CN105201537B - The wireless numbering method and device certainly of hydraulic support electrohydraulic control system - Google Patents
The wireless numbering method and device certainly of hydraulic support electrohydraulic control system Download PDFInfo
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- CN105201537B CN105201537B CN201510702406.9A CN201510702406A CN105201537B CN 105201537 B CN105201537 B CN 105201537B CN 201510702406 A CN201510702406 A CN 201510702406A CN 105201537 B CN105201537 B CN 105201537B
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Abstract
A kind of wireless numbering method and device certainly of hydraulic support electrohydraulic control system, the method comprising the steps of：When current brackets controller obtains itself numbering, judge whether itself is main website according to itself numbering, default master-salve station decision rule；If main website, the bracket controller for not obtaining numbering in itself coverage is searched, and establishes and connects with the bracket controller for not obtaining numbering searched, itself is obtained and does not respectively obtain the distance between bracket controller of numbering；According to distance order from the near to the remote, itself numbering, the preset numbers Cahn-Ingold-Prelog sequence rule, in the bracket controller to not obtaining numbering, the preset number bracket controller closest with itself be numbered.Scheme of the embodiment of the present invention realizes the automatic numbering to bracket controller, without being manually configured one by one to bracket controller, reduces installation workload, reduces the probability of numbering error.
Description
Technical field
The present invention relates to hydraulic support control field, more particularly to a kind of hydraulic support electrohydraulic control system it is wireless self-editing
Number method and device.
Background technology
Most of between the controller of hydraulic support electrohydraulic control system at present is all to carry out the logical of left and right neighbour by cable
News connection, this connected mode need to spend substantial amounts of cable, and the laying of cable needs to expend a large amount of manpowers, and it is limited to take underground
Space, further, since subsurface environment is severe, cable is easily corroded damage, and in hydraulic support action process, cable can also
By larger stress, easily it is pulled off, breaks so that the communicating interrupt between controller, it is normal influences electrohydraulic control system
Work.
The shortcomings that for communication cable between this hydraulic support, it can allow between each controller by using channel radio
The mode of news is solved.However, the control of hydraulic support is to be based on physical location, wireless telecommunications are led in the form of broadcasting
News, the particular location of the controller of each hydraulic support can not be automatically determined, so after the controller installation of hydraulic support,
The numbering of each controller must be manually set, make controller numbering with also wanting support number corresponding.This peace set manually
Dress mode can increase workload to installation personnel, easily be malfunctioned in setting up procedure, and bracket controller numbering is support action
The important foundation of control, once numbering error, can cause the danger such as support malfunction, potential safety hazard be present.
The content of the invention
Based on this, the purpose of the embodiment of the present invention is to provide a kind of the wireless from numbering of hydraulic support electrohydraulic control system
Method and device, it can give the controller of hydraulic support to carry out automatic numbering, without manually setting one by one, reduce erector
Measure, reduce the probability of numbering error.
To reach above-mentioned purpose, the embodiment of the present invention uses following technical scheme：
A kind of hydraulic support electrohydraulic control system it is wireless from method for numbering serial, including step：
When current brackets controller obtains itself numbering, judged according to itself numbering, default master-salve station decision rule
Whether itself is main website；
If main website, the bracket controller for not obtaining numbering in itself coverage is searched, and do not obtain with what is searched
The bracket controller of numbering establishes connection, obtains itself and does not respectively obtain the distance between bracket controller of numbering；
According to distance order from the near to the remote, itself numbering, the preset numbers Cahn-Ingold-Prelog sequence rule, the branch to not obtaining numbering
Preset number bracket controller in frame controller, closest with itself is numbered.
A kind of hydraulic support electrohydraulic control system it is wireless from numbering device, including：
Master-slave sta-tion mode handover module, for when obtaining itself numbering, being sentenced according to itself numbering, default master-salve station
Determine whether rule judgment itself is main website, and main website or slave station are arranged to through mode of operation according to judged result；
Slave station determining module is covered, for when the result of determination of the Master-slave sta-tion mode handover module is main website, searching
The bracket controller of numbering is not obtained in itself coverage, and establishes and connects with the bracket controller for not obtaining numbering searched
Connect, obtain itself and respectively do not obtain the distance between bracket controller of numbering；It is determined that in not obtaining the bracket controller of numbering,
The preset number bracket controller closest with itself；
Numbering module is right for according to distance order from the near to the remote, itself numbering, the preset numbers Cahn-Ingold-Prelog sequence rule
The preset number bracket controller in the bracket controller of numbering, closest with itself is not obtained to be numbered.
According to the scheme of the embodiment of the present invention as described above, it is after bracket controller is numbered, if based on it
Stand, can establish and connect with other bracket controllers for not yet obtaining numbering in its coverage automatically, and to these supports
Controller is numbered, and is numbered based on itself of default master-salve station decision rule and acquisition, and related bracket controller is automatic
As main website, so circulation, the automatic numbering to bracket controller is realized, without manually being set one by one to bracket controller
Put, reduce installation workload, reduce the probability of numbering error.
Brief description of the drawings
Fig. 1 is that the wireless of hydraulic support electrohydraulic control system of the invention in one embodiment shows from the flow of method for numbering serial
It is intended to；
Fig. 2 is the sequence schematic diagram of the mounting arrangements of the bracket controller of the hydraulic support in a concrete application example；
Fig. 3 is the numbering result schematic diagram of the bracket controller after the concrete application example number with reference to shown in Fig. 2；
Fig. 4 is the wireless flow from method for numbering serial of hydraulic support electrohydraulic control system of the invention in a specific example
Schematic diagram；
Fig. 5 is that the wireless of hydraulic support electrohydraulic control system of the invention in one embodiment shows from the structure of numbering device
It is intended to.
Embodiment
For the objects, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with drawings and Examples, to this
Invention is described in further detail.It should be appreciated that embodiment described herein is only to explain the present invention,
Do not limit protection scope of the present invention.
The wireless from method for numbering serial of hydraulic support electrohydraulic control system of the invention in one embodiment is shown in Fig. 1
Schematic flow sheet.As shown in figure 1, the method in the present embodiment includes step：
Step S101：Current brackets controller obtains itself numbering；
Step S102：Judge whether itself is main website according to itself numbering, default master-salve station decision rule, if main
Stand, into step S103；
Step S103：The bracket controller for not obtaining numbering in itself coverage is searched, and is not obtained with what is searched
The bracket controller of numbering establishes connection, obtains itself and does not respectively obtain the distance between bracket controller of numbering；
Step S104：According to distance order from the near to the remote, itself numbering, the preset numbers Cahn-Ingold-Prelog sequence rule, to not obtaining
Preset number bracket controller in the bracket controller of call number, closest with itself is numbered.
According to the scheme of the embodiment of the present invention as described above, it is after bracket controller is numbered, if based on it
Stand, can establish and connect with other bracket controllers for not yet obtaining numbering in its coverage automatically, and to these supports
Controller is numbered, and is numbered based on itself of default master-salve station decision rule and acquisition, and related bracket controller is automatic
As main website, so circulation, the automatic numbering to bracket controller is realized, without manually being set one by one to bracket controller
Put, reduce installation workload, reduce the probability of numbering error.
When implementing the scheme of the embodiment of the present invention, the inside of the bracket controller of each hydraulic support is built-in with wirelessly
Device, the wireless device have normal radio communication function, and can be carried out using any possible communication
Radio communication, the distance between bracket controller and current brackets controller, any side that can determine distance can also be used
Formula determines.
It should be noted that because hydraulic support is used in the fully-mechanized mining working in colliery, therefore, it is determined that support controls
When the distance between device and current brackets controller, it is impossible to use GPS (Global Positioning System, global location
System) etc. conventional localization method determine.
Therefore, in a concrete application example, it based on UWB (Ultra Wideband, is one that the wireless device, which can be,
Kind of no-load communication techniques) radio communication device, i.e., communicated by UWB between each bracket controller.UWB can be at 10 meters
Realize that hundreds of Mbit/s to several Gbit/s message transmission rate, have strong anti-interference performance, transmission rate in the range of left and right
The high, many advantages such as very bandwidth is wide, consumption electric energy is small, transmit power is small, thus can make to have between bracket controller higher
Communication performance.Importantly, UWB can realize accurate geo-location, possesses the function of ranging, so as to by support control
Radio communication device can based on UWB built in device processed realizes radio communication and ranging this two functions simultaneously.
In a specific example, as shown in figure 1, obtaining itself and each branch for not obtaining numbering in above-mentioned steps S103
After the distance between frame controller, compiled in S104 pairs of preset number bracket controller closest with itself of step
Before number, step can also be included：
Step S1034：Judge with itself closest preset number bracket controller and the distance of itself whether
In the range of corresponding pre-determined distance, if so, then enter step S104, in the bracket controller to not obtaining numbering, with itself away from
The step of being numbered from nearest preset number bracket controller, if it is not, then sending warning information.
In the case, (appointed by the way that the distance between each bracket controller is in a specific preset range
The distance between meaning one main frame and each slave in its coverage are not more than corresponding pre-determined distance scope, for example, with recently
The distance of a slave be not more than a corresponding pre-determined distance scope, with the distance of second nearest slave no more than pair
Another pre-determined distance scope answered, it is other by that analogy), can be in order to reasonably entering to the distance of each hydraulic support
Row arrangement, is advantageous to control of the main website to each slave in its coverage.In the feelings using the radio communication device based on UWB
Under condition, the advantage of UWB communication performance can also be further ensured that and played.
Wherein, above-mentioned default master-salve station decision rule, based on different Considerations, can set in different ways
It is fixed.It is just wherein several exemplified by the sequence schematic diagram of the mounting arrangements of the bracket controller of the hydraulic support shown in Fig. 2
Different master-salve station decision rules are illustrated.
Specific example one
In the specific example, above-mentioned default master-salve station decision rule can be main website numbering collection set in advance, prop up
Then it is otherwise slave station it can be assumed that itself being main website when the numbering that frame controller obtains is one that main website numbering is concentrated.Should
Main website numbering collection can be when installing the bracket controller of hydraulic support, and main website volume is equipped with all bracket controllers
Number collection.
In the specific example, the bracket controller of each hydraulic support prestores main website numbering collection, each support control
Device processed after the numbering of itself is obtained, judge itself numbering whether there is in the main website number concentrate, if so, then judge itself be
Main website, it is otherwise slave station.
After the bracket controller installation by all hydraulic support, all bracket controllers are slave station, and are pressed
A certain distance linear array is installed, and all bracket controllers there is no numbering, actively not outside in state of intercepting
Send data.Each bracket controller is built-in with a wireless device based on UWB, and the wireless device is except normal wireless telecommunications
Outside, it is also equipped with the function of ranging.Bracket controller is divided into main website and slave station, and by software exchange, main website can automatically and institute for both
The website of covering establishes connection, and obtains and cover the distance between website, sends numbering data frame and other websites are carried out
Numbering.Assuming that the bracket controller from N framves (first frame or last) hydraulic support is numbered, and number order is at each
Fixed setting is increasing or decreasing in frame controller, in this example, is illustrated exemplified by being incremented by.
Because support model is different, at each working face scene, the distance between each bracket controller also differs, so
The bracket controller quantity that main website can cover has difference, it is therefore desirable to which the number for the website that can be covered to each main website is (on i.e.
State preset number) it is configured, it is assumed that the preset number x=3 for the website that each main website can cover, 4,5,6,7.It is specific at this
In example, the preset number can be prestored in each bracket controller in advance.
After the bracket controller being numbered is chosen, the numbering of the bracket controller is arranged to the initial volume of setting
Number (being assumed to be N), the initial number is related to above-mentioned main website numbering collection, due to being numbered by incremental order, therefore, the initial volume
It number should be the minimum value that main website numbering is concentrated.It will be understood by those skilled in the art that if using serial number of successively decreasing, it is somebody's turn to do
Initial number should be then the maximum that main website numbering is concentrated.
After bracket controller N obtains the initial number, because the initial number is a member that main website numbering is concentrated, so as to
Main website is automatically become, and searches the bracket controller for not obtaining numbering in itself coverage, and is not compiled with what is searched
Number bracket controller establish connection, obtain itself and do not obtain the distance between bracket controller of numbering with each, and determine with
Itself closest preset number bracket controller.This preset number bracket controller closest with itself with
The distance of itself is all when within the scope of corresponding pre-determined distance, then bracket controller N controls for this preset number support
Device is numbered.Assuming that preset number be 5, as shown in Fig. 2 then this preset number bracket controller be N+1, N+2 ..., N
+ 5, based on incremental coding rule, its corresponding numbering be N+1, N+2 ..., N+5.Bracket controller N completes laggard in numbering
Enter normal operating conditions.
Bracket controller be N+1, N+2 ..., N+5 after the numbering of itself is obtained, by itself numbering with main website numbering collection
It is compared, judges whether itself numbering numbers in the main website and concentrate, if it is not, as slave station, then automatically into working condition,
If so, then automatically becoming main website, the process similar with above-mentioned bracket controller N is performed, for not compiled in its coverage
Number other bracket controllers numbering, and enter normal operating conditions after the completion of numbering.
Said process is repeated, so as to realize the numbering to all bracket controllers.With main website numbering collection for N,
N+5, N+10 ... } exemplified by, the result after the completion of numbering is as shown in Figure 3.
After the completion of numbering, the bracket controller N as server periodically can send heartbeat packet, and base to whole system
The system failure is monitored in the feedback of heartbeat packet, in the event of failure, then carries out alarm.
In addition, in system operation, each bracket controller as main website can also monitor itself numbered it is pre-
If the working condition of number bracket controller, and any one in the preset number bracket controller itself numbered
During failure, alert, Breakdown Maintenance is convenient for.
In addition, as main website each bracket controller can with every prescribed time period, detect itself numbered it is default
Number bracket controller and itself the distance between, the distance of detection is ranked up, and judge the sequence with it is above-mentioned itself
Whether the numbering for the preset number bracket controller numbered matches, if mismatching, according to distance order from the near to the remote,
Itself above-mentioned numbering, preset numbers order, to being controlled in itself coverage, with itself closest preset number support
Think highly of and be newly numbered.
Specific example two
In the specific example, the default master-salve station decision rule can also preset a main website numbering collection,
Then it is otherwise slave station it can be assumed that itself being main website when the numbering that bracket controller obtains is one that main website numbering is concentrated.
It is with the difference of above-mentioned specific example one, the main website numbering collection can be during numbering, from the master numbered for it
Stand acquisition.
In the specific example, the bracket controller of each hydraulic support when obtaining the numbering of itself, while obtain from
Collect for acquisition main website of the main website numbering of its distribution numbering, and judge that itself numbering whether there is and number concentration in the main website, if so,
Then judge itself to be main website, be otherwise slave station.
After the bracket controller installation by all hydraulic support, all bracket controllers are slave station, and are pressed
A certain distance linear array is installed, and all bracket controllers there is no numbering, actively not outside in state of intercepting
Send data.Each bracket controller is built-in with a wireless device based on UWB, and the wireless device is except normal wireless telecommunications
Outside, it is also equipped with the function of ranging.Bracket controller is divided into main website and slave station, and by software exchange, main website can automatically and institute for both
The website of covering establishes connection, and obtains and cover the distance between website, sends numbering data frame and other websites are carried out
Numbering.Assuming that the bracket controller from N framves (first frame or last) hydraulic support is numbered, and number order is at each
Fixed setting is increasing or decreasing in frame controller, in this example, is illustrated exemplified by being incremented by.
After the bracket controller being numbered is chosen, using the bracket controller as server, main website is set to number
Collection, and the initial number (being assumed to be N) that the numbering of the bracket controller is arranged to set, the initial number are that above-mentioned main website is compiled
Number concentrate a member, due to being numbered by incremental order, therefore, the initial number should be main website numbering concentrate minimum value.
It is understood that if using serial number of successively decreasing, the initial number should be then the maximum that main website numbering is concentrated.
After bracket controller N obtains the initial number, because the initial number is a member that main website numbering is concentrated, so as to
Main website is automatically become, and searches the bracket controller for not obtaining numbering in itself coverage, and is not compiled with what is searched
Number bracket controller establish connection, obtain itself and do not obtain the distance between bracket controller of numbering with each, and determine with
Itself closest preset number bracket controller.This preset number bracket controller closest with itself with
The distance of itself is all when within the scope of corresponding pre-determined distance, then bracket controller N controls for this preset number support
Device is numbered.Assuming that preset number be 5, as shown in Fig. 2 then this preset number bracket controller be N+1, N+2 ..., N
+ 5, based on incremental coding rule, its corresponding numbering be N+1, N+2 ..., N+5.Bracket controller N completes laggard in numbering
Enter normal operating conditions.
Wherein, bracket controller N for bracket controller N+1, N+2 ..., N+5 numberings when, while to bracket controller
For N+1, N+2 ..., N+5 send numbering arrange parameter information, above-mentioned main website is included in the numbering arrange parameter information and is numbered
Collection.In wherein one application example, above-mentioned preset number can also be included in the numbering arrange parameter information, so as to each
Frame controller is without prior preset preset number, and (i.e. this is pre- for the number for the slave station that the bracket controller as main website can cover
If number) more flexible be configured can be carried out.
Bracket controller be N+1, N+2 ..., N+5 after the numbering and the numbering arrange parameter information of itself is obtained,
Itself numbering is compared with main website numbering collection, whether judges itself numbering in main website numbering concentration, if it is not, as from
Stand, then automatically into working condition, if so, then automatically becoming main website, perform the process similar with above-mentioned bracket controller N, be
Other bracket controllers for not obtaining numbering numbering in its coverage, and enter normal operating conditions after the completion of numbering.
Said process is repeated, so as to realize the numbering to all bracket controllers.With main website numbering collection for N,
N+5, N+10 ... } exemplified by, the result after the completion of numbering is as shown in Figure 3.
Specific example three
In the specific example, the information that the default master-salve station decision rule transmits from the main frame numbered for it is carried out
It is determined that.When the numbering that bracket controller obtains meets the rule condition based on the determination of these information, then it can be assumed that itself being
Main website, it is otherwise slave station.The brief schematic flow sheet of the example is correspondingly show in Fig. 4.
After the bracket controller installation by all hydraulic support, all bracket controllers are slave station, and are pressed
A certain distance linear array is installed, and all bracket controllers there is no numbering, actively not outside in state of intercepting
Send data.Each bracket controller is built-in with a wireless device based on UWB, and the wireless device is except normal wireless telecommunications
Outside, it is also equipped with the function of ranging.Bracket controller is divided into main website and slave station, and by software exchange, main website can automatically and institute for both
The website of covering establishes connection, and obtains and cover the distance between website, sends numbering data frame and other websites are carried out
Numbering.
Because support model is different, at each working face scene, the distance between each bracket controller also differs, so
The bracket controller quantity that main website can cover has difference, it is therefore desirable to which the number for the website that can be covered to each main website is (on i.e.
State preset number) it is configured, it is assumed that the preset number x=3 for the website that each main website can cover, 4,5,6,7.
Assuming that the bracket controller from N framves (first frame or last) hydraulic support is numbered, a shared M+1 frame liquid
The bracket controller of pressure support needs to number, and number order is likely to be and is incremented by or successively decreases, and each bracket controller is prior simultaneously
It is unaware of be numbered by incremental order or by the order successively decreased.So that number order is is incremented by as an example, each support
Controller fitting arrangement is as shown in Figure 2.
After installation is complete, it is server to set N framves bracket controller manually, and sets numbering to set in server
Parameter information：The initial number N of the bracket controller of initial number, preset numbers Cahn-Ingold-Prelog sequence rule (increasing or decreasing), present count
Mesh (the website quantity that i.e. each support can cover：Preset number x).Wherein, can also include in the numbering arrange parameter information
There is the number M for the remaining bracket controller that numbering is still needed to outside the bracket controller for removing the initial number, number M can be with
Accuracy to the numbering to system judges, is being illustrated in detail in the explanation of subsequent example.
, can also be further true if setting number order rule to successively decrease when setting above-mentioned numbering arrange parameter information
Determine whether N-M is more than 0, if it is not, then doing alarm.If it is, continue executing with follow-up process.In numbering process
In, numbering arrange parameter information can be sent to remaining stents controller.
After numbering arrange parameter information is provided with, server (i.e. bracket controller N) automatically obtains numbering ID, the volume
It is number corresponding with the support number at place, it is N, so as to automatically become main website, N bracket controllers numbering is completed.
After N bracket controllers turn into main website, the website (i.e. bracket controller) in oneself coverage is begun search for, with
The website that searches establishes connection, obtains the distance between itself and website, adjusts the distance from closely to being far ranked up, and judge away from
The x website nearest from oneself with a distance from oneself whether in the range of corresponding pre-determined distance, if it is not, then sending alarm
Information, prompted.If in the range of corresponding pre-determined distance, according to from closely to remote order, stood successively to this x
Point sends the data frame for setting numbering, and numbering ID is that the ID number of main website adds one successively, i.e. the numbering of this x website is followed successively by N+
1st ..., (it is understood that in the case where preset numbers Cahn-Ingold-Prelog sequence rule is to successively decrease, then to subtract one successively, this x is stood N+x
Point numbering be followed successively by N-1 ..., N-x).When sending the data frame of numbering, main website simultaneously believes above-mentioned numbering arrange parameter
Cease and sent to this x main station controller.The external numbering work of N main websites is completed, into normal operating conditions.
Obtain numbering N+1 ..., whether N+x bracket controllers can be analyzed based on the numbering of oneself be main website.
Specifically, judge the numbering of oneself whether meet N+k*x (k=0,1,2,3,4 ...) (it is understood that if successively decreasing,
Should be then N-k*x), if be unsatisfactory for, for slave station, if it is satisfied, then being main website.Slave station after being numbered enters normal
Working condition, no longer response search frame.
N+x bracket controllers are changed into main website from slave station automatically after being numbered, and search not obtaining in oneself coverage
The website of numbering, establish and connect with the website searched, obtain the distance between itself and website, adjust the distance from closely to remote progress
Sequence, and the nearest x website of judging distance oneself with the distance of oneself whether in the range of corresponding pre-determined distance, if not
It is then to send warning information, is prompted.If in the range of corresponding pre-determined distance, according to from closely to remote order,
Oneself x website that be nearest, not yet obtaining numbering of adjusting the distance is numbered, and numbering ID is the volume based on N+x bracket controllers
Number successively plus 1, i.e. the numbering of this x website be followed successively by N+x+1 ..., N+2x is (it is understood that in preset numbers order
Rule in the case of successively decreasing, then be N-x-1 ..., N-2x).The method for numbering serial of specific method for numbering serial and N main station controllers
Unanimously, so far the numbering work of N+x (being then N-x in the case where preset numbers Cahn-Ingold-Prelog sequence rule is to successively decrease) number main website is completed.
Based on (successively decreasing with similar master-salve station determination mode as described above, N+2x in preset numbers Cahn-Ingold-Prelog sequence rule
In the case of, then it is N-2x) a number bracket controller turns into main website by slave station automatically after being numbered, and uses side similar to the above
Formula, oneself website that is nearest, not obtaining numbering of adjusting the distance are numbered, ID number be followed successively by N+2x+1 ... N+3x (can be managed
Solution is then N-2x-1 in preset numbers Cahn-Ingold-Prelog sequence rule in the case of successively decreasing ..., N-3x).
And so on, next website as main website continues that remaining unnumbered website is numbered, method for numbering serial
It is consistent with main website method for numbering serial before, circulate always, until all websites in system all complete by numbering, after the completion of numbering such as
Shown in Fig. 3 (number order is incremental, x=5).During System Number, all slave stations for successfully obtaining ID numberings enter at once
Enter normal operating conditions, normal operating conditions is immediately entered to the main website after the completion of remaining site number.
Wherein, during numbering, after the completion of slave station numbering of each main station controller in its coverage, base is gone back
In the numbering provided for its slave station, judge whether System Number is completed.
In in one way in which, by taking main website N+kx as an example, based on as described above, it sets for the slave station in its coverage
The numbering put should be N+kx+1 ..., N+ (k+1) x, with its apart from farthest slave station be N+ (k+1) x, main website N+kx can will
The numbering of all slave stations in its coverage is compared with above-mentioned initial number N, and it is upper to judge whether the difference of the two is equal to
Number M is stated, if it is, thinking that all bracket controllers have been numbered, System Number is completed, otherwise, support control
Device N+ (k+1) x will automatically become main website, continue executing with follow-up process.
In a further mode of operation, by taking above-mentioned main website N+kx as an example, it can search oneself coverage after as main website
The interior website for not obtaining numbering, if searched less than the website for not obtaining numbering, it is considered that System Number is completed.
In a further mode of operation, by taking main website N+kx as an example, its can after as main website, its can after as main website,
Search the website for not obtaining numbering in oneself coverage.If the number that what is searched do not obtain the website of numbering is not less than
Preset number x, then x website for directly adjusting the distance nearest are numbered, and whether System Number are not completed to analyze.If
The number that what is searched do not obtain the website of numbering is less than x, then after the completion of the site number of numbering is not obtained to what is searched,
Using with similar mode in above-mentioned first way, will be compared apart from the numbering of farthest slave station and above-mentioned initial number N
It is right, judge whether the difference of the two is consistent with above-mentioned number M, if unanimously, then it is assumed that System Number is completed.On the other hand, exist
The number that what is searched do not obtain the website of numbering is less than x, can also directly think that System Number is completed.
After the completion of System Number, whether System Number can also accurately be analyzed, specifically can be by judging to compile
Number bracket controller quantity and set number of holders M whether unanimously analyze, if do not met, send alarm signal
Breath, if met, illustrate that coding is normal, perform normal workflow.
Actual comparison of coherence can be carried out using various possible modes, in one way in which in, can be
When main website decision-making system numbering is completed, it will be compared apart from the numbering of farthest slave station with above-mentioned initial number N, judge the two
Difference it is whether consistent with above-mentioned number M, and judge whether System Number wrong based on consistency checking result.
Bracket controller into normal operating conditions can carry out normal communication with left and right neighbour's bracket controller, by sentencing
It is disconnected to number to determine the left and right neighbour's controller of oneself, numbered in a data frame with itself numbering and purpose in communication, remaining
Bracket controller after receiving the data, judges whether purpose numbering is consistent with itself numbering, unanimously then receives, inconsistent, loses
Abandon data.
After the completion of numbering, the bracket controller N as server periodically can send heartbeat packet, and base to whole system
The system failure is monitored in the feedback of heartbeat packet, in the event of failure, then carries out alarm.
In addition, in system operation, each bracket controller as main website can also monitor itself numbered it is pre-
If the working condition of number bracket controller, i.e., the x-1 slave station and next main website that oneself are covered, and compiled at itself
Number preset number bracket controller in any one failure when, alert, be convenient for Breakdown Maintenance.
In addition, as main website each bracket controller can with every prescribed time period, detect itself numbered it is default
Number bracket controller and itself the distance between, i.e., the x-1 slave station and next main website oneself covered, to detection
Distance is ranked up, and judge the sequence and the above-mentioned preset number bracket controller itself numbered numbering whether
Match somebody with somebody, if mismatching, according to order, itself above-mentioned numbering, the preset numbers order of distance from the near to the remote, to itself coverage
Interior and itself closest preset number bracket controller re-starts numbering.So as to if having changed bracket controller
Or some bracket controllers fall random order, main website can detect exception at once, and the website covered to oneself is carried out again
Numbering.
Based on thought same as mentioned above, the embodiment of the present invention also provides a kind of hydraulic support electrohydraulic control system
Wirelessly from numbering device.The structural representation of the device in one embodiment is shown in Fig. 5.
As shown in figure 5, the wireless of hydraulic support electrohydraulic control system in the present embodiment includes from numbering device：
Master-slave sta-tion mode handover module 501, for when obtaining itself numbering, according to itself numbering, presetting principal and subordinate
Decision rule of standing judges whether itself is main website, and is arranged to main website or slave station through mode of operation according to judged result；
Slave station determining module 502 is covered, for being main website in the result of determination of the Master-slave sta-tion mode handover module 501
When, the bracket controller for not obtaining numbering in itself coverage is searched, and control with the support for not obtaining numbering searched
Device establishes connection, obtains itself and does not respectively obtain the distance between bracket controller of numbering；It is determined that the support of numbering is not obtained
In controller, with itself closest preset number bracket controller；
Numbering module 503, for according to distance order from the near to the remote, itself numbering, the preset numbers Cahn-Ingold-Prelog sequence rule,
Preset number bracket controller in bracket controller to not obtaining numbering, closest with itself is numbered.
According to the scheme of the embodiment of the present invention as described above, it is after bracket controller is numbered, if based on it
Stand, can establish and connect with other bracket controllers for not yet obtaining numbering in its coverage automatically, and to these websites
It is numbered, is numbered based on itself of default master-salve station decision rule and acquisition, related bracket controller automatically becomes main
Stand, so circulation, realize the automatic numbering to bracket controller, without being manually configured one by one to bracket controller, subtract
Lack installation workload, reduce the probability of numbering error.
When implementing the scheme of the embodiment of the present invention, the inside of the bracket controller of each hydraulic support is built-in with wirelessly
Device, the wireless device have normal radio communication function, and can be carried out using any possible communication
Radio communication, the distance between bracket controller and current brackets controller, any side that can determine distance can also be used
Formula determines.
It should be noted that because hydraulic support is used in the fully-mechanized mining working in colliery, therefore, it is determined that support controls
When the distance between device and current brackets controller, it is impossible to use GPS (Global Positioning System, global location
System) etc. conventional localization method determine.
Therefore, in a concrete application example, it based on UWB (Ultra Wideband, is one that the wireless device, which can be,
Kind of no-load communication techniques) radio communication device, i.e., communicated by UWB between each bracket controller.UWB can be at 10 meters
Realize that hundreds of Mbit/s to several Gbit/s message transmission rate, have strong anti-interference performance, transmission rate in the range of left and right
The high, many advantages such as very bandwidth is wide, consumption electric energy is small, transmit power is small, thus can make to have between bracket controller higher
Communication performance.Importantly, UWB can realize accurate geo-location, possesses the function of ranging, so as to by support control
Radio communication device can based on UWB built in device processed realizes radio communication and ranging this two functions simultaneously.
In a specific example, as shown in figure 5, the device in the present embodiment can also include alarm module 504, this
When：
Above-mentioned covering slave station determining module 502, it is additionally operable to judge to control with itself closest preset number support
Whether device is with the distance of itself in the range of corresponding pre-determined distance；
Above-mentioned alarm module 504, for when the result of determination of covering slave station determining module 502 is no, sending alarm letter
Breath；
Above-mentioned numbering module 503, it is when the result of determination of above-mentioned covering slave station determining module 502 is is, to not obtaining
Preset number bracket controller in the bracket controller of numbering, closest with itself is numbered.
In the case, (appointed by the way that the distance between each bracket controller is in a specific preset range
The distance between meaning one main frame and each slave in its coverage are not more than corresponding pre-determined distance scope, for example, with recently
The distance of a slave be not more than a corresponding pre-determined distance scope, with the distance of second nearest slave no more than pair
Another pre-determined distance scope answered, others are by that analogy)), can be in order to reasonably to the distance of each hydraulic support
It is arranged, is advantageous to control of the main website to each slave in its coverage.Using the radio communication device based on UWB
In the case of, it can also further ensure that and play the advantage of UWB communication performance.
Wherein, above-mentioned default master-salve station decision rule, based on different Considerations, can set in different ways
It is fixed.
In a wherein implementation, above-mentioned default master-salve station decision rule can be predetermined main website numbering collection.
Then it is otherwise slave station it can be assumed that itself being main website when the numbering that bracket controller obtains is one that main website numbering is concentrated.
Main website numbering collection can be when installing the bracket controller of hydraulic support, and the main website is equipped with all bracket controllers
Numbering collects or during numbering, is obtained from the main website numbered for it.
In another implementation, above-mentioned default master-salve station decision rule can transmit from the main frame numbered for it
Information be determined., then can be with when the numbering that bracket controller obtains meets the rule condition based on the determination of these information
Assert itself to be main website.
In a particular technique example based on the implementation, above-mentioned Master-slave sta-tion mode handover module 501 is being derived from
During body numbering, numbering arrange parameter information is also received, the numbering arrange parameter information includes the bracket controller of initial number
Initial number, the preset numbers Cahn-Ingold-Prelog sequence rule, the preset number, the bracket controller of the initial number is linear array
Sequentially most preceding or last bracket controller, the default master-salve station decision rule is according to the initial number, described pre-
If number order is regular, the preset number determines.
Wherein, above-mentioned numbering arrange parameter information can also include：The initial number is removed in electrohydraulic control system
The number of the remaining bracket controller of numbering is still needed to outside bracket controller.So as to based on the number, with reference to above-mentioned initial
Numbering, the preset numbers Cahn-Ingold-Prelog sequence rule, the preset number, whether System Number is completed, whether System Number accurately enters
Row judges.Specifically default master-salve station decision rule, whether System Number is completed, whether System Number accurately judges, can be with
It is identical with the mode in above method embodiment.
In addition, in a wherein specific example, above-mentioned covering slave station determining module 502, which can also monitor, itself is numbered
Preset number bracket controller working condition, whether the preset number bracket controller for judging itself to be numbered occur
Failure, the preset number that the alarm module 504 can judge itself to be numbered in the covering slave station determining module 502 are propped up
In frame controller any one failure when, alert, be convenient for Breakdown Maintenance.
In another specific example, above-mentioned covering slave station determining module 502 can detect institute with every prescribed time period
State the preset number bracket controller itself numbered and itself the distance between, the distance of detection is ranked up, and sentences
Whether the numbering for the preset number bracket controller that the disconnected sequence is numbered with itself matches, if mismatching, the numbering mould
Block 503 according to distance order from the near to the remote, itself numbering, preset numbers order, in itself coverage and itself
Closest preset number bracket controller re-starts numbering.So as to if having changed bracket controller or some
Bracket controller falls random order, and main website can detect exception at once, and the website covered to oneself enters line renumbering.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of hydraulic support electrohydraulic control system is wireless from method for numbering serial, it is characterised in that including step：
When current brackets controller obtains itself numbering, itself is judged according to itself numbering, default master-salve station decision rule
Whether it is main website；
If main website, current brackets controller searches the bracket controller for not obtaining numbering in itself coverage, and with search
To the bracket controller for not obtaining numbering establish connection, obtain itself with do not obtain respectively between the bracket controller of numbering away from
From；
Current brackets controller is according to distance order from the near to the remote, itself numbering, the preset numbers Cahn-Ingold-Prelog sequence rule, to not obtaining
Preset number bracket controller in the bracket controller of call number, closest with itself is numbered；
Current brackets controller after obtaining itself and respectively not obtaining distance between the bracket controller of numbering, pair and itself
Before closest preset number bracket controller is numbered, in addition to step：
Current brackets controller judge with itself closest preset number bracket controller and the distance of itself whether
In the range of corresponding pre-determined distance；
If so, current brackets controller enters in the bracket controller to not obtaining numbering, is closest pre- with itself
If the step of number bracket controller is numbered；
If it is not, current brackets controller sends warning information.
2. hydraulic support electrohydraulic control system according to claim 1 is wireless from method for numbering serial, it is characterised in that：
The default master-salve station decision rule is predetermined main website numbering collection；
Or
Current brackets controller also receives numbering arrange parameter information, the numbering arrange parameter letter when obtaining itself numbering
Breath includes the initial number, the preset numbers Cahn-Ingold-Prelog sequence rule, the preset number of the bracket controller of initial number, described first
For linear array, sequentially most preceding or last bracket controller, the default master-salve station judge the bracket controller for the numbering that begins
Rule determines according to the initial number, the preset numbers Cahn-Ingold-Prelog sequence rule, the preset number.
3. hydraulic support electrohydraulic control system according to claim 2 is wireless from method for numbering serial, it is characterised in that described
Numbering arrange parameter information also includes：Removed in electrohydraulic control system and still need to number outside the bracket controller of the initial number
Remaining bracket controller number.
4. hydraulic support electrohydraulic control system according to claim 1 is wireless from method for numbering serial, it is characterised in that current
Bracket controller after pair being numbered with itself closest preset number unnumbered bracket controller, in addition under
State any one or any combination in items：
The working condition for the preset number bracket controller that current brackets monitoring control devices itself are numbered, in itself institute
In the preset number bracket controller of numbering any one failure when, alert；
Current brackets controller every prescribed time period, detect the preset number bracket controller itself numbered and itself it
Between distance, the distance of detection is ranked up, and judge the sequence and the preset number bracket controller itself numbered
Numbering whether match, if mismatching, according to distance order from the near to the remote, itself numbering, preset numbers order, to from
Numbering is re-started in body coverage, with itself closest preset number bracket controller.
5. a kind of hydraulic support electrohydraulic control system is wireless from numbering device, it is characterised in that applies and is controlled in a support
Device, including：
Master-slave sta-tion mode handover module, for when obtaining itself numbering, judging rule according to itself numbering, default master-salve station
Then judge whether itself is main website, and main website or slave station are arranged to through mode of operation according to judged result；
Slave station determining module is covered, for when the result of determination of the Master-slave sta-tion mode handover module is main website, searching itself
The bracket controller of numbering is not obtained in coverage, and establishes and connects with the bracket controller for not obtaining numbering searched,
Obtain itself and respectively do not obtain the distance between bracket controller of numbering；It is determined that in not obtaining the bracket controller of numbering, with
Itself closest preset number bracket controller；
Numbering module, for according to distance order from the near to the remote, itself numbering, the preset numbers Cahn-Ingold-Prelog sequence rule, to not obtaining
Preset number bracket controller in the bracket controller of call number, closest with itself is numbered；
Also include alarm module；
The covering slave station determining module, it is additionally operable to judge and itself closest preset number bracket controller and itself
Distance whether in the range of corresponding pre-determined distance；
The alarm module, for when the result of determination of the covering slave station determining module is no, sending warning information；
The numbering module is controlled the support for not obtaining numbering when the result of determination of the covering slave station determining module is is
Preset number bracket controller in device, closest with itself is numbered.
6. hydraulic support electrohydraulic control system according to claim 5 is wireless from numbering device, it is characterised in that：
The default master-salve station decision rule is predetermined main website numbering collection；
Or
The Master-slave sta-tion mode handover module also receives numbering arrange parameter information when obtaining itself numbering, and the numbering is set
Put the initial number, the preset numbers Cahn-Ingold-Prelog sequence rule, the present count of bracket controller of the parameter information including initial number
Mesh, the bracket controller of the initial number is linear array sequentially most preceding or last bracket controller, described default
Master-salve station decision rule determines according to the initial number, the preset numbers Cahn-Ingold-Prelog sequence rule, the preset number.
7. hydraulic support electrohydraulic control system according to claim 6 is wireless from numbering device, it is characterised in that：It is described
Numbering arrange parameter information also includes：Removed in electrohydraulic control system and still need to number outside the bracket controller of the initial number
Remaining bracket controller number.
8. hydraulic support electrohydraulic control system according to claim 5 is wireless from numbering device, it is characterised in that also wraps
Include any one or any combination in following items：
The covering slave station determining module monitors the working condition for the preset number bracket controller itself numbered, and judges certainly
Whether the preset number bracket controller that body is numbered breaks down, and the alarm module is in the covering slave station determining module
When judgement is broken down with any one in the preset number bracket controller itself numbered, alert；
The covering slave station determining module every prescribed time period, detect the preset number bracket controller itself numbered and
The distance between itself, the distance of detection is ranked up, and judges the sequence and the preset number support itself numbered
Whether the numbering of controller matches, if mismatching, order, itself volume of the numbering module according to distance from the near to the remote
Number, preset numbers order, the preset number bracket controller in itself coverage, closest with itself is re-started
Numbering.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106285756B (en) * | 2016-08-11 | 2018-06-08 | 日立楼宇技术（广州）有限公司 | Lame advanced supporting control system and method for numbering serial |
| CN108266210A (en) * | 2018-03-06 | 2018-07-10 | 太原理工大学 | A kind of hydraulic support electrohydraulic control system bracket controller Bidirectional sort method |
| CN112647992B (en) * | 2020-12-22 | 2022-08-02 | 华夏天信智能物联股份有限公司 | Hydraulic support electrohydraulic control method based on EtherCAT bus |
| CN116827909B (en) * | 2023-08-29 | 2023-11-03 | 太原向明智控科技有限公司 | UWB self-addressing method and device for hydraulic support electrohydraulic control system |
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