CN105761597B - A kind of interactive roadway roof absciss layer observation experiment instructional device and its control method - Google Patents
A kind of interactive roadway roof absciss layer observation experiment instructional device and its control method Download PDFInfo
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- CN105761597B CN105761597B CN201610302563.5A CN201610302563A CN105761597B CN 105761597 B CN105761597 B CN 105761597B CN 201610302563 A CN201610302563 A CN 201610302563A CN 105761597 B CN105761597 B CN 105761597B
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- top plate
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/04—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of buildings
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Abstract
A kind of interactive roadway roof absciss layer observation experiment instructional device and its control method, belong to the experimental teaching unit and control method of roadway roof absciss layer observation.Experimental teaching unit includes：Main control computer, servo-control mechanism, Roadway model, roof separation indicator and NI Vision Builder for Automated Inspection；Servo-control mechanism is connected with Roadway model, roof separation indicator is connected with the top plate of Roadway model, NI Vision Builder for Automated Inspection and roof separation indicator correspond to installation, and the output of NI Vision Builder for Automated Inspection is connected with main control computer, and the output of main control computer is connected with servo control mechanism.Student resource installation roof separation indicator, the movement of autonomous control top plate can be achieved, study reads and analyzes the function of roof separation indicator reading.Pass through the physical model established the NI Vision Builder for Automated Inspection of recognizable distance change and be combined by the Physical Experiment equipment of Serve Motor Control, a kind of interactive roadway roof absciss layer observation instructional device and its control method are obtained, is finally reached the purpose for improving experiment teaching effect.
Description
Technical field
It is particularly a kind of interactive the present invention relates to the experimental teaching unit and control method of a kind of observation of roadway roof absciss layer
Formula roadway roof absciss layer observation experiment instructional device and its control method.
Background technology
It is one of most basic teaching means of engineering science along experimental teaching, is played a crucial role in teaching.
According to mining engineering correlated curriculum, student, which needs to have the structure of coal mine down-hole tunnel and its change in digging, intuitively to be recognized
Know, the instruction on classroom is difficult to make student understand thoroughly, and visits and be subject to many limitations on the spot to underground coal mine.Therefore,
The content of courses in laboratory is particularly important.
From the point of view of current teaching practice, mine pressure actual measurement instrument and meter the content of courses mainly visited with student,
Teacher is explained based on demonstration, and student's hands-on is not strong.In this regard, how by such a passive, demonstration explanation property religion
Mode, be changed into it is a kind of on one's own initiative, the learning method of autonomous operation, improve the teaching efficiency of experimental teaching, be always education
The problem of worker particularly pays close attention to.
The content of the invention
The invention aims to provide a kind of interactive roadway roof absciss layer observation experiment instructional device and its controlling party
The problem of method, solves current mine pressure actual measurement instrument and meter teaching, and student's hands-on is not strong.
The object of the present invention is achieved like this：Experimental teaching unit includes：Main control computer, servo-control mechanism, lane
Road model, roof separation indicator and NI Vision Builder for Automated Inspection；Servo-control mechanism is connected to the top of Roadway model, on Roadway model top
Roof separation indicator is connected with plate, NI Vision Builder for Automated Inspection and roof separation indicator correspond to installation, the output of NI Vision Builder for Automated Inspection and master
Computer connection is controlled, the output of main control computer is connected with servo-control mechanism.
The servo control mechanism has servomotor, and the movable panel connection of servomotor and Roadway model, controls tunnel mould
The movable panel movement of type.
There are two movable panels of deep top plate and superficial part top plate inside the Roadway model, two mounting of roof plate are in top plate
On moving guide rail, Roadway model is the model of a wooden roadway surrounding rock, and Roadway model is reduced by actual ratio to be made, its size
Size meets to install indoors, and allows personnel to enter internal observation；
The roof separation indicator has two scales and pointer, and observation monument point is provided with two scales and pointer,
Observe and identifying easy to NI Vision Builder for Automated Inspection.
The NI Vision Builder for Automated Inspection has video camera, and video camera passes through each index point with specific frequency collection image
Range data calculates the reading of roof separation indicator, is passed to main control computer.
The output terminal of the main control computer and the input terminal of servo-control mechanism connect, and control servo-controlled machines
Structure, the input terminal of main control computer receive the readings for the real-time update that NI Vision Builder for Automated Inspection output terminal provides.
Control method：When main control computer input top plate movement is initial, by servo-control mechanism controlroof with first
Speed moves, the roof separation indicator reading returned afterwards with reference to NI Vision Builder for Automated Inspection, recycles servo-control mechanism adjustment to accelerate
Degree, makes top plate do uniformly retarded motion within each adjustment cycle, and final accurate completion top plate shift action, ensures roof delamination
The reading of instrument is consistent with the numerical value inputted；
Comprise the following steps that：
(1) two the deep top plate inside scaled wooden Roadway model, superficial part top plate movable top plates, two work
Dynamic mounting of roof plate is on top plate moving guide rail；Installed respectively on two deep top plate, superficial part top plate movable top plates top plate from
Layer instrument；
(2) observation monument point is provided with two scales and pointer of roof separation indicator, is seen easy to NI Vision Builder for Automated Inspection
Survey identification；
(3) video camera in NI Vision Builder for Automated Inspection passes through each mark of roof separation indicator by the frequency collection image of setting
The range data of point calculates the reading of roof separation indicator, is passed to main control computer；
(4) main control computer receives the readings of the real-time update provided by NI Vision Builder for Automated Inspection, and according in real time more
New readings control servo control mechanism, completes top plate shift action.
Two index points are set on one scale of the roof separation indicator, total range are equally divided into 3 parts, from 0
Scale direction rise successively by scale index point be set to a little 1, point 2, pointer index point and the distance of point 1, point 2 are set to L1、
L2If total range is 3L, reading X；If L1＜ L and L2＜ L, then X=L-L1/L；If L1＜ L and L2＜ L, then X=L+L1/L；
If L1＞ L and L2＜ L, then X=2L+L2/L。
The main control computer receives data, one group of roof separation indicator reading of record per second, including deep basic point and shallow
Portion's basic point, calculates the distance S that top plate also needs to movementN, acceleration AN=2SN/N2, uniformly retarded motion is done, keeps current kinetic
State 1 second, reduces 1 by N, judges the value of N, if N ＞ 1, the data that are returned by NI Vision Builder for Automated Inspection assignment S againN, recalculate
And assignment acceleration AN, uniformly retarded motion is done, keeps current motion state 1 second, N is reduced 1, then judge the value of N；Work as N=1
When, top plate shift action is completed.
Beneficial effect, as a result of such scheme, when main control computer input top plate movement is initial, passes through servo control
Mechanism controls top plate processed is moved with certain initial velocity, afterwards with reference to NI Vision Builder for Automated Inspection return roof separation indicator reading,
Servo-control mechanism adjustment acceleration is recycled, top plate is done uniformly retarded motion within each adjustment cycle, it is final accurate complete
Into top plate shift action, ensure that the reading of roof separation indicator is consistent with the numerical value inputted.Solves current mine pressure actual measurement instrument
The problem of instruments and meters is imparted knowledge to students, and student's hands-on is not strong, has reached the purpose of the present invention.
Advantage：Student resource installation roof separation indicator, the movement of autonomous control top plate can be achieved, study reads and analyzes top plate
The function of separation indicator reading.NI Vision Builder for Automated Inspection and servo-controlled physics facility are combined, obtained a kind of interactive
The instructional device and its control method of roadway roof absciss layer observation experiment, it is possible to increase experiment teaching effect.
Brief description of the drawings：
Fig. 1 is the structure chart of the present invention.
Fig. 2 is each several part control planning figure of roof delamination observation experiment instructional device.
Fig. 3 is the flow chart of the roof delamination observation experiment instructional device control method of the present invention.
In figure：1- Roadway models, 2- top plate moving guide rails, 3- superficial part top plates, 4- deeps top plate, 5- servo-control mechanisms,
6- roof separation indicators, 7- NI Vision Builder for Automated Inspections, 8- main control computers.
Embodiment
Experimental teaching unit includes：Main control computer 8, servo-control mechanism 5, Roadway model 1, roof separation indicator 6 and machine
Device vision system 7；Servo-control mechanism 5 is connected to the top of Roadway model 1, and roof delamination is connected with Roadway model top plate
Instrument 6, NI Vision Builder for Automated Inspection 7 and roof separation indicator 6 correspond to installation, and the output of NI Vision Builder for Automated Inspection 7 is connected with main control computer 8,
The output of main control computer 8 is connected with servo-control mechanism 5.
The servo-control mechanism has servomotor, and the movable panel connection of servomotor and Roadway model, controls lane
The movable panel movement of road model.
There are 3 two movable panels of deep top plate 4 and superficial part top plate inside the Roadway model, two mounting of roof plate are pushing up
On plate moving guide rail 2, Roadway model is the model of a wooden roadway surrounding rock, and Roadway model is reduced by actual ratio to be made, its
Size meets to install indoors, and allows personnel to enter internal observation；
The roof separation indicator has two scales and pointer, and observation monument point is provided with two scales and pointer,
Observe and identifying easy to NI Vision Builder for Automated Inspection.
The NI Vision Builder for Automated Inspection has video camera, and video camera passes through each index point with specific frequency collection image
Range data calculates the reading of roof separation indicator, is passed to main control computer.
The output terminal of the main control computer and the input terminal of servo-control mechanism connect, and control servo-controlled machines
Structure, the input terminal of main control computer receive the readings for the real-time update that NI Vision Builder for Automated Inspection output terminal provides.
Control method：When main control computer input top plate movement is initial, by servo-control mechanism controlroof with first
Speed moves, the roof separation indicator reading returned afterwards with reference to NI Vision Builder for Automated Inspection, recycles servo-control mechanism adjustment to accelerate
Degree, makes top plate do uniformly retarded motion within each adjustment cycle, and final accurate completion top plate shift action, ensures roof delamination
The reading of instrument is consistent with the numerical value inputted；
Comprise the following steps that：
(1) two the deep top plate inside scaled wooden Roadway model, superficial part top plate movable top plates, two work
Dynamic mounting of roof plate is on top plate moving guide rail 2；Installed respectively on two deep top plate, superficial part top plate movable top plates top plate from
Layer instrument；
(2) observation monument point is provided with two scales and pointer of roof separation indicator, is seen easy to NI Vision Builder for Automated Inspection
Survey identification；
(3) video camera in NI Vision Builder for Automated Inspection passes through each mark of roof separation indicator by the frequency collection image of setting
The range data of point calculates the reading of roof separation indicator, is passed to main control computer；
(4) main control computer receives the readings of the real-time update provided by NI Vision Builder for Automated Inspection, and according in real time more
New readings control servo control mechanism, completes top plate shift action.
Two index points are set on one scale of the roof separation indicator, total range are equally divided into 3 parts, from 0
Scale direction rise successively by scale index point be set to a little 1, point 2, pointer index point and the distance of point 1, point 2 are set to L1、
L2If total range is 3L, reading X.If L1＜ L and L2＜ L, then X=L-L1/L；If L1＜ L and L2＜ L, then X=L+L1/L；
If L1＞ L and L2＜ L, then X=2L+L2/L。
The main control computer receives data, one group of roof separation indicator reading of record per second, including deep basic point and shallow
Portion's basic point, calculates the distance S that top plate also needs to movementN, acceleration AN=2SN/N2, uniformly retarded motion is done, keeps current kinetic
State 1 second, reduces 1 by N, judges the value of N, if N ＞ 1, the data that are returned by NI Vision Builder for Automated Inspection assignment S againN, recalculate
And assignment acceleration AN, uniformly retarded motion is done, keeps current motion state 1 second, N is reduced 1, then judge the value of N；Work as N=1
When, top plate shift action is completed.Further illustrated with reference to an experimental implementation example
Embodiment 1：There are deep, shallow two movable top plates inside Roadway model, pass through gearbox band by two sets of servomotors
Moving gear controls, and allows its lower movement in vertical direction.
The mounting of roof plate of Roadway model has roof separation indicator, its deep basic point anchor and superficial part basic point anchor are inserted respectively
Enter in the circular cross section groove of deep, shallow two movable panels.
2 scale observation monument points are respectively set on two scales of roof separation indicator, whole ranges are equally divided into three
Part, sets pointer observation monument point on the movable pointer of reading, observes and identifying easy to NI Vision Builder for Automated Inspection.
It is fixed to set up video camera, towards monitored tunnel section, probe primary optical axis perpendicular to plane where tested scale, and with
Power supply, communication system and main control computer connection, show the image of monitored roadway roof absciss layer instrument scale.
NI Vision Builder for Automated Inspection reads the positional information of each index point, so as to obtain pointer index point and each scale index point
Distance.
NI Vision Builder for Automated Inspection is by the reading that roof separation indicator is drawn apart from size and ratio between index point.
Roof separation indicator is installed in Roadway model by student by teacher's guidance during operation, is inputted and is set in main control computer
Fixed top plate movement value SN, setting run duration N.
Main control computer controls servo control mechanism, makes top plate towards target direction with initial velocity V=2SN/ N, acceleration AN=2SN/
N2Start to move.Translational speed is gradually reduced, until shift action is completed.
Whether student's reading on roof separation indicator, the numerical comparatives with setting, reference count are accurate.
Claims (5)
1. a kind of interactive roadway roof absciss layer observation experiment instructional device, it is characterized in that：Experimental teaching unit includes：Master control meter
Calculation machine, servo-control mechanism, Roadway model, roof separation indicator and NI Vision Builder for Automated Inspection；Servo-control mechanism is connected to tunnel mould
The top of type, is connected with roof separation indicator on Roadway model top plate, and NI Vision Builder for Automated Inspection and roof separation indicator correspond to installation, machine
The output of device vision system is connected with main control computer, and the output of main control computer is connected with servo-control mechanism；
The servo-control mechanism has servomotor, and the movable panel connection of servomotor and Roadway model, controls tunnel mould
The movable panel movement of type；
There are two movable panels of deep top plate and superficial part top plate inside the Roadway model, two mounting of roof plate are moved in top plate
On guide rail, Roadway model is the model of a wooden roadway surrounding rock, and Roadway model is reduced by actual ratio to be made, its size
Meet installation indoors, and allow personnel to enter internal observe；
The roof separation indicator has two scales and pointer, and observation monument point is provided with two scales and pointer, is easy to
NI Vision Builder for Automated Inspection observation identification；
The NI Vision Builder for Automated Inspection has video camera, and video camera passes through the distance of each index point with specific frequency collection image
Data calculate the reading of roof separation indicator, are passed to main control computer.
2. a kind of interactive roadway roof absciss layer observation experiment instructional device according to claim 1, it is characterized in that：It is described
The output terminal of main control computer and the input terminal of servo-control mechanism connect, and control servo-control mechanism, main control computer
Input terminal receive the readings of the real-time update that NI Vision Builder for Automated Inspection output terminal provides.
3. a kind of control method of interactive roadway roof absciss layer observation experiment instructional device described in claim 1, its feature
It is：Control method：When main control computer input top plate movement is initial, moved by servo-control mechanism controlroof with initial velocity
Roof separation indicator reading that is dynamic, being returned afterwards with reference to NI Vision Builder for Automated Inspection, recycles servo-control mechanism adjustment acceleration, makes top
Plate does uniformly retarded motion within each adjustment cycle, and final accurate completion top plate shift action, ensures the reading of roof separation indicator
Number is consistent with the numerical value inputted；
Comprise the following steps that：
(1) two the deep top plate inside scaled wooden Roadway model, superficial part top plate movable top plates, two movable tops
Plate is installed on top plate moving guide rail；Roof separation indicator is installed respectively on two deep top plate, superficial part top plate movable top plates；
(2) observation monument point is provided with two scales and pointer of roof separation indicator, observes and knowing easy to NI Vision Builder for Automated Inspection
Not；
(3) video camera in NI Vision Builder for Automated Inspection passes through each index point of roof separation indicator by the frequency collection image of setting
Range data calculates the reading of roof separation indicator, is passed to main control computer；
(4) main control computer receives the readings of the real-time update provided by NI Vision Builder for Automated Inspection, and according to real-time update
Readings control servo control mechanism, complete top plate shift action.
4. a kind of control method of interactive roadway roof absciss layer observation experiment instructional device according to claim 3, its
It is characterized in：Two index points are set on one scale of the roof separation indicator, total range are equally divided into 3 parts, from 0 quarter
Degree direction rise successively by scale index point be set to a little 1, point 2, pointer index point and the distance of point 1, point 2 are set to L1、L2,
If total range is 3L, reading X；If L1<L and L2<L, then X=L-L1/L；If L1<L and L2<L, then X=L+L1/L；If L1>L and
L2<L, then X=2L+L2/L。
5. a kind of control method of interactive roadway roof absciss layer observation experiment instructional device according to claim 3, its
It is characterized in：The main control computer receives data, one group of roof separation indicator reading of record per second, including deep basic point and superficial part
Basic point, calculates the distance S that top plate also needs to movementN, acceleration AN=2SN/N2, uniformly retarded motion is done, keeps current kinetic shape
State 1 second, reduces 1 by N, the value of N is judged, if N>1, the data assignment S again returned by NI Vision Builder for Automated InspectionN, recalculate simultaneously
Assignment acceleration AN, uniformly retarded motion is done, keeps current motion state 1 second, N is reduced 1, then judge the value of N；As N=1,
Top plate shift action is completed.
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| CN201610302563.5A CN105761597B (en) | 2016-05-09 | 2016-05-09 | A kind of interactive roadway roof absciss layer observation experiment instructional device and its control method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0952427A2 (en) * | 1998-04-24 | 1999-10-27 | Inco Limited | Automated guided apparatus |
| CN202441437U (en) * | 2012-02-04 | 2012-09-19 | 黑龙江科技学院 | Pre-warning safety detector of top plate |
| CN103321681A (en) * | 2012-12-31 | 2013-09-25 | 尤洛卡矿业安全工程股份有限公司 | Monitoring and pre-warning method and system for coal mine roadway roof collapse disaster |
| CN103510986A (en) * | 2013-10-25 | 2014-01-15 | 中国矿业大学 | Tunnel roof separation dynamic monitoring system based on fiber bragg grating and early-warning method thereof |
| CN105096722A (en) * | 2015-09-09 | 2015-11-25 | 中国矿业大学 | Teaching device of roof separation observation of tunnel and usage method |
-
2016
- 2016-05-09 CN CN201610302563.5A patent/CN105761597B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0952427A2 (en) * | 1998-04-24 | 1999-10-27 | Inco Limited | Automated guided apparatus |
| CN202441437U (en) * | 2012-02-04 | 2012-09-19 | 黑龙江科技学院 | Pre-warning safety detector of top plate |
| CN103321681A (en) * | 2012-12-31 | 2013-09-25 | 尤洛卡矿业安全工程股份有限公司 | Monitoring and pre-warning method and system for coal mine roadway roof collapse disaster |
| CN103510986A (en) * | 2013-10-25 | 2014-01-15 | 中国矿业大学 | Tunnel roof separation dynamic monitoring system based on fiber bragg grating and early-warning method thereof |
| CN105096722A (en) * | 2015-09-09 | 2015-11-25 | 中国矿业大学 | Teaching device of roof separation observation of tunnel and usage method |
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| CN105761597A (en) | 2016-07-13 |
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