;
Power supply between power supply between the main equipment and communication media group CI and the master and slave equipment and communication media group CII, wherein power supply between the main equipment and communication media group CI comprise the power supply and communication media CI1～CIn-1, any one main equipment Hx and its among the main equipment group H comprised from equipment Sx1～Sxm
xBetween respectively by the power supply and communication media CIIx1～CIIxm
xConnect, power supply between all master and slave equipment and communication media have been formed power supply and communication media group CII;
Wherein n, m
xBe natural number, x is arbitrary natural number of 1～n;
Realize the transmission of electric energy and the physical connection of communication by power supply and communication media group CI between the main equipment, main equipment with between the equipment by powering and the transmission of communication media group CII realization electric energy and the physical connection of communicating by letter;
It is characterized in that:
The head and the tail xegregating unit that need not connected in series successively between each main equipment;
Main equipment reaches to small part from equipment forms communication network realization information communication as network node in the MANET mode, and the subnetwork node is set to routing node at least;
Have between the non-routing node of the routing node of routing function and the no routing function in this routing node communication range and constitute set membership, non-routing node by affiliated father node realize with other network nodes between communicate by letter, its father node indicates its communications status when non-routing node fault, and child node will rebulid set membership between each network node under it when the routing node fault.
2. control system according to claim 1, it is characterized in that: described main equipment and undertaken by wired or wireless network from the communication between the equipment to small part comprises power line and as the connecting line of wired self-organized network communication medium to small part power supply and communication media among power supply between power supply when communicating by cable network between the described main equipment and communication media group CI and the master and slave equipment of described participation networking and the communication media group CII; Only comprise power line to small part power supply and communication media among power supply between power supply when communicating between the described main equipment and communication media group CI and the master and slave equipment of described participation networking and the communication media group CII by wireless network.
3. control system according to claim 2 is characterized in that: arbitrary described main equipment comprises:
The interface section, it comprises host device interface (I1, I2, I3), non-networking, and (I41～I4a), networking are from equipment interface (I5 (a+1)～I5m from equipment interface
x), be used to realize with other main equipment, from the physical connection between the equipment, the physical connection of communicating by letter, electrical energy transfer;
Main control part is used to control this main equipment;
Describedly comprise from equipment:
The interface section, the networking by the power supply between the described master and slave equipment and communication media and described arbitrary main equipment is from arbitrary equipment interface (I5 (a+1)～I5m
x) connect;
Master control and actuator part, being used for control should be from equipment.
4. control system according to claim 3 is characterized in that: described is sensor or branch control module from equipment.
5. control system according to claim 1 is characterized in that: main equipment and be to realize in the MANET mode to small part from the communication between the equipment, the communication medium of its self-organized network communication are wired or wireless; When the communication medium was wired, the self-organized network communication of described control system was called based on wired self-organized network communication; When the communication medium was wireless, the self-organized network communication of described control system was called based on wireless self-organized network communication.
6. control system according to claim 1 or 5, it participates in networking from equipment as network node, participate in networking from equipment according to the difference of self-organized network communication transmission medium be divided into based on wired networking from equipment and based on wireless networking from equipment, perhaps do not participate in networking and be called non-networking here from equipment from equipment;
Main equipment participates in networking as the networking node, can be divided into based on wired main equipment with based on wireless main equipment according to the difference of self-organized network communication transmission medium.
7. according to the described control system of claim 6, it is characterized in that: described non-networking is pressure sensor, linear displacement transducer, infrared sensor or valve control from equipment.
8. ad hoc network method as one of any described hydraulic support electrohydraulic control system of claim 1-7 is characterized in that comprising following process:
1) initialization procedure is realized the setting of routing node and non-routing node, address;
2) network is set up process, realize set membership between each routing node and the non-routing node determine and routing node in the determining of neighbor table to determine communication network topology;
3) automatic route of data and network are from management process, realize the transmission of route discovery and data, and the realization routing node is to the monitoring of the communications status of other routing nodes in its child node and the neighbor table, non-routing node is to the monitoring of his father's node communication state, its father node indicates its communications status when non-routing node fault, child node will experience network again and set up process and rebulid set membership between each node to upgrade communication network topology under it when the routing node fault, guarantee can walk around transmitting in the communication network topology of malfunctioning node after renewal by automatic route data under the state of certain or some node failures.
9. described according to Claim 8 ad hoc network method, it is characterized in that: described initialization procedure also comprises the steps:
Each node is provided with fixing 64 unique normal addresses according to geographical position of living in, equipment master slave relation;
Each node is provided with node type, and one 16 short address is set for routing node.
10. according to the described ad hoc network method of claim 9, it is characterized in that: described network is set up process and is also comprised the steps:
Non-routing node sends the networking request data frame in its communication coverage;
Routing node receives data, and the data that receive are judged;
If routing node receives the networking request data frame, return networking request-reply Frame;
Routing node sends broadcast data frame;
Non-routing node receives data;
If non-routing node receives networking request-reply Frame, the good routing node of the nearly signal of chosen distance is as father node, sends to network to father node and confirms Frame, and preserve father node information, 16 short addresses of this node are set;
If non-routing node does not receive networking request-reply Frame, then continue in its coverage, to send the networking request data frame;
Routing node receives data, and the data that receive are judged;
Network to confirm Frame if routing node receives, this device node as child node, and is kept at its information in the neighbor table;
If routing node receives broadcast data frame, return the reply data frame of broadcast data frame;
If routing node receives the reply data frame of broadcast data frame, other routing node information in its communication coverage is kept in the neighbor table according to the reply data frame.
11. according to Claim 8,9 or 10 described ad hoc network methods, it is characterized in that: automatic route of described data and network also comprise the steps: from management process
Non-routing node sends to the data of father node or other node as child node to father node, or sends network to father node and keep Frame;
Routing node receives data, and the data that receive are judged;
If routing node receives the Frame that child node sends, check the destination address of Frame:, then directly be transmitted to destination address to child node echo reply data and deal with data or with data if the destination address of Frame is own or in neighbor table; If the destination address of Frame be not oneself also not in neighbor table, then to child node echo reply data and preserve the data that receive, in communication coverage, send the route requests Frame;
If routing node receives the route requests Frame, detect the destination address of route:, then return the route replies Frame to sending to the less routing node of own route requests and hop count if the destination address of route requests is own or in neighbor table; If the destination address of route requests is not that oneself is not also in neighbor table, then check whether there has been the routing iinformation that points to the same target address, if had such routing iinformation then no longer transmitted route requests, if there is no such routing iinformation is then preserved the reverse route that routing iinformation set up to point to the routing node that sends to own route requests, with the jumping figure information in the route requests add 1 and other routing node in its communication coverage transmit route requests;
If routing node receives the route replies Frame, check whether oneself is first routing node that sends route requests: if oneself be not first routing node that sends route requests, then according to the reverse routing forwarding route replies Frame of setting up, and set up and point to the forward route that the route that sends to own route requests connects power supply; If oneself be first routing node that sends route requests, be established to the forward route of the routing node that sends to own route replies, and the data of preserving are sent to this routing node;
If routing node receives Frame, check the destination address of Frame:, then receive data or data are transmitted to the destination address node if the destination address of Frame is own or in neighbor table; If the destination address of Frame be not oneself also not in neighbor table, then transmit Frame to next routing node according to the forward route of setting up;
The communication of child node is kept or other any Frame if routing node receives, then child node communication is normal and return communication and keep reply data therewith, if do not receive that the communication of child node is kept or other any Frame, child node communication failure and preserve the communications status of this node therewith then;
Routing node sends communication to other routing node and keeps frame, and beginning regularly: the communication of other node is kept or other any Frame if routing node receives in timing, and is then normal with this node communication; If routing node is kept or other any Frame in the communication that does not repeatedly all receive node in regularly, node communication fault therewith then, and preserve the state of this routing node;
Non-routing node receives data, keeps reply data then communicates by letter normally with father node if receive network, does not keep reply data if repeatedly receive network in the timing, and then with the father node communication failure, this node recurrent network is set up process.
12. the ad hoc network method of a kind of hydraulic support electrohydraulic control system according to claim 8 is that programming realizes voluntarily, perhaps for have described self-organization of network, route, network be from the application of the existing protocol stack of the characteristics of management automatically.
13. the ad hoc network method of a kind of hydraulic support electrohydraulic control system according to claim 12 is characterized in that: described existing protocol stack is Ethernet, ZigBee or power line carrier protocol stack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101951894A CN101392656B (en) | 2007-12-04 | 2007-12-04 | Hydraulic support electrohydraulic control system and ad hoc network method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101951894A CN101392656B (en) | 2007-12-04 | 2007-12-04 | Hydraulic support electrohydraulic control system and ad hoc network method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101392656A CN101392656A (en) | 2009-03-25 |
| CN101392656B true CN101392656B (en) | 2011-04-20 |
Family
ID=40493146
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101951894A Active CN101392656B (en) | 2007-12-04 | 2007-12-04 | Hydraulic support electrohydraulic control system and ad hoc network method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101392656B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907887B (en) * | 2010-07-28 | 2012-07-04 | 广州日滨科技发展有限公司 | Mineral hydraulic bracket controller, bracket control system and communication method |
| CN102938921B (en) * | 2011-08-16 | 2015-09-09 | 华为技术有限公司 | A kind of method of sensor networking and route, network node and system |
| CN102865091B (en) * | 2012-09-24 | 2015-02-25 | 广州日滨科技发展有限公司 | Hydraulic support remote control method and system |
| CN103247165A (en) * | 2013-05-27 | 2013-08-14 | 无锡市欧凯电子有限公司 | Remote automatic measurement control system |
| CN103441781B (en) * | 2013-08-28 | 2015-07-29 | 江苏麦希通讯技术有限公司 | Power line carrier ad hoc network and system |
| CN103573281B (en) * | 2013-08-30 | 2016-06-08 | 中国矿业大学 | A kind of hydraulic support electrohydraulic control system |
| CN105635461B (en) * | 2015-12-30 | 2019-02-26 | 杭州华为数字技术有限公司 | A kind of method, apparatus and terminal of filter information |
| CN107948311A (en) * | 2017-12-19 | 2018-04-20 | 广州莲雾科技有限公司 | A kind of intelligent Bus groove on-line monitoring system based on mixed networking technology |
| CN110831103B (en) * | 2019-11-08 | 2022-04-15 | 京东方科技集团股份有限公司 | Communication method and device based on ad hoc network, ad hoc network and electronic equipment |
| CN113266403B (en) * | 2021-06-08 | 2022-06-03 | 中国矿业大学 | Method for monitoring state of hydraulic support system of coal mine unattended working face |
| CN114448789A (en) * | 2021-12-23 | 2022-05-06 | 东莞市李群自动化技术有限公司 | Node control method, network system, device and storage medium |
| CN114866607A (en) * | 2022-04-28 | 2022-08-05 | 中建三局智能技术有限公司 | Networking transmission method and device based on voice coding technology |
| CN116170470B (en) * | 2023-02-28 | 2023-07-04 | 北京科易为科技有限公司 | Data communication method and system of pipettor system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85109637A (en) * | 1984-12-17 | 1986-10-01 | 波尔玛克矿山机械化开发公司科玛克矿山机械化研究中心 | The method and system of control coal-winning machine operation |
| CN1274042A (en) * | 1999-05-17 | 2000-11-22 | 李先捷 | Program control system for quickly and hydraulically moving roof supporter |
| DE20009816U1 (en) * | 2000-05-31 | 2000-11-23 | Pranjic Kruno | Electro-hydraulic control device for stride extensions of an underground long-distance operation |
| WO2004097177A1 (en) * | 2003-05-02 | 2004-11-11 | Tiefenbach Control Systems Gmbh | Device for illuminating the stope support at a longwall face |
-
2007
- 2007-12-04 CN CN2007101951894A patent/CN101392656B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85109637A (en) * | 1984-12-17 | 1986-10-01 | 波尔玛克矿山机械化开发公司科玛克矿山机械化研究中心 | The method and system of control coal-winning machine operation |
| CN1274042A (en) * | 1999-05-17 | 2000-11-22 | 李先捷 | Program control system for quickly and hydraulically moving roof supporter |
| DE20009816U1 (en) * | 2000-05-31 | 2000-11-23 | Pranjic Kruno | Electro-hydraulic control device for stride extensions of an underground long-distance operation |
| WO2004097177A1 (en) * | 2003-05-02 | 2004-11-11 | Tiefenbach Control Systems Gmbh | Device for illuminating the stope support at a longwall face |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101392656A (en) | 2009-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101392656B (en) | Hydraulic support electrohydraulic control system and ad hoc network method thereof | |
| US10645628B2 (en) | Apparatus for interconnecting wireless networks separated by a barrier | |
| CN101808382B (en) | Data communication method of wireless sensor network | |
| EP1826964B1 (en) | Configuration of a mobile adhoc network | |
| CN101711048B (en) | Method for choosing gateway in integrating process of mobile self-organization network and Internet | |
| CN101529403B (en) | Power management system for a field device on a wireless network | |
| CN101355496A (en) | Multi-hop clustering route protocol initiated by base station | |
| JP2008503187A5 (en) | ||
| CN101119372B (en) | Cooperation energy-saving routing chart constructing method for mobile wireless sensor network | |
| CN101222746B (en) | For the system and method for allocated channel in the wireless network | |
| RU2008132459A (en) | ENERGY MANAGEMENT IN LOW-VOLTAGE WIRELESS NETWORKS | |
| CN101449524A (en) | Wireless mesh networks | |
| CN102647472A (en) | Networking method of wireless sensor network and wireless sensor network system | |
| CN102196458A (en) | Networking method and devices of wireless broadband sensor network | |
| CN101217488B (en) | A reconstructible multiple mobile robot communication means | |
| CN110753328A (en) | Chain type networking transmission method based on LoRa technology | |
| AU2021218959A1 (en) | LoRaWAN gateway network and method | |
| CN103957553B (en) | Perceive the TD SCDMA coexisted and merge Transmission system with sensor network | |
| CN101420320A (en) | Network reconfiguring method, system and system node in multi-hop wireless communication network | |
| CN101179501A (en) | Local routing discovering method for on-demand routing of mobile ad hoc network | |
| CN102158383A (en) | Data transmission method, device and system for E1 bidirectional ring network | |
| CN105050077B (en) | A kind of sub-clustering chain type wireless sensing network data transmission method | |
| CN106161118A (en) | In a kind of wireless sense network, the k of balancing energy jumps cluster routing method | |
| CN102083164A (en) | Method for opportunistic routing of wireless sensor network (WSN) based on energy perception | |
| CN102428690A (en) | A method for assigning a network address for communicating in a segmented network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |