CN105783912B - A kind of coalcutter wireless location system and method based on pin rail stress variation - Google Patents
A kind of coalcutter wireless location system and method based on pin rail stress variation Download PDFInfo
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- CN105783912B CN105783912B CN201610128789.8A CN201610128789A CN105783912B CN 105783912 B CN105783912 B CN 105783912B CN 201610128789 A CN201610128789 A CN 201610128789A CN 105783912 B CN105783912 B CN 105783912B
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- CN
- China
- Prior art keywords
- coalcutter
- scrapper conveyor
- conveyor chute
- sensor
- control system
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
A kind of coalcutter wireless location system and method based on pin rail stress variation, belongs to the positioning system and method for coalcutter.The sensor module of the coalcutter is connect by digital quantity sensing module with wireless communication module input terminal, and the output end of wireless communication module is connect with control system is remotely located；Ultrasonic sensor is used to measure the relative position of hydraulic support, and displacement sensor is used to determine that the advance distance of scrapper conveyor chute, strain transducer to be used to obtain the feedback information of coalcutter operation posture；Digital sensing module is used for the acquisition and processing of sensor die block signal；Wireless communication module is used for and is remotely located control system radio communication, realizes the wireless transmission of data information；Be remotely located control system data-signal is handled, recording and displaying；Method: obtaining the space distribution information of any scrapper conveyor chute by multiple sensor signals, and answers force feedback information to obtain the position of coalcutter in real time based on pin rail.Advantage: reliable to be applicable in, is simple and easy.
Description
Technical field
The present invention relates to a kind of positioning system of coalcutter and method, especially a kind of coal mining based on pin rail stress variation
Machine wireless location system and method.
Background technique
Fully-mechanized mining working production environment is severe, in progress of coal mining, it is too long by getting working face, dust particles are more,
The influence for the factors such as light is weaker, unmanned, automation monitoring of tools have been a problem to be solved.Three machine corollary equipments
Middle coal winning machine position mobility is big, running track variability is strong, and accurate positioning is difficult to realize always.
Existing coalcutter location technology has track odometer method, gear counting method, infrared emission method, supersonic reflection method
With wireless network method etc., mostly monitoring device is installed on coalcutter, when coalcutter cuts coal wall, by a large amount of coal breakages and dust
Influence, it is difficult to the problem of circumvention device damage and sensor measurement data mistake, reliability is very poor.
Summary of the invention
The invention aims to provide it is a kind of it is reliable be applicable in, the simple and easy coalcutter based on pin rail stress variation without
Line positioning system and method.
The object of the present invention is achieved like this: the coalcutter wireless location system includes sensor module, digital quantity biography
Feel module, wireless communication module and is remotely located control system；Sensor module passes through digital quantity sensing module and wireless telecommunications
Module input connection, the output end of wireless communication module are connect with control system is remotely located.
The sensor module includes ultrasonic sensor, displacement sensor and strain transducer；The ultrasonic wave passes
Sensor is mounted on each hydraulic support foundation same position, for measuring the distance between hydraulic support and coal wall；The displacement passes
Sensor is installed on inside any hydraulic support passage oil cylinder, for determining the advance distance of scrapper conveyor chute；The strain sensing
Device is installed on the pin row surface of pin rail between any scrapper conveyor chute rail chair with patch form, the feedback for coalcutter operation posture
Information, for the accuracy for ensuring coal winning machine position acquisition of information, pin rail does not install strain transducer between adjacent scrapper conveyor chute.
The digital sensors module is used for the acquisition and processing of sensor signal.
The wireless communication module uses wireless wifi technology, by wireless transmission router and wireless receiving router two
Part forms, and data information is wirelessly transmitted to long range positioning control system.
The long range positioning control system carries out form monitoring by core of WINCC industrial control software, and is with ARM chip
Microprocessor is, it can be achieved that processing, recording and displaying to data-signal.
A kind of localization method of the coalcutter wireless location system based on pin rail stress variation, the specific steps are as follows:
A), fully-mechanized mining working surface machine chute is numbered in sequence along coalcutter traffic direction, and any scrapper conveyor chute is all
There is independent numbering, hydraulic support is corresponded and numbered identical with scrapper conveyor chute；
B), space distribution information obtains: being with reference to base with head end scrapper conveyor chute when scrapper conveyor chute propulsion movement is completed
Standard obtains the horizontal direction position of any scrapper conveyor chute；It is determined between any coalcutter and coal wall by ultrasonic sensor
Distance, the displacement sensor inside passage oil cylinder obtains the advance distance of any scrapper conveyor chute, obtains any scrapper conveyor and slip
The vertical position of slot；The processing of each sensor signal is converted into data-signal by digital sensing module, and passes through wireless telecommunications
Module transfer is remotely located control system and is further processed, by the scrapper conveyor chute of arbitrary number to control system is remotely located
Location information interpretation of records is simultaneously shown；
C), coalcutter positions: long-range positioning system (Loran) is in coalcutter walking process, the traveling wheel gear teeth and scrapper conveyor chute
On pin row engagement, when engage with the pin row for being equipped with strain transducer, long range positioning control system can be answered by receiving
Force feedback signal determines that the number of scrapper conveyor chute that coalcutter is reached, the number based on scrapper conveyor chute can determine and nibble
Dowel pin arranges the horizontal and vertical position of corresponding scrapper conveyor chute, further, it may be determined that coalcutter running position；
D), step a) is repeated to c), and coalcutter is positioned in real time.
Beneficial effect, as the above scheme is adopted, after the completion of advance of the face process, by ultrasonic sensor and
Displacement sensor disposably obtains the space distribution information of any scrapper conveyor chute, and answers force feedback information to obtain in real time based on pin rail
The position of coalcutter is taken, it is reliable to be applicable in, is simple and easy.
Detailed description of the invention:
Fig. 1 is coalcutter spatial positional information figure of the invention.
Fig. 2 is strain transducer patch figure of the invention.
Fig. 3 is that coalcutter positioning system of the invention forms figure.
In figure: 1, scrapper conveyor chute；2, passage oil cylinder；3, hydraulic support；4, coal wall；5, coalcutter；6, scrapper conveyor chute
Rail chair；7, patch location.
Specific embodiment
The coalcutter wireless location system includes sensor module, digital quantity sensing module, wireless communication module and long-range
Positioning control system；Sensor module is connect by digital quantity sensing module with wireless communication module input terminal, wireless telecommunications mould
The output end of block is connect with control system is remotely located.
The sensor module includes ultrasonic sensor, displacement sensor and strain transducer；The ultrasonic wave passes
Sensor is mounted on each 3 pedestal same position of hydraulic support, for measuring the distance between hydraulic support 3 and coal wall 4；The displacement
Sensor is installed on inside any hydraulic support passage oil cylinder 2, for determining the advance distance of scrapper conveyor chute 1；The strain
Sensor is installed on the pin row surface of any 6 pin rails of scrapper conveyor chute rail chair with patch form, runs posture for coalcutter
Feedback information, to ensure accuracy that 5 location information of coalcutter obtains, pin rail is not installed strain and is passed between adjacent scrapper conveyor chute
Sensor.
The digital sensors module is used for the acquisition and processing of sensor signal.
The wireless communication module uses wireless wifi technology, by wireless transmission router and wireless receiving router two
Part forms, and data information is wirelessly transmitted to long range positioning control system.
The long range positioning control system carries out form monitoring by core of WINCC industrial control software, and is with ARM chip
Microprocessor is, it can be achieved that processing, recording and displaying to data-signal.
A kind of localization method of the coalcutter wireless location system based on pin rail stress variation, the specific steps are as follows:
A), fully-mechanized mining working surface machine chute is numbered in sequence along coalcutter traffic direction, and any scrapper conveyor chute is all
There is independent numbering, hydraulic support is corresponded and numbered identical with scrapper conveyor chute；
B), space distribution information obtains: being with reference to base with head end scrapper conveyor chute when scrapper conveyor chute propulsion movement is completed
Standard obtains the horizontal direction position of any scrapper conveyor chute；It is determined between any coalcutter and coal wall by ultrasonic sensor
Distance, the displacement sensor inside passage oil cylinder obtains the advance distance of any scrapper conveyor chute, obtains any scrapper conveyor and slip
The vertical position of slot；The processing of each sensor signal is converted into data-signal by digital sensing module, and passes through wireless telecommunications
Module transfer is remotely located control system and is further processed, by the scrapper conveyor chute of arbitrary number to control system is remotely located
Location information interpretation of records is simultaneously shown；
C), coalcutter positions: long-range positioning system (Loran) is in coalcutter walking process, the traveling wheel gear teeth and scrapper conveyor chute
On pin row engagement, when engage with the pin row for being equipped with strain transducer, long range positioning control system can be answered by receiving
Force feedback signal determines that the number of scrapper conveyor chute that coalcutter is reached, the number based on scrapper conveyor chute can determine and nibble
Dowel pin arranges the horizontal and vertical position of corresponding scrapper conveyor chute, further, it may be determined that coalcutter running position；
D), step a) is repeated to c), and coalcutter is positioned in real time.
Further explanation is done to the present invention with reference to the accompanying drawing.
Embodiment 1: in Fig. 1, a kind of coalcutter wireless location system based on pin rail stress variation, the positioning system packet
It includes sensor module, digital sensing module, wireless communication module and is remotely located control system；The sensor module includes super
Sonic sensor, displacement sensor and strain transducer；Digital sensors module is used for the acquisition and processing of sensor signal；
Wireless communication module uses wireless wifi technology, is made of wireless transmission router and wireless receiving router two parts, can incite somebody to action
Data information is wirelessly transmitted to long range positioning control system；Control system is remotely located to carry out by core of WINCC industrial control software
Form monitoring, and using ARM chip as microprocessor, it can be achieved that processing, recording and displaying to data-signal.
Such as Fig. 2,3, the ultrasonic sensor is mounted on each 3 pedestal same position of hydraulic support, for measuring hydraulic branch
The distance between frame 3 and coal wall 4；Institute's displacement sensors are installed on inside any hydraulic support passage oil cylinder 2, are scraped for determination
The advance distance of trigger chute 1；The strain transducer is installed on any 6 pin rails of scrapper conveyor chute rail chair with patch form
Pin row surface, it is adjacent to scrape for the accuracy for ensuring coal winning machine position acquisition of information for the feedback information of coalcutter operation posture
Pin rail does not install strain transducer between trigger chute.
Such as Fig. 2, Fig. 3, a kind of localization method of the coalcutter wireless location system based on pin rail stress variation, specific steps
It is as follows:
A), fully-mechanized mining working surface machine chute is numbered: 1,2 ... N-1, N in sequence along coalcutter traffic direction and is appointed
Meaning scrapper conveyor chute has independent numbering, and hydraulic support is corresponded and numbered identical with scrapper conveyor chute；
B), space distribution information obtains: when scrapper conveyor chute propulsion movement is completed, with the scrapper conveyor chute of head end number 1
For reference data, for the scrapper conveyor chute of number K, a length of N of scrapper conveyor chute1, the horizontal direction of scrapper conveyor chute can be obtained
Position is Nk=K*N1；The distance between coalcutter and coal wall M are determined by ultrasonic sensor1, displacement inside passage oil cylinder
Sensor can obtain the advance distance M of any scrapper conveyor chute2, the long M of hydraulic support foundation3, any scrapper conveyor can be obtained with this and slipped
The vertical position M of slotk=M1+M2+M3；The processing of each sensor signal is converted into data-signal by digital sensing module, and is led to
It crosses wireless communication module and is transmitted to long range positioning control system, be remotely located control system and be further processed, scrapper conveyor chute position
Set positioning (Nk, Mk), position successively is carried out to scrapper conveyor chute that number is 1,2 ... N-1, N, and data information recorded whole
It manages and shows, the space distribution information of any scrapper conveyor chute can be obtained；
C), coalcutter positions: in 5 walking process of coalcutter, the traveling wheel gear teeth slip long-range positioning system (Loran) with scrapper conveyor
Pin row engagement on slot, when engaging with the pin row for being equipped with strain transducer, being remotely located control system can be by receiving
Force feedback signal is answered to determine the number i of scrapper conveyor chute that coalcutter is reached, the number i based on scrapper conveyor chute can be true
Surely the horizontal and vertical position (N of the corresponding scrapper conveyor chute of engagement pin rowi, Mi), further, it may be determined that coalcutter operating position
It sets；
D), step a) is repeated to c), and coalcutter is positioned in real time.
Claims (5)
1. a kind of coalcutter wireless location system based on pin rail stress variation, it is characterized in that: the coalcutter wireless location system
Including sensor module, digital quantity sensing module, wireless communication module and it is remotely located control system；Sensor module passes through number
Word amount sensing module is connect with wireless communication module input terminal, and the output end and long range positioning control system of wireless communication module connect
It connects；
The sensor module includes ultrasonic sensor, displacement sensor and strain transducer；The ultrasonic sensor
It is mounted on each hydraulic support foundation same position, for measuring the distance between hydraulic support and coal wall；Institute's displacement sensors
It is installed on inside any hydraulic support passage oil cylinder, for determining the advance distance of scrapper conveyor chute；The strain transducer with
Patch form is installed on the pin row surface of pin rail between any scrapper conveyor chute rail chair, the feedback letter for coalcutter operation posture
Breath, for the accuracy for ensuring coal winning machine position acquisition of information, pin rail does not install strain transducer between adjacent scrapper conveyor chute.
2. a kind of coalcutter wireless location system based on pin rail stress variation according to claim 1, it is characterized in that: institute
The digital sensors module stated is used for the acquisition and processing of sensor signal.
3. a kind of coalcutter wireless location system based on pin rail stress variation according to claim 1, it is characterized in that: institute
The wireless communication module stated uses wireless wifi technology, is made of wireless transmission router and wireless receiving router two parts,
Data information is wirelessly transmitted to long range positioning control system.
4. a kind of coalcutter wireless location system based on pin rail stress variation according to claim 1, it is characterized in that: institute
The long range positioning control system stated carries out form monitoring by core of WINCC industrial control software, and using ARM chip as microprocessor,
The achievable processing to data-signal, recording and displaying.
5. a kind of method of coalcutter wireless location system based on pin rail stress variation described in claim 1, it is characterized in that:
The localization method, the specific steps are as follows:
A) fully-mechanized mining working surface machine chute is numbered in sequence along coalcutter traffic direction, and any scrapper conveyor chute has solely
Vertical number, hydraulic support are corresponded and are numbered identical with scrapper conveyor chute；
B) space distribution information obtains: when scrapper conveyor chute propulsion movement is completed, using head end scrapper conveyor chute as reference data, obtaining
Take the horizontal direction position of any scrapper conveyor chute；By ultrasonic sensor determine between any coalcutter and coal wall away from
From the displacement sensor inside passage oil cylinder obtains the advance distance of any scrapper conveyor chute, obtains any scrapper conveyor chute
Vertical position；The processing of each sensor signal is converted into data-signal by digital sensing module, and passes through wireless communication module
It is transmitted to long range positioning control system, control system is remotely located and is further processed, by the scrapper conveyor chute position of arbitrary number
Information interpretation of records is simultaneously shown；
C) coalcutter positions: long-range positioning system (Loran) is in coalcutter walking process, on the traveling wheel gear teeth and scrapper conveyor chute
Pin row engagement, when engaging with the pin row for being equipped with strain transducer, being remotely located control system can be anti-by receiving stress
Feedback signal determines that the number of scrapper conveyor chute that coalcutter is reached, the number based on scrapper conveyor chute can determine engaging pin
The horizontal and vertical position of corresponding scrapper conveyor chute is arranged, further, it may be determined that coalcutter running position；
D) step a) is repeated to c), and coalcutter is positioned in real time.
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 |
| RU2017146581A RU2705295C2 (en) | 2016-03-07 | 2016-12-02 | Wireless system for determining position of coal cutter and method of cutting |
| 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 |
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 CN105783912A (en) | 2016-07-20 |
| CN105783912B true CN105783912B (en) | 2019-01-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 CA CA2986154A patent/CA2986154C/en active Active
- 2016-12-02 AU AU2016396707A patent/AU2016396707B2/en not_active Ceased
- 2016-12-02 WO PCT/CN2016/108401 patent/WO2017152669A1/en active Application Filing
- 2016-12-02 RU RU2017146581A patent/RU2705295C2/en active
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 |
|---|
| "一种采煤机组合定位系统及实验研究";应葆华;《传感技术学报》;20150228;第28卷(第2期);正文第260-264页 * |
| "煤炭安全高效开采技术与装备发展";王国法;《煤炭工程》;20141231;第46卷(第10期);正文第38-42页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2986154A1 (en) | 2017-09-14 |
| RU2705295C2 (en) | 2019-11-07 |
| CA2986154C (en) | 2021-07-13 |
| AU2016396707B2 (en) | 2019-01-31 |
| WO2017152669A1 (en) | 2017-09-14 |
| AU2016396707A1 (en) | 2017-10-26 |
| CN105783912A (en) | 2016-07-20 |
| RU2017146581A (en) | 2019-06-28 |
| RU2017146581A3 (en) | 2019-07-17 |
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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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