CN102393999B - A kind of two-way mine remote control system and method - Google Patents
A kind of two-way mine remote control system and method Download PDFInfo
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- CN102393999B CN102393999B CN201110410083.8A CN201110410083A CN102393999B CN 102393999 B CN102393999 B CN 102393999B CN 201110410083 A CN201110410083 A CN 201110410083A CN 102393999 B CN102393999 B CN 102393999B
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- 230000001702 transmitter Effects 0.000 claims abstract description 121
- 238000005065 mining Methods 0.000 claims abstract description 71
- 238000004891 communication Methods 0.000 claims abstract description 54
- 238000002955 isolation Methods 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000009432 framing Methods 0.000 claims description 17
- 230000002265 prevention Effects 0.000 claims description 11
- 230000000875 corresponding Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 description 7
- 239000004973 liquid crystal related substance Substances 0.000 description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 4
- 239000003245 coal Substances 0.000 description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 239000000969 carrier Substances 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 229910018502 Ni—H Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002965 rope Substances 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Abstract
Present invention is disclosed a kind of two-way mine remote control system and method, described system includes two-way mine remote control transmitter, two-way mining receptor；Described two-way mine remote control transmitter includes the first core processor, the first power supply, input block, the first display unit, the first radio communication circuit, the first data writing circuit；Described two-way mining receptor includes the second core processor, second source, the second radio communication circuit, the second data writing circuit, CAN interface circuit, isolation circuit and CAN external interface circuit；Described second core processor connects second source, the second radio communication circuit, the second data writing circuit, CAN interface circuit.The two-way mine remote control system and method that the present invention proposes, mine equipment operator can be in the case of leaving controlled machinery certain distance, the remote manipulation to controlled machinery can be realized, the situation of change of three groups of controlled machine performance parameters of care can be seen in real time, it is ensured that highly gassy mine safety work during operation.
Description
Technical field
The invention belongs to electronic communication technology field, relate to a kind of mine remote control system, particularly relate to about one
Universal two-way mine remote control system；Meanwhile, the invention still further relates to a kind of two-way mine remote control side of left-right universal type
Method.
Background technology
At present, radio remote controller many employings one-way transmission mode of domestic mining machine, do not show
Show real-time status parameter and the fault message of controlled device.And the working condition of mining machine is the most severe, difficult
To follow the instantaneous operating conditions of machinery observation machinery, especially there are being the work surface of wall caving phenomenon, this observation
There is great danger.For the operator of machinery, traditional work mode can only be that relative mechanical is certain
Distance carries out perusal, is unfavorable for that operator correctly judge according to the real-time status of machinery.
Owing to mining machine belongs to big machinery, mining face under mine visibility ratio again is relatively low, therefore typically all selects
The method that the right and left controls, left remote control is operated by the operator standing in machinery left back certain distance, right distant
Control is operated by the operator standing in mechanical right rear certain distance, and left and right remote control needs to grasp machinery simultaneously
Work controls, and therefore generally all selects the method for frequency division to realize, but so, left and right remote controller can not be general,
Impact is all brought to accident analysis, equipment and spare part etc..
Chinese patent CN200920164367.1 (patent announcement number: CN201581897U) discloses a kind of band
The coal-winning machine remote control unit of display of regime, including hand-held remote control unit and wireless signal transceiver, hand-held remote control
Device uses battery to power, including microcontroller and coupled radio receiving transmitting module, keyboard and liquid crystal display
Device；Wireless signal transceiver includes microcontroller and coupled radio receiving transmitting module and wire communication mould
Block.The defect of the program is, its display of regime is to return on remote control unit by the way of wire transmission,
During use the most inconvenient, and the mode of wired remote control down-hole mechanical has varied, work surface is still with
Pure wireless remote control is main.
Chinese patent CN200910014818.8 (patent announcement number: CN101871364A) discloses a kind of thin
Working face of coal seam coal-winning machine remote control thereof, uses automatic segmentation remote control；That is: by work surface segmentation, segmentation parameter is defeated
Enter coal-winning machine control centre, make coal-winning machine only receive the telecommand of the radio transmitter being set in this segmentation.
To this end, in the remote control unit being made up of transmitter and receiver, coal-winning machine control centre, increase positioner,
Segmentation position residing for detection coal machine；By control centre's calculation process, outgoing position segment encoding signal, by receiving
Automatic switching control circuit newly-increased in machine, controls carrier frequency or passage or the codec format etc. of switching receiver.Respectively
Transmitter uses different transmitting carrier frequency or coded format etc., corresponding with set work surface segmentation, with reception
Machine is switchable receives correspondence.Its core content is according to coal winning machine position, and receptor switches different frequency range, by
Frequency division method realizes segmentation remote control, eliminates the work that operator creep on narrow work surface, but structure
Complicated, need the remote-controlled transmitter of multiple frequency range.
Summary of the invention
The technical problem to be solved is: provide a kind of two-way mine remote control system, can leave controlled
Realize the remote manipulation to controlled machinery in the case of machinery certain distance, the shape of care during operation, can be seen in real time
The situation of change of state parameter, it is ensured that highly gassy mine safety work.
Additionally, the present invention also provides for a kind of two-way mine remote control method, controlled machinery certain distance can left
In the case of realize the remote manipulation to controlled machinery, the change feelings of the state parameter of care can be seen during operation in real time
Condition, it is ensured that highly gassy mine safety work.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that
A kind of two-way mine remote control system, described system includes two-way mine remote control transmitter, two-way mining reception
Device；
Described two-way mine remote control transmitter include the first core processor, the first power supply, input block, first
Display unit, the first radio communication circuit, the first data writing circuit；Described first core processor connects the
One power supply, input block, the first display unit, the first radio communication circuit, the first data writing circuit；
Described two-way mining receptor include the second core processor, second source, the second radio communication circuit,
Second data writing circuit, CAN interface circuit, isolation circuit and CAN external interface circuit；Described second core
Heart processor connects second source, the second radio communication circuit, the second data writing circuit, CAN interface circuit,
Described CAN interface circuit, isolation circuit, CAN external interface circuit are sequentially connected with；Described two-way mining reception
Device is connected with the master control system of controlled device；
Described first core processor, after receiving the signal that input block sends, utilizes bus marco by required
The data of wireless transmission are sent to the first radio communication circuit, and the first radio communication circuit transmits data to be contained in
On two-way mining receptor on controlled device, it is achieved the wireless distant control function to controlled device, the first nothing simultaneously
Line telecommunication circuit receives the information that described two-way mining receptor is replied, and return information is forwarded to the first core
Processor, the information needing display, after the first core processor processes, is according to circumstances sent extremely by return information
First display unit is shown, thus realizes the information interaction of operator and controlled device state；When there being event
During barrier information, while display, the first core processor control, fault message be recorded the first data
In writing circuit；
Described two-way mining receptor works after powering on the most always, and the moment monitors wireless channel, the second radio communication
Circuit receives wireless data, gives the second core processor after demodulation, and the second core processor is comprehensively sentenced
Disconnected, require that timing sends left and right remote state to CAN interface circuit according to master control, this status data is through isolation electricity
It is sent in the master control CAN of controlled device after road and CAN external interface circuit, the master control system of controlled device
System completes corresponding control action further according to state；Meanwhile, the second core processor also can regularly pass through CAN
Interface circuit, isolation circuit read controlled device with CAN external interface circuit from the CAN of master control system
Instantaneous operating conditions；The duty read includes all state parameters of controlled device, but two-way mining distant
Can show on control transmitter is limited in scope, the most only select user setup, most concerned state parameter returns
Multiple, upon receipt of the information of two-way mine remote control transmitter, ask for status information including operation information with timing
Two kinds, the state parameter of user setup passes through the second radio communication circuit after being processed by the second core processor packing
It is sent to two-way mine remote control transmitter；
When multiple two-way mine remote control transmitters work simultaneously, completed the wireless biography of data by wireless avoidance algorithm
Defeated, it is to have led with two-way mine remote control transmitter, two-way mining receptor coordinates；Particularly as follows: in two-way ore deposit
Must register to two-way mining receptor when starting shooting with remote-controlled transmitter, the two-way mine remote control succeeded in registration sends
Device just can normal remote control controlled device；When the most two-way mine remote control transmitter needs transmission information, all need
Want in advance wireless channel to be intercepted, the ability transmission information when listening to channel idle；Send and the information of reception
Frame all uses the long mode of framing；When listening to channel busy, one frame length of time delay, then prolong a random time, should
The span of random time is 0～1 frame length time, again intercepts, again listen to channel busy time, then
Prolong that a framing is long-time and another random time；Twice collision prevention failure then this operation abandons；Continuous three times
Occur that frame abandons phenomenon and prompt alarm occurs at two-way mine remote control transmitter display end, meanwhile, two-way for avoiding
Mine remote control transmitter crashes and causes information to abandon continuously, and under this situation, two-way mine remote control transmitter weighs automatically
Open；Therefore producing congested for avoiding wireless channel Serious conflicts, the most only two two-way mining distant
Control transmitter works at the same time, during particular job face, answers fragmentary works, distributes number of registration by section, in a section
At most only four two-way mine remote control transmitters can normally work, beyond remote control distance with can't see controlled device
Operator forbid operation；
The information that two-way mining receptor receives any one two-way mine remote control transmitter satisfactory is equal
Respond immediately to, be log-on message register two-way mine remote control transmitter less than time agree to registration, register two-way ore deposit
During with remote-controlled transmitter completely, be automatically deleted register the earliest number, in interpolation, the two-way mine remote control of new registration is sent out
Send device；When receiving registered two-way mine remote control transmitter normal operating information, according to two-way mining during registration
Remote-controlled transmitter setup parameter, replies to two-way mining by the relevant parameter read in controlled device CAN
Remote-controlled transmitter；Operation information is after two-way mining receptor carries out the most comprehensively sentencing by mistake, as believed for normal operating
Breath, is sent to the master control system of controlled device by controlled device CAN, completes to operate remote control；Due to double
Be as long as that the information being received in compliance with requiring all is replied to mining receptor, so two-way mine remote control transmitter
To prolong a framing when listening to channel and being busy and add random collision prevention the most again.
A kind of two-way mine remote control system, described system includes two-way mine remote control transmitter, two-way mining reception
Device；
Described two-way mine remote control transmitter include the first core processor, the first power supply, input block, first
Display unit, the first radio communication circuit, the first data writing circuit；Described first core processor connects the
One power supply, input block, the first display unit, the first radio communication circuit, the first data writing circuit；
Described two-way mining receptor include the second core processor, second source, the second radio communication circuit,
Second data writing circuit, CAN interface circuit, isolation circuit and CAN external interface circuit；Described second core
Heart processor connects second source, the second radio communication circuit, the second data writing circuit, CAN interface circuit,
Described CAN interface circuit, isolation circuit, CAN external interface circuit are sequentially connected with；Described two-way mining reception
Device is connected with the master control system of controlled device.
As a preferred embodiment of the present invention, described first core processor is receiving the letter that input block sends
After number, utilize bus marco that the data of required wireless transmission are sent to the first radio communication circuit, the first nothing
Line telecommunication circuit transmits data on the two-way mining receptor that is contained on controlled device, it is achieved wireless to controlled
The distant control function of equipment, the first radio communication circuit receives the information that described two-way mining receptor is replied simultaneously,
And return information is forwarded to the first core processor, return information through first core processor process after, according to
The information transmission needing display is shown by situation to the first display unit, thus realizes operator with controlled
The information interaction of equipment state；When faulty information, while display, the first core processor control,
Fault message be recorded in the first data writing circuit.
As a preferred embodiment of the present invention, described two-way mining receptor works after powering on the most always, the moment
Monitoring wireless channel, the second radio communication circuit receives wireless data, gives the second core processor after demodulation,
Second core processor carries out comprehensive descision, requires that timing sends left and right remote control to CAN interface circuit according to master control
State, this status data is sent to the master control CAN of controlled device after isolation circuit with CAN external interface circuit
In bus, the master control system of controlled device completes corresponding control action further according to state；Meanwhile, the second core
Heart processor also can regularly pass through CAN interface circuit, isolation circuit with CAN external interface circuit from master control system
CAN on read the instantaneous operating conditions of controlled device；The duty read includes controlled device institute
There is a state parameter, but being limited in scope of can showing on two-way mine remote control transmitter, the most only select user to set
State parameter that put, most concerned is replied, upon receipt of the information of two-way mine remote control transmitter, including behaviour
Information of making asks for status information two kinds with timing, and the state parameter of user setup is by the second core processor packing
It is sent to two-way mine remote control transmitter by the second radio communication circuit after reason.
As a preferred embodiment of the present invention, when multiple two-way mine remote control transmitters work, by nothing simultaneously
Line avoidance algorithm completes being wirelessly transferred of data, is to have led with two-way mine remote control transmitter, two-way mining connects
Receipts device coordinates；Particularly as follows: must register to two-way mining receptor when two-way mine remote control transmitter is started shooting,
The two-way mine remote control transmitter succeeded in registration just can normal remote control controlled device；The most two-way mine remote control
When transmitter needs transmission information, it is required for wireless channel being intercepted, when listening to channel idle in advance
Just send information；Send and all use the long mode of framing with reception information frame；When listening to channel busy, time delay one
Frame length, then prolong a random time, the span of this random time is 0～1 frame length time, again intercepts,
Again listen to channel busy time, then prolong that a framing is long-time and another random time；Twice collision prevention failure
Then this operation abandons；Occur that frame abandons phenomenon and occurs carrying at two-way mine remote control transmitter display end for continuous three times
Show alarm, meanwhile, cause information to abandon continuously for avoiding two-way mine remote control transmitter to crash, lower pair of this situation
Automatically restart to mine remote control transmitter；Therefore produce congested for avoiding wireless channel Serious conflicts, general feelings
Under condition, only two two-way mine remote control transmitters work at the same time, during particular job face, answer fragmentary works, press
Section distribution number of registration, in a section, the most only four two-way mine remote control transmitters can normally work, beyond distant
Control distance and the operator that can't see controlled device forbid to operate；
The information that two-way mining receptor receives any one two-way mine remote control transmitter satisfactory is equal
Respond immediately to, be log-on message register two-way mine remote control transmitter less than time agree to registration, register two-way ore deposit
During with remote-controlled transmitter completely, be automatically deleted register the earliest number, in interpolation, the two-way mine remote control of new registration is sent out
Send device；When receiving registered two-way mine remote control transmitter normal operating information, according to two-way mining during registration
Remote-controlled transmitter setup parameter, replies to two-way mining by the relevant parameter read in controlled device CAN
Remote-controlled transmitter；Operation information is after two-way mining receptor carries out the most comprehensively sentencing by mistake, as believed for normal operating
Breath, is sent to the master control system of controlled device by controlled device CAN, completes to operate remote control；Due to double
Be as long as that the information being received in compliance with requiring all is replied to mining receptor, so two-way mine remote control transmitter
To prolong a framing when listening to channel and being busy and add random collision prevention the most again.
The remote control thereof of a kind of above-mentioned two-way mine remote control system, described method comprises the steps:
Described first core processor, after receiving the signal that input block sends, utilizes bus marco by required
The data of wireless transmission are sent to the first radio communication circuit, and the first radio communication circuit transmits data to be contained in
On two-way mining receptor on controlled device, it is achieved the wireless distant control function to controlled device；First nothing simultaneously
Line telecommunication circuit receives the information that described two-way mining receptor is replied, and return information is forwarded to the first core
Processor, the information needing display, after the first core processor processes, is according to circumstances sent extremely by return information
First display unit is shown, thus realizes the information interaction of operator and controlled device state；When there being event
During barrier information, while display, the first core processor control, fault message be recorded the first data
In writing circuit；
Described two-way mining receptor works after powering on the most always, and the moment monitors wireless channel, the second radio communication
Circuit receives wireless data, gives the second core processor after demodulation, and the second core processor is comprehensively sentenced
Disconnected, require that timing sends left and right remote state to CAN interface circuit according to master control, this status data is through isolation electricity
It is sent in the master control CAN of controlled device after road and CAN external interface circuit, the master control system of controlled device
System completes corresponding control action further according to state；Meanwhile, the second core processor also can regularly pass through CAN
Interface circuit, isolation circuit read controlled device with CAN external interface circuit from the CAN of master control system
Instantaneous operating conditions, and feed back to two-way mine remote control transmitter.
As a preferred embodiment of the present invention, the duty that described two-way mining receptor reads include by
The all state parameters of control equipment, but being limited in scope of can showing on two-way mine remote control transmitter, the most only select
Select user setup, the reply of most concerned state parameter, upon receipt of the information of two-way mine remote control transmitter,
Asking for status information two kinds including operation information with timing, the state parameter of user setup is by the second core processor
Packing is sent to two-way mine remote control transmitter by the second radio communication circuit after processing.
As a preferred embodiment of the present invention, when multiple two-way mine remote control transmitters work, by nothing simultaneously
Line avoidance algorithm completes being wirelessly transferred of data, is to have led with two-way mine remote control transmitter, two-way mining connects
Receipts device coordinates；Particularly as follows: must register to two-way mining receptor when two-way mine remote control transmitter is started shooting,
The two-way mine remote control transmitter succeeded in registration just can normal remote control controlled device；The most two-way mine remote control
When transmitter needs transmission information, it is required for wireless channel being intercepted, when listening to channel idle in advance
Just send information；Send and all use the long mode of framing with reception information frame；When listening to channel busy, time delay one
Frame length, then prolong a random time, the span of this random time is 0～1 frame length time, again intercepts,
Again listen to channel busy time, then prolong that a framing is long-time and another random time；Twice collision prevention failure
Then this operation abandons；Occur that frame abandons phenomenon and occurs carrying at two-way mine remote control transmitter display end for continuous three times
Show alarm, meanwhile, cause information to abandon continuously for avoiding two-way mine remote control transmitter to crash, lower pair of this situation
Automatically restart to mine remote control transmitter；Therefore produce congested for avoiding wireless channel Serious conflicts, general feelings
Under condition, only two two-way mine remote control transmitters work at the same time, during particular job face, answer fragmentary works, press
Section distribution number of registration, in a section, the most only four two-way mine remote control transmitters can normally work, beyond distant
Control distance and the operator that can't see controlled device forbid to operate.
As a preferred embodiment of the present invention, two-way mining receptor receives any one pair satisfactory
Information to mine remote control transmitter all responds immediately to, and is that log-on message is registering two-way mine remote control transmitter not
Agree to registration time full, register two-way mine remote control transmitter completely time, be automatically deleted register the earliest number, add
The two-way mine remote control transmitter of upper new registration；Receive registered two-way mine remote control transmitter normal operating letter
During breath, according to two-way mine remote control transmitter setup parameter during registration, will read from controlled device CAN
Relevant parameter reply to two-way mine remote control transmitter；Operation information is simply combined at two-way mining receptor
Conjunction is sentenced after by mistake, as normal operating information, is sent to the master control system of controlled device by controlled device CAN
System, completes to operate remote control；As long as owing to two-way mining receptor is that the information being received in compliance with requiring all is replied,
Add the most again keep away at random so two-way mine remote control transmitter to prolong a framing when listening to channel and being busy
Touch.
The beneficial effects of the present invention is: the two-way mine remote control system and method that the present invention proposes, mine equipment
Operator can realize the behaviour of the remote control to controlled machinery in the case of leaving controlled machinery certain distance
Make, the situation of change of three groups of controlled machine performance parameters of care can be seen during operation in real time, it is ensured that high methane coal mine
Well safety work, relates to the operation of controlled machinery and real-time status parameter wireless backhaul and shows.In the present invention
Set OLED Chinese word library in core processing single-chip microcomputer and realize the running state parameter of controlled machinery, fault message
Chinese prompt, facilitates operator that machinery is carried out Stateful Inspection and breakdown judge.The present invention is applicable to down-hole and opens
Adopt mining machinery.
Accompanying drawing explanation
Fig. 1 is a kind of theory structure block diagram of the two-way remote control of the present invention.
Fig. 2 is the schematic appearance of two-way remote control of the present invention.
Fig. 3 is the receptor theory structure block diagram of the present invention.
Accompanying drawing mark is as follows:
1, intrinsic safe battery group；2, assortment of keys；
3, OLED liquid crystal display circuit；4, core processing single-chip microcomputer；
5, radio communication circuit；6, wired communication interface；
7, data writing circuit；8, intrinsic safety shell；
9, power conversion part；10, the second core processing single-chip microcomputer；
11, the second radio communication circuit；12, CAN interface circuit；
13, isolation circuit；14, the CAN external interface circuit after isolation；
15, the second data writing circuit；16, flame proof cavity.
Detailed description of the invention
Describe the preferred embodiments of the present invention below in conjunction with the accompanying drawings in detail.
Embodiment one
Present invention is disclosed a kind of two-way mine remote control system, described system include two-way mine remote control transmitter,
Two-way mining receptor.
Described two-way mine remote control transmitter include the first core processor, the first power supply, input block, first
Display unit, the first radio communication circuit, the first data writing circuit；Described first core processor connects the
One power supply, input block, the first display unit, the first radio communication circuit, the first data writing circuit.
Described two-way mining receptor include the second core processor, second source, the second radio communication circuit,
Second data writing circuit, CAN interface circuit, isolation circuit and CAN external interface circuit；Described second core
Heart processor connects second source, the second radio communication circuit, the second data writing circuit, CAN interface circuit,
Described CAN interface circuit, isolation circuit, CAN external interface circuit are sequentially connected with；Described two-way mining reception
Device is connected with the master control system of controlled device.
[two-way mine remote control transmitter]
Referring to Fig. 1, Fig. 2, in the present embodiment, the input block of described two-way mine remote control transmitter is ten
Seven dataway operation buttons 2, operation button 2 uses Omron miniature key switch A9P；OLED liquid crystal display circuit
3 VGY12864C (3V) selecting Visionox company, this OLED can show 4 row data simultaneously.Additionally,
The intrinsic safe battery group 1 (the i.e. first power supply) of present system selects four joint rechargeable Ni-H 2 battery series connection, with electricity
Pond intrinsic safety assembly series connection overall encapsulation.MSP430F149 type single-chip microcomputer selected by core processing single-chip microcomputer 4.Core
Heart processing single chip 4 and OLED liquid crystal display circuit 3, radio communication circuit 5, wire communication circuit 6, number
Being direct bus according to writing circuit 7 to connect, bus scheduling is processed by core single-chip microcomputer 4.
Wherein, radio communication circuit 5 is the CC1100 selecting TI company；Wire communication circuit 6 is standby herein
With interface, only debug use, in work need not, select SN75LBC184D type RS485 transceiver.Data record
Circuit 7 selects the FM25L04 of RAMTRON company, core processing single-chip microcomputer 4 pass through bus access.Intrinsic safety
Shell 8 all Circuit assembly the most together, and guarantees generally essential safe type, can be at high methane
Deng dangerous situation safety applications.
As it is shown on figure 3, in the present embodiment, the second radio communication circuit 11 of receptor also selects TI company
CC1100, is controlled by the second core processing single-chip microcomputer 10 and carries out data exchange therewith；Second core processing list
MSP430F149 type single-chip microcomputer selected by sheet machine 10；CAN interface circuit 12 selects PHILIPS company
SJA1000T, is controlled by the second core processing single-chip microcomputer 10 and carries out data exchange therewith；Isolation circuit 13
Select the high-speed figure isolation circuit HCPL2631-300 type light-coupled isolation of AGILENT company；CAN after isolation
External interface circuit 14 selects the PCA82C251 type CAN transceiver of PHILIPS company, with controlled machinery
Master control CAN is directly connected to；The FM25L04 of RAMTRON company selected by second data writing circuit 15,
Bus access is passed through by the second core processing single-chip microcomputer 10；Flame proof cavity 16 is not the part of this device, but this
The receptor of device is located in the flame proof cavity 16 of machinery that (wireless signal receiving antenna passes through flame proof loudspeaker
Mouthful stretch out flame proof cavity) an electric component, to guarantee in dangerous situation application such as high methane；Power supply becomes
Change the normal work that part 9 is circuit and the power supply of different voltage is provided.
The work process of present system is as follows:
During work, core processing single-chip microcomputer 4 of the present invention, after receiving push button signalling 2, utilizes bus marco by institute
The data needing wireless transmission are sent to radio communication circuit 5, and data are wirelessly transmitted to by radio communication circuit 5
It is contained on the controlled receptor stood away mechanically, it is achieved the wireless distant control function to controlled machinery,
Radio communication circuit 5 receives the return information of machinery end-receiver simultaneously, and is forwarded at core by return information
Reason single-chip microcomputer 4, return information, after core processing single-chip microcomputer 4 processes, according to circumstances will need the information of display
Transmission to OLED liquid crystal display circuit 3 is shown, thus realizes the letter of operator and controlled machine performance
Breath interaction.When faulty information, while display, core processing single-chip microcomputer 4 control, fault is believed
Breath recorded in data writing circuit 7.
Receptor works after powering on the most always, and the moment monitors wireless channel, and the second radio communication circuit 11 receives
To wireless data, giving the second core processing single-chip microcomputer 10 after demodulation, the second core processing single-chip microcomputer 10 is carried out
According to master control, comprehensive descision, requires that timing sends left and right remote state to CAN interface circuit 12, this status number
It is sent in the master control CAN of controlled machinery after CAN external interface circuit 14 according to through isolation circuit 13,
Master control completes corresponding control action further according to state；Meanwhile, the second core processing single-chip microcomputer 10 also can be determined
Time by CAN interface circuit 12, isolation circuit 13 and CAN external interface circuit 14, from the CAN of master control
The instantaneous operating conditions of controlled machinery is read in bus；The duty read includes all shapes of controlled machinery
State parameter, but being limited in scope of can showing on two-way remote control, the most only select three groups of users of user setup
Most concerned state parameter is replied, and the information upon receipt of two-way remote control (includes operation information and timing rope
Take status information two kinds), these three groups of state parameters processed by the second core processing single-chip microcomputer 10 packing after by the
Two radio communication circuits 11 are sent to two-way remote control end.
When multiple two-way remote controls work simultaneously, wireless avoidance algorithm is to have led with two-way remote control, receptor
Coordinate；Being specifically described as: must register to receptor when two-way remote control is started shooting, that succeeds in registration is two-way distant
Control device just can be with normal remote control machinery；When no matter when two-way remote control needs transmission information, it is the most right to be required for
Wireless channel is intercepted, the ability transmission information when listening to channel idle；Send and all use with reception information frame
The long mode of framing；When listening to channel busy, one frame length of time delay, then prolong a random time, this random time
Span be 0～1 frame length time, again intercept, again listen to channel busy time, then prolong one fixed
Frame length time and another random time；Twice collision prevention failure then this operation abandons；Occur that frame is lost continuous three times
Abandon phenomenon, at two-way remote control display end, prompt alarm occurs, meanwhile, cause letter for avoiding two-way remote control to crash
Breath abandons continuously, and under this situation, two-way remote control is restarted automatically；Therefore produce for avoiding wireless channel Serious conflicts
Raw congested, the most only two two-way mine remote control transmitters work at the same time, during particular job face,
Answering fragmentary works, distribute number of registration by section, in a section, the most only four two-way remote controls can normally work,
Forbid to operate with the operator that can't see controlled machinery beyond remote control distance.
The main behavior of cooperation of receptor is: the information receiving any one two-way remote control satisfactory is equal
Respond immediately to, be log-on message register two-way remote control less than time agree to registration, registration two-way remote control is the fullest
Time, be automatically deleted register the earliest number, the two-way remote control of new registration in interpolation；Receive registered two-way distant
During control device normal operating information, according to two-way remote control setup parameter during registration, will read from machinery CAN
To relevant parameter reply to two-way remote control；Operation information carries out the most comprehensively sentencing by mistake (such as a left side at receiver end
Remote control assigned direction remote control assigned direction to left and right to the right, during logic conflict, does not sends associative operation to master control
Control information) after, as normal operating information, it is sent to the master control system of machinery by machinery CAN,
Complete to operate remote control；Owing to receptor is as long as that the information being received in compliance with requiring all is replied, so two-way distant
Control device end to prolong a framing and add random collision prevention the most again when listening to channel and being busy.
In sum, the two-way mine remote control system and method that the present invention proposes, mine equipment operator are permissible
In the case of leaving controlled machinery certain distance, the remote manipulation to controlled machinery can be realized, can be real during operation
Time see the situation of change of three groups of controlled machine performance parameters of care, it is ensured that highly gassy mine safety work, relate to
And to operation and the real-time status parameter wireless backhaul of controlled machinery and show.Core processing single chip in the present invention
Inside set OLED Chinese word library and realize the Chinese prompt of the running state parameter of controlled machinery, fault message, convenient
Operator carry out Stateful Inspection and breakdown judge to machinery.The present invention is applicable to underground mining mining machinery.
Here description of the invention and application is illustrative, is not wishing to limit the scope of the invention to above-mentioned reality
Execute in example.The deformation of embodiments disclosed herein and change are possible, for the common skill of those this areas
For art personnel, the various parts with equivalence of replacing of embodiment are known.It should be clear to a person skilled in the art that
, in the case of without departing from the spirit or essential characteristics of the present invention, the present invention can in other forms, knot
Structure, layout, ratio, and realize with other assembly, material and parts.Without departing from the scope of the invention and
In the case of spirit, embodiments disclosed herein can be carried out other deformation and change.
Claims (2)
1. a two-way mine remote control system, it is characterised in that described system include two-way mine remote control transmitter,
Two-way mining receptor；
Described two-way mine remote control transmitter include the first core processor, the first power supply, input block,
First display unit, the first radio communication circuit, the first data writing circuit；Described first core processing
Device connects the first power supply, input block, the first display unit, the first radio communication circuit, the first data
Writing circuit；
Described two-way mining receptor includes the second core processor, second source, the second radio communication electricity
Road, the second data writing circuit, CAN interface circuit, isolation circuit and CAN external interface circuit；Institute
State second core processor connect second source, the second radio communication circuit, the second data writing circuit,
CAN interface circuit, described CAN interface circuit, isolation circuit, CAN external interface circuit are sequentially connected with；
Described two-way mining receptor is connected with the master control system of controlled device；
Described first core processor, after receiving the signal that input block sends, utilizes bus marco by institute
The data needing wireless transmission are sent to the first radio communication circuit, and data are sent out by the first radio communication circuit
Deliver on the two-way mining receptor that is contained on controlled device, it is achieved the wireless distant control function to controlled device,
First radio communication circuit receives the information that described two-way mining receptor is replied simultaneously, and by return information
Being forwarded to the first core processor, return information, after the first core processor processes, according to circumstances need to
Information transmission to be shown is shown to the first display unit, thus realizes operator and controlled device
The information interaction of state；When faulty information, while display, the first core processor control,
Fault message be recorded in the first data writing circuit；
Described two-way mining receptor works after powering on the most always, and the moment monitors wireless channel, and second is wireless
Telecommunication circuit receives wireless data, gives the second core processor after demodulation, and the second core processor enters
According to master control, row comprehensive descision, requires that timing sends left and right remote state, this state to CAN interface circuit
Data are sent in the master control CAN of controlled device after CAN external interface circuit through isolation circuit,
The master control system of controlled device completes corresponding control action further according to state；Meanwhile, at the second core
Reason device also can regularly pass through CAN interface circuit, isolation circuit with CAN external interface circuit from master control system
CAN on read the instantaneous operating conditions of controlled device；The duty read includes controlled setting
Standby all state parameters, but being limited in scope of can showing on two-way mine remote control transmitter, the most only select
Select user setup, the reply of most concerned state parameter, upon receipt of two-way mine remote control transmitter
Information, asks for status information two kinds including operation information with timing, and the state parameter of user setup is by second
Core processor packing is sent to two-way mine remote control transmitter by the second radio communication circuit after processing；
When multiple two-way mine remote control transmitters work simultaneously, completed the nothing of data by wireless avoidance algorithm
Line transmits, and is to have led with two-way mine remote control transmitter, and two-way mining receptor coordinates；Particularly as follows:
Must register to two-way mining receptor when two-way mine remote control transmitter is started shooting, that succeeds in registration is two-way
Mine remote control transmitter just can normal remote control controlled device；The most two-way mine remote control transmitter needs
During transmission information, it is required in advance wireless channel being intercepted, just sends when listening to channel idle
Information；Send and all use the long mode of framing with reception information frame；When listening to channel busy, one frame of time delay
Long, then prolong a random time, the span of this random time is 0～1 frame length time, again detects
Listen, again listen to channel busy time, then prolong that a framing is long-time and another random time；Twice
Collision prevention failure then this operation abandons；Occur that frame abandons phenomenon at two-way mine remote control transmitter for continuous three times
There is prompt alarm in display end, meanwhile, causes information continuous for avoiding two-way mine remote control transmitter to crash
Abandoning, under this situation, two-way mine remote control transmitter is restarted automatically；Therefore for avoiding wireless channel seriously to rush
Dashing forward and produce congested, the most only two two-way mine remote control transmitters work at the same time, special
During work surface, answer fragmentary works, distribute number of registration by section, in a section at most only four two-way mining
Remote-controlled transmitter can normally work, and forbids to grasp with the operator that can't see controlled device beyond remote control distance
Make；
Two-way mining receptor receives the information of any one two-way mine remote control transmitter satisfactory
All respond immediately to, be log-on message register two-way mine remote control transmitter less than time agree to registration, registration
Two-way mine remote control transmitter completely time, be automatically deleted register the earliest number, in interpolation, new registration is two-way
Mine remote control transmitter；When receiving registered two-way mine remote control transmitter normal operating information, according to
During registration, two-way mine remote control transmitter setup parameter, corresponding by read in controlled device CAN
Parameter replies to two-way mine remote control transmitter；Operation information carries out simple comprehensive at two-way mining receptor
Sentence after by mistake, as normal operating information, be sent to the master control of controlled device by controlled device CAN
System, completes to operate remote control；As long as owing to two-way mining receptor is that the information being received in compliance with requiring all is entered
Row is replied, thus two-way mine remote control transmitter to prolong a framing when listening to channel and being busy long-time
Add random collision prevention again.
2. the remote control thereof of two-way mine remote control system described in a claim 1, it is characterised in that described method
Comprise the steps:
Described first core processor, after receiving the signal that input block sends, utilizes bus marco by institute
The data needing wireless transmission are sent to the first radio communication circuit, and data are sent out by the first radio communication circuit
Deliver on the two-way mining receptor that is contained on controlled device, it is achieved the wireless distant control function to controlled device；
First radio communication circuit receives the information that described two-way mining receptor is replied simultaneously, and by return information
Being forwarded to the first core processor, return information, after the first core processor processes, according to circumstances need to
Information transmission to be shown is shown to the first display unit, thus realizes operator and controlled device
The information interaction of state；When faulty information, while display, the first core processor control,
Fault message be recorded in the first data writing circuit；
Described two-way mining receptor works after powering on the most always, and the moment monitors wireless channel, and second is wireless
Telecommunication circuit receives wireless data, gives the second core processor after demodulation, and the second core processor enters
According to master control, row comprehensive descision, requires that timing sends left and right remote state, this state to CAN interface circuit
Data are sent in the master control CAN of controlled device after CAN external interface circuit through isolation circuit,
The master control system of controlled device completes corresponding control action further according to state；Meanwhile, at the second core
Reason device also can regularly pass through CAN interface circuit, isolation circuit with CAN external interface circuit from master control system
CAN on read the instantaneous operating conditions of controlled device, and feed back to two-way mine remote control transmitter；
The duty that described two-way mining receptor reads includes all state parameters of controlled device, but
Can show on two-way mine remote control transmitter is limited in scope, the most only select user setup, close most
The state parameter of the heart is replied, upon receipt of the information of two-way mine remote control transmitter, including operation information
Asking for status information two kinds with timing, the state parameter of user setup is processed by the second core processor packing
It is sent to two-way mine remote control transmitter afterwards by the second radio communication circuit；
When multiple two-way mine remote control transmitters work simultaneously, completed the nothing of data by wireless avoidance algorithm
Line transmits, and is to have led with two-way mine remote control transmitter, and two-way mining receptor coordinates；Particularly as follows:
Must register to two-way mining receptor when two-way mine remote control transmitter is started shooting, that succeeds in registration is two-way
Mine remote control transmitter just can normal remote control controlled device；The most two-way mine remote control transmitter needs
During transmission information, it is required in advance wireless channel being intercepted, just sends when listening to channel idle
Information；Send and all use the long mode of framing with reception information frame；When listening to channel busy, one frame of time delay
Long, then prolong a random time, the span of this random time is 0～1 frame length time, again detects
Listen, again listen to channel busy time, then prolong that a framing is long-time and another random time；Twice
Collision prevention failure then this operation abandons；Occur that frame abandons phenomenon at two-way mine remote control transmitter for continuous three times
There is prompt alarm in display end, meanwhile, causes information continuous for avoiding two-way mine remote control transmitter to crash
Abandoning, under this situation, two-way mine remote control transmitter is restarted automatically；Therefore for avoiding wireless channel seriously to rush
Dashing forward and produce congested, the most only two two-way mine remote control transmitters work at the same time, special
During work surface, answer fragmentary works, distribute number of registration by section, in a section at most only four two-way mining
Remote-controlled transmitter can normally work, and forbids to grasp with the operator that can't see controlled device beyond remote control distance
Make；
Two-way mining receptor receives the information of any one two-way mine remote control transmitter satisfactory
All respond immediately to, be log-on message register two-way mine remote control transmitter less than time agree to registration, registration
Two-way mine remote control transmitter completely time, be automatically deleted register the earliest number, in interpolation, new registration is two-way
Mine remote control transmitter；When receiving registered two-way mine remote control transmitter normal operating information, according to
During registration, two-way mine remote control transmitter setup parameter, corresponding by read in controlled device CAN
Parameter replies to two-way mine remote control transmitter；Operation information carries out simple comprehensive at two-way mining receptor
Sentence after by mistake, as normal operating information, be sent to the master control of controlled device by controlled device CAN
System, completes to operate remote control；As long as owing to two-way mining receptor is that the information being received in compliance with requiring all is entered
Row is replied, thus two-way mine remote control transmitter to prolong a framing when listening to channel and being busy long-time
Add random collision prevention again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110410083.8A CN102393999B (en) | 2011-12-09 | A kind of two-way mine remote control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110410083.8A CN102393999B (en) | 2011-12-09 | A kind of two-way mine remote control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102393999A CN102393999A (en) | 2012-03-28 |
| CN102393999B true CN102393999B (en) | 2016-12-14 |
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