CN1014940B - The transmitter and receiver assembly of the direct-view Remote sensing technique of miner and realization the method - Google Patents
The transmitter and receiver assembly of the direct-view Remote sensing technique of miner and realization the methodInfo
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- CN1014940B CN1014940B CN 85101471 CN85101471A CN1014940B CN 1014940 B CN1014940 B CN 1014940B CN 85101471 CN85101471 CN 85101471 CN 85101471 A CN85101471 A CN 85101471A CN 1014940 B CN1014940 B CN 1014940B
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Abstract
The present invention is the miner direct-view Remote sensing technique that is used to carry out a plurality of instructions simultaneously, and the transmitter and receiver assembly apparatus that is used for finishing this method.
According to the present invention, the sequential binary signal is weaved in well-designed instruction the machine driver.Each sequence of specification signal comprises synchronization bit and the information bit that the periodicity binary signal takies, and repeats the content of above-mentioned instruction with the two-phase binary mode.With sending behind this sequential binary signal modulated carrier, this sequential binary signal is reduced and is converted to the electric signal that share after receiving.
Description
The present invention relates to the direct-view Remote sensing technique of winning apparatus or machine, be suitable for finishing a plurality of instructions simultaneously.But not only be used for remote control digger and quarrying machhine, for example to the remote control of the underground mining machine that is similar to undermining machine or conveyor.
As everyone knows, the fundamental purpose of remote controlled exploitation machine or equipment is: protection driver or machine driver makes its workspace away from danger, or allows the driver be in preferably under the working environment.
Be full of dust in the workspace, or because of having stone to fall to seem under the dangerous situation, these purposes just seem that special relationship is great.Must be able to control these places driver, and follow-up work with the naked eye, and oneself is placed in the shelter.Particularly be operated in the inclined seam face at the undermining machine, or mine car is operated in when exploiting in the mineral building, it is very important that this target also seems.This promptly is the intention of " direct-view " remote control.
Because above-mentioned abominable condition of work, obviously, remote control should not used can be crushed, rive or the cable that cuts, and this point is very important.Normally adopt the carrier wave of modulation, this modulated carrier is suitable for propagating between transmitter and receiver with the electromagnetic wave form.Its selected frequency is that the function of the instruction that provides of driver (is for example consulted: " La radio en taille " in INDUSTRIE MINERALE:Les Technigues, Supp1.3-81 mars 1981, P.205-209, Paris, France): corresponding information flow is less.
This class remote control can accomplished the task satisfactorily at present, yet shortcoming is arranged, and particularly because they do not allow to import simultaneously several instructions, therefore when the needs parallel control, just is restricted.For example to the output of lifting jack or the rotation of an arm (discrete or pulse type instruction), and machine or the speed of an element motion and the parallel control of sensing (variable order).
Anyone knows that remote control device also is suitable for emission instruction, the particularly FR-A-2.191.796 of standard or GB-A-1 simultaneously.603.837 remote control device, but these devices are all used complicated binary signal, the all parallel instructions that for example will launch, use coded biphase, logic level according to binary signal is selected transmission frequency for use: do not have carrier wave, in fact except weak launch site, not allowing has magnetic coupling between transmitter and receiver, because this is unfavorable to the operating personnel that stay in the shelter.
In general, present existing direct-view remote control is safety inadequately, this is because glitch can change the electromagnetic wave between transmitter and the receiver on the one hand, and any obstacle of running into of this ripple, all can import complicated circuit and receive instruction to start, be because emission sometimes needs high-power on the other hand, particularly under the situation of underground activities, in the major part of these occasion transmitted waves by wall absorption, thereby require transmitter to link to each other with a jumbo power supply storage battery, and this just needs to use very flimsy service cable.
Moreover present existing direct-view remote control is not suitable for two-way control, and this two-way control is with two transmitters, respectively by driver and assistant's operation thereof; Yet this but more and more presses for now.
In addition, this remote control must according to the operation task of the special machine of equipping this remote control, be carried out specialized designs, thereby cost an arm and a leg in each case, is difficult to after the damage repair.
The objective of the invention is to remedy these shortcomings, the method for employing is: under the dynamic change situation of high speed, allow to transmit a plurality of instructions simultaneously when work, and have best reliability.When considering instruction, particularly when the emergency stop instruction arrived, transmitter still can keep working alone over a long time, and the ability of two-way control.
For this purpose, the present invention proposes miner is adopted the direct-view remote control thereof, and this class miner can be applicable to places such as colliery and stone ore.The step that the direct-view Remote sensing technique comprises is as follows:
-be binary signal with a plurality of instruction transformation that the driver sent of miner,
-start a sequential binary signal by this binary signal, each sequential in the sequential binary signal contains synchronization bit and information bit two parts, fill up synchronous bifurcation periodic signal in the synchronization bit, then include the binary signal of the coded biphase of representing this binary signal in the information bit
-by the modulated amplitude of the carrier wave that has this sequential binary signal determine the emission remote signal,
-receive and recover this modulation timing binary signal after this remote signal, and
-by the identification of synchronizing signal, this modulation timing binary signal is converted to suitable electric signal, controlling this machine, thereby can transmit several instructions fast and reliably simultaneously to this machine.
For a remote control that has the equipment of variable control member, in the optimised form of concrete device of the present invention, the major part of instruction is formed an independently instruction group, and this instruction group is corresponding with the different value of electrical signals that is used to control this member.
Should note paying attention to this fact: this variable order has its admittance scope, and this scope shows as discontinuous, and this is that arrangement owing to the complexity of middle lead-out terminal forms.Middle lead-out terminal is the sliding contact that is used to locate between the extreme value, and its distribution can be regular (linear instruction), also can be irregular arrangement (having density to change), particularly at electric control signal hour.
According to a good feature of the present invention,, launch an emergency stop instruction corresponding to the synchronizing signal of filling up information bit in the sequential binary signal.This point is that the situation of the even-multiple of transition frequency is favourable for synchronous signal frequency, and this transition frequency may appear in the information bit of binary signal of coded biphase.Be noted that the synchronizing frequency that is used to produce the emergency stop instruction, the security performance of height is provided, because the emergency stop detection line is such, its major part writing task electric current is used for detecting the synchronizing signal in the sequential binary signal that receives.Prolonged the time of no synchronizing signal, will send " fault " stop instruction to machine.
According to another advantageous characteristic feature of the present invention,, use the interior redundant binary signal of predetermined number of continuous sequential and test for the correctness of institute's recovered modulating signal in the receiver.
According to another excellent characteristic, variable order only is periodically to launch, and for example launches the 200ms(millisecond p.s.), can alleviate the load of power supply storage battery like this, make accumulator be assembled into an integral body with transmitter.The present invention's imagination is at tempus intercalare, and carrier wave is still launched continuously with miniwatt, does like this and can recover markers rapidly.
According to the present invention, can equip a miner with several control channels with this remote control thereof, these control channels can be led to abundant carrier number, and the situation when driving to satisfy the machinery requirement several people is when promptly driver and at least one assistant drive.In the variable order scope, the driver has special-purpose control, and, in the variable order of launching with a carrier wave, with the driver given not simultaneously, remote control of the present invention also has the performance of this variable order of elimination.
The transmitter and receiver assembly of realizing above method is another purpose of the present invention.
Being noted that the transmitter and receiver assembly that is used to realize the inventive method, is the product that manufactures and designs and develop by standard type.
Another purpose is, feature of the present invention and superiority will be embodied by following argumentation, adopts the example relevant with accompanying drawing to discuss, wherein:
-Fig. 1 is the sequential of expression according to modulation signal of the present invention;
-Fig. 2 is a chronogram, and the expression modulation timing is that function is set up with the binary condition of the signal relevant with driver's instruction;
-Fig. 3 system is used to realize the calcspar of the transmitter and receiver assembly of remote control thereof of the present invention;
-Fig. 4 is the calcspar of the transmitter section of transmitter and receiver assembly in Fig. 3;
-Fig. 5 is the calcspar of binary coder of the transmitter of Fig. 4;
-Fig. 6 is the calcspar of receiver module, and this receiver module is to link to each other with a undermining machine according to Fig. 4, and relevant with two transmitter modules;
-Fig. 7 is the decoding system of Fig. 6 and the calcspar of startup, and
-Fig. 8 is the calcspar that the tediously long information that is connected to the output terminal of Fig. 7 decoding system is utilized circuit.
What Fig. 1 represented is the sequence of sequential binary signal, comes modulated carrier according to the present invention with it, and this carrier wave is emitted to receiver with the electromagnetic wave form from transmitter.This sequential comprises two groups of signals, i.e. signal A and signal B-C.A group signal is by the markers in cycle or bifurcation information is formed synchronously.B-C group signal then includes the binary signal of variable frequency, and its switching emission is to the instruction of remote control machine, and this instruction is converted to binary code in advance.A part of position (B group) is corresponding with first group independent instruction (for example, instantaneous discrete command), and other parts (organizing C) are then corresponding, for example corresponding with variable order with second group of independent instruction.Just can launch complicated instruction simultaneously with such method.
The binary coding of variable order need be determined the centre position between the extreme value of these instructions, and this point has been done elaboration.
In fact, the sum of the information bit that can provide than each sequential when the total number of instructions of emission will be after a little while, and some is empty with regard to not using.
In example shown in Figure 1, sequential is divided into 16 time intervals, promptly wherein 3 time intervals are (with two strobe pulses ratios as a time interval) that provided by timing signal, other 13 time intervals are then obtained by the information of emission.Can see that clearly the instruction number of the parallel emission of energy is lower, and the different instruction number of emission is higher.
According to essential characteristic of the present invention, each information bit is to adopt coded biphase, and the value of the binary code state of each information bit is changed with the method for the binary translation that detects these centres.Thereby a positive intermediate conversion, corresponding to binary O state, or opposite.Fig. 1 has done detailed description to the different binary condition of each instruction number in the above-mentioned sequential.
Therefore can notice from Fig. 1, binary condition (0101 alternately ...) series, change with each coded biphase signal, the frequency of each coded biphase signal equals each frequency, be minimum value (f represents with symbol), and identical binary condition, 0 or 1, series, then use the coded biphase conversion of signals of frequency (representing) for two frequencys multiplication of said frequencies with 2f.The frequency of timing signal remains the even number time frequency multiplication of a back frequency, is 4f in the example of being considered promptly.
On the one hand, frequency is the rectangular signal of f and 2f, and odd (3,5 is only arranged ...) harmonic component, cause the spectrum component of each clock signal relevant, and on the other hand, markers (A group) is very clear on frequency scale with each information bit (B and C group).This characteristic just makes becomes possibility from extract these timing signals in the clock signal of reception recovery, and these timing signals are that each sequential decoding is needed.
The repetition frequency of sequential is (f/8).
1700H is selected in the present invention's method suggestion by way of example for use
2Be ticking frequency.Thereby best information signal spectrum component is 425Hz and 850Hz, and the repetition frequency of sequential be 53.125Hz(thereby, each sequential is 18.87ms).
As the requirement of any machine remote control, be to be applicable to an emergency stop instruction of emission Au according to remote control thereof of the present invention.According to the present invention, this signal should be the strobe pulse in cycle, and its frequency is identical with the timing signal frequency, i.e. 1700H in the example shown in Figure 1
2
Binary-coded principle of work is shown in greater detail in the chronogram of Fig. 2.
Obtain different clock signals with the method for removing 2 repeatedly; These clock signals are that the composition clock signal is desired:
-frequency is 4f(1700Hz) H
0;
-frequency is 2f(850Hz) H
1And H
1', and at H '
1And H
1Between the phase lag in 1/4th weeks is arranged, and
-H
2To H
3With frequency f, f/2 ... f/8 is corresponding, is used for determining sequential.
" n " row is corresponding with the instruction number in 16 time intervals of sequential, and " c " is capable then consistent with the binary condition of the instruction used in back 13 time intervals in the sequential.
Produce a binary signal S
B, it at first gets H ' three times
1Signal is got the maximum level of the value 1 of the zero level of scale-of-two " O " state of " c " and " c " then.
Produce initial clock signal S then
P, at S
BAnd H
1When being maximal value or minimum value, S
PBe maximum level, work as S
BAnd H
1When being in different level, SP is a minimum value.
Sequential output signal S
SConsidering that emergency stop instruction back accurately produces, this emergency stop instruction appeared in the time interval 11 of sequential shown in Figure 2.As long as signal A
VEqual zero signal S
SPromptly get initial clock signal S
PValue.As signal A
VWhen becoming maximal value, promptly by H
0Replace S
SInterior S
PSignal S
SBe to be used for modulating the carrier wave that is transmitted into receiver by transmitter.
Fig. 3 has roughly provided the structure of transmitter and receiver assembly, and these assemblies adopt for realizing remote control thereof of the present invention.The size of transmitter section E shown on figure is littler than the size of receiver section R, and is normally portable with the expression transmitter section, thereby littler than receiver, and receiver then is installed in the machine.
Fig. 3 only is the critical piece that has provided transmitter E and receiver R roughly.Each instruction that the driver sends imports transmitter E by control panel PC, and required circuit automatic citrcuit bearker, switch, some sliding contacts and button are arranged on the control panel PC.The instruction that control panel receives with the special logic LS of controlled machine operation, and " filters out ", reconfigures and controls given instruction with it, so that only keep compatible instruction, and launches simultaneously by predetermined sequence rule.Thereby can avoid any instruction errors that may occur, and for example simultaneously on two keys, done unwanted pressing, this kind situation can be avoided.
Special logic LS sends instruction with binary mode, and inputs to binary coder CB, and scrambler CB equips for the coded biphase of instruction, and it carries out coded biphase with instruction, becomes the form of interior a series of of time series.This clock signal transfers to modulator M then, and modulator M preferably uses 60% amplitude modulaor, after this is a radio frequency sending set ERF who is equipped with antenna A.The desired power of transmitter section work is supplied with by accumulator BA, and accumulator BA should can supply with energy needed (being generally 8 hours) during operation at least.
The carrier wave that sends from transmitter ERF is received by the antenna A ' of the receiving element RRF of receiving unit R, and receiving unit identifies that to decoding a level AD sends a restituted signal, is used for checking predetermined effective standard.After being tested and appraised level, restituted signal is deciphered in a binary decoder DB.The parallel like this binary command that obtains uses special logic LS ' operation, is thereafter output stage S, and this output stage S links to each other with the control member of the machine of remote control.In addition, receiver section R includes a power stage AR, and it can be connected to the power supply of machine.
The critical piece of transmitter and receiver assembly describes in detail during the display that the remote control of discussing undermining machine in the stope is hereinafter used again.
At first set forth, when frequency is about 160MHz, electromagnetic field is in the underground activities place, normally every propagation 20dB that just decays more than the 10m, and the added losses guestimate is 30dB, this is because transmitter antenna is not good with respect to the directivity of receiver, or owing to shielding effect that barrier produced forms.The sensitivity of considering radio-frequency transmitter is (for single remote-control channel, minimum value is 1 microvolt), antenna efficiency and above-mentioned loss, can extrapolate in the underground activities place, when the distance between transmitter and the receiver is 15 meters, the launching electrical level that requires is 100MW, this means that loss is very big.
The special logic LS of transmitter, the special logic LS ' that reaches receiver all is a foreign element, they will be determined by every kind of particular case by the machine of remote control of using these elements.
Yet the special logic that is used for the remote transmitter of undermining machine can standardization, thereby can be reduced in the control of existing so much at present coal cutter type:
-1 variable order: show the sensing result and the movement velocity of motion, represent the speed of moving with switch or with sliding contact (such as contact) with 31 positions;
-reach 15 non-while discrete commands with knob control.
Therefore, remote control only needs 9 information bits, that is: pulse type instructs 4 bits (2
4=16＞15), variable order 5 bits (2
5=32＞31).So 13 information bits are requisite altogether.
Fig. 4 is the connection schematic diagram of each ingredient of transmitter E in the presentation graphs 3.
Control module PC comprises one group of knob BP, variable order switch COV, emergency stop knob AU and power connection knob MM.
Accumulator among the power connection knob control square BA is given transmitter E power supply.(such as parameter voltage is 9.6 volts when the supply voltage of accumulator is lower than threshold voltage, threshold voltage is that 8.9 volts of supply voltages are during less than 8.9 volts), the circuit CA that disconnects battery just works, dedicated logic circuit LS and binary coder CB are disconnected together, so no longer send any instruction to prevent to send false command.
Fig. 5 represents the chief component Pareto diagram of binary coder CB.Scrambler CB comprises clock generator HG, parallel-to-serial transducer CPS, coded biphase device CBF and selector switch S.Three input end 1～3 receive clock signal H ' of CPS
1; Other 13 input ends 4～10 link to each other with the output of dedicated logic circuit LS.Transducer CPS is also received signal H in particular cases
5, this signal is determined the frequency of operation of transducer.Output signal S according to the CPS of Fig. 2 defined
BBe defined as the function of its input end 4～16 binary conditions, and S
BBe added on the coded biphase device CBF, with original binary signal S of clock signal combination back output
PSelector switch S exports a signal S
S, gating S
POr gating H
0, this depends on that signal AU is zero or non-zero.
Signal S
SBe added to modulator M, thereby radio frequency sending set ERF is worked.
Modulator M and transmitter ERT work under the control of transmitter control circuit CE, and CE itself is then by special logic and emergency stop switch AU control.
In fact, characteristic according to excellence of the present invention, emission is step, for example to account for 20%(be per second work 200ms the working time) therefore typical power supply unit (rated capacity 9.6～450mAh) this concerning the transmitter of power consumption 70mA, estimation roughly can work independently 6 hours, if the time of the work period of time ratio that requirement can work alone is long, can calculate average power consumption is 25mA.
In addition,, occurred variation in the instruction, just planned to adopt continuous send mode to replace intermittently send mode in case special logic detects according to the present invention.Therefore when fixed instruction changes, (be variable instruction as the sensing of motion and the speed of motion), perhaps ought press (for example, by patching the discrete pulse shape instruction that switch or contactor cause) just (as 0.5 second) transmission continuously within the predetermined time that section action time that knob sends provisional injunction.Certainly under the situation of emergency stop, also to recover continuous send mode.Guarantee that with this working method response is rapid, work safety.
Can estimate within eight hour work period, the full duration of being sent continual command by transmitter is about 2 hours (maximum 3 hours).So, the discharge capacity of above-mentioned as can be seen pattern power supply source is 60%～75% of its capacity, even therefore exhaust the ceiling capacity of work in eight hours when power supply, also remains with the enough big safety coefficient and the energy that works alone.
No matter be interrupted or continuous, two kinds of send modes are all by sending controling circuit CE control, and this circuit is controlled by signal and the dedicated logic circuit LS signal of knob AU.Dedicated logic circuit detects discrete (temporary transient) instruction or any variation of continuous (variable) instruction.For convenience, when transmitter sent, illuminating lamp VE connected.
It is to be noted, when transmitter idle maximum time exceeds the time that stop instruction sends, and substantially exceed the duration that intermittently sends the cycle, when in this example, preferably exceeding 2 seconds, interrupted or intermittently send mode be consistent with the disorderly closedown state.Usually utilize machine remote control trouble stopped status.
In the tempus intercalare of send mode at intermittence, transmitter preferably sends about the level 1MW of unmodulated signal (the just signal of carrier frequency), to replace the power (in 50 Ω loads) of transmission phase 100MW.Thisly weaken power to carry out the mode that carrier wave sends be favourable,, just can guarantee the fast synchronous reset of receiver because consumed current is very little.This also is to adopt the reason that intermittently sends.
Carrier frequency is chosen in very high frequency band (VHF), be selected in 154 and 174MHz between be suitable between (be preferably in 156 and 165MHz).
Fig. 6 is the schematic diagram of receiver module, is fit to receive with it and guarantees miner is carried out remote control from the signal of described two transmitters of Fig. 4.The assembly of this receiver comprises two receiver extension set R that are fitted together
1And R
2, also comprise a same antenna A '
0Receiver is contained among the armored cassette PA, and coaxial socket TC is housed on the box, and A ' links to each other with antenna, in order to avoid cause mismatch.
Signal by antenna A ' reception is at first handled by antenna assignment device SA, and the signal of two used channels separately (is intended in this example with 156 and 165MH
2).Separation vessel comprises a power divider and two-way filter.Like this, be added to each radio-frequency transmitter RRF
1Or RRF
2Input end on another channel signal of coming in just be lowered on the limited level.
Receiver RRF
1And RRF
2Be double superheterodyne system, it includes noise elimination (inhibition noise) circuit, and this its level of circuit control is higher than for example 2V of threshold level
RMSThe time restituted signal output just arranged; Receiver also comprises a good automatic gain control equipment of effect, and it has very high input dynamic range.Because carrier amplitude is constant, these two receivers will be adjusted and satisfy at intermittence during send mode, and transient response time has only 30ms, and this sends cycle 200ms for each is enough weak points.
Receiver RRF
1And RRF
2The signal of output terminal is equivalent to according to reason from the next modulation signal of transmitter, and this signal is by decoder processes, and its principle of work as shown in Figure 7.
By receiver RRF
1And RRF
2The signal of exporting after the demodulation is at first by shaping and amplitude calibration circuit MFC.The MFC circuit is this signal transformation a binary signal.In fact this signal is not the strict signal of exporting similar in appearance to the binary coder of transmitter.Particularly all the more so when modulated electromagnetic wave runs into the distortion of communication barriers (the fixedly variation of received signal level), random noise, electromagnetic interference (EMI) and electronic circuit introduction.Binary decoder DB and discriminator circuit combination link up work, are used for following the tracks of and these variations of elimination or interruption work decoding.
As can be seen from Figure 7 decipher privilege level AD and binary decoding level DB and be actually concurrent working.
The key of decoding is to recover beat, starting point for each the sequence meta of initial sum that can accurately determine each sequence, so that correctly control the successive transformation of calibrating signal,, be used for controlling the various suitable parts of above-mentioned machine such as supplying with each parallel instruction from circuit MFC output terminal.
Corrected binary signal is added to synchronizing circuit RSYN and RH
1
Circuit RSYN intends being used for the sequential binary signal of calibration is recovered the sequence frequency upgraded, so that begin to take place serial-to-parallel conversion in each sequence.From corrected binary signal frequency spectrum, select the frequency H of transmitter like this
0Composition (be 1700H in this example
Z), forming binary signal SYN, this signal SYN is at H
0Level maximum when composition occurs is zero level when not occurring.Normally use 6 synchronizing signals, the beginning of any sequence becomes zero again again corresponding to the maximal value of signal SYN.Therefore, the each positive transient process of this signal SYN (by zero to 1) is corresponding to the beginning of sequence and as the triggering figure signal of serial-to-parallel conversion circuit CSP.Correction binary signal by the output of MFC circuit also is added on the CSP circuit.
When emergency condition occurred, signal AU admitted of single frequency spectrum and equals H
0Composition.Signal SYN gets clogged, and remains maximal value, does not so just have positive transient process can be sent to transducer CSP.The maximal value that signal SYN is fixing detects output by emergency stop command detection circuit DAU, and AU becomes and is not equal to zero value.
Circuit RH1 provides a position repetition frequency in each sequence be H
1Synchronous locking signal.Synchronous locking signal can not directly use the signal of the so much spectrum component of clock signal.Can realize this locking by producing a pulse in any transition of calibrating signal.With centre frequency is H
0Bandpass filter filtering and frequency H
0The relevant negative pulse that jumps and produce.Produce pulse signal in any zero crossing response signal of wave filter output from then on, and recovery frequency H1 is counted in this pulse, its phase place is determined by the SYN synchronizing signal.The binary signal that so obtains is expressed as H1.
Be used for clock signal for the signal H1 and the SYN of transducer.CPS is deciphered the control of the enabling signal VAL that special permission circuit AD sends.
In the example of Fig. 7, circuit AD is made up of two circuit VM and DS, and their effect is the likelihood criterion of the sequential binary signal of detection calibration.
Circuit VM is in response to the mean value of calibrating signal amplitude.Stipulate to use coded biphase according to the present invention, so mean value must be the binary signal maximum level half.
The sequence average time of circuit DS measuring-signal SYN, and with frequency H from transmitter output
5The precognition value compare.The SYN signal is that circuit RSYN produces.
AND gate links to each other with the output of circuit VM and DS and gives transducer CSP output trigger pip VAL.As long as this signal reaches the likelihood test index that foregoing circuit is set up, just can remain on the level of non-zero.Under reverse situation, forbid that the binary signal of calibrating does conversion.
Each sequence is carried out linear transformation.13 parallel output terminals by transducer CSP provide 13 information of every sequence, and keep storage to get up, up to result's arrival of next conversion.
According to advantageous feature of the present invention, each road of dedicated logic circuit LS of Fig. 6 receiving unit all adds start-up circuit CER.
The ultimate principle of these CER circuit is shown in Fig. 8, and purpose is development and use normal tediously long information that occur in the bifurcation clock signal, because the operational order of being deposited all must be retained in continuous several string sequences; According to the present invention, in a command bits of a sequence, the new state after its state variation will remain in the continuous sequence of predetermined number always, and such as all there being new state to occur in 4 sequences, having only at this moment, we just consider this new instruction.
According to shown in Figure 8, the output signal of transducer CSP is added on the RC circuit, and this circuit is averaged pseudo-value to each information bit respectively, and average pseudo-value defined is the mean value of sequence to the last.Threshold compataror T is transformed to binary signal to simulating signal, when storer MER receives clock signal SYN, binary signal is stored in each sequence of storer.When only the state of the binary signal that receives one by one in the sequence of enough numbers was identical, this storer is output signal.
Circuit MER is controlled by OR-gate, and the output of MER resets when one of signal VAL or AU claim.
Should be noted that, the development and use of tediously long information can be spun out instruction time, but this time is complete acceptable (about 100ms), even carrying out interrupted in each emission cycle or intermittently sending also is acceptable, because the transmission cycle continues 0.2 second, this has comprised the sequence more than 10.
When sequence signal at the fixed time (preferably from 2 to 9 seconds) can not start work.With the method that postpones this time is detected and to write down, for example the signal that detects is received on the circuit CER, realize the mechanical disorder shutdown easily with regard to the available method identical with producing the emergency stop instruction.Common stop instruction AG delivers to halt circuit CA.
Give between circuit VIT relevant and the circuit T/R relevant from the signal allocation of each CER circuit output with discrete command with variable order.These circuit are by appointing switch CD control, by the appointment rule between two transmitters of CD regulation, this switch allows and selects 4 positions promptly to select the single path in this road or another road (156 or 165MHz) remote control, or preferentially controls one the road or the remote control position on another road with two controllers.In fact, even under situation, also has only one tunnel instruction that can send changeable type with two controller remote controls.VIT and T/R comprise storage, and these appoint the storer of rule.
Circuit VIT output analog is added on the servomechanism when meeting the appointment rule, the operating rate of control machine.
Advantage is, the speed at intermittence of the variable order that transmits corresponding to transmitter and receiver is to regroup rather than being distributed between the limiting velocity of rule.In low-speed range, controller can be realized the control of high precision low speed, and preferably this speed is expanded and hanged down, and the precision of control is just higher.
The corresponding rule of instruction and speed is set up by program-controlled storer according to user's requirement, and this storer is in the circuit VIT of logic LS '.
Circuit T/R and EV combine in order to some suitable parts such as motorized valves of control machine.
Preferable is that machine also has manual control module PCM.
Be appreciated that abovely only to be illustrated,, yet do not leave the spirit of invention itself because explanation people's skill understands some and come in and go out in the introduction with the legend narrating mode.
In addition, it being understood that also the component of realizing transmitter and receiver assembling of the present invention is to work it out under the condition of current artificial technology's level.
Be noted that especially and not necessarily non-ly select 13 information bits for use, because figure place is only by the ability decision of serial-to-parallel that adopts and parallel-to-series converter by mentioned above principle.
The present invention has introduced the situation that can receive two instructions about excavator simultaneously at most, and an instruction is variable (fixing), and another is (temporary transient) dispersed.Obviously the present invention also is applicable to machines such as the similar transmission airborne carrier of control, receives several discrete commands simultaneously.At this moment, the effective information position of transmitter special logic is enough common uses, and can be divided into many groups to information bit, and packet count is identical with the instruction group number that sends simultaneously.If therefore machine can receive simultaneously between the N n instruction then the effective information figure place just be divided into n at least and organize by the equal group number of independent instruction.Unnecessary some useless information bit can be cancelled, preferably instruction of a correspondence as far as possible.According to the regulation to the priority rule of transmitter special logic, Zhi Ling maximum number is less than or equals the number of independent instruction group simultaneously.
Obviously, the present invention also is applicable to the plural channel of remote control.
Claims (18)
1, the direct-view Remote sensing technique of miner, can be to sending a plurality of instructions of carrying out simultaneously such as mine, stone ore miner, comprise that the parallel instruction that the driver of machine is sent here is transformed to binary signal, the meticulous layout of command signal is become the sequential binary signal, each sequence all has synchronization bit and information bit in this signal, and they are all represented with the alternating binary coding of above-mentioned binary signal; Again the well-designed one-tenth remote signal of this sequential binary signal is sent; Signal is reduced to the sequential binary signal after receiving, and binary signal is converted to the electric signal that is suitable for controlling machine by synchronous effect; The sequential binary signal comprises periodic square-wave signal as synchronization bit.Remote signal is carried out amplitude modulation by above-mentioned sequential binary signal to carrier wave and is formed.It is characterized in that; Frequency (the H of bifurcation synchronizing signal
0) be transition frequency (H
1, H
2) even-multiple, H
1And H
2Transition one by one by information bit decides; Emergency-stop signal (Au) is a binary signal, it and synchronizing signal (H
0) identical, but the occupied information position.
2, according to the described method that machines such as miner are carried out remote control of claim 1, these machines have transformable control composition, the feature of the method is: a plurality of instructions corresponding to the various possible values of electric control signal, are defined as one group, and this is corresponding to above-mentioned transformable control composition.
3, according to the method for claim 2, it is characterized in that: the probable value of above-mentioned control signal, its numerical range is wide more, and signal level is high more.
4, according to the Remote sensing technique of claim 1, it is characterized in that: the later on above-mentioned signal of modulation signal reduction that receives from electromagnetic wave must be transformed to electric control signal then through confirming test before the decoding of checking and approving it.
5, according to the Remote sensing technique of claim 4, it is characterized in that; Be consistent when the sequence average extended period before corresponding to carrier modulation average extended period of bifurcation sequential modulation signal only, and this mean value is its a peaked half, the decoding of bifurcation sequential modulation signal just can be got permission.
6, according to the Remote sensing technique of claim 4 or 5, it is characterized in that: when the decoding of not getting permission at the fixed time produces, send a disorderly closedown instruction to machine.
7, according to the Remote sensing technique of claim 1 or 4, it is characterized by: the modulation signal of reduction is converted to after the parallel binary signal, when the information that is included in the latter changes corresponding to instruction is consistent, if it when in the continuous sequence of predetermined number, similarly repeating, this information is just paid attention to.
8, according to the Remote sensing technique of claim 6, it is characterized by: the modulation signal of reduction is converted to after the parallel binary signal, when the information that is included in the latter changes corresponding to instruction is consistent, if it when in the continuous sequence of predetermined number, similarly repeating, this information is just paid attention to.
9, according to the Remote sensing technique of claim 1, it is characterized by: the remote signal that is obtained by modulated carrier is intermittently to send in the cycle by the several successive sequence.
10, according to the Remote sensing technique of claim 9, it is characterized in that; Unmodulated current-carrying sends to equaling the centesimal power of normal transmitted power with low between the transmission cycle.
11, according to the Remote sensing technique of claim 9 or 10, it is characterized in that: in the process that changes instruction, the transmission of remote signal becomes constant mode continuously once more.
12, according to the Remote sensing technique of claim 1, it is characterized in that: carrier wave has very high frequency, its scope about 154 and 174MHz between.
13, according to the Remote sensing technique of claim 1, it is characterized in that: sequence frequency is about 53.125Hz, and synchronous signal frequency is about 1700Hz.
14, according to the Remote sensing technique of claim 1 or 4, it is characterized in that: a plurality of (at least two) remote signal is respectively by working out meticulously to a plurality of carrier modulation, a plurality of drivers are modulated carrier wave, after remote signal receives, according to appointment rule pre-specified between each driver is confirmed the instruction of sending.
15, Remote sensing technique according to Claim 8, it is characterized in that: a plurality of (at least two) remote signal is respectively by working out meticulously to a plurality of carrier modulation, a plurality of drivers are modulated carrier wave, after remote signal receives, according to appointment rule pre-specified between each driver is confirmed the instruction of sending.
16, according to the Remote sensing technique of claim 1, the feature that transmitter, receiver combination are suitable for carrying out Remote sensing technique is; At least comprise a transmitter (E), it has a control module (PC) that links to each other with special logic (LS), is used for from the machine driver control signal being transformed into the bifurcation form.Binary coder (CB) combines with modulator (M) and high frequency transmitter (ERF), in order to set up sequential bifurcation modulation signal.This combination also has receiving unit (R), and it has a HF receiver (RRF) at least, and binary decoder and decoding special permission circuit (AD) and special logic (LS) are supplied with controlled machine in order to produce analog control signal.
17, the transmitter receiver combination that requires according to claim 16, it is characterized in that: it comprises two transmitters, is tuned in respectively on two adjacent carriers frequencies, receiving unit has antenna selector (SA), so that at two receiver (RRF
1, RRF
2) between distribute remote signal, each receiver and one of them carrier frequency have relation, and two binary decoders (DB) are connected on the single special logic, be used for judging decoded binary signal, promptly, determine the whereabouts of control by the position of appointing switch (CD) according to the appointment rule between two transmitters.
18, the transmitter receiver combination that requires according to claim 16 or 17 is characterized in that this transmitter and its storage battery are interconnected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85101471 CN1014940B (en) | 1985-04-01 | 1985-04-01 | The transmitter and receiver assembly of the direct-view Remote sensing technique of miner and realization the method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85101471 CN1014940B (en) | 1985-04-01 | 1985-04-01 | The transmitter and receiver assembly of the direct-view Remote sensing technique of miner and realization the method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN85101471A CN85101471A (en) | 1987-01-24 |
| CN1014940B true CN1014940B (en) | 1991-11-27 |
Family
ID=4791856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 85101471 Expired CN1014940B (en) | 1985-04-01 | 1985-04-01 | The transmitter and receiver assembly of the direct-view Remote sensing technique of miner and realization the method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1014940B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101958040B (en) * | 2010-09-03 | 2012-04-18 | 青岛海信电器股份有限公司 | Control detection method of remote control electronic equipment and remote controller |
-
1985
- 1985-04-01 CN CN 85101471 patent/CN1014940B/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| CN85101471A (en) | 1987-01-24 |
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