CN102914304A - Method for detecting position of coal mining machine on basis of controller area network (CAN) bus technology - Google Patents
Method for detecting position of coal mining machine on basis of controller area network (CAN) bus technology Download PDFInfo
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- CN102914304A CN102914304A CN2012104272504A CN201210427250A CN102914304A CN 102914304 A CN102914304 A CN 102914304A CN 2012104272504 A CN2012104272504 A CN 2012104272504A CN 201210427250 A CN201210427250 A CN 201210427250A CN 102914304 A CN102914304 A CN 102914304A
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Abstract
The invention relates to a method for detecting the position of a coal mining machine on the basis of a controller area network (CAN) bus technology. According to the method, a plurality of infrared emitters perform communication through a standard CAN bus and are arranged at different parts of the coal mining machine respectively; a plurality of infrared receivers are respectively arranged on a plurality of hydraulic brackets adjacent to the same working surface; the infrared emitters automatically identify address and a coded message of the emitted signal through a standard CAN bus communication mode; each group of codes correspond to an infrared signal of one infrared emitter at one mounting part of the coal mining machine; and a CAN bus communication protocol controls a data transmission time range of each infrared emitter to realize time-sharing circulating transmission. The infrared signals are transmitted by the plurality of infrared emitters in a time-sharing circulation mode, so the whole power consumption is reduced and signal interference is avoided. The plurality of infrared emitters identify the parts where the infrared emitters are according to CAN communication, transmit the corresponding coded messages and are arranged at different parts of the coal mining machine, so that the coal mining machine is precisely positioned.
Description
Technical field
The present invention relates to a kind of coalcutter localization method, relate in particular to a kind of coal winning machine position detection method based on the CAN bussing technique, carry out the timesharing circulation by CAN bus communication control Multi-point infrared line transmitter and send infrared signal, receive infrared signal by infrared receiver, thereby realize accurate, the reliable location of coal mining machine in full-mechanized mining face under the coal mine.
Background technology
During the down-hole working face, hydraulic support need to according to parameters such as the change in location of coalcutter, traffic directions, carry out action control according to predefined coal winning technology.When the coalcutter front roll when the hydraulic support, hydraulic support will be regained wall supporting, after the front roll cutting of coalcutter, hydraulic support falls frame, lifts the end, pushing and sliding, rise the action such as frame.The course of action of whole support all is to implement as foundation take the position of coalcutter, therefore realizes workplace robotization control, and the coalcutter location is key.Coal winning machine position detection method and device are constantly to launch infrared signal by an infrared transmitter that is installed on the coal machine at present, with infrared remote receiver combination (every hydraulic support all has an infrared receiver), and the location of realizing coalcutter.Because the environment of down-hole is abominable, coal powder content is high, affects easily the reception of infrared signal, causes the coalcutter location inaccurate, can not realize reliably with the machine robotization.For this reason, the coalcutter localization method that needs development unfailing performance height, accurate positioning.
Summary of the invention
For the problems referred to above, the present invention proposes a kind of novel coal winning machine position detection method based on the CAN bussing technique, adopt a plurality of identical infrared transmitter to form signal emission part, infrared transmitter is positioned over respectively the different parts of coalcutter, each infrared transmitter all has the carrier signal of different coding information, represents the infrared signal of coalcutter different parts by CAN bus communication agreement control emission.Can determine accurately the position of coalcutter, solve the fully-mechanized mining working surface hydraulic support electrohydraulic control system with the machine automation issues.Simultaneously in order to reduce signal cross-talk, the reflection interference between the different infrared transmitter, and reduce overall power, adopt the time period of CAN bus communication control infrared signal emission between the adjacent infrared transmitter, realize that timesharing sends.When adopting this scheme, can be according to the quantity of the required situation installation infrared of on-the-spot coalcutter line transmitter.Adopt a plurality of infrared transmitter of this scheme fully compatible, can realize that the address is identified automatically and coded message is controlled automatically.
The present invention realizes by such technical scheme: a kind of coalcutter localization method based on the infrared transmission technology, realize by infra-red ray detection device, it is characterized in that, infra-red ray detection device comprises some infrared transmitter and infrared receiver, carry out communication by the standard CAN bus between some infrared transmitter, several described infrared transmitter are installed on respectively the different parts of coalcutter; Several described infrared receivers are arranged at respectively on several adjacent hydraulic supports of same workplace;
By the coded message of the automatic identification address of standard CAN bus communication method and signal transmitted, each infrared transmitter all has the carrier signal of different coding information between the infrared transmitter;
Described coded message comprises some group codings, each group coding is superimposed upon on the infrared signal with the form of carrier wave, the infrared signal of the infrared transmitter on the installation position of the corresponding coalcutter of each group coding, infrared signal outwards sends by infrared-emitting diode after amplifying processing, the signal process of transmitting is by the control of CAN bus communication agreement, control the data transmitting time section of each infrared transmitter by CAN bus communication agreement, realize that the timesharing circulation sends;
Infrared receiver is installed on the hydraulic support, infrared receiver of every hydraulic support configuration, infrared receiver is with received infrared signal, decode, decoded signal is converted to data-signal through infrared signal, by the RS232 serial ports data-signal is transferred to bracket controller at last, bracket controller is judged the coalcutter present position according to received data-signal;
Three infrared transmitter to be installed as example at coalcutter, described method comprises the steps:
A) three infrared transmitter are installed on respectively in the head, machine of coalcutter, three positions of tail; Several described infrared receivers are arranged at respectively on several adjacent hydraulic supports of same workplace;
B) circulate by three infrared transmitter timesharing of CAN bus communication agreement control that outside transmission represents respectively in head, the machine, the infrared signal at three positions of tail, the Effective emission angle degree of infrared transmitter is ± 20 °;
C) several infrared receivers will receive represents respectively in head, the machine, the infrared signal of three positions of tail sends bracket controller to, and effective receiving angle of infrared receiver is ± 40 °;
D) bracket controller is accurately judged the coalcutter present position according to the received infrared signal through the decoding processing, realizes with the machine robotization, by three infrared transmitter timesharing circulation transmitted signals, realizes the accurate detection of dynamic of coal winning machine position.
The invention has the advantages that: adopt a plurality of infrared transmitter timesharing circulation emission infrared signals, reduce overall power, avoid signal cross-talk, a plurality of infrared transmitter are according to the own position of living in of CAN communication identification, send corresponding coded message, a plurality of infrared transmitter are installed on the coalcutter different parts, can realize the accurate location of coalcutter, a plurality of infrared transmitter are installed quantity and can be selected according to field demand, and dirigibility is high.
Description of drawings
Fig. 1, be the enforcement synoptic diagram of coalcutter localization method of the present invention;
Fig. 2, be infrared transmitter and infrared receiver system architecture diagram;
Fig. 3, be the infrared transmitter circuit block diagram;
Fig. 4, be the infrared receiver circuit block diagram.
Embodiment
For a more clear understanding of the present invention, describe in conjunction with the accompanying drawings and embodiments the present invention in detail:
As shown in Figures 1 to 4, infra-red ray detection device comprises some infrared transmitter and infrared receiver, carries out communication by the standard CAN bus between some infrared transmitter, and several described infrared transmitter are installed on respectively the different parts of coalcutter; Several described infrared receivers are arranged at respectively on several adjacent hydraulic supports of same workplace;
Pass through the coded message of the automatic identification address of standard CAN bus communication method and signal transmitted between the infrared transmitter,
Described coded message comprises some group codings, the infrared signal of the infrared transmitter on the installation position of the corresponding coalcutter of each group coding;
The infrared transmitter circuit by MCU encode, after signal amplifies, infrared signal outwards sends by infrared-emitting diode after amplifying processing, the signal process of transmitting is by the control of CAN bus communication agreement, control the data transmitting time section of each infrared transmitter by CAN bus communication agreement, realize that the timesharing circulation sends;
Infrared receiver is installed on the hydraulic support, infrared receiver of every hydraulic support configuration, infrared receiver is with received infrared signal decoding and be converted to communication signal, then be transferred to bracket controller, bracket controller is accurately judged the coalcutter present position according to received signal.
Present embodiment is take three infrared transmitter as example:
Three infrared transmitter are installed on the coalcutter, place respectively head, machine, three positions of tail, pass through the coded message of the automatic identification address of standard CAN bus communication method and signal transmitted between the infrared transmitter, coded message is the infrared signal at the different coalcutter of expression position, and this signal outwards sends after treatment.The signal process of transmitting is controlled the data transmitting time section of each infrared transmitter by the CAN bus communication, realizes that timesharing sends.
Infrared receiver is installed on the hydraulic support, infrared receiver of every hydraulic support configuration.Infrared receiver is with received infrared signal decoding and be converted to communication signal, then is transferred to bracket controller, and bracket controller is accurately judged the coalcutter present position according to received signal.
The two is accurately located by infrared data transmission method realization coalcutter.Infrared transmitter in use quantity can be according to the needs flexible choice, below the narration as an example of three infrared transmitter example:
Have communication and address automatically identification and coded message automatic control function between the infrared transmitter, three infrared emitting ends are identified position of living in automatically, the coded signal at position under timesharing sends.In coalcutter advances operational process, infrared receiver will receive the infrared signal that sends on the coalcutter, and sending bracket controller to, any one in a plurality of bracket controllers or adjacent a plurality of bracket controller are accurately judged the coalcutter present position according to received signal.
As shown in Figure 3, the infrared transmitter circuit is made of MCU minimum system (communication, coding), infrared encoded signal amplifying circuit, infrared encoded signal radiated element and CAN communication interface;
As shown in Figure 4, the infrared receiver circuit is made of infrared signal receiving element, infrared signal decoding circuit, decoded signal change-over circuit, the RS232 serial ports that is used for data transmission.
The above; only be the better specific implementation method of patent of the present invention; but the protection domain of patent of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that patent of the present invention discloses; the variation that can expect easily or replacement all should be encompassed in the protection domain of patent of the present invention.
Claims (1)
1. coalcutter localization method based on the infrared transmission technology, realize by infra-red ray detection device, it is characterized in that, infra-red ray detection device comprises some infrared transmitter and infrared receiver, carry out communication by the standard CAN bus between some infrared transmitter, several described infrared transmitter are installed on respectively the different parts of coalcutter; Several described infrared receivers are arranged at respectively on several adjacent hydraulic supports of same workplace;
By the coded message of the automatic identification address of standard CAN bus communication method and signal transmitted, each infrared transmitter all has the carrier signal of different coding information between the infrared transmitter;
Described coded message comprises some group codings, each group coding is superimposed upon on the infrared signal with the form of carrier wave, the infrared signal of the infrared transmitter on the installation position of the corresponding coalcutter of each group coding, infrared signal outwards sends by infrared-emitting diode after amplifying processing, the signal process of transmitting is by the control of CAN bus communication agreement, control the data transmitting time section of each infrared transmitter by CAN bus communication agreement, realize that the timesharing circulation sends;
Infrared receiver is installed on the hydraulic support, infrared receiver of every hydraulic support configuration, infrared receiver is with received infrared signal, decode, decoded signal is converted to data-signal through infrared signal, by the RS232 serial ports data-signal is transferred to bracket controller at last, bracket controller is judged the coalcutter present position according to received data-signal;
Three infrared transmitter to be installed as example at coalcutter, described method comprises the steps:
Three infrared transmitter are installed on respectively in the head, machine of coalcutter, three positions of tail; Several described infrared receivers are arranged at respectively on several adjacent hydraulic supports of same workplace;
Circulating by three infrared transmitter timesharing of CAN bus communication agreement control, outside transmission represents respectively in head, the machine, the infrared signal at three positions of tail, and the Effective emission angle degree of infrared transmitter is ± 20 °;
Several infrared receivers will receive represents respectively in head, the machine, the infrared signal of three positions of tail sends bracket controller to, and effective receiving angle of infrared receiver is ± 40 °;
Bracket controller is accurately judged the coalcutter present position according to the received infrared signal through the decoding processing, realizes with the machine robotization, by three infrared transmitter timesharing circulation transmitted signals, realizes the accurate detection of dynamic of coal winning machine position.
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| CN103615276A (en) * | 2013-12-12 | 2014-03-05 | 天津华宁电子有限公司 | Support electrohydraulic control system |
| CN104881032A (en) * | 2015-06-15 | 2015-09-02 | 北京金日新事业技术有限公司 | Device for detection and automatic positioning of position of warehouse top mobile equipment, and application method |
| CN104990549A (en) * | 2015-06-15 | 2015-10-21 | 中国矿业大学 | Method and device for relatively locating coal cutter and hydraulic supports |
| CN105697046A (en) * | 2016-01-29 | 2016-06-22 | 中国矿业大学 | Automatic control system and method for front face guards of hydraulic supports |
| CN105842655A (en) * | 2016-03-24 | 2016-08-10 | 中国矿业大学 | Coal cutter position detecting device and coal cutter position detecting method based on infrared ray |
| CN110043257A (en) * | 2019-06-05 | 2019-07-23 | 中国矿业大学(北京) | A kind of coalcutter automatic reversing system |
| CN110431808A (en) * | 2017-05-23 | 2019-11-08 | 微芯片技术股份有限公司 | CAN transmitter with quick CANL control loop |
| CN113784473A (en) * | 2021-08-13 | 2021-12-10 | 北京天地玛珂电液控制系统有限公司 | Intrinsic safety type lighting lamp for mine |
| CN113983935A (en) * | 2021-12-29 | 2022-01-28 | 太原向明智控科技有限公司 | Coal mining machine position coding and positioning device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103615276A (en) * | 2013-12-12 | 2014-03-05 | 天津华宁电子有限公司 | Support electrohydraulic control system |
| CN104881032A (en) * | 2015-06-15 | 2015-09-02 | 北京金日新事业技术有限公司 | Device for detection and automatic positioning of position of warehouse top mobile equipment, and application method |
| CN104990549A (en) * | 2015-06-15 | 2015-10-21 | 中国矿业大学 | Method and device for relatively locating coal cutter and hydraulic supports |
| CN104990549B (en) * | 2015-06-15 | 2017-12-15 | 中国矿业大学 | A kind of method and device of coal-winning machine hydraulic support relative positioning |
| CN105697046A (en) * | 2016-01-29 | 2016-06-22 | 中国矿业大学 | Automatic control system and method for front face guards of hydraulic supports |
| CN105697046B (en) * | 2016-01-29 | 2017-09-29 | 中国矿业大学 | Face guard automatic control system and method before a kind of hydraulic support |
| CN105842655A (en) * | 2016-03-24 | 2016-08-10 | 中国矿业大学 | Coal cutter position detecting device and coal cutter position detecting method based on infrared ray |
| CN110431808A (en) * | 2017-05-23 | 2019-11-08 | 微芯片技术股份有限公司 | CAN transmitter with quick CANL control loop |
| CN110431808B (en) * | 2017-05-23 | 2022-04-12 | 微芯片技术股份有限公司 | CAN transmitter with fast CANL control loop |
| CN110043257A (en) * | 2019-06-05 | 2019-07-23 | 中国矿业大学(北京) | A kind of coalcutter automatic reversing system |
| CN113784473A (en) * | 2021-08-13 | 2021-12-10 | 北京天地玛珂电液控制系统有限公司 | Intrinsic safety type lighting lamp for mine |
| CN113983935A (en) * | 2021-12-29 | 2022-01-28 | 太原向明智控科技有限公司 | Coal mining machine position coding and positioning device and method |
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