CN105783912A - Coal-cutter wireless positioning system and method based on pin-track stress changes - Google Patents
Coal-cutter wireless positioning system and method based on pin-track stress changes Download PDFInfo
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- CN105783912A CN105783912A CN201610128789.8A CN201610128789A CN105783912A CN 105783912 A CN105783912 A CN 105783912A CN 201610128789 A CN201610128789 A CN 201610128789A CN 105783912 A CN105783912 A CN 105783912A
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- coal
- winning machine
- scrapper conveyor
- conveyor chute
- pin
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 239000003245 coal Substances 0.000 claims abstract description 10
- 238000009826 distribution Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000005516 engineering process Methods 0.000 claims description 6
- 238000005065 mining Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000004807 localization Effects 0.000 claims description 4
- 239000000428 dust Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000001028 reflection method Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Machines For Laying And Maintaining Railways (AREA)
- Control Of Conveyors (AREA)
- Control Of Position Or Direction (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a coal-cutter wireless positioning system and method based on pin-track stress changes, and belongs to positioning systems and methods of coal cutters.A sensor module of a coal cutter is connected with the input end of a wireless communication module through a digital quantity sensing module, the output end of the wireless communication module is connected with a remote positioning control system, an ultrasonic sensor is used for measuring the relative position of a hydraulic support, a displacement sensor is used for determining the advancing distance of scraper chutes, and a stress sensor is used for obtaining feedback information of the running posture of the coal cutter; the digital quantity sensing module is used for collecting and processing signals of the sensor module; the wireless communication module is used for in wireless communication with the remote positioning control system to achieve wireless transmission of data information; the remote positioning control system is used for processing, recording and displaying the data signals.The method includes the steps that the space distribution information of the scraper chutes through signals of the multiple sensors, and the position of the coal cutter is obtained in real time based on pin-track stress feedback information.The coal-cutter wireless positioning system and method have the advantages of being reliable, applicable, simple and practicable.
Description
Technical field
The present invention relates to the alignment system of a kind of coal-winning machine and method, particularly a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION and method.
Background technology
Fully-mechanized mining working production environment is severe, in progress of coal mining, is subject to the impact of the factors such as getting working face is long, dust granules is many, light is more weak, and monitoring of tools unmanned, automatization has been problem demanding prompt solution.In three machine corollary equipments, coal winning machine position mobility is big, running orbit variability is strong, and it is accurately positioned and is difficult to always.
Existing coal-winning machine location technology has track speedometer method, gear counting method, infrared emission method, supersonic reflection method and wireless network method etc., how monitoring device is installed on coal-winning machine, during coal-winning machine cutting rib, it is subject to the impact of a large amount of coal breakage and dust, it is difficult to circumvention device and damages the problem with sensor measurement data mistake, reliability extreme difference.
Summary of the invention
The invention aims to provide a kind of reliable applicable, simple coal-winning machine wireless location system based on pin rail STRESS VARIATION and method.
The object of the present invention is achieved like this: this coal-winning machine wireless location system includes sensor assembly, digital quantity sensing module, wireless communication module and long range positioning and controls system；Sensor assembly is connected with wireless communication module input by digital quantity sensing module, and the outfan of wireless communication module controls system with long range positioning and is connected.
Described sensor assembly includes ultrasonic sensor, displacement transducer and strain transducer；Described ultrasonic sensor is arranged on each hydraulic support foundation same position, for measuring the distance between hydraulic support and rib；Institute's displacement sensors is installed on inside any hydraulic support passage oil cylinder, for determining the advance distance of scrapper conveyor chute；Described strain transducer is installed between any scrapper conveyor chute rail chair the pin row surface of pin rail with patch form, the feedback information of attitude is run for coal-winning machine, for guaranteeing the accuracy of coal winning machine position acquisition of information, between adjacent scrapper conveyor chute, pin rail does not install strain transducer.
Described digital sensors module is used for collection and the process of sensor signal.
Described wireless communication module adopts wireless wifi technology, by being wirelessly transferred router and wireless receiving router two parts form, data message is wirelessly transmitted to long range positioning and controls system.
Described long range positioning controls system and carries out form monitoring with WINCC industrial control software for core, and with ARM chip for microprocessor, it may be achieved to the process of data signal, record and display.
The localization method of a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION, specifically comprises the following steps that
A), fully-mechanized mining working surface machine chute along coal-winning machine traffic direction, number in order, any scrapper conveyor chute has an independent numbering, hydraulic support and scrapper conveyor chute one_to_one corresponding and number identical；
B), space distribution information obtains: when scrapper conveyor chute propelling action completes, with head end scrapper conveyor chute for basis reference, obtain the horizontal direction position of any scrapper conveyor chute；Determining the distance between any coal-winning machine and rib by ultrasonic sensor, passage displacement transducer within oil cylinder obtains the advance distance of any scrapper conveyor chute, obtains the vertical direction position of any scrapper conveyor chute；Each sensor signal is processed and converts data signal to by digital sensing module, and controls system by wireless communication module transmission to long range positioning, and long range positioning controls system and processes further, by the scrapper conveyor chute positional information interpretation of records of arbitrary number and show；
C), coal-winning machine location: long-range positioning system (Loran) is in coal-winning machine walking process, its road wheel gear teeth engage with the pin row on scrapper conveyor chute, when engaging with the pin row being provided with strain transducer, long range positioning controls system can by receiving the numbering of answer force feedback signal to determine scrapper conveyor chute that coal-winning machine arrives, namely numbering based on scrapper conveyor chute can determine that engaging pin arranges the horizontally and vertically position of corresponding scrapper conveyor chute, further, it may be determined that coal-winning machine run location；
D) step a), is repeated to c), in real time coal-winning machine being positioned.
Beneficial effect, owing to have employed such scheme, after advance of the face process completes, by the space distribution information of any scrapper conveyor chute of the disposable acquisition of ultrasonic sensor and displacement transducer, and answer force feedback information to obtain the position of coal-winning machine in real time based on pin rail, reliable applicable, simple.
Accompanying drawing illustrates:
Fig. 1 is the coal-winning machine spatial positional information figure of the present invention.
Fig. 2 is the strain transducer paster figure of the present invention.
Fig. 3 is the coal-winning machine alignment system composition diagram of the present invention.
In figure: 1, scrapper conveyor chute；2, passage oil cylinder；3, hydraulic support；4, rib；5, coal-winning machine；6, scrapper conveyor chute rail chair；7, patch location.
Detailed description of the invention
This coal-winning machine wireless location system includes sensor assembly, digital quantity sensing module, wireless communication module and long range positioning and controls system；Sensor assembly is connected with wireless communication module input by digital quantity sensing module, and the outfan of wireless communication module controls system with long range positioning and is connected.
Described sensor assembly includes ultrasonic sensor, displacement transducer and strain transducer；Described ultrasonic sensor is arranged on each hydraulic support 3 base same position, for measuring the distance between hydraulic support 3 and rib 4；It is internal that institute's displacement sensors is installed on any hydraulic support passage oil cylinder 2, for determining the advance distance of scrapper conveyor chute 1；Described strain transducer is installed on the pin row surface of any scrapper conveyor 6 pin rails of chute rail chair with patch form, the feedback information of attitude is run for coal-winning machine, for guaranteeing the accuracy that coal-winning machine 5 positional information obtains, between adjacent scrapper conveyor chute, pin rail does not install strain transducer.
Described digital sensors module is used for collection and the process of sensor signal.
Described wireless communication module adopts wireless wifi technology, by being wirelessly transferred router and wireless receiving router two parts form, data message is wirelessly transmitted to long range positioning and controls system.
Described long range positioning controls system and carries out form monitoring with WINCC industrial control software for core, and with ARM chip for microprocessor, it may be achieved to the process of data signal, record and display.
The localization method of a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION, specifically comprises the following steps that
A), fully-mechanized mining working surface machine chute along coal-winning machine traffic direction, number in order, any scrapper conveyor chute has an independent numbering, hydraulic support and scrapper conveyor chute one_to_one corresponding and number identical；
B), space distribution information obtains: when scrapper conveyor chute propelling action completes, with head end scrapper conveyor chute for basis reference, obtain the horizontal direction position of any scrapper conveyor chute；Determining the distance between any coal-winning machine and rib by ultrasonic sensor, passage displacement transducer within oil cylinder obtains the advance distance of any scrapper conveyor chute, obtains the vertical direction position of any scrapper conveyor chute；Each sensor signal is processed and converts data signal to by digital sensing module, and controls system by wireless communication module transmission to long range positioning, and long range positioning controls system and processes further, by the scrapper conveyor chute positional information interpretation of records of arbitrary number and show；
C), coal-winning machine location: long-range positioning system (Loran) is in coal-winning machine walking process, its road wheel gear teeth engage with the pin row on scrapper conveyor chute, when engaging with the pin row being provided with strain transducer, long range positioning controls system can by receiving the numbering of answer force feedback signal to determine scrapper conveyor chute that coal-winning machine arrives, namely numbering based on scrapper conveyor chute can determine that engaging pin arranges the horizontally and vertically position of corresponding scrapper conveyor chute, further, it may be determined that coal-winning machine run location；
D) step a), is repeated to c), in real time coal-winning machine being positioned.
Below in conjunction with accompanying drawing the present invention done and further explain.
Embodiment 1: in FIG, a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION, this alignment system includes sensor assembly, digital sensing module, wireless communication module and long range positioning and controls system；Described sensor assembly includes ultrasonic sensor, displacement transducer and strain transducer；Digital sensors module is used for collection and the process of sensor signal；Wireless communication module adopts wireless wifi technology, by being wirelessly transferred router and wireless receiving router two parts form, data message can be wirelessly transmitted to long range positioning and control system；Long range positioning controls system and carries out form monitoring with WINCC industrial control software for core, and with ARM chip for microprocessor, it may be achieved to the process of data signal, record and display.
As Fig. 2,3, described ultrasonic sensor is arranged on each hydraulic support 3 base same position, for measuring distance between hydraulic support 3 and rib 4；It is internal that institute's displacement sensors is installed on any hydraulic support passage oil cylinder 2, for determining the advance distance of scrapper conveyor chute 1；Described strain transducer is installed on the pin row surface of any scrapper conveyor 6 pin rails of chute rail chair with patch form, the feedback information of attitude is run for coal-winning machine, for guaranteeing the accuracy of coal winning machine position acquisition of information, between adjacent scrapper conveyor chute, pin rail does not install strain transducer.
Such as Fig. 2, Fig. 3, the localization method of a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION, specifically comprise the following steps that
A), fully-mechanized mining working surface machine chute along coal-winning machine traffic direction, numbering in order: 1,2 ... N-1, N, any scrapper conveyor chute has an independent numbering, hydraulic support and scrapper conveyor chute one_to_one corresponding and number identical；
B), space distribution information obtains: when scrapper conveyor chute propelling action completes, with the scrapper conveyor chute of head end numbering 1 for basis reference, for the scrapper conveyor chute of numbering K, scrapper conveyor chute length is N1, the horizontal direction position that can obtain scrapper conveyor chute is Nk=K*N1；The distance M between coal-winning machine and rib is determined by ultrasonic sensor1, passage displacement transducer within oil cylinder can obtain the advance distance M of any scrapper conveyor chute2, the long M of hydraulic support foundation3, the vertical direction position M of any scrapper conveyor chute can be obtained with thisk=M1+M2+M3；Each sensor signal is processed and converts data signal to by digital sensing module, and controls system by wireless communication module transmission to long range positioning, and long range positioning controls system and processes further, scrapper conveyor chute location positioning (Nk, Mk), successively to being numbered 1,2 ... the scrapper conveyor chute of N-1, N carries out position, and by data message interpretation of records and show, the space distribution information of any scrapper conveyor chute can be obtained；
C), coal-winning machine location: long-range positioning system (Loran) is in coal-winning machine 5 walking process, its road wheel gear teeth engage with the pin row on scrapper conveyor chute, when engaging with the pin row being provided with strain transducer, namely long range positioning controls system by receiving the numbering i of answer force feedback signal to determine scrapper conveyor chute that coal-winning machine arrives, can determine that the horizontally and vertically position (N of the scrapper conveyor chute of engaging pin row's correspondence based on the numbering i of scrapper conveyor chutei, Mi), further, it may be determined that coal-winning machine run location；
D) step a), is repeated to c), in real time coal-winning machine being positioned.
Claims (6)
1. based on a coal-winning machine wireless location system for pin rail STRESS VARIATION, it is characterized in that: this coal-winning machine wireless location system includes sensor assembly, digital quantity sensing module, wireless communication module and long range positioning and controls system；Sensor assembly is connected with wireless communication module input by digital quantity sensing module, and the outfan of wireless communication module controls system with long range positioning and is connected.
2. a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION according to claim 1, is characterized in that: described sensor assembly includes ultrasonic sensor, displacement transducer and strain transducer；Described ultrasonic sensor is arranged on each hydraulic support foundation same position, for measuring the distance between hydraulic support and rib；Institute's displacement sensors is installed on inside any hydraulic support passage oil cylinder, for determining the advance distance of scrapper conveyor chute；Described strain transducer is installed between any scrapper conveyor chute rail chair the pin row surface of pin rail with patch form, the feedback information of attitude is run for coal-winning machine, for guaranteeing the accuracy of coal winning machine position acquisition of information, between adjacent scrapper conveyor chute, pin rail does not install strain transducer.
3. a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION according to claim 1, is characterized in that: described digital sensors module is used for collection and the process of sensor signal.
4. a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION according to claim 1, it is characterized in that: described wireless communication module adopts wireless wifi technology, by being wirelessly transferred router and wireless receiving router two parts form, data message is wirelessly transmitted to long range positioning and controls system.
5. a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION according to claim 1, it is characterized in that: described long range positioning controls system and carries out form monitoring with WINCC industrial control software for core, and with ARM chip for microprocessor, it may be achieved to the process of data signal, record and display.
6. the method for a kind of coal-winning machine wireless location system based on pin rail STRESS VARIATION described in claim 1, is characterized in that: this localization method, specifically comprises the following steps that
A), fully-mechanized mining working surface machine chute along coal-winning machine traffic direction, number in order, any scrapper conveyor chute has an independent numbering, hydraulic support and scrapper conveyor chute one_to_one corresponding and number identical；
B), space distribution information obtains: when scrapper conveyor chute propelling action completes, with head end scrapper conveyor chute for basis reference, obtain the horizontal direction position of any scrapper conveyor chute；Determining the distance between any coal-winning machine and rib by ultrasonic sensor, passage displacement transducer within oil cylinder obtains the advance distance of any scrapper conveyor chute, obtains the vertical direction position of any scrapper conveyor chute；Each sensor signal is processed and converts data signal to by digital sensing module, and controls system by wireless communication module transmission to long range positioning, and long range positioning controls system and processes further, by the scrapper conveyor chute positional information interpretation of records of arbitrary number and show；
C), coal-winning machine location: long-range positioning system (Loran) is in coal-winning machine walking process, its road wheel gear teeth engage with the pin row on scrapper conveyor chute, when engaging with the pin row being provided with strain transducer, long range positioning controls system can by receiving the numbering of answer force feedback signal to determine scrapper conveyor chute that coal-winning machine arrives, namely numbering based on scrapper conveyor chute can determine that engaging pin arranges the horizontally and vertically position of corresponding scrapper conveyor chute, further, it may be determined that coal-winning machine run location；
D) step a), is repeated to c), in real time coal-winning machine being positioned.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128789.8A CN105783912B (en) | 2016-03-07 | 2016-03-07 | A kind of coalcutter wireless location system and method based on pin rail stress variation |
| CA2986154A CA2986154C (en) | 2016-03-07 | 2016-12-02 | Pin rail stress change based wireless positioning system and method for shearer |
| AU2016396707A AU2016396707B2 (en) | 2016-03-07 | 2016-12-02 | Pin rail stress change based wireless positioning system and method for shearer |
| PCT/CN2016/108401 WO2017152669A1 (en) | 2016-03-07 | 2016-12-02 | Wireless positioning system and method for coal cutter based on pin-track stress change |
| RU2017146581A RU2705295C2 (en) | 2016-03-07 | 2016-12-02 | Wireless system for determining position of coal cutter and method of cutting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610128789.8A CN105783912B (en) | 2016-03-07 | 2016-03-07 | A kind of coalcutter wireless location system and method based on pin rail stress variation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105783912A true CN105783912A (en) | 2016-07-20 |
| CN105783912B CN105783912B (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610128789.8A Expired - Fee Related CN105783912B (en) | 2016-03-07 | 2016-03-07 | A kind of coalcutter wireless location system and method based on pin rail stress variation |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN105783912B (en) |
| AU (1) | AU2016396707B2 (en) |
| CA (1) | CA2986154C (en) |
| RU (1) | RU2705295C2 (en) |
| WO (1) | WO2017152669A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152669A1 (en) * | 2016-03-07 | 2017-09-14 | 中国矿业大学 | Wireless positioning system and method for coal cutter based on pin-track stress change |
| CN112901273A (en) * | 2021-01-27 | 2021-06-04 | 中煤科工开采研究院有限公司 | Fully mechanized coal mining face coal mining machine positioning method and system based on coded pattern recognition |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765191B (en) * | 2019-01-18 | 2023-11-10 | 中国矿业大学 | Motion coal rock translation type tracking hyperspectral identification device |
| CN110319831B (en) * | 2019-05-23 | 2021-01-01 | 北斗天地股份有限公司山东分公司 | Working face straightening method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4189183A (en) * | 1977-07-23 | 1980-02-19 | Gebr. Eickhoff, Maschinenfabrik Und Eisengiesserei M.B.H. | Mining machine with cutter drums and sensing apparatus |
| CN102865075A (en) * | 2012-10-08 | 2013-01-09 | 中国矿业大学 | Remote monitor method and system for coal cutter |
Family Cites Families (5)
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| US4884847A (en) * | 1988-02-19 | 1989-12-05 | Consolidation Coal Co. | Apparatus and method for mapping entry conditions in remote mining systems |
| DE4414578C2 (en) * | 1994-04-27 | 2003-02-13 | Dbt Gmbh | Device for the automatic setting of the cutting horizon of a mining extraction plant |
| CN102337908A (en) * | 2011-09-19 | 2012-02-01 | 中国矿业大学 | Hydraulic bracket posture detecting method and device based on multi-sensor data fusion |
| CN103742140B (en) * | 2013-12-26 | 2016-02-10 | 中国矿业大学 | A kind of pinpoint coal-winning machine and localization method thereof |
| CN105783912B (en) * | 2016-03-07 | 2019-01-11 | 中国矿业大学 | A kind of coalcutter wireless location system and method based on pin rail stress variation |
-
2016
- 2016-03-07 CN CN201610128789.8A patent/CN105783912B/en not_active Expired - Fee Related
- 2016-12-02 WO PCT/CN2016/108401 patent/WO2017152669A1/en active Application Filing
- 2016-12-02 RU RU2017146581A patent/RU2705295C2/en active
- 2016-12-02 CA CA2986154A patent/CA2986154C/en active Active
- 2016-12-02 AU AU2016396707A patent/AU2016396707B2/en not_active Ceased
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4189183A (en) * | 1977-07-23 | 1980-02-19 | Gebr. Eickhoff, Maschinenfabrik Und Eisengiesserei M.B.H. | Mining machine with cutter drums and sensing apparatus |
| CN102865075A (en) * | 2012-10-08 | 2013-01-09 | 中国矿业大学 | Remote monitor method and system for coal cutter |
Non-Patent Citations (2)
| Title |
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| 应葆华: ""一种采煤机组合定位系统及实验研究"", 《传感技术学报》 * |
| 王国法: ""煤炭安全高效开采技术与装备发展"", 《煤炭工程》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152669A1 (en) * | 2016-03-07 | 2017-09-14 | 中国矿业大学 | Wireless positioning system and method for coal cutter based on pin-track stress change |
| CN112901273A (en) * | 2021-01-27 | 2021-06-04 | 中煤科工开采研究院有限公司 | Fully mechanized coal mining face coal mining machine positioning method and system based on coded pattern recognition |
Also Published As
| Publication number | Publication date |
|---|---|
| RU2705295C2 (en) | 2019-11-07 |
| RU2017146581A3 (en) | 2019-07-17 |
| CA2986154A1 (en) | 2017-09-14 |
| AU2016396707B2 (en) | 2019-01-31 |
| AU2016396707A1 (en) | 2017-10-26 |
| RU2017146581A (en) | 2019-06-28 |
| CA2986154C (en) | 2021-07-13 |
| CN105783912B (en) | 2019-01-11 |
| WO2017152669A1 (en) | 2017-09-14 |
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Effective date of registration: 20170324 Address after: 221116 Research Institute of China University of Mining and Technology,, Jiangsu Applicant after: CHINA University OF MINING AND TECHNOLOGY Applicant after: LIANYUNGANG TIANMING EQUIPMENT Co.,Ltd. Address before: 221116 Research Institute, China University of Mining and Technology, Xuzhou University, Jiangsu, China, Applicant before: CHINA University OF MINING AND TECHNOLOGY |
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