CN102431784A - Attitude control system and method based on wireless three-dimensional gyroscope technology for scraper conveyer - Google Patents
Attitude control system and method based on wireless three-dimensional gyroscope technology for scraper conveyer Download PDFInfo
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- CN102431784A CN102431784A CN2011102445966A CN201110244596A CN102431784A CN 102431784 A CN102431784 A CN 102431784A CN 2011102445966 A CN2011102445966 A CN 2011102445966A CN 201110244596 A CN201110244596 A CN 201110244596A CN 102431784 A CN102431784 A CN 102431784A
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Abstract
The invention discloses an attitude control system and a method based on a wireless three-dimensional gyroscope technology for a scraper conveyer. The system comprises a wireless three-dimensional gyroscope, hydraulic brackets, a bracket controller and a crossheading monitoring host, wherein the wireless three-dimensional gyroscope is arranged on a sliding chute of the scraper conveyer, and is used for detecting the running attitude of the scraper conveyer; a plurality of hydraulic brackets are connected to one side of the scraper conveyer in sequence; the movement of the scraper conveyer is realized under the pushing actions or pulling actions of the hydraulic brackets; the bracket controller is arranged on the hydraulic brackets, and is used for controlling the pushing or pulling actions of the hydraulic brackets; the crossheading monitoring host is arranged in a crossheading, and is used for concentrically monitoring and controlling the scraper conveyer, the bracket controller and hydraulic brackets; the wireless three-dimensional gyroscope is only communicated with the bracket controller in a wireless way; and the crossheading monitoring host and the bracket controller constitute a communication network system on a work surface through the bracket controller for performing data communication, so that attitude monitoring of the scraper conveyer is realized.
Description
Technical field
The present invention relates to a kind of scraping transporter attitude control system and control method, it has compositions such as Wireless 3 D gyroscope, bracket controller and monitoring host computer, is used for fully-mechanized mining working surface transport plane attitude control under the coal mine.
Background technology
Fully-mechanized mining working has equipment such as coalcutter, scraping transporter and hydraulic support to constitute; Scraping transporter saves chute by one and couples together and constitute; Connecting bore by scraping transporter is captiveed joint through pin with hydraulic support pusher rod connector; Through the expanding-contracting action of hydraulic support passing jack, push away and implement moving of scraping transporter.Therefore, the attitude of scraping transporter is fully by the pushing and sliding of hydraulic support with draw and slip action and control.Scraping transporter forms owing to being coupled together by chute; Free gap between the chute is limited, and the angle between the chute can not be too big, if the degree of wear between senior general's increase equipment too of the angle between the chute; Even damage equipment; Should guarantee smooth connection between the chute for this reason as far as possible, carry out guaranteeing in the pushing and sliding course of action that at hydraulic support the scraping transporter chute has reasonably bending section, as far as possible with the life-span of raising equipment use; Because coalcutter is orbital motion with the scraping transporter, thus require scraping transporter to have straightness accuracy preferably later in pushing and sliding, to guarantee coalcutter coal cutting quality.At present; Hydraulic support manual system driving surface all carries out the pushing and sliding of hydraulic support by manual work or draws slide to carry out the attitude control of scraping transporter; Hydraulic support electrohydraulic control system adopts stroke sensor to carry out the passing control of hydraulic support, but because the connecting bore of scraping transporter is a U-shaped, and it is connected the bigger gap of existence with the pusher rod connector of hydraulic support; Its stroke can produce the bigger accumulation of error in hydraulic support passing course of action; It is uneven to cause scraping transporter to be passed, and also needs manual work adjustment, has reduced production efficiency.Reasonably control the operation attitude of scraping transporter, the service life that helps improving scraping transporter.For this reason, be badly in need of the control system of attitude control of development scraping transporter and automatic flattening.
Summary of the invention
To the problems referred to above; The present invention proposes a kind of based on Wireless 3 D gyroscope scraping transporter attitude control system; Said gyroscope is installed on the scraping transporter, and a joint or a few joint chute are installed a gyroscope, the built-in ZigBee wireless data transmission module of gyroscope; Each gyroscope has unique fixing ID number, has radio communication function; Bracket controller is installed on the hydraulic support, and the built-in ZigBee wireless data transmission module of bracket controller, each bracket controller have unique fixing ID number.Do not have adaptor union between bracket controller and the gyroscope, adopt communication to carry out data exchange.During the relevant action of implementing to move at hydraulic support (pushing and sliding or draw slides), preestablish scraping transporter operation attitude,, finally reach desirable effect moving the rectification of constantly carrying out attitude in the implementation with scraping transporter.Native system adopts bracket controller and crossheading monitoring host computer to realize the closed loop control that hydraulic support moves scraping transporter through gyroscope is installed on scraping transporter, and actv. has carried out the attitude control of scraping transporter.
Realized closed loop control through hydraulic support electrohydraulic control system to the scraping transporter moving process; Control system is in the past only being controlled hydraulic support self; Controlled main body (scraping transporter) there is not perception; Adopt and to know that effect that hydraulic support passes process how, makes correct evaluation to the passing process behind the native system; What system need be regular in the past carries out the manual work aligning to driving surface, and system works efficient is low, and degree of automation is low.Adopt the gyrostatic scraping transporter attitude control system of Wireless 3 D to have characteristics such as simple in structure, convenient and flexible installation, low cost, high reliability.
Technical scheme of the present invention is following:
A kind of scraping transporter attitude control system based on Wireless 3 D gyroscope technology comprises Wireless 3 D gyroscope, hydraulic support, bracket controller and crossheading monitoring host computer; Said Wireless 3 D gyroscope is installed on the chute of scraping transporter, is used to detect scraping transporter operation attitude; A plurality of hydraulic supports are linked in sequence in a side of slat conveyer, and action is slipped in pushing and sliding through hydraulic support or draw, and realizes moving of scraping transporter; Said bracket controller is installed on the hydraulic support, is used for modulated pressure support action; Said crossheading monitoring host computer is arranged on crossheading, is used for the concentrated monitoring and the centralized control of hydraulic support and scraping transporter; Only carry out data exchange through wireless mode between said Wireless 3 D gyroscope and the said bracket controller, said crossheading monitoring host computer and said bracket controller carry out data exchange through bracket controller at the communications network system that driving surface constitutes.
The built-in ZigBee wireless data transmission module of said Wireless 3 D gyroscope, and have unique ID number, in order to discern different gyroscopes; Said Wireless 3 D gyroscope can be measured the angle value of three directions of mutually orthogonal; Scraping transporter has the more piece chute, and every joint chute is provided with and is provided with a Wireless 3 D gyroscope on a Wireless 3 D gyroscope or the more piece chute jointly.
The built-in ZigBee wireless data transmission module of said bracket controller, and have unique ID number, in order to discern different bracket controllers; Hydraulic support is consistent with the width of the every joint chute of scraping transporter; The corresponding joint scraping transporter chute of hydraulic support; Hydraulic support is when carrying out pushing and sliding or draw slide; Scraping transporter will be moved, thereby causes on the scraping transporter the corresponding gyrostatic take off data of Wireless 3 D to change.
Said hydraulic support disposes stroke sensor.
The scraping transporter attitude control method of scraping transporter attitude control system comprises:
Said bracket controller moves according to draw slide or pushing and sliding that predefined stroke value is carried out hydraulic support; Send the wireless data request signal to the Wireless 3 D gyroscope simultaneously; Receive the Wireless 3 D gyroscope of wireless data request signal bracket controller is replied, himself take off data of loopback; During the hydraulic support action, the time gap that bracket controller sends the wireless data request signal is 0.1～0.5 second;
Described bracket controller is controlled and is adjusted the attitude of scraping transporter according to the gyrostatic take off data of obtaining of Wireless 3 D.
The attitude of scraping transporter is controlled and adjustment comprises according to the gyrostatic take off data of the Wireless 3 D that obtains:
Scraping transporter is coupled together by the more piece chute; When the angle value of each joint between chute during greater than a certain threshold values; Can cause mechanical damage to scraping transporter; According to said threshold values scraping transporter protection parameter is set for this reason,, stops the pushing and sliding of hydraulic support or draw slipping action when two adjacent gyroscope angle values during greater than said protection parameter.
After hydraulic support is accomplished whole pushing and sliding process; Scraping transporter should keep its straightness accuracy; Promptly accomplishing after the pushing and sliding all Wireless 3 D gyroscopes moves towards to measure on the direction numerical value at driving surface and should be consistent basically; Inconsistent as measuring numerical value after the pushing and sliding; Then bracket controller and associated supports controller carry out data communication, and control associated supports controller carries out the pushing and sliding of hydraulic support or draws to slip and move, and make the take off data of all Wireless 3 D gyroscopes (except the pushing and sliding bending section) move towards consistent on the direction at driving surface.
Move the frame process at support; Should keep the gyrostatic data of corresponding Wireless 3 D constant; If the gyrostatic data of Wireless 3 D change; That then suspends the cooresponding hydraulic support of this Wireless 3 D gyroscope moves frame action, make this hydraulic support about adjacent frame begin to move the frame action again after carrying out the pushing and sliding action.
Said bracket controller sends said take off data at crossheading monitoring host computer after getting access to the gyrostatic take off data of Wireless 3 D; On said crossheading monitoring host computer, show the 3 d pose moulding of scraping transporter; And according to the standard attitude curve that is provided with; Convert hydraulic support to through calculating and pass stroke, and send to the cooresponding bracket controller of driving surface and carry out the pushing and sliding of hydraulic support and slip action, realize the long-range attitude of driving surface scraping transporter is controlled with drawing.
The invention has the advantages that:
1, adopts the Wireless 3 D gyroscope to realize the closed loop control of scraping transporter attitude, can set the pushing and sliding of hydraulic support and draw the slide action according to the desirable attitude run curve of scraping transporter;
2, can in pushing and sliding process in groups, make scraping transporter have desirable bending section, reduce the mechanical damage of scraping transporter chute, the service life of having improved scraping transporter;
3, after the whole passing of hydraulic support put in place, have straightness accuracy preferably, improved coalcutter coal cutting effect;
Advantages such as 4, native system has simple in structurely, and cost is low, and reliability is high, and is easy to install;
5, native system can be provided with scraping transporter through monitoring host computer and reasonably move attitude, and the remote centralized control through hydraulic support reaches scraping transporter and moves attitude preferably, improves working surface production efficient.
Description of drawings
The scheme drawing that accompanying drawing 1 moves through the pushing and sliding action of hydraulic support for scraping transporter;
Accompanying drawing 2 is connected scheme drawing (only illustrate three and save chute and three hydraulic supports) for what have the gyrostatic scraping transporter of Wireless 3 D and the hydraulic support that has bracket controller in the scraping transporter attitude control system.
Reference numeral is following:
The 1-coal-face; The 2-scraping transporter; The 3-hydraulic support; The 4-coalcutter; The 5-bracket controller; 6-passes jack; The 7-chute; 8-Wireless 3 D gyroscope.
The specific embodiment
Referring to accompanying drawing 1-2, a kind of scraping transporter attitude control system based on Wireless 3 D gyroscope technology comprises Wireless 3 D gyroscope, hydraulic support, bracket controller and crossheading monitoring host computer (not shown).Scraping transporter is close to coal-face usually and is arranged; Coalcutter moves above that; Side at scraping transporter is provided with one group of hydraulic support that is disposed in order; Be used to support the coal-face top board, and along with pushing ahead through passing jack promotion scraping transporter of coal-face moved to the direction of coal-face.Scraping transporter is made up of the interconnected chute of more piece; Can limited deflection between each chute, main detection part Wireless 3 D gyroscope is installed on the chute of scraping transporter, is used to detect scraping transporter operation attitude; The Wireless 3 D gyroscope can be measured the deviation angle value of three directions of mutually orthogonal; Normally the hydraulic support of scraping transporter is passed direction, driving surface moves towards direction and vertical direction for three directions, and three-dimensional gyroscope can be provided with one on every joint chute, also can the more piece chute-like 2 joint or 3 joint-shared three-dimensional gyroscopes; In the case; Three-dimensional gyroscope can be installed on any joint of above-mentioned more piece chute, evenly arranges a plurality of three-dimensional gyroscopes at driving surface, so that the attitude of entire working surface scraping transporter is monitored.
A plurality of hydraulic supports are connected to a side of slat conveyer in proper order in turn; Action is slipped in pushing and sliding through hydraulic support or draw; Realize moving of scraping transporter, hydraulic support is provided with stroke sensor, and what it moved can set through the stroke of configuration stroke sensor apart from length; Hydraulic support is provided with bracket controller; In general all be provided with a bracket controller on each hydraulic support; Its function comprise the modulated pressure support pushing and sliding, draw action such as slide, the width of hydraulic support is consistent with the width of the every joint chute of scraping transporter, the corresponding joint scraping transporter chute of hydraulic support; Hydraulic support is when carrying out pushing and sliding or draw slide; Scraping transporter will be moved, thereby causes on the scraping transporter the three-dimensional gyrostatic position of respective wireless to change, and its angle measurement also changes thereupon.The crossheading monitoring host computer is the mining main control computer of platform, and it is arranged on crossheading, is used for scraping transporter, the concentrated monitoring of bracket controller and centralized control.
The built-in ZigBee wireless data transmission module of Wireless 3 D gyroscope, and have unique ID number, in order to discern different gyroscopes; The also built-in ZigBee wireless data transmission module of bracket controller, and have unique ID number, in order to discern different bracket controllers; Only carry out data exchange through wireless mode between Wireless 3 D gyroscope and the said bracket controller, said crossheading monitoring host computer and said bracket controller carry out data exchange through the communications network system that the bracket controller at driving surface constitutes.
The control method of above-mentioned scraping transporter attitude control system is:
Drawing of hydraulic support slipped or the pushing and sliding action when certain bracket controller carries out according to predefined stroke value; It sends the wireless data request signal to the Wireless 3 D gyroscope simultaneously; Receiving the Wireless 3 D gyroscope of wireless data request signal replys bracket controller; Himself take off data of loopback mainly is to move towards the deviation angle value on the direction at driving surface; During the hydraulic support action, the time gap that bracket controller sends the wireless data request signal was 0.1～0.5 second, promptly whenever detected a scraping transporter attitude at a distance from 0.1～0.5 second;
Above-mentioned bracket controller is controlled and is adjusted the attitude of scraping transporter according to the gyrostatic take off data of obtaining of Wireless 3 D, comprising:
1. scraping transporter is coupled together by the more piece chute; When the angle value of each joint between chute during greater than a certain threshold values; Can cause mechanical damage to the scraping transporter chute; According to said threshold values scraping transporter protection parameter is set for this reason,, stops the pushing and sliding of hydraulic support or draw slipping action when two adjacent gyroscope angle values during greater than said protection parameter;
2. after hydraulic support is accomplished whole pushing and sliding process; Scraping transporter should keep its straightness accuracy; All Wireless 3 D gyroscopes should be consistent at the measurement numerical value that driving surface moves towards on the direction basically after promptly accomplishing pushing and sliding, and inconsistent as measuring numerical value after the pushing and sliding, then bracket controller and associated supports controller communicate; Control associated supports controller carries out the pushing and sliding of hydraulic support or draws to slip and move, and makes the gyrostatic take off data of all Wireless 3 Ds consistent;
3. move the frame process at support; Should keep the gyrostatic data of corresponding Wireless 3 D constant; If the gyrostatic data of Wireless 3 D change; That then suspends the cooresponding hydraulic support of this Wireless 3 D gyroscope moves frame action, make this hydraulic support about adjacent frame begin to move the frame action again after carrying out the pushing and sliding action;
The problems referred to above can be concurrent processings, in case above-mentioned any one or a few situation takes place, bracket controller is just handled according to above-mentioned processing method successively.
Bracket controller can send take off data at crossheading monitoring host computer after getting access to the gyrostatic take off data of Wireless 3 D; On the crossheading monitoring host computer, show the 3 d pose moulding of scraping transporter; And according to the standard attitude curve that is provided with; Convert hydraulic support to through calculating and pass stroke, and send to the cooresponding bracket controller of driving surface and carry out the pushing and sliding of hydraulic support and slip action, realize the long-range attitude of driving surface scraping transporter is controlled with drawing; Like this; Bracket controller can't be according to the Automatic Program pushing and sliding, draw the pushing and sliding of slipping or carrying out according to program, when drawing slide can't satisfy actual the requirement, can correct the attitude of scraping transporter through the mode of Long-distance Control, guarantee that it is in the rationally correct attitude.
Below according to pushing and sliding, draw two common in slide process problems, the attitude control method of scraping transporter attitude control system is described in further detail:
1, pushing and sliding bending section control
In the coalcutter coal cutting process being is track travel with the scraping transporter; After the coalcutter coal cutting, need the coal loading that coalcutter cuts down be gone to transport plane, can accomplish this process through hydraulic support pushing and sliding action; Because scraping transporter is to save chute one to be formed by connecting; Angle between the chute can not surpass certain value, otherwise can cause the physical damage of chute, and the support of for this reason generally participating in the pushing and sliding process will be in 10～15 scope; Make the angle between the chute of slat conveyer pushing and sliding action part less; And can seamlessly transit, the general supporting employing coalcutter of underground equipment cuts dark coal cutting method entirely, and hydraulic support adopts total travel to pass.It is following in the pushing and sliding process, to form rational bending section implementation step:
On the scraping transporter chute, gyroscope is installed, can every joint chute be installed by a gyroscope, also can a few joint chutes be installed by a gyroscope, each gyrostatic wireless communication module disposes unique different ID number;
Mounting bracket controller on hydraulic support; The wireless communication module of each bracket controller disposes unique different ID number; If hydraulic support pushing and sliding and drawing are slipped action and can be had influence on the scraping transporter attitude and change; Think that then cooresponding gyroscope is relevant on this bracket controller and the scraping transporter chute, relevant gyroscope wireless module ID number is set in bracket controller, the general run of thins relevant gyrostatic quantity of bracket controller mutually is no more than 3;
According to scraping transporter bending section length; The pushing and sliding stroke of pushing and sliding frame number and hydraulic support in groups is set on the bracket controller; And the attitude threshold values that relevant gyroscope finally reaches is set, this threshold values can download to bracket controller with the pushing and sliding attitude curve negotiating force piece electrohydraulic control system communications network system of standard by monitoring host computer;
Bracket controller sends pushing and sliding action command in groups, or triggers automatically with machine pushing and sliding order according to the coalcutter location information, carries out hydraulic support pushing and sliding action control;
Carry out in the pushing and sliding course of action at bracket controller modulated pressure support, need regularly to read relevant gyro data through wireless mode, time for reading is at interval at 0.1～0.5s;
Gyroscope is delivered to gyroscope 3 d pose datagram on the bracket controller after receiving the bracket controller data request command;
Bracket controller checks that relevant gyroscope sends the scraping transporter attitude data of returning, and when scraping transporter reaches the regulation attitude, stops the action of hydraulic support.
2, driving surface scraping transporter aligning
Be to be track travel in the coalcutter coal cutting process, have only scraping transporter when coalcutter begins coal cutting, to guarantee its straightness accuracy, could guarantee coalcutter coal cutting thickness uniformity, guarantee the coal cutting quality and the coal cutting efficient of driving surface with the scraping transporter.Driving surface scraping transporter aligning implementation step is following:
The hydraulic support scope inner support controller that does not carry out straightening processing after the completion pushing and sliding is read relevant gyro data, and report and submit on the crossheading monitoring host computer through force piece electrohydraulic control system communications network system;
The crossheading monitoring host computer carries out analyzing and processing to the gyro data that receives; With calibrated curve (straight line) affirmation of comparing; For the hydraulic support that does not satisfy the straightness accuracy requirement; Calculate the pose difference and the cooresponding stroke value thereof of relevant hydraulic support, and the network system that constitutes through face support controller downloads on the cooresponding bracket controller;
The crossheading monitoring host computer sends remote control command, specifies bracket controller enforcement pushing and sliding or draws the slide action;
Carry out pushing and sliding or draw and slip in the course of action at bracket controller modulated pressure support, need regularly read relevant gyro data through wireless mode, time for reading is at interval at 0.1～0.5s;
Gyroscope is delivered to gyroscope 3 d pose datagram on the bracket controller after receiving the bracket controller data request command;
Bracket controller checks that relevant gyroscope sends the scraping transporter attitude data of returning, and when scraping transporter reaches the regulation attitude, stops the action of hydraulic support.
The above; Be merely the preferable specific embodiment of patent of the present invention; But the protection domain of patent of the present invention is not limited thereto; Any technical personnel of being 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 (9)
1. the scraping transporter attitude control system based on Wireless 3 D gyroscope technology is characterized in that: comprise Wireless 3 D gyroscope, hydraulic support, bracket controller and crossheading monitoring host computer; Said Wireless 3 D gyroscope is installed on the chute of scraping transporter, is used to detect scraping transporter operation attitude; A plurality of hydraulic supports are linked in sequence in a side of slat conveyer, and action is slipped in pushing and sliding through hydraulic support or draw, and realizes moving of scraping transporter; Said bracket controller is installed on the hydraulic support, is used for the action of modulated pressure support; Said crossheading monitoring host computer is arranged on crossheading, carries out the concentrated monitoring and the centralized control of hydraulic support through the communications network system of face support controller and formation thereof; Only get in touch through wireless mode between said Wireless 3 D gyroscope and the said bracket controller, said crossheading monitoring host computer and bracket controller carry out data exchange through the network system that the force piece device constitutes.
Said crossheading monitoring host computer is realized the attitude monitoring of scraping transporter through carrying out data communication with said bracket controller in the network system that driving surface constitutes.
2. scraping transporter attitude control system as claimed in claim 1 is characterized in that: the built-in ZigBee wireless data transmission module of said Wireless 3 D gyroscope, and have unique ID number, in order to discern different gyroscopes; Said Wireless 3 D gyroscope can be measured the angle value of three directions of mutually orthogonal; Scraping transporter has the more piece chute, and every joint chute is provided with and is provided with a Wireless 3 D gyroscope on a Wireless 3 D gyroscope or the more piece chute jointly.
3. scraping transporter attitude control system as claimed in claim 2 is characterized in that: the built-in ZigBee wireless data transmission module of said bracket controller, and have unique ID number, in order to discern different bracket controllers; Hydraulic support is consistent with the width of the every joint chute of scraping transporter; The corresponding joint scraping transporter chute of hydraulic support; Hydraulic support is when carrying out pushing and sliding or draw slide; Scraping transporter will be moved, thereby causes on the scraping transporter the corresponding gyrostatic take off data of Wireless 3 D to change.
4. scraping transporter attitude control system as claimed in claim 3 is characterized in that: said hydraulic support disposes stroke sensor.
5. like the scraping transporter attitude control method of the wherein arbitrary described scraping transporter attitude control system of claim 1-4, it is characterized in that:
Said bracket controller moves according to draw slide or pushing and sliding that predefined stroke value is carried out hydraulic support; Send the wireless data request signal to the Wireless 3 D gyroscope simultaneously; Receive the Wireless 3 D gyroscope of wireless data request signal bracket controller is replied, himself take off data of loopback; During the hydraulic support action, the time gap that bracket controller sends the wireless data request signal is 0.1～0.5 second;
Described bracket controller is controlled and is adjusted the attitude of scraping transporter according to the gyrostatic take off data of obtaining of Wireless 3 D.
6. scraping transporter attitude control method as claimed in claim 5 is characterized in that: the gyrostatic take off data of the Wireless 3 D that said basis is obtained is controlled by the attitude of scraping transporter and adjustment comprises:
Scraping transporter is coupled together by the more piece chute; When the angle value of each joint between chute during greater than a certain threshold values; Can cause mechanical damage to scraping transporter; The scraping transporter protection parameter that is provided with of the with good grounds said threshold values of bracket controller stored for this reason, when two adjacent gyroscope angle values during greater than said protection parameter, bracket controller stops the pushing and sliding of hydraulic support or draws slipping action.
7. scraping transporter attitude control method as claimed in claim 5 is characterized in that: the gyrostatic take off data of the Wireless 3 D that said basis is obtained is controlled by the attitude of scraping transporter and adjustment comprises:
After hydraulic support is accomplished whole pushing and sliding process; Scraping transporter should keep its straightness accuracy; The measurement numerical value of all Wireless 3 D gyroscopes on the sense of motion of scraping transporter should be consistent basically after promptly accomplishing pushing and sliding; Inconsistent as measuring numerical value after the pushing and sliding; Then bracket controller and associated supports controller carry out data communication, and control associated supports controller carries out the pushing and sliding of hydraulic support or draws to slip and move, and make all Wireless 3 D gyroscopes (except the pushing and sliding bending section) consistent in the take off data that driving surface moves towards on the direction.
8. scraping transporter attitude control method as claimed in claim 5 is characterized in that: the gyrostatic take off data of the Wireless 3 D that said basis is obtained is controlled by the attitude of scraping transporter and adjustment comprises:
Move the frame process at support; Should keep the gyrostatic data of corresponding Wireless 3 D constant; If the gyrostatic data of Wireless 3 D change; That then suspends the cooresponding hydraulic support of this Wireless 3 D gyroscope moves frame action, make this hydraulic support about adjacent frame begin to move the frame action again after carrying out the pushing and sliding action.
9. like the wherein arbitrary described scraping transporter attitude control method of claim 6-8; It is characterized in that: said bracket controller sends said take off data at crossheading monitoring host computer through the communications network system that face support controller constitutes after getting access to the gyrostatic take off data of Wireless 3 D; On said crossheading monitoring host computer, show the 3 d pose moulding of scraping transporter; And according to the standard attitude curve that is provided with; Convert hydraulic support to through calculating and pass stroke, send to the cooresponding bracket controller of driving surface and carry out the pushing and sliding of hydraulic support and draw the slide action, realize long-range attitude control the driving surface scraping transporter.
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