CN106050299A - Control system of underground coal mine walking type equipment train - Google Patents
Control system of underground coal mine walking type equipment train Download PDFInfo
- Publication number
- CN106050299A CN106050299A CN201610315992.6A CN201610315992A CN106050299A CN 106050299 A CN106050299 A CN 106050299A CN 201610315992 A CN201610315992 A CN 201610315992A CN 106050299 A CN106050299 A CN 106050299A
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- equipment train
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- 239000003245 coal Substances 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 230000006870 function Effects 0.000 claims description 14
- 238000005065 mining Methods 0.000 claims description 7
- 230000001953 sensory effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000011001 backwashing Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
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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)
- Selective Calling Equipment (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
Provided is a control system of an underground coal mine walking type equipment train. The walking type self-propelled equipment train is provided with an electrohydraulic control device, an electromagnetic valve driving device, electromagnetic pilot operated valves, electrohydraulic control reversing valves, an infrared wireless communication device, a remote control device, a voice device, a travel sensing device, a dip-angle attitude sensor and a video collecting and transmitting device, so that the control system is formed. The system can transmit commands to the electrohydraulic control device through the four modes including local control, automatic control, remote control and long-range control, so that the electromagnetic pilot operated valves and the electrohydraulic control reversing valves are driven and controlled. An operator can directly operate the electrohydraulic control device locally, a remote controller can be used for remote control, a long-range operation table can be used for issuing commands for long-range operation, and automatic control can be conducted by presetting automatic control logic. The travel sensing device is used for monitoring the stretching travel of train jacks, and stretching-retracting synchronism of jack oil cylinders on the two sides of the train is guaranteed. The dip-angle attitude sensor is used for detecting equipment attitudes, and a dip-angle measuring element measures the angle and feeds the angle back to the control system.
Description
Technical field
The present invention relates to a kind of underground coal mine step type equipment train control system, particularly relate to the multiple sensing of a kind of employing
Device device feedback realizes on the spot, automatically, the underground coal mine step type equipment train of remote control and long-range various control pattern control system
System.
Background technology
Fully-mechanized mining is the important symbol of Coal Mining Technology modernization, and the use of equipment train is work surface
One of important symbol of tunnel automated mining.At present, the equipment train used by stope working surface of coal mines is divided into Track equipment to arrange
Car and trackless step type equipment train two class.Compared to railcar train, trackless step type equipment train is without laying a railway track and winch leads
Draw, carry out train by manual operation two to three group hand-operated valve and move control.When using step type equipment, need more personnel
Operation valve is carried out Synchronization Control, ensures the stationarity of train moving process.But the control accuracy of manual hand manipulation is relatively
Low, there is randomness risk, and operator and train peripheral equipment attendant are brought one by the mobile meeting of equipment train
Determine potential safety hazard.
In the prior art, CN103244175A discloses a kind of coal mine underground trackless walking self-moving equipment vehicle, should
Walking self-moving equipment vehicle by flat car, supporting leg sole of taking a step, be arranged on the Flat car wheel below flat car and be arranged on
Protective frame composition above flat car；But it does not disclose that there is electrohydraulic control system, the not open control with feedback decision-making
System processed.
CN202966313U discloses a kind of from moving trackless equipment train control system, and it includes frame body, electrichydraulic control
Device and wireless remote controller；Wherein said electrofluidic control device includes controller, Flameproof and intrinsically safe power supply, solenoid-driven
Device, electric-hydraulic control reversing valve group and automatic backwashing filter；Described wireless remote controller includes that remote control transmitter connects with wireless
Receive device, above-mentioned wireless remote control emitter carried out data transmission with controller noted above by wireless receiver, described controller
Outfan is connected with electromagnetic valve driver input, electromagnetic valve driver outfan respectively with electric-hydraulic control reversing valve group, the most anti-
Flush filter connects；But it does not disclose that the concrete control method of equipment train, the most do not disclose the technology such as sensor configuration
Supporting content.
CN201503549U discloses the control device of a kind of down-hole tractor-trailer train, including power supply, communication part, PLC prison
Survey monitor portion, switched reluctance machines drive part, the input of the output termination PLC monitoring part of communication part, PLC
The input of the output termination switched reluctance machines drive part of monitoring part；But it does not disclose that the system of hydraulic control part
Connect, the most do not disclose concrete Train control method.
Summary of the invention
For ensureing the efficient stable that equipment train controls, reducing operator and periphery personal security risk, the present invention carries
Go out a kind of underground coal mine step type equipment train control system, improve equipment train operational efficiency and safety and stability performance.
A kind of underground coal mine step type equipment train control system, electro-hydraulic by installing in walking self-moving equipment vehicle
Control device, electromagnetic valve actuator, electromagnetic priority valve and electric-hydraulic control reversing valve, infrared wireless communication device, remote control unit,
Voice device, stroke sensing device, obliquity and attitude sensor, video acquisition transmitting device realize.System can by the spot control,
Automatically control, remote pilot and remotely control these four mode to electrofluidic control device transmission instruction to drive control electromagnetic pilot
Valve and electric-hydraulic control reversing valve.Operator directly can carry out local operation to electrofluidic control device；Available remote control unit realizes
Control to equipment train；Directly can issue control command by remote console remotely to operate；Can use to preset and automatically control
Logic automatically controls.Stroke sensing device is for monitoring the stroke that train jack stretches out, it is ensured that train both sides jack
The flexible synchronicity of oil cylinder.Obliquity sensor is used for detecting equipment attitude, and after it switches on power, measurement of dip angle element records angle
And export the signal of telecommunication.Obliquity sensor is arranged on equipment train, and when equipment train swings, obliquity sensor is transported the most therewith
Dynamic, pendulum angle is converted into information of voltage output, it is thus achieved that the position of pendulum angle, i.e. obtains the real-time attitude letter of equipment train
Breath.
Preferably electrohydraulic control system has real-time sensory data and sensing data two kinds of feedback systems of inquiry.
The upper limit of the most described remote control unit distance controller is set as 5m.
Present invention achieves control on the spot, automatically control, remote pilot and remotely control four kinds of control models, remote pilot
The safe and effective of operator's control instruction is ensured with remotely control；Detect each state of feedback device in real time by sensor group to refer to
Mark, control system receives and carries out logical judgment decision-making, solves advancing jack linkage in left and right in equipment train moving process
Control problem, possesses left and right advancing jack oil cylinder and stretches automatic monitoring function, it is achieved that automatic control mode；In different controls
Achieve equipment train voice interlocking warning function under pattern, reduce equipment train and move operator and periphery personnel
Security risk.
Accompanying drawing explanation
Accompanying drawing 1 is the connection sketch of underground coal mine step type equipment train control system of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further detail.
A kind of underground coal mine step type equipment train control system, sees accompanying drawing 1, and control system is included in step type from moving
The electrofluidic control device of installation, electromagnetic priority valve group, electromagnetic valve actuator, advancing jack pilot valve, electricity on equipment train
Pilot operated directional control valve group 1, electric-hydraulic control reversing valve group 2, infrared wireless communication device, voice device, stroke sensing device and inclination angle appearance
State sensor, also has monitoring host computer, remote console, video acquisition device and long-range hand-held remote control device.Wherein electricity
Magnet valve driving means, left and right advancing jack pilot valve, infrared wireless communication device, voice device, stroke sensing device, inclination angle
Attitude transducer is connected on electrofluidic control device, receives the action command of electrofluidic control device and transmits data to it,
Electric-hydraulic control reversing valve group 1 is connected on the advancing jack pilot valve of left and right, and electric-hydraulic control reversing valve group 2 is by electromagnetic priority valve group even
Receiving on electromagnetic valve actuator, owing to being functionally needs, in the ordinary course of things, the action of two electro-hydraulic control thread-changing valve groups needs
Synchronize.Electrohydraulic control system use control on the spot, automatically control, remote pilot and remotely control four kinds of modes and control electromagnetism first
Pilot valve and electric-hydraulic control reversing valve group.What is called controls to refer to that being manually operated electrohydraulic control system is controlled on the spot；What is called is certainly
Dynamic control refers to that control system obtains each sensing device feedback, automatically issues control instruction by default logic decision making；So-called distant
Control refers to that carrying out output services by operation remote control unit instructs, and is wirelessly transferred to electrohydraulic control system and is controlled；
So-called remotely control refers to be fed back to foundation with video acquisition device, defeated in Surveillance center by monitoring host computer or remote console
Go out work order, be controlled to electrohydraulic control system by EPA.Operator can pass through electrofluidic control device, prison
Control main frame, remote console or remote control unit realize the control to equipment train.Obliquity sensor is used for detecting equipment attitude, protects
Card train entirety attitude is normal；Stroke sensing device is for monitoring the stroke that train jack stretches out, it is ensured that train both sides are very heavy
The flexible synchronicity of top oil cylinder；Wireless connections operationally set up in infrared wireless communication device and remote control unit, are used for transmitting number
According to；Voice device presets storaged voice fragment, selectively can play under the control of electrofluidic control device.
Specific operation process is as follows:
First, equipment train can be controlled on the spot, to taking a step by operator by directly operation electrofluidic control device
The functions such as formula equipment train supports accordingly, balances, left and right passage carry out electrichydraulic control.
Secondly, step type equipment train is controlled by operator by remote control unit.In remote pilot mode, behaviour
Make personnel and set up communication by remote control unit and infrared wireless communication device.The process setting up communication has two ways: 1, distant
Carry out selecting frame on control device in the way of input rack numbering；2, remote controller is selected with the closely para-position of infrared wireless communication device
Frame；After communication connection establishment completes, control signal is not more than in the range of 5 meters effective at distance infrared wireless communication device.Behaviour
Make that step type equipment train can be supported by remote control unit, balanced by personnel accordingly, the function such as left and right passage carries out electro-hydraulic control
System.The left and right advancing jack that electrofluidic control device monitors according to stroke sensing device stretch out stroke, can to left and right elapse thousand
Jin top pilot valve carries out synchronization and opens control, it is achieved the accurate linkage function of electric-hydraulic control reversing valve group.
When remote control unit and infrared wireless communication device distance are more than 5 meters, electrofluidic control device disconnects and remote control automatically
The connection of device, system enters holding state, exports without any holding function, it is to avoid operator are away from during equipment train
What train misoperation was made may injury.
3rd, preset for electrofluidic control device and automatically controlled logic, made step type equipment train coordinate automatically and perform to prop up
Hold, balance and left and right passage function, reach the steady mobile of train.Preset corresponding stroke and inclination angle threshold value simultaneously, work as row
Be considered as train when journey sensor or obliquity sensor value of feedback are beyond threshold value to automatically move and put in place or attitude is abnormal, system can from
Row stops waiting subsequent instructions.
4th, use monitoring host computer as step type equipment train control axis, it is collected by industry ethernet ring network and passes
Sensor information and video information, and then utilize remote console to send control signals to electrofluidic control device, it is achieved remotely perception
Step type equipment train situation and remote control function.
The video data of mining video camera is transferred to display by EPA network and shows.Video system is a kind of
Collection photographic head, Video coding, video decoding, video shows, operating board, be in communication in equipment integrally, and concrete function is reason
The image that video frequency pick-up head captures, transfers digital data transmission to decoded portion by image, then shows after decoding and regarding
In frequency display.
Electrofluidic control device according to the broadcasting content of function Auto-matching voice device of the electromagnetic priority valve group controlled, when
During the advancing jack expanding-contracting action of left and right, preferentially repeat playing equipment train mobile voice content, until left and right advancing jack
Expanding-contracting action terminates, it is achieved that voice interlocking early warning in equipment train moving process, it is ensured that the mining face under mine of circumstance complication
Personnel equipment's safety.
Operator closely can be controlled by remote control unit or electricity hydraulic control unit this locality, by monitoring host computer or remotely grasps
Station remotely controls, and the function simultaneously controlled electric-hydraulic control reversing valve group 1 and electric-hydraulic control reversing valve group 2 carries out combined operation,
Ensure that both actions synchronize.
The above, patent the most of the present invention preferably detailed description of the invention, but the protection domain of patent of the present invention is not
Being confined to this, any those familiar with the art, in the technical scope of patent diselosesll of the present invention, can readily occur in
Change or replacement, all should contain within the protection domain of patent of the present invention.
Claims (9)
1. a underground coal mine step type equipment train control system, it is characterised in that: there is stroke sensor, obliquity sensor
Detection equipment train attitude function, and there are real-time sensory data and sensing data two kinds of feedback systems of inquiry.
2. underground coal mine step type equipment train control system as claimed in claim 1, it is characterised in that: according to train action
The broadcasting content of Auto-matching voice device.
3. underground coal mine step type equipment train control system as claimed in claim 1, it is characterised in that: use mining intrinsic
Video data is transferred to mining intrinsic safety type display by EPA network and shows by safety video camera.
4. underground coal mine step type equipment train control system as claimed in claim 1, it is characterised in that: use and control on the spot
Make, automatically control, remote pilot and remotely control four kinds of control models.
5. control model on the spot as claimed in claim 4, it is characterised in that: manual manipulation controller man machine interface, to taking a step
The functions such as formula equipment train supports accordingly, balances, left and right passage carry out electrichydraulic control.
6. automatic control mode as claimed in claim 4, it is characterised in that: control system sets and automatically controls logic, makes to step
Step formula equipment train was coordinated automatically to perform support, balance and left and right passage function in the case of unmanned the intervention.
7. distance control mode as claimed in claim 4, it is characterised in that: work is passed through in operation monitoring host computer or remote console
Industrial Ethernet real time remote controls equipment train.
8. remote pilot pattern as claimed in claim 4, it is characterised in that: by remote control unit and infrared wireless communication device
Set up Near Field Communication to connect；By remote control unit, step type equipment train is carried out electrichydraulic control, electrofluidic control device according to
Stroke sensing device monitoring left and right advancing jack stretch out stroke, left and right advancing jack pilot valve is carried out synchronize beat
Open control.
9. remote pilot pattern as claimed in claim 8, it is characterised in that: described setpoint distance is 5m, when remote control unit with
When infrared wireless communication device distance is more than setpoint distance, electrofluidic control device disconnects the connection with remote control unit, system automatically
Enter holding state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610315992.6A CN106050299A (en) | 2016-05-13 | 2016-05-13 | Control system of underground coal mine walking type equipment train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610315992.6A CN106050299A (en) | 2016-05-13 | 2016-05-13 | Control system of underground coal mine walking type equipment train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106050299A true CN106050299A (en) | 2016-10-26 |
Family
ID=57176920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610315992.6A Pending CN106050299A (en) | 2016-05-13 | 2016-05-13 | Control system of underground coal mine walking type equipment train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106050299A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571876A (en) * | 2017-05-23 | 2018-01-12 | 北京天地玛珂电液控制系统有限公司 | A kind of colliery downhole equipment train intelligent control system |
| CN109854225A (en) * | 2018-12-26 | 2019-06-07 | 中国煤炭科工集团太原研究院有限公司 | A kind of mine bolt drilling machine electrohydraulic control system |
| CN110065526A (en) * | 2018-01-23 | 2019-07-30 | 比亚迪股份有限公司 | The method of controlling security and device of train |
| CN111352382A (en) * | 2020-03-18 | 2020-06-30 | 河海大学常州校区 | Automatic stepping control system and method special for friction type self-locking stepping hanging scaffold |
| CN112901254A (en) * | 2021-03-05 | 2021-06-04 | 郑州煤矿机械集团股份有限公司 | Intelligent equipment train system used in underground coal mine |
| CN114294029A (en) * | 2021-11-30 | 2022-04-08 | 北京天玛智控科技股份有限公司 | Hydraulic support and control system thereof |
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| CN102071956A (en) * | 2010-12-29 | 2011-05-25 | 北京中科林重科技有限公司 | Electro-hydraulic control system for working surface hydraulic support |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571876A (en) * | 2017-05-23 | 2018-01-12 | 北京天地玛珂电液控制系统有限公司 | A kind of colliery downhole equipment train intelligent control system |
| CN110065526A (en) * | 2018-01-23 | 2019-07-30 | 比亚迪股份有限公司 | The method of controlling security and device of train |
| CN110065526B (en) * | 2018-01-23 | 2020-11-06 | 比亚迪股份有限公司 | Safety control method and device for train |
| CN109854225A (en) * | 2018-12-26 | 2019-06-07 | 中国煤炭科工集团太原研究院有限公司 | A kind of mine bolt drilling machine electrohydraulic control system |
| CN109854225B (en) * | 2018-12-26 | 2024-05-17 | 中国煤炭科工集团太原研究院有限公司 | Electrohydraulic control system of coal mine jumbolter |
| CN111352382A (en) * | 2020-03-18 | 2020-06-30 | 河海大学常州校区 | Automatic stepping control system and method special for friction type self-locking stepping hanging scaffold |
| CN112901254A (en) * | 2021-03-05 | 2021-06-04 | 郑州煤矿机械集团股份有限公司 | Intelligent equipment train system used in underground coal mine |
| CN114294029A (en) * | 2021-11-30 | 2022-04-08 | 北京天玛智控科技股份有限公司 | Hydraulic support and control system thereof |
| CN114294029B (en) * | 2021-11-30 | 2023-08-22 | 北京天玛智控科技股份有限公司 | Hydraulic support and control system thereof |
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Application publication date: 20161026 |