CN102426348A - Device and method for detecting position of coal mining machine based on radio frequency technology - Google Patents
Device and method for detecting position of coal mining machine based on radio frequency technology Download PDFInfo
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- CN102426348A CN102426348A CN201110244599XA CN201110244599A CN102426348A CN 102426348 A CN102426348 A CN 102426348A CN 201110244599X A CN201110244599X A CN 201110244599XA CN 201110244599 A CN201110244599 A CN 201110244599A CN 102426348 A CN102426348 A CN 102426348A
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- coalcutter
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Abstract
The invention relates to a device and method for detecting a position of a coal mining machine based on a radio frequency technology. The device comprises a radio transceiver, a plurality of labels and a support controller, which realize data communication wirelessly. The radio transceiver is arranged on the coal mining machine and transmits a signal to a working surface at a certain time interval, each label is provided with a unique identification code, the identification code of one label is transmitted outside wirelessly after the label receives the signal transmitted by the radio transceiver, the radio transceiver receives the identification code transmitted wirelessly by the label, obtains the current position of the radio transceiver, namely the position of the coal mining machine, according to the received identification code, and also transmits the position of the coal mining machine in a wireless communication manner to the support controller, and the support controller transmits the position of the coal mining machine to a whole working surface in a broadcasting manner.
Description
Technical field
The present invention relates to a kind of coalcutter position detecting device and detection method, particularly a kind of have wireless transceiver, label and a bracket controller, is used for fully-mechanized mining working identification coalcutter position Detection device and detection method under the coal mine.
Background technology
Fully-mechanized mining working has equipment such as coalcutter, scraper conveyor and hydraulic support to constitute, and coalcutter is track travel with the scraper conveyor through drive motor, and hydraulic support is implemented the action control of support according to coal winning technology according to the coalcutter position; Adopt hydraulic support electrohydraulic control system, realized the electro-hydraulic control of support, and can be according to the coalcutter position; According to coal winning technology, realize the automatic control of hydraulic support with following coalcutter, the support before coalcutter coal cutting front roll is regained face guard; Support behind coalcutter coal cutting back roll stretches out face guard; Support after the coalcutter coal cutting in time implements to move frame, and the support after support moves frame is implemented the pushing and sliding action, and the course of action of entire bracket serves as according to implementing with the coalcutter position all; Therefore realize workplace robotization control, the coalcutter position is crucial.The coalcutter position detecting device mainly adopts infrared sensor to realize at present; This device is made up of infrared transmitter of installing on the coalcutter and the infrared remote receiver on every support, installed; Has the cost height; Failure rate high with characteristics such as easy care not, the transmitting-receiving window of infrared sensor is often covered by dust, causes problems such as the inaccurate or saltus step in coalcutter position.For this reason, be badly in need of the coalcutter position detecting device of development low cost, high reliability.
Summary of the invention
To the problems referred to above; The present invention proposes a kind of wireless coalcutter position detecting device, and it can paste a label on support, wireless transceiver is installed on coalcutter is got final product; Emissive power through the control transmitter; Can control and receive received energy of label and the scope that receives label, thereby draw the coalcutter position, through this coalcutter positional information is sent to bracket controller; Make the force piece electrohydraulic control system obtain the coalcutter positional information, realize it and follow machine robotization control function.The benefit that the present invention brings is; Label has characteristics such as cost is low, convenient and flexible installation, replacing convenience, can stick on any part of stent cover to coalcutter, adopts label need not use connector; Lower the complexity of device, thereby improved the reliability of device.
Technical scheme of the present invention is following:
A kind of coalcutter position detecting device comprises wireless transceiver, label and bracket controller, only realizes data communication through wireless mode between said wireless transceiver, label, the bracket controller; Said wireless transceiver is installed on the coalcutter, transmits to workplace at interval with certain hour, and said label has a plurality of; Each label has unique authentication code, after said label receives transmitting of wireless transceiver, with the outside wireless transmission of its authentication code; Said wireless transceiver according to the authentication code that receives, draws the current position of said wireless transceiver after receiving the authentication code that label sends out with wireless mode; It is the coalcutter position; And,, send to bracket controller through wireless communication mode with the coalcutter position; Bracket controller is sent to the full face through the mode of broadcasting with the coalcutter position.
Wherein said wireless transceiver is radio RF recognition technology (RFID) wireless transceiver, both can launch radio frequency signal, also can receive radio frequency signal; Said wireless transceiver can be controlled its radio transmitted power, through regulating the radio transmitted power of said wireless transceiver, energy size and effective range that control transmits; Said wireless transceiver is distinguished to the different communication protocol of coalcutter positional information employing that transmits with send to bracket controller that label sends.
Said label is an electronic tag; Said electronic tag is after receiving the transmitting of wireless transceiver emission; As the energy that transmits surpasses built-in threshold values, then reads the inner authentication code of said electronic tag through built-in drive circuit, and outside wireless transmission.
Said wireless transceiver is fixedly mounted on the coalcutter, and said label is installed on the hydraulic support.
The said time interval that said wireless transceiver transmits is 0.1～0.5 second.
Said wireless transceiver has the twireless radio-frequency communication function, and it sends to bracket controller through the twireless radio-frequency communication mode with the coalcutter positional information.
Said bracket controller has less radio-frequency receiver module and less radio-frequency transmitter module; Said less radio-frequency receiver module receives the coalcutter positional information that said wireless transceiver sends, and said less radio-frequency transmitter module is to said wireless transceiver request coalcutter positional information; Said bracket controller also has the broadcast communication module, through the broadcast communication module with the coalcutter broadcast of position information that receives to all bracket controllers of full face.
The coalcutter method for detecting position of above-mentioned coalcutter position detecting device is:
1. the operating path of a plurality of labels along coalcutter is arranged on the support, each label has the internal indicator code, and the authentication code of a plurality of labels has nothing in common with each other; Wireless transceiver is arranged on the coalcutter;
2. bracket controller sends a sense command through wireless mode to wireless transceiver, after wireless transceiver receives said sense command, and outside immediately wireless transmission signal;
3. after one or more in a plurality of labels receive said signal; The energy of signal is compared with inner built-in threshold values; Like energy value more than or equal to built-in threshold values; Then label is with the outside wireless transmission of the authentication code of self, and less than built-in threshold values, then label is not with the outside wireless transmission of the authentication code of self like energy value;
4. wireless transceiver receives the authentication code that the label wireless transmission comes out, and confirms the position of wireless transceiver according to the authentication code that receives, because wireless transceiver is arranged on the coalcutter, so the position of wireless transceiver is the position of coalcutter.
Whenever detect a coalcutter position at a distance from 0.1～0.5 second, realize the detection of dynamic of coalcutter position.
Step confirms that according to the authentication code that receives the method for the position of wireless transceiver is in 4.: as only receiving an authentication code, then with the position as wireless transceiver, the position of the label under this authentication code; As receive a plurality of authentication codes, then with in a plurality of labels under a plurality of authentication codes at a distance of the center of farthest two labels as the position of wireless transceiver.
The invention has the advantages that:
1, is employed on every support and electronic tag to be installed to discern the coalcutter position, advantage such as it is low to have a cost, and reliability is high, and is easy to install;
2, need not to use connector to connect between wireless transceiver, electronic tag and the bracket controller, simplified coalcutter pick-up unit structure, improved its reliability;
3, come the electronic tag quantity of control response through the emitted energy (emissive power) of control wireless transceiver, can improve the precision of coalcutter position probing, improve the device effect.
Description of drawings
Accompanying drawing 1 is the synoptic diagram of coalcutter position detecting device.
Embodiment
Referring to accompanying drawing 1; It has described a kind of synoptic diagram according to coalcutter position detecting device of the present invention; Comprise a plurality of hydraulic supports (hydraulic support 1-5) and coalcutter, be respectively arranged with label 1-5 and bracket controller 1-5 on the hydraulic support, coalcutter is provided with wireless transceiver.Can be between above-mentioned wireless transceiver, label, the bracket controller through also only realizing data communication through wireless mode.Hydraulic support 1-5 is disposed in order along the operative orientation of coalcutter, and promptly coalcutter passes through hydraulic support 1-5 successively when work, and the label on it can be an electronic tag; Also can be other label with electronic signal reception and sending function, label has unique authentication code, and the authentication code of each label has nothing in common with each other; It sends to said wireless transceiver with its authentication code to the outside after receiving the transmitting of wireless transceiver, wireless transceiver is according to the authentication code that receives; Draw the current position of said wireless transceiver, i.e. coalcutter position, and with the coalcutter position; Pass through wireless communication mode; Send to bracket controller, bracket controller is sent to the full face through the mode of broadcasting with the coalcutter position.
Wireless transceiver wherein is preferably radio RF recognition technology (RFID) wireless transceiver, and it both can launch radio frequency signal, also can receive radio frequency signal; Transmitting is used for supplying the label response with the transmission authentication code, and can send the coalcutter positional information to bracket controller; Receive signal and be used to receive the authentication code that label returns, the coalcutter position request information of also can the receiving tray controller sending.Wireless transceiver has control function of power; Can control its radio transmitted power; Through regulating the emissive power of transmitter; Can control the energy size and signal transmission effective range that transmit, transmitter adopts different communication protocol to distinguish to transmitting of sending of label with to the coalcutter positional information of controller transmission.
After electronics was marked on the wireless signal that receives the transmitter emission, the built-in drive circuit of label read label internal indicator code, and sends to transmitter.Therefore label could drive built-in circuit after must receiving the wireless signal with certain energy, apart from transmitter label far away, can not trigger built-in drive circuit with the foldback authentication code of returning.That is to say the threshold values of the driving built-in circuit of emissive power and electronic tag through regulating wireless transceiver; Just can make the label in the certain limit send authentication code, and the label outside this scope can't the response identification code and do not send authentication code.
Wireless transceiver is installed on the coalcutter, and label is rack-mount, and transmitter moves along with moving of coalcutter, can effective reception also continuous variation taking place to the label range of the wireless energy of transmitter emission.Through the wireless energy of control transmitter emission, can control label and receive wireless energy, thereby the quantity of label return wireless signal (tag identifier) is obtained in control, thereby calculate the position at transmitter place, be i.e. the position at coalcutter place.
Wireless transceiver transmit can timed sending so that the label in the activation energy coverage returns the tag identifier code, Dynamic Recognition coalcutter position, the time interval that said transmission obtains the tag identifier code is 0.1～0.5 second.
After calculating the coalcutter position; Wireless transceiver is notified coupled bracket controller with it; Bracket controller has radio frequency transceiving module; Can receive the coalcutter positional information that wireless transceiver sends, simultaneously also can be to wireless transceiver request coalcutter positional information, wireless transceiver transmits according to the request of bracket controller and carries out the coalcutter position probing.Bracket controller also has the broadcast communication module, can the coalcutter positional information that receive be broadcast on all bracket controllers in full face, realizes the networking monitoring of coalcutter position.
The coalcutter method for detecting position of above-mentioned coalcutter position detecting device is:
1. the operative orientation of a plurality of labels along coalcutter is arranged on the working surface hydraulic support, each label has the internal indicator code, and the authentication code of a plurality of labels has nothing in common with each other; Wireless transceiver is arranged on the coalcutter;
2. any bracket controller is (as passing through the artificial judgment bracket controller nearest apart from coalcutter; Bracket controller 2 in the present embodiment) sends a sense command through wireless mode to wireless transceiver; Also can a plurality of bracket controllers send sense command simultaneously and can receive sense command to guarantee coalcutter; After wireless transceiver receives sense command, outwards launch wireless signal immediately;
3. after one or more in a plurality of labels receive said signal, the energy of signal is compared with inner built-in threshold values, like energy value more than or equal to built-in threshold values; Then label is with the outside wireless transmission of the authentication code of self, and less than built-in threshold values, then label is not with the outside wireless transmission of the authentication code of self like energy value; Built-in threshold values wherein is the preset value of a manual work, and it can obtain according to the power calculation of the wireless transceiver of the running parameter of workplace and selection, also can rule of thumb get an approximate value; Like 0.1W～10W; Can also draw through experiment, be 10W like the transmission energy that obtains wireless transceiver under certain distance through experiment, and then the minor increment at label and wireless transceiver is under the situation of above-mentioned distance; The value of built-in threshold values gets final product than 10W is smaller, like 9W or 9.5W;
4. wireless transceiver receives the authentication code that the label wireless transmission comes out; Confirm the position of wireless transceiver according to the authentication code that receives; Like the emissive power of wireless transceiver and the threshold values of label comparison match is set, and to have certain label nearer in the position of coalcutter, then possibly only receive an authentication code; Be the authentication code of label 2 in the present embodiment, then with position, the position of the label under this authentication code as wireless transceiver; Like the position of coalcutter between certain two label; Then possibly receive a plurality of authentication codes, as receive the authentication code of label 1,2,3, in this case; With in a plurality of labels under a plurality of authentication codes at a distance of the center of farthest two labels as the position of wireless transceiver; Because wireless transceiver is arranged on the coalcutter, so the position of wireless transceiver is the position of coalcutter, though said method is in a way approximate; But consider the actual requirement of down-hole, its precision can be satisfied the demand fully.
Above-mentioned detection method can whenever detect once at a distance from 0.1～0.5 second, to realize the detection of dynamic of coalcutter position.
The above; Be merely the preferable embodiment of patent of the present invention; But the protection domain of patent of the present invention is not limited thereto; Any technician who is familiar with the present technique field is in the technical scope that patent of the present invention discloses, and the variation that can expect easily or replacement all should be encompassed within the protection domain of patent of the present invention.
Claims (10)
1. a coalcutter position detecting device is characterized in that: comprise wireless transceiver, label and bracket controller, only realize data communication through wireless mode between said wireless transceiver, label, the bracket controller; Said wireless transceiver is installed on the coalcutter, transmits to workplace at interval with certain hour, and said label has a plurality of; Each label has unique authentication code; After said label receives transmitting of wireless transceiver, its authentication code is outwards sent with wireless mode, after said wireless transceiver receives the authentication code that label sends out with wireless mode; According to the authentication code that receives; Draw the current position of said wireless transceiver, i.e. coalcutter position, and the coalcutter position sent to bracket controller through wireless communication mode; Bracket controller is sent to the full face through the mode of broadcasting with the coalcutter position.
2. coalcutter position detecting device as claimed in claim 1 is characterized in that: wherein said wireless transceiver is radio RF recognition technology (RFID) wireless transceiver, both can launch radio frequency signal, also can receive radio frequency signal; Said wireless transceiver can be controlled its radio transmitted power, through regulating the radio transmitted power of said wireless transceiver, energy size and effective range that control transmits; Said wireless transceiver is distinguished to the different communication protocol of coalcutter positional information employing that transmits with send to bracket controller that label sends.
3. coalcutter position detecting device as claimed in claim 2; It is characterized in that: said label is an electronic tag; Said electronic tag is behind the wireless signal that receives the wireless transceiver emission; As the energy that transmits then reads the inner authentication code of said electronic tag through built-in drive circuit, and outwards sends with wireless mode above built-in threshold values.
4. like the arbitrary described coalcutter position detecting device of claim 1-3, it is characterized in that: said wireless transceiver is fixedly mounted on the coalcutter, and said label is installed on the hydraulic support.
5. coalcutter position detecting device as claimed in claim 4 is characterized in that: the said time interval that said wireless transceiver transmits is 0.1～0.5 second.
6. coalcutter position detecting device as claimed in claim 5 is characterized in that: said wireless transceiver has the twireless radio-frequency communication function, and it sends to bracket controller through the twireless radio-frequency communication mode with the coalcutter positional information.
7. coalcutter position detecting device as claimed in claim 6; It is characterized in that: said bracket controller has less radio-frequency receiver module and less radio-frequency transmitter module; Said less radio-frequency receiver module receives the coalcutter positional information that said wireless transceiver sends, and said less radio-frequency transmitter module is to said wireless transceiver request coalcutter positional information; Said bracket controller also has the broadcast communication module, through the broadcast communication module with the coalcutter broadcast of position information that receives to all bracket controllers of full face.
8. like the coalcutter method for detecting position of the arbitrary described coalcutter position detecting device of claim 1-7, it is characterized in that:
1. the operative orientation of a plurality of labels along coalcutter is arranged on the working surface hydraulic support, each label has the internal indicator code, and the authentication code of a plurality of labels has nothing in common with each other; Wireless transceiver is arranged on the coalcutter;
2. bracket controller sends a sense command through wireless mode to wireless transceiver, after wireless transceiver receives said sense command, outwards launches wireless signal immediately;
3. after one or more in a plurality of labels receive said signal; The energy of signal is compared with inner built-in threshold values; Like energy value more than or equal to built-in threshold values; Then label is with the outside wireless transmission of the authentication code of self, and less than built-in threshold values, then label is not with the outside wireless transmission of the authentication code of self like energy value;
4. wireless transceiver receives the authentication code that the label wireless transmission comes out, and confirms the position of wireless transceiver according to the authentication code that receives, because wireless transceiver is arranged on the coalcutter, so the position of wireless transceiver is the position of coalcutter.
9. coalcutter method for detecting position as claimed in claim 8 is characterized in that: whenever detected a coalcutter position at a distance from 0.1～0.5 second, realize the detection of dynamic of coalcutter position.
10. like claim 8 or 9 described coalcutter method for detecting position; It is characterized in that: step confirms that according to the authentication code that receives the method for the position of wireless transceiver is in 4.: as only receiving an authentication code, then with the position as wireless transceiver, the position of the label under this authentication code; As receive a plurality of authentication codes, then with in a plurality of labels under a plurality of authentication codes at a distance of the center of farthest two labels as the position of wireless transceiver.
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| CN114263497A (en) * | 2021-12-14 | 2022-04-01 | 中煤科工集团上海研究院有限公司常熟分院 | Device and method for detecting distance between cutting drum of coal mining machine and side protection plate of hydraulic support |
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