CN102384741A - Mining inclinometer, bracket inclination angle measuring system and inclination angle measuring method - Google Patents
Mining inclinometer, bracket inclination angle measuring system and inclination angle measuring method Download PDFInfo
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Abstract
The present invention provides a mining inclinometer which comprises the following components: an inclination angle detection module, a processing module, a first interface module and a second interface module. The inclination angle detection module is used for detecting inclination angle information of a detected object. The processing module is used for processing the inclination angle information of the processing module and a data frame signal which is received from the inclinometer or a hydraulic bracket controller, and generating another data frame signal. The first interface module is used for transmitting or receiving the data frame signal of an adjacent inclinometer or the hydraulic bracket controller and communicating with the processing module. The second interface module is used for communicating with the processing module and transmitting/receiving the data frame signal of the adjacent inclinometer. The present invention also provides a bracket inclination angle measuring system which is composed of the mining inclinometers and a corresponding measuring method. Through the mining inclinometer, interface occupation of the bracket controller can be reduced and power consumption can be reduced.
Description
Technical field
The present invention relates to a kind of mining obliquity sensor that is used for the coal mine fully-mechanized mining working hydraulic support, and the measurement of dip angle system that constitutes by obliquity sensor and mineral hydraulic bracket controller and the measuring method of coal mine fully-mechanized mining working hydraulic support.
Background technology
The colliery is mainly used in the relative tilt degree of the back timber of measuring coal mine underground hydraulic support frame, caving shield, base etc. with obliquity sensor, reflects the bearing height of support and to the supporting situation of top board with this.Because measured is relative angle, therefore a common hydraulic bracket controller need be adorned a plurality of obliquity sensors.
Part producer adopts the mode only connect an obliquity sensor, but this mode is only parallel fully with ground level at coal mine work area, and in the operational process under the constant situation of workplace overall inclination angle, just can obtain the True Data of institute's measuring point.When there are angle in workplace and ground level, then need the programmer " to estimate " parameter survey face angle is compensated, the resulting angle parameter of controller this moment not exclusively is a measured result.And a common angle-data is not enough to reflect the attitude situation of hydraulic support.
As shown in Figure 1, part producer adopts star-like ways of connecting, and a plurality of obliquity sensors directly are connected with bracket controller through a plurality of interfaces.But because bracket controller need be accomplished multiple functions such as communication, sampling, driving, its interface limited amount.Obliquity sensor takies a plurality of interfaces, with other functions that influence bracket controller and operation allowance; Simultaneously, a plurality of obliquity sensors send data to bracket controller simultaneously, can produce bigger power consumption, are unfavorable for the safety of product under coal mine.
Summary of the invention
The present invention provides a kind of mining obliquity sensor, support measurement of dip angle system and inclination angle measurement method, and the interface that reduces bracket controller takies, and reduces power consumption.
Mining obliquity sensor provided by the invention comprises: inclination angle detection module, processing module, first interface module, second interface module;
Said inclination angle detection module is used to detect the inclination angle of testee;
Said processing module is used for handling with the obliquity information of self and from the data frame signal that said obliquity sensor or adjacent hydraulic bracket controller receive, and generates data frame signal;
Said first interface module is used to send or receive the data frame signal of adjacent obliquity sensor or hydraulic bracket controller, and communicates by letter with said processing module;
Said second interface module is used for communicating by letter with said processing module, and sends or receive the data frame signal of adjacent obliquity sensor.
In addition, the support measurement of dip angle system that is made up of above-mentioned mining obliquity sensor provided by the invention comprises hydraulic bracket controller and at least two mining obliquity sensors, after each said mining obliquity sensor is serially connected in said hydraulic bracket controller successively;
Said hydraulic bracket controller is used for sending data frame signal to said mining obliquity sensor;
Said mining obliquity sensor comprises inclination angle detection module, processing module, first interface module, second interface module;
Said inclination angle detection module is used to detect the inclination angle of testee;
Said processing module be used for the obliquity information of self and from said adjacent hydraulic pressure obliquity sensor or adjacent hydraulic bracket controller receive data frame signal handle, generate data frame signal;
Said first interface module is used to send or receive the data frame signal of adjacent obliquity sensor or hydraulic bracket controller, and communicates by letter with said processing module;
Said second interface module is used for communicating by letter with said processing module, and sends or receive the data frame signal of adjacent obliquity sensor.
The inclination angle measurement method of mine hydraulic bracket provided by the invention is used for the network service of hydraulic bracket controller and a plurality of obliquity sensor serial networkings, comprises step:
Hydraulic bracket controller sends data frame signal,
Obliquity sensor receives said data frame signal; Judge whether it is the obliquity sensor of distal-most end, if not, handle with the obliquity information of self and from the data frame signal that previous hydraulic pressure obliquity sensor or hydraulic bracket controller receive; Generate data frame signal; Then transmit said data frame signal to next adjacent obliquity sensor, if, the hydraulic bracket controller that then said data frame signal is sent to previous adjacent obliquity sensor or connected;
Said hydraulic bracket controller obtains the inclination angle of said hydraulic support according to the obliquity information in the received data frame signal.
Can find out that by above scheme obliquity sensor is connected in series among the present invention, final need take interface of bracket controller, can realize the measurement of angle of a plurality of parts of hydraulic support; Simultaneously, system provides the MANET function, and newly-increased, replacement obliquity sensor need not to set, and system is identiflication number automatically; In addition; According to the communication modes of measurement of dip angle system, the assurance system has only a communication interface in running order the same time, reduces system power dissipation; Avoided system to increase the topology change that obliquity sensor brings, and power source loads increase the potential safety hazard of bringing.
Description of drawings
Fig. 1 is the structural representation of existing measurement of dip angle system product;
Fig. 2 is the example structure synoptic diagram of mining obliquity sensor of the present invention;
Fig. 3 is a mining obliquity sensor horizontal level mode synoptic diagram of the present invention;
Fig. 4 is a mining obliquity sensor lateral attitude synoptic diagram of the present invention;
Fig. 5 is a mining measurement of dip angle system implementation example structural representation of the present invention;
Fig. 6 is a mining measurement of dip angle system implementation example communication structure process flow diagram of the present invention.
Embodiment
Obliquity sensor of the present invention mainly is installed on each parts of coal mine hydraulic supporting, like positions such as top board, base plate, caving shields; Between each sensor through cable serial connection, through linking to each other composition measurement of dip angle system with bracket controller near a sensor of controller.Measurement of dip angle of the present invention system is the angle of inclination at each position of measurement bracket in real time, draws the actual attitude of support through combination calculation; Be linked in sequence between sensor, simplified the cabling complexity greatly, be fit to the down-hole complex environment more; Only take interface of bracket controller, can obtain a plurality of inclination data, practiced thrift the controller resource.
Obliquity sensor of the present invention comprises a processing module as central processing unit; Processing module is connected with second interface module with first interface module; In the present invention; During forward transmitted, when mining obliquity sensor during as the source transmitting terminal of data-signal, processing module is responsible for handling from the data frame signal that hydraulic bracket controller receives through first interface module; Communication protocol rule according to predetermined generates data frame signal, sends to next adjacent obliquity sensor through second interface module; When mining obliquity sensor during as the purpose receiving end of data-signal, processing module is responsible for that the obliquity information that receives from adjacent obliquity sensor and the obliquity information of self are handled synthetic new data frame signal and is sent to next adjacent obliquity sensor.During reverse transfer; Last mining obliquity sensor sends to previous mining obliquity sensor through first interface module; Mining obliquity sensor is through the second interface module receiving data frames signal; And sending to processing module, the processing module of each mining obliquity sensor sends to previous adjacent obliquity sensor through first communication interface after respectively self obliquity information being added the data frame signal received successively in reverse transfer, up to hydraulic bracket controller.
The inclination angle detection module detects the obliquity information of testee, sends to processing module, and processing module calculates the angle of inclination of tested article and surface level according to obliquity information.
Fig. 2 is the structural representation of a mining obliquity sensor among the embodiment; As shown in the figure; In the present embodiment, first interface module comprises the first signal condition module and first communication interface, and second interface module comprises secondary signal conditioning module and second communication interface; Processing module is connected with two signal condition modules, i.e. the first signal condition module, secondary signal conditioning module among the figure; Each signal condition module is connected with a communication interface, first communication interface in promptly scheming, second communication interface.
As shown in Figure 3, the mode standard when laterally arranging for obliquity sensor and surface level.This moment, the inclination angle detection chip was in equilibrium state, and X axle Y axle and horizontal plane angle are 0 °, formed 90 ° angle with gravity acceleration g.In this example, sensor sends the pwm signal of dutycycle 50% this moment to processing module.
As shown in Figure 4, for obliquity sensor tilts in X-direction, form δ ° angle with surface level; This moment, the obliquity information that the output of inclination angle detection module is different was after processing module receives obliquity information according to the difference of δ; Get final product conversion process, obtain the angle of inclination of sensor.In this example, when δ is between ± 90 °, obliquity sensor will be exported the pwm signal of X axle 30%～70% dutycycle.The obliquity information obtain manner of Y axle is identical with the X axle.
The obliquity information pattern of sensor output, and corresponding filtering mode comprises but is not limited to following mode: PWM square wave, analog signals, RS232, RS485.
Obliquity sensor of the present invention also has data processing function and transfer function.To the Frame that receives content, carry out corresponding processing, and outwards send through first communication interface or second communication interface according to its command field.
The present invention also provides a kind of measurement of dip angle system, is used for coal mine hydraulic supporting.
The measurement of dip angle system comprises a hydraulic bracket controller and a plurality of mining obliquity sensor of the present invention.
Be illustrated in figure 5 as the system architecture synoptic diagram of measurement of dip angle of the present invention system.The measurement of dip angle system is a control assembly with the bracket controller, is measurement component with the obliquity sensor.Obliquity sensor is installed on each parts of the required measurement of hydraulic support, and bracket controller is installed between the hydraulic support column usually.Connected in series between the obliquity sensor through cable, link to each other the simplification of realization system connected mode again with the controller single face.
As shown in Figure 5, as far as each obliquity sensor in the system, numbering is the first adjacent obliquity sensor than self direct-connected obliquity sensor of little 1; Numbering is the second adjacent obliquity sensor than self direct-connected obliquity sensor of big 1.
Measurement of dip angle of the present invention system has the MANET function.After system connects completion; With the obliquity sensor automatic numbering that bracket controller directly links to each other is 1; The obliquity sensor that is connected with obliquity sensor 1 is numbered 2, and numbering increases progressively according to the order of connection, until last obliquity sensor N; All obliquity sensor all has after the numbering, promptly accomplishes MANET.Obliquity sensor in the system is after numbering, and the controller identiflication number carries out the transmitting-receiving of data.
There is the function of calculating support relative tilt angle in this measurement of dip angle system.In the measurement of dip angle system, obliquity sensor is measured the angle of inclination of each critical component respectively, like the angle of inclination of top board, base plate, the relative surface level of tail boom.Through the means of communication of the present invention, send to bracket controller.Bracket controller is handled the data of receiving, through relative calculating, draws the relative tilt angle state of the parts of support, and then judges whether support is in safe attitude, to make corresponding adjustment measure.As: recording the relative surface level of base plate inclination angle is 10 °, and the relative surface level of top board is 70 °, and then the relative base plate of top board is 70 °-10 °=60 °; Controller judges that through preset standard support is in the hole at this moment, then can receive measures such as top board.
The invention provides the method for utilizing mining measurement of dip angle systematic survey inclination angle accordingly.
The communication data frame that the present invention relates to comprises following 4 kinds of fields:
Start field: the reference position that is used for the nominal data frame signal.
Command field: the order meaning that is used to indicate said data frame signal.Usually the data commands in return that comprises the data query order of sending and feed back to by the obliquity sensor of distal-most end by bracket controller.The obliquity sensor that mediates will not change command field.
Data field: be used for carry data information.Data message is the angle of inclination information that obliquity sensor measures.
Whether check field, it is correct to be used for data that verification is sent out.
As shown in Figure 6, the means of communication of measurement of dip angle of the present invention system comprise following steps:
Step 1: bracket controller regularly sends the data query data frame signal according to actual needs;
Step 2: obliquity sensor 1 receives the data query data frame signal, if judge it self is not distal-most end, then Frame is handled the back and transmits this querying command, and this moment, the command field of Frame was still the data query order;
Step 3～N:, always querying command is sent to the distal-most end obliquity sensor that is numbered N with step 2;
Step N+1: if obliquity sensor is judged certainly as distal-most end; Then Frame is handled; With the querying command field in the Frame; Be revised as data commands in return field, and, then this Frame be forwarded to the less previous obliquity sensor of numbering the ad-hoc location in the obliquity information adding data field of self; The data field that final bracket controller receives comprises the angle of inclination information that all obliquity sensors of handling this Frame write;
Step (N+2)～2N: the obliquity sensor that receives data commands in return Frame; Data field to Frame is handled; The obliquity information that self is measured is according to the numbering of self; The specific part that adds data field, and continue to transmit, bracket controller returned up to data frame signal;
Step 2N+1: bracket controller receives Frame, and this Frame command field is the data commands in return, and data field comprises this angle of inclination information that measures of all 1～N obliquity sensor.
More than all communications carry out all that the Frame reference position is judged and frame check.
Can find out from above communication modes, arbitrary moment, in bracket controller and the N obliquity sensor, have only an interface actions, reduced system power dissipation.
The foregoing description is a preferred implementation of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other are any not to deviate from modification, the modification done under spirit of the present invention and the principle, substitute, combination, simplify; All should be the substitute mode of equivalence, all should be included within protection scope of the present invention.
Claims (8)
1. a mining obliquity sensor is characterized in that, comprising: inclination angle detection module, processing module, first interface module, second interface module;
Said inclination angle detection module is used to detect the obliquity information of testee;
Said processing module is used for handling with the obliquity information of self and from the data frame signal that said obliquity sensor or hydraulic bracket controller receive, and generates data frame signal;
Said first interface module is used to send or receive the data frame signal of adjacent obliquity sensor or hydraulic bracket controller, and communicates by letter with said processing module;
Said second interface module is used for communicating by letter with said processing module, and sends or receive the data frame signal of adjacent obliquity sensor.
2. mining obliquity sensor according to claim 1 is characterized in that: the communication modes of said data frame signal comprises: RS232, RS485, CAN, TCP/IP.
3. mining obliquity sensor according to claim 1 is characterized in that: the frame structure of said data frame signal comprises:
Start field is used to demarcate said data frame signal;
Command field is used to indicate the order meaning of said data frame signal;
Data field is used to carry obliquity information;
Whether check field, it is correct to be used for data that verification is sent out.
4. mining obliquity sensor according to claim 3 is characterized in that: the data of said command field comprise:
Querying command is used to indicate said Frame order and is querying command;
The data commands in return: being used to indicate said Frame is the data commands in return;
When the command field of said data frame signal is querying command; Said processing module judges whether it is the obliquity sensor of distal-most end; If not, then transmit said data frame signal to next adjacent obliquity sensor, otherwise the command field of said data frame signal is revised as the data commands in return through said second interface module; And self obliquity information added said data frame signal, send to previous adjacent obliquity sensor through said first interface module;
When the command field of said data frame signal is the data commands in return, self obliquity information is added said data frame signal, send to previous adjacent obliquity sensor or hydraulic bracket controller through said first interface module.
5. the support measurement of dip angle system that constitutes by the described mining obliquity sensor of claim 1 to 4; It is characterized in that; Comprise hydraulic bracket controller and at least two mining obliquity sensors, after each said mining obliquity sensor is serially connected in said hydraulic bracket controller successively;
Said hydraulic bracket controller is used for sending data frame signal to said mining obliquity sensor;
Said mining obliquity sensor comprises inclination angle detection module, processing module, first interface module, second interface module;
Said inclination angle detection module is used to detect the inclination angle of testee;
Said processing module be used for the obliquity information of self and from said adjacent hydraulic pressure obliquity sensor or adjacent hydraulic bracket controller receive data frame signal handle, generate data frame signal;
Said first interface module is used to send or receive the data frame signal of adjacent obliquity sensor or hydraulic bracket controller, and communicates by letter with said processing module;
Said second interface module is used for communicating by letter with said processing module, and sends or receive the data frame signal of adjacent obliquity sensor.
6. the inclination angle measurement method of a mine hydraulic bracket is used for the network service of hydraulic bracket controller and a plurality of obliquity sensor serial networkings, it is characterized in that, comprises step:
During forward transmitted, hydraulic bracket controller sends data frame signal,
Obliquity sensor receives said data frame signal; Judge whether it is the obliquity sensor of distal-most end; If not, will handle from the data frame signal that previous hydraulic pressure obliquity sensor or hydraulic bracket controller receive, generate data frame signal; Transmit said data frame signal to next adjacent obliquity sensor
During reverse transfer, each obliquity sensor adds said data frame signal with self obliquity information and sends to previous adjacent obliquity sensor or hydraulic bracket controller;
Said hydraulic bracket controller obtains the inclination angle of said hydraulic support according to the obliquity information in the received data frame signal.
7. the inclination angle measurement method of mine hydraulic bracket according to claim 6 is characterized in that, the frame structure of said data frame signal comprises:
Start field is used to demarcate said data frame signal;
Command field is used to indicate the order meaning of said data frame signal;
Data field is used to carry obliquity information;
Whether check field, it is correct to be used for data that verification is sent out.
8. the inclination angle measurement method of mine hydraulic bracket according to claim 6, it is characterized in that: the data of said command field comprise:
Querying command is used to indicate said Frame order and is querying command;
The data commands in return: being used to indicate said Frame is the data commands in return.
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| CN111623803A (en) * | 2020-07-09 | 2020-09-04 | 北京天地玛珂电液控制系统有限公司 | Automatic calibration system and method for fully mechanized coal mining face inclination angle sensor |
| CN112304335A (en) * | 2020-09-28 | 2021-02-02 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support inclination angle sensor calibration method and system |
| CN112697170A (en) * | 2020-12-11 | 2021-04-23 | 西安电子工程研究所 | Method for calibrating more than two inclination angle sensors on carrier |
| CN115790536A (en) * | 2023-02-13 | 2023-03-14 | 河北地质大学 | Geological exploration sloping field angle accurate measurement device |
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| CN112697170A (en) * | 2020-12-11 | 2021-04-23 | 西安电子工程研究所 | Method for calibrating more than two inclination angle sensors on carrier |
| CN112697170B (en) * | 2020-12-11 | 2023-08-29 | 西安电子工程研究所 | Method for calibrating more than two inclination angle sensors on carrier |
| CN115790536A (en) * | 2023-02-13 | 2023-03-14 | 河北地质大学 | Geological exploration sloping field angle accurate measurement device |
| CN115790536B (en) * | 2023-02-13 | 2023-04-11 | 河北地质大学 | Geological exploration sloping field angle accurate measurement device |
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Address after: Nanxiang three road, Science City high tech Industrial Development Zone, Guangzhou city of Guangdong Province, No. 2 510660 Patentee after: Hitachi building technologies (Guangzhou) Co. Ltd. Address before: 510660 Guangdong province Guangzhou Science City, Guangzhou hi tech Industrial Development Zone No. 1 Ke Lin Lu Patentee before: Guangzhou Ropente Science and Technology Development Co., Ltd. |
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