CN1045837A - The remote control thereof of coalcutter - Google Patents
The remote control thereof of coalcutter Download PDFInfo
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- CN1045837A CN1045837A CN 90102537 CN90102537A CN1045837A CN 1045837 A CN1045837 A CN 1045837A CN 90102537 CN90102537 CN 90102537 CN 90102537 A CN90102537 A CN 90102537A CN 1045837 A CN1045837 A CN 1045837A
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- coal
- coalcutter
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Abstract
Be used to the to push button coal mining method of organic electronic hydraulic system mechanical function, it utilizes an intermediate frequency remote-control communication device and one coal-rock interface detector.Coal-rock interface detector is the level of resonance loop aerial of a shielding.
Description
The present invention relates generally to coalcutter, and is especially relevant with the method for utilizing intermediate frequency communication device and coal-rock interface probe to control coalcutter from afar.
In the past few years, supply exceed demand in producing coal work.This phenomenon of confession has excessively caused the competitive property increase in the industry, in other words, has caused the coal producer to improve understanding, needs to reduce the danger in price and the mining.Opposite with the hope of improving safety with the reduction price, problem but is dark, thin, and the coal deposits amount of low quality and high price is stayed on the ore deposit.
Helping mining industry to break away from the trial that this difficulty does, jet propulsion laboratory (JPL) carried out one at the coal wall mining technique of estimating automation.Consult W Zimmcr-man, R.Aster, J.Harris and J.High collaborate " automation of coal wall mining system ", jet propulsion laboratory (JPL) publication 82-99(1982 November 1).Wherein, this research identification needs the telecontrol engineering of development longwall coal cutter operation.
The remote control of coalcutter needs short distance to survey coal-rock interface, makes the bank (face) of mining personnel away from danger.Continuous and longwell mining requires the operator to be in coal mining sword (drum) very nearby, and like this, he can see the cutting coal seam, does not allow cutting edge clash into rock.In mining process, coalcutter the operator always be in the hazardous area.If coalcutter cutting edge bump rock, so, the Mars that flies to spout can be lighted methane and coal.If top, incision sandstone ore deposit or bed rock, just can produce silicon so in dust, this does not meet U.S.'s mine safety and administration of health office (MSHA) stipulates about the dust of respirability.In mining, dangerous often can be by the coalcutter coal car speed that slows down, only in the face of the direction exploitation of vent air stream or strengthen the way that water spray disperses plumage dirt and alleviate.Except dirt problems, the bearing of mechanical driving member and the wearing and tearing of cutting edge often cause downtime and maintenance increase problem.
Make the coal wall mining system effectively another requirement of automation be the invention reliable remote-control communication device.The various longwork manufacturer of US and European provides very great number (VHF) and low frequency (LF) remote control system.Low frequency system comprises a control circuit, from main tunnel Direction Center through the AC power cable to coalcutter.Because low frequency system does not allow by Anywhere coalcutter operator along the remote control of producing coal face, so be restricted.Very high frequency(VHF) (VHF) and hyperfrequency (UHF) system can work well by the line of sight signal delivering path, to control continuous winning equipment and top, ore deposit screening machine.Yet aspect the remote control of tractor and such as the remote control aspect of the load control panel that is used for ore avalanche method mining, this technology is failed in the tunnel.VHF and UHF system for where under this environment inoperable reason be: when along the waveguide that produced by the little air channel of protecting screen and coal wall, VHF and UHF stand big decay, and control office is limited in the visual line of sight reliably.Roller along this face can limit control range, and can produce zero-bit from the reflected signal of coal wall steel-support spare in transmitted wave.Because with VHF and the relevant variety of issue of UHF transmission, it is desired that the radio transmissioning signal in " not controlled " zero district can be lower than a certain low error rate.This excessive bit error rate can produce by command signal decoded in error or that do not respond fully.
In order to have done various trials and to have developed coal-rock survey device technology from a certain safe distance control coalcutter (or continuous mining machine).Studied natural radiation background detector technologies in Europe and American Studies persons.Utilize the radiation of mantlerock natural background, this system can measure and keep the coal seam thickness of coalcutter top when coalcutter cuts; Yet in some geology, this probe can not be worked reliably.Other similar techniques is used, and comprises that being used for acoustics and " sensitive gauge head " measurement seam thickness and coal-rock interface detects, and studies Microwave Measurement Technique the researchers of NBS.The development of natural background radiation detector, acoustics and Microwave Measurement Technique has improved coalcutter operator's control ability, so he can cut maximum coal amount on each passage.
The detector of having studied other solves the face alignment issues, and the latter makes the little air channel of conveying device and coal wall produce many faults.One of them is the sideslip detector for measuring, is developed by Benton company.Angular deviation in this little air channel, detectors measure coal wall, and information is transferred to computer.Computer is determined the position of coalcutter and the glacing flatness of face conveying device.In a report of U.S. government, American National aerospace management board (NASA) Mars space research center " longwork programming " has checked the performance of several coalcutters and conveying device detector, and checks subsequently and improve the coalcutter structure problem relevant with conveying device with most promising detector.
At last, Chang and Wait disclose and have adopted the theory suggestion as the probe of measuring ore deposit top thickness degree in coal mining of resonant tank antenna.
Consult doctor Chang and J.Wait " as the analysis of the resonant tank of coal seam thickness electromagnetic detector ", international scientific radio association (URSI) remote sensing meeting proceedings, France, La Puli, 28 days-May 6 April in 1977.
Therefore, the objective of the invention is to provide a kind of improving one's methods of remote control longwall coalcutter or continuous mining machine that be used for, the mining personnel are in outside the dangerous bank.
Another object of the present invention is will provide a kind of to be used for remote control and to have adopted the longwall coalcutter of reliable communication device or improving one's methods of continuous mining machine.
Another object of the present invention is that a kind of reliable remote-control communication device will be provided, and it can be applied on longwall coalcutter or the continuous mining machine at an easy rate.
Another object of the present invention is will provide a kind of to be used for remote control and to have adopted coal-longwall coalcutter of rock interface detector or improving one's methods of continuous mining machine.
In brief, embodiments of the invention comprise an intermediate frequency (MF) remote control, and its magnetic couplings is on the coalcutter AC power cable of distant place.In coalcutter, intermediate-frequency receiver is coupled on the AC power cable that adopts iron gold oxygen magnet (C sections core) coupling of circuits device.This coalcutter is equipped with coal-rock interface detector, and it can the remote-controlled mining operation.
The mining personnel were outside dangerous minery when advantage of the present invention was the remote operation of longwall coalcutter or continuous mining machine.
Another advantage of the present invention is the possibility that coal-rock interface detector has reduced coalcutter cutting edge bump rock.
Another advantage of the present invention is only to stay the skim coal on the top, ore deposit.
It is that the remote-control communication device can transmit data reliably that the present invention also has an advantage.
Another advantage of the present invention is that the remote-control communication device can be applied to longwall coalcutter or continuous mining machine at an easy rate.
These or other purpose of the present invention and advantage, can become apparent after following being described in detail of having read the preferential embodiment that explains with various accompanying drawings undoubtedly for general person skilled in the art.
Fig. 1 is the schematic diagram according to remote control coalcutter of the present invention;
Fig. 2 is that the electronic unit that is in Fig. 1 explosion protective cover launches block diagram;
Fig. 3 represents the telecontrol transmitter cartridge belt that a kind of individual carries;
Fig. 4 is that electricity is led and by the curve image between the coal seam thickness that Fig. 1 coal-the rock interface detector records.
Referring now to Fig. 1,, represented the machine that pushes button coal mining, represent that with general label 10 it is applicable to the remote controlled exploitation method of the present invention of implementing.Coal-winning machine 10 can be a longwall coal cutter, also can be continuous miner.Coalcutter 12 comprises a main roadway distance regulating arm 14 and an adit distance adjustment arm 16.Main roadway distance is regulated 14 and is comprised a main laneway coal mining drum 18, and adit distance adjustment arm 16 comprises an adit coal mining drum 20.One coal-rock interface detector 22 is installed in the top of the coalcutter 12 of main roadway distance regulating arm 14 back.Probe is embedded in the dish 24, and the garden dish is contained on the steel pipe 26, and steel pipe top 28 is that we opens.One cable 30 passes detector arm 31 probe 22 is connected to probe control module 32.The wheel 34 that is connected on the steel pipe 26 by arm 36 forms a gap 38 with " W " width by being pressed on the coal seam 40.Coal seam 40 has thickness " t ", and is in below the lithosphere 42.One explosion protective cover 44 is placed in the coalcutter 12, and probe control module 32, main tunnel remote control unit 46 and adit remote control unit 48 are wherein arranged.Be installed on the main tunnel control module 46 is electro-hydraulic system control module 49 and main tunnel radio-frequency (RF) signal coupler 50 and the flexible pipe 51 that drives the electro-hydraulic electromagnetic valve.Be installed on the control module 48 is adit radio-frequency (RF) signal coupler 52 and adit electro-hydraulic electromagnetic valve and flexible pipe 54.One AC power cable 56 links to each other with power center facility 58.One loop aerial 60 is followed cable 56 magnetic couplings by magnetic field 61.Loop aerial 60 links to each other with emitter 62 through lead 64.One linkage 66 links to each other with emitter 62 through lead 68.
Fig. 2 represents the part expansion block diagram of described electronic unit, and these electronic units are included in the cover 44.Main tunnel remote control unit 46 comprises a control panel 70, and it links to each other with receiver 72, and receiver then links to each other with demodulator 74.Demodulator 74 links to each other with relay control unit 76, and the latter is connected with many switches 78, and all these are included in the electro-hydraulic control element 49.The adit remote control unit need be similar to the second cover parts of parts shown in Fig. 2.
Fig. 3 represents the remote control radiation machine cartridge belt that a kind of individual carries, and represents with general label 80.Cartridge belt 80 is established the skill meter and is become can be worn by miner 82.Can see that in Fig. 3 the linkage 66 among Fig. 1, emitter 62 and loop aerial 60 all are contained on the cartridge belt 80.Linkage 66 comprises many button control switches 84.Battery 86 is supplied with the emitter electric energy, and belt 88 is used to align cartridge belt.
Fig. 4 represents that a typical electricity is led and coal seam thickness (is " t ", curve in Fig. 1.What collect with the coal shown in Fig. 1-rock interface detector 22 is typical data.Data among Fig. 4 show that existing a certain electric conductivity value Gc, electricity to lead G swings up and down around it, and converge on Ga at the very big G of thickness place.The discrete thickness that equals this point of Ga value at G will be control thickness " t
D".When the electricity of actual measurement is led G greater than Ga, show that the position of coal mining drum 18 needs to revise; When the electricity of actual measurement was led G less than Ga, showing needed to revise on opposite position.
In preferential embodiment of the present invention, the linkage 66 among Fig. 1 is a kind of keyboards that are placed on emitter 62 panels, as shown in Figure 3.Button control switches 84 has repeated the switch 78 on the coalcutter, identical replying when therefore the indication of being sent by emitter 62 just produces with switch 78 work in the electro-hydraulic control module 49 of coalcutter.Like this, the emitter 80 that carries by means of the individual and be installed on control module 46 and 48 in the coalcutter flame shield cover 44, the function that this system can the following coalcutter of independent remote control:
Function master's laneway coal mining drum adit is mined and is roused
Water spray * *
The cowl clockwise direction * *
The cowl counter-clockwise direction * *
Upwards regulating arm * *
Downward regulating arm * *
Coal car → * *
Coal car ← * *
The lump coal breaking machine upwards * *
The lump coal breaking machine downwards * *
Not compulsory exercise * *
Coal car stops * *
Stop in emergency * *
Emitter 62 and receiver 72 are worked in intermediate frequency (MF) scope of 300 to 1000 kilo hertzs of sesames.The Frequency Design that is suitable for each drum 18 of independent operation and 20 will require two kinds of carrier of transmitter frequencies (f, f*).These frequencies 50 kilo hertzs of sesames of should being separated by at least.Two frequencies of being advised are 400 and 520 kilo hertzs of sesames.Radio-frequency line coupler (current transformer) 50 and 52 is to be used for link order and from the control signal of alternating current cable 56.This coupling process is fabulous, and wherein, iron Gan oxygen magnet coupler has little geomery, so can be arranged in the blasting protection cover 44.Because coupler is installed in the blasting protection cover, the reliability of equipment has improved.On the contrary, VHF and UHF equipment require an antenna that exposes, and this antenna may damage easily.The receiver output signal comprises the control data that is used for the coalcutter electro-hydraulic system.This digital controlled signal acts on decoder 74, and the latter makes the algorithm of binary numeral error rate minimum come processing digital signal successively by employing.Control signal (being known as " command signal ") will be with highly structural digital code word code (in telecontrol transmitter 62).This code word will comprise address and director data.For making the error minimum, decoder 74 only receives the digital controlled signal with correct address; In addition, before code was identified, control signal must correctly be received two, three times, and to have two received character codes at least be identical.Microprocessor MP will detect any error in the digital instruction data in receiver decoder.This has just guaranteed to have only correct instruction just can deliver to the electro-hydraulic system of coalcutter.Yet, act on circuit breaker loop 76, latter's (contact breaker points) and existing coalcutter controller 78(button and switch through the output signal of decoding) link to each other.
The digital control structure that is suitable for each character code of the machine that is launched 62 emission comprises the guidance information of-15 bits, and the latter is used for remote control decoder 74 synchronous, thereby address and director data can reduce; And coalcutter only needs 3 address bits (TXID), and needing 12 functions in the remote control application usually.
The reason that sends the technical elements of series of identical character code is that the error rate of digital character code can improve.The bit error rate of several repetition character codes is by following given:
P＝（P
A）
n
P wherein
AIt is the probability of error code in the individual character.For example, if the bit error rate is 10
-3, then send two identical character codes and can be improved to 10 to the bit error rate
-6
Adopt Manchester form, with each character code coding.Manchester director data will act on frequency shift keying (FSK) decoder 74 in the emitter 62.In remote control unit 46, will adopt the FSK decoder to recover director data.
In data transmission system, will adopt frequency modulation (FM) carrier wave.Carrier frequency is in the frequency modulation band, it is characterized in that frequency shift keying modulation (1200 hertz and 2000 hertz).
The phase place of Manchester code changes presentation logic bit state.Manchester code lower change point (phase) appears at the centre of non-return-to-reference (NRZ) data bit.The upper critical point presentation logic " O " of Manchester code.Saltus step in the Manchester code is loaded with clock sync signal (half clock rate).
Initial 3 logic bit identification addresses (emitter sign), thus code structure has been increased safety measure.Below 12 control logic bits be to be used for the various functions of independent (synchronous) control.
Microprocessor read-only memory (ROM) comprises the manchester decoder algorithm, and the latter separates Manchester code, and the error of verification coalcutter controller can be started correct outlet line.
Press arbitrary emitter keyboard or switch, make the bit state transformation to the logical one of controlling in the bit program.The microcomputer algorithm is separated bit by logical one, starts corresponding microcomputer delivery outlet.For this sign indicating number, do not transmit parity bit, but provide wrong detection by the progress control inspection:
(work overlapping ends-code conflicts) free of data in the C16 language;
Free of data before the starting bit;
With rocker switch timing on microprocessor and transmitter printed circuit board, TXID must be correct;
Press regulating arm, cowl, lump coal breaking machine or coal car speed keyboard simultaneously, ignore character.Press coal car speed key, can make coal car servo control mechanism speed control enroll zero program.
Each control word transmission cycle is:
32 bits * (1 second)/(300 bit)=107 milliseconds
By lower keyboard or switch many words are transmitted at once, must separate into identical for wherein two.In addition, emitter can send a supervisory signal every 10 seconds.The fault that detects or manage should be able to be started coal car halt instruction function.Top algorithm can be modified and reach many additional control methods.
Adopting the coal-rock interface detector 22 shown in Fig. 1 is important for the present invention because with regard to existing coalcutter equipment, the operator before running into coal-rock interface, can not distinguish it where.The operator may be more careful, attempts to stay the top, ore deposit and go up actual coal seam; Or in case when running into rock.He may stop producing coal as early as possible.Under first kind of situation, the operator may stay the coal more than needs on the top, ore deposit, reduced total growth, and perhaps as many as 5～6%.Under second kind of situation, if there are not enough coals to stay on the top, ore deposit, just increased top, ore deposit control problem.On the edge joint face, the coal on top, the most close ore deposit may comprise the sulphur and the ash of higher percent, so, if cutting, just the quality of institute's producing coal would descend.
If the operator cuts rock, just produced additional problem.When the cutting edge of drum 18 bumps against rock, the Mars that flies to spout may make methane and coal ash light.Silicon in the dust is difficult to according to U.S. mine and the respirable dust rules of sanitary pipe logos it.And coal is mixed, thereby has reduced total ature of coal amount.Except the problems referred to above, the wearing and tearing of the mechanical part of the interior meeting increasing of incision rock cutter drum 18 and coalcutter 12 have also brought extra maintenance and downtime.Any possible scheme of taking for minimizing the problems referred to above has all increased cost.
Owing to adopted reliable coal-rock interface detector 22, on the top, ore deposit, can stay skim coal " t ", so top, ore deposit control problem, safety and cost have all solved, and the output of coal and quality have all improved.For example: below oil shale and mudstone ore deposit rimrock stone 42, the thin layer coal has prevented that rock 42 from peeling off owing to being exposed in the air.This helps to guarantee that durable top, ore deposit is arranged in the proparea.
If probe 22 and keying line are used together, then can further improve safety.At present, the operator must be in and the cutting in the very near distance of coal sword of drum 18, so he can see cuts formation, and makes cutting edge not clash into rock.By keying line, the information data on the coal seam thickness " t " can be sent to operator there at a distance.This just can make the operator control coalcutter 12 away from dangerous cutting area, in addition, because the operator of control coalcutter 12 breaks away from the plumage ash, and away from dangerous surface, thereby producing coal can be carrying out in the face of two directions of vent air stream, so improved productivity ratio.
The Electronic Design that is used for coal of the present invention-rock interface detector 22 is based on the input admittance and the measurement of tuning loop aerial.This utmost point is applicable to that the theoretical work of probe 22 is to be finished by above Chang and Wait.
By adequate shielding, the electrical properties of resonant tank only is subjected to the influence of ore deposit roof construction.Do not have significantly interference generation, this interference is because near the scattering of product ore deposit equipment causes.
Detector antenna is installed in the vertical steel pipe 26, and the latter roughly is in the center of coal car 12, and near below the skip 40.Being included in electronic building brick 32 in the desired circuit is installed in the blasting protection cover 44 on the coal car 12.Cover 44 provides dustfree environment for the printed wire board package.
Measure the input admittance of tuning loop aerial in real time.The mathematical notation formula of admittance is:
Y＝G+jB
Wherein, the input conductance of G=loop aerial, mho;
B=imports susceptance.
The method that several measurement antenna feed-point admittances are arranged.Normally used two kinds of methods are in the instruments design of producing in batches:
Directional coupler and
Directed electric bridge
Since multifrequency control does not need tuning loop aerial, will use directional coupler so.Admittance is that its mathematic(al) representation is according to the measurement decision of load reflection coefficient plane:
Z wherein
lThe plane impedance of=load;
Z
o=connect measurement mechanism and the characteristic impedance of the transmission line on the plane of loading
The oscillator networking produces a radio frequency testing signal, and the latter acts on the directional coupler, and directional coupler terminates in a day specific electric load plane admittance.The voltage vector ratio of back wave and incident wave component can be determined.Reflectance factor is defined as:
The level of Vref=back wave wherein;
The level of Vinc=incidence wave.
Reflectance factor and resistance value obtain from following formula:
Input admittance is Z
LInverse:
Y＝l/ZL＝G+jB
For the voltage signal of unit amplitude, in fact the G value is equivalent to the power of radiation from the antenna.One microcomputer can utilize the survey data of phase place and amplitude to determine reflectance factor and G value.
In order to use coal-rock interface detector 22, must under the various increments of coal seam thickness " t ", demarcate probe by measuring.In order to finish this demarcation, coalcutter will vertically cut, and cuts logical coal seam to rock 42, returns a distance increment from rock 42, and length feed one short distance is return another vertical distance increment to coal seam 40 from rock mountain 42.This process is repeated, and makes corresponding to each thickness " t
D" measure and be stored.This demarcation provides the discontinuous levelling of controllable permission thickness.
After this, the operator selects desirable staying in the coal seam thickness " t " on top, ore deposit from one group of permissible value, at this moment, coalcutter is in and the corresponding position of this thickness; By incision rock 42 and return the distance of regulation, this has just finished.
Yet beginning cutting operation.When coalcutter 12 is started working, by ordering data relatively with the mark that stores, probe 22 will be monitored the position with respect to rock 42.If measured value is greater than storage values specific thickness " t
D", lamp is just bright, and being illustrated in a certain direction (last or following) needs to revise.If measured value is less than storage values, just lamp is bright, being illustrated in the phase negative side needs to revise.Required correction can be carried out on coalcutter, also can utilize emitter 62 to carry out a long way off.
In preferential embodiment of the present invention, coal-rock interface detector 22 is tuning loop aerials of a movement-less part.The connecting line 30 that hyperfrequency (UHF) signal is transferred to loop line on the antenna and cable is embedded in the solid wear-resisting high-strength plastic charging tray 24.This dish is installed in the large-scale steel pipe, and only Pan end face 28 exposes.
Though according to present preferential embodiment the present invention is described, yet should be understood that this open not being interpreted as is restriction.For the person skilled in the art, after having read above-mentioned disclosing, do various changes and revise conspicuous beyond doubt.Therefore, be interpreted as topped all changes and the modification that is in practicalness of the present invention and the scope to additional claims.
Claims (3)
1, be used to the to push button coal mining method of organic electronic hydraulic system mechanical function, it comprises:
A. by inductance, the intermediate frequency portable transmitter is coupled in the AC power cable of the described coal-winning machine of running;
B. use magnetic ferrites magnet circuitry coupler that described AC power cable is coupled in the remote control of described coal-winning machine,
C. remote control and magnetic ferrites magnet line coupler are encapsulated in the armored cassette;
D. command signal is encoded into digital form;
E. digitally coded command signal is added to the frequency shift keying encoder;
F. carrier frequency is carried out frequency modulation(PFM);
G. in warbled carrier-frequency range, launch the command signal of described coding to described remote control from described intermediate frequency portable transmitter;
H. launch described command signal from described remote control to the electro-hydraulic system control module;
2, by the described method of claim 1, it is characterized in that wherein said coal-winning machine is a longwall coal cutter.
3, by the described method of claim 1, it is characterized in that wherein said coal-winning machine is a continuous mining machine.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/922,525 US4753484A (en) | 1986-10-24 | 1986-10-24 | Method for remote control of a coal shearer |
| US06/922,525 | 1986-10-24 | ||
| CN87107117A CN1011904B (en) | 1986-10-24 | 1987-10-24 | Method for remote control of coal shearer |
Related Parent Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN87107117 Division | 1987-10-24 | ||
| CN87107117A Division CN1011904B (en) | 1986-10-24 | 1987-10-24 | Method for remote control of coal shearer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1045837A true CN1045837A (en) | 1990-10-03 |
| CN1017081B CN1017081B (en) | 1992-06-17 |
Family
ID=25742375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 90102537 Expired CN1017081B (en) | 1986-10-24 | 1987-10-24 | Method for remote control of coal shearer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1017081B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337883A (en) * | 2020-04-17 | 2020-06-26 | 中国矿业大学(北京) | Intelligent detection and identification system and method for mine coal rock interface |
-
1987
- 1987-10-24 CN CN 90102537 patent/CN1017081B/en not_active Expired
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337883A (en) * | 2020-04-17 | 2020-06-26 | 中国矿业大学(北京) | Intelligent detection and identification system and method for mine coal rock interface |
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| Publication number | Publication date |
|---|---|
| CN1017081B (en) | 1992-06-17 |
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