CN106168139A - A kind of hydraulic support Wireless movement detects and automatically looks for straight system and method - Google Patents
A kind of hydraulic support Wireless movement detects and automatically looks for straight system and method Download PDFInfo
- Publication number
- CN106168139A CN106168139A CN201610715629.3A CN201610715629A CN106168139A CN 106168139 A CN106168139 A CN 106168139A CN 201610715629 A CN201610715629 A CN 201610715629A CN 106168139 A CN106168139 A CN 106168139A
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- CN
- China
- Prior art keywords
- hydraulic support
- coal
- wireless device
- uwb
- winning machine
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
Abstract
The present invention relates to a kind of hydraulic support Wireless movement detection and automatically look for straight system and method, it is technically characterized by comprising the steps as follows: this system and includes UWB wireless device and hydraulic bracket controller, each hydraulic bracket controller is all connected with a UWB wireless device and each UWB wireless device is arranged on each hydraulic support in same position, three UWB wireless devices are equidistantly mounted on coal-winning machine, and above-mentioned UWB wireless device is linked together by MANET mode；The method is by using three UWB wireless devices on coal-winning machine as coordinate basic point, calculating the relative coordinate of each hydraulic support and each hydraulic support distance to coal-winning machine baseline, hydraulic bracket controller elapses and looks for straight according to the distance controlling hydraulic support of hydraulic support to coal-winning machine baseline.Present invention achieves hydraulic support displacement measurement and automatically look for straight function, drastically increasing accuracy and precision that underground coal mine is measured, reduce error, can be widely used in the environment of the explosion danger such as coal mine gas, coal dust.
Description
Technical field
The invention belongs to coal mine hydraulic supporting electrohydraulic control technology field, especially a kind of hydraulic support Wireless movement detection
Automatically straight system and method is looked for.
Background technology
Along with coal mine underground hydraulic support frame electrohydraulic control system and the development of coal-winning machine technology, automatic mining way is gradually walked
To practical.In automatic coal-mining technique, hydraulic support automatically with machine and automatically passage be key problem in technology, wherein, automatically with machine
Referring to that hydraulic support is put with machine-made egg-shaped or honey-comb coal briquets seat in the plane automatically and carry out action in good time, passage refers to that hydraulic support is according to demand the most automatically
Passage, pushing distance should meet system requirements.In existing hydraulic support electronic control system, the mode of detection hydraulic support displacement
It is stroke sensor to be installed in hydraulic cylinder indirectly measure.During fluid injection, the movement of baffle plate can be promoted, pass through displacement transducer
Measure the displacement of cylinder and baffle plate, then infer that hydraulic support moves distance.Due to stroke sensor be dispatch from the factory before be built in
In cylinder body, therefore, replacing have to take cylinder body apart.In actual applications, after breaking down in scene, need well servicing, more
Change not in time, have a strong impact on production.When additionally drawing hydraulic support, baffle plate and scraper plate are it is possible that retraction phenomenon, so fluid cylinder
Displacement be not directly equal to hydraulic support and move distance, cause hydraulic support pushing distance detection error bigger.This is to survey
Amount fluid cylinder stroke calculates the common fault of hydraulic support displacement method.Hydraulic support displacement measurement inaccurate, directly results in each
Individual hydraulic support the most point-blank, significantly impacts coal mining efficiency and safety.
Summary of the invention
It is an object of the invention to overcome the deficiency of existing design, it is provided that a kind of hydraulic support Wireless movement detection is with automatic
Looking for straight system and method, it is adopted super wideband wireless mode and directly measures the relative displacement of hydraulic support and object of reference, and then measures
With adjust entire row hydraulic support make it be held on straight line, thoroughly solve hydraulic support and push away not in place and misalignment
Problem.
The present invention solves it and technical problem is that and take techniques below scheme to realize:
A kind of hydraulic support Wireless movement detects and automatically looks for lineal system, controls including UWB wireless device and hydraulic support
Device, each hydraulic bracket controller is all connected with a UWB wireless device and each UWB wireless device is arranged on each hydraulic support
In same position, the UWB wireless device on hydraulic support is powered by hydraulic bracket controller；Three UWB wireless devices
Being equidistantly mounted on coal-winning machine, virtual line and the coal-winning machine fuselage of three UWB wireless devices are in parastate, on coal-winning machine
Three UWB wireless devices be powered by the intrinsic safety electric source on coal-winning machine, above-mentioned UWB wireless device all has independent numbering and leads to
Cross MANET mode to link together.
Described UWB wireless device by STM antenna, UWB pulse transmission circuit, MCU module, power circuit, clock circuit,
Flash circuit and communication interface circuit are constituted, described MCU module and power circuit, UWB pulse transmission circuit, clock circuit,
Flash circuit is connected with communication interface circuit, and described UWB pulse transmission circuit is connected for launching and connecing with STM antenna
Receive wireless pulse signals.
Described MCU module uses STM21L151 module.
The detection of a kind of hydraulic support Wireless movement and the method automatically looking for lineal system, comprise the following steps:
Step 1, on coal-winning machine, three UWB wireless devices are mounted equidistant, each hydraulic support is pacified in same position
Fill a UWB wireless device；
Step 2, using three UWB wireless devices on coal-winning machine as coordinate basic point, calculate the relative of each hydraulic support
Coordinate and each hydraulic support are to the distance of coal-winning machine baseline；
Step 3, hydraulic bracket controller elapse according to the distance controlling hydraulic support of hydraulic support to coal-winning machine baseline and
Look for straight.
Three UWB wireless devices on described coal-winning machine are strict equidistant, and middle UWB wireless device is simultaneously to both sides
UWB wireless device send lock-out pulse, make three UWB wireless device stringent synchronization in time.
Described step 2 method particularly includes:
(1) AoA method is used to measure the angle of tested hydraulic support and the UWB wireless device on coal-winning machine；
(2) use TDoA method to measure the range difference of tested hydraulic support and the UWB wireless device on coal-winning machine, calculate
The rough location of tested hydraulic support；
(3) according to the rough location of tested hydraulic support, send through over-fitting and the time synchronized pulse of accurately adjustment, make
Time obtains stringent synchronization；
(4) carry out secondary calculating by TDoA algorithm, draw the final position information of tested hydraulic support, then draw and adopt
Distance horizontal and vertical between coal machine and tested hydraulic support.
Advantages of the present invention and good effect be:
1, the present invention uses ultra broadband (UWB) wireless distances measurement technology, UWB wireless device is arranged on hydraulic support and
On coal-winning machine, and pass through hydraulic support displacement measurement method and automatically look for Nogata method realize hydraulic support displacement measurement and automatically look for
Straight function, drastically increases accuracy and precision that underground coal mine is measured, reduces error, can be widely used for underground coal mine watt
This, in the environment of the explosion danger such as coal dust.
2, the present invention has abandoned the form of indirect measurement oil cylinder stroke, uses UWB wireless device directly to measure, this
Mode measured directly is more direct, more accurately, meanwhile, improves the convenience of maintenance, it is possible to change measurement easily in down-hole
Equipment.
Accompanying drawing explanation
Fig. 1 is the connection diagram of native system；
Fig. 2 is the displacement measurement of the present invention and automatically looks for straight principle schematic；
Fig. 3 is UWB wireless device schematic diagram on hydraulic support；
Fig. 4 is the circuit block diagram of UWB wireless device.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
A kind of hydraulic support Wireless movement detects and automatically looks for lineal system, as it is shown in figure 1, include UWB wireless device and liquid
Pressure bracket controller, each hydraulic bracket controller is all connected with a UWB wireless device and is arranged on each hydraulic support identical
On position, and having independent numbering, the UWB wireless device on hydraulic support is powered by hydraulic bracket controller,
Go forward side by side row data communication.Three UWB wireless devices are equidistantly mounted on coal-winning machine, the virtual line of three UWB wireless devices and
Coal-winning machine fuselage is in parastate.Described UWB wireless device uses UWB (ultra broadband) technology, and it utilizes nanosecond to picosecond
Non-sinusoidal waveform burst pulse transmission data, and on wider frequency spectrum, transmit the signal strong anti-interference performance of extremely low power, transmission
Speed is high, low-power consumption, high security, wireless distance finding precision height.
As in figure 2 it is shown, native system is using three UWB wireless devices on coal-winning machine as wireless datum mark, can position every
The coordinate of individual hydraulic support, and calculate the distance of itself and coal-winning machine parallel lines.When hydraulic support elapses, the displacement of passage
Deducted existing distance by initial range to draw.Meanwhile, with the most straight multiple hydraulic supports as reference point, will elapse or
Detect that the most straight hydraulic support is looked for directly automatically so that it is be on same straight line with other hydraulic supports.
As it is shown on figure 3, the UWB wireless device on hydraulic support is powered by hydraulic bracket controller, and pass through communication
Interface circuit carries out data transmission.Sharing of data and control command is carried out by CAN between hydraulic bracket controller.Adopt
Three UWB wireless devices on coal machine are powered by the intrinsic safety electric source on coal-winning machine.The coordinate that UWB wireless device measurement draws
Information and displacement information are first sent to hydraulic bracket controller.Hydraulic support controls the demand according to passage amount, controls hydraulic pressure and props up
The passage of frame and stopping.
UWB wireless device is capable of location, range measurement and data wireless transmission function.As shown in Figure 4, UWB is wireless
Device is by STM antenna, UWB pulse transmission circuit, MCU module, power circuit, clock circuit, flash circuit and communication interface electricity
Road is constituted.MCU module use STM21L151 module and with power circuit, UWB pulse transmission circuit, clock circuit, flash electricity
Road is connected with communication interface circuit, and UWB pulse transmission circuit is connected with STM antenna for launching and receiving wireless pulses letter
Number；STM21L151 (MCU) is used for performing control command and calculating data.Communication interface circuit is used for and hydraulic bracket controller
Carrying out communication and data transmission, this hydraulic bracket controller is to control special equipment for hydraulic support, for hydraulic support
It is monitored and controls.
The present invention uses UWB ad hoc network, and each UWB wireless device is in addition to can finding range and position, it is also possible to from
The dynamic wireless network that carries out is set up and the transmission of mutual data.The present invention is when positioning, and it is excellent that employing AoA and TDoA combines
Change algorithm, make certainty of measurement higher, more accurately.On the basis of both basic fixed position algorithms, it is proposed that some concrete optimization
Algorithm, it is possible to make measurement more accurate.
A kind of hydraulic support Wireless movement detects and automatically looks for straight method to comprise the following steps:
Step 1, on coal-winning machine, three UWB wireless devices are mounted equidistant, each hydraulic support is pacified in same position
Fill a UWB wireless device.
In order to ensure the precision measured, three UWB wireless device mounting distances on coal-winning machine are strict equidistant, middle
B point can send lock-out pulse to A point and C point simultaneously, makes three UWB wireless device stringent synchronization in time.
Meanwhile, the distance between hydraulic support and hydraulic support is generally 1.5 meters, therefore sets hydraulic support and props up with hydraulic pressure
Between frame, limited lateral separation scope, is mutually authenticated the position data of each hydraulic support and screens, and rejects invalid data,
Improve certainty of measurement.
Step 2, using three UWB wireless devices on coal-winning machine as coordinate basic point, calculate the relative of each hydraulic support
Coordinate and each hydraulic support are to the distance of coal-winning machine baseline.
In this step, UWB wireless device is sent by antenna, after reception device receives pulse, calculates this pulse
Time of propagating also is multiplied with the light velocity, distance between reception and sending point.Multiple datum marks all record and measured point
Distance after, just can calculate its relative coordinate, and lateral separation component and fore-and-aft distance component (displacement).Concrete grammar is such as
Under:
(1) AoA method is used to measure the angle of measured point (hydraulic support) and datum mark (coal-winning machine).
AoA algorithm having carried out in the present invention some optimize, same hydraulic pressure is propped up by the ABC on coal-winning machine tri-points respectively
When frame wireless points measures, the angle sum that the angle of AB two-point measurement is measured with BC, the angle measured equal to AC.Pass through angle
With the mathematical calculation of line length, will be deemed as inaccurate measurement data and abandon, certainty of measurement can be increased.
(2) use TDoA method to measure the range difference of measured point and datum mark, thus calculate the rough location of measured point.
When using TDoA to measure distance, same hydraulic support wireless points is surveyed by tri-some combination of two respectively of ABC
Amount, is divided into AB point measurement in a closed series, AC point measurement in a closed series and BC point measurement in a closed series.Measurement result is screened, according to three's
Distance relation, rejects invalid data, improves certainty of measurement.
(3) based on the rough location information calculated, through calculating, send through over-fitting and the time synchronized of accurately adjustment
Pulse, makes the time obtain stringent synchronization.
(4) carry out secondary calculating by TDoA algorithm, draw the final position information of measured point, then draw coal-winning machine with
Distance horizontal and vertical between hydraulic support.
Step 3, hydraulic bracket controller push away according to the distance controlling hydraulic support of each hydraulic support to coal-winning machine baseline
Move and look for straight.
If each hydraulic support is equal to the distance of datum mark, then all hydraulic support is the most point-blank, and
And this straight line and coal-winning machine are parallel relation；When the coal-winning machine walking past, hydraulic support thereafter can elapse forward；Hydraulic pressure props up
Frame originally arrived the distance of coal-winning machine baseline deduct mobile after position be the displacement of passage to the distance of baseline；UWB wireless device
These data are passed to hydraulic bracket controller in real time；Displacement data is compared by hydraulic bracket controller with preset data
Relatively, control whether hydraulic support continues passage, after arriving preset displacement, stop passage.
Due to reference point the most each other between hydraulic support and hydraulic support, mutually check whether straight.If be detected that certain
Support does not has straight, hydraulic bracket controller can send passage order so that it is be adjusted to straight till.
The present invention is not limited only in coal mine underground hydraulic support frame system hydraulic support displacement detecting and automatically looks for that straight this is a kind of
Mode, similar relevant way can also use this scheme.
It is emphasized that embodiment of the present invention is illustrative rather than determinate, bag the most of the present invention
Include the embodiment being not limited to described in detailed description of the invention, every by those skilled in the art according to technical scheme
Other embodiments drawn, also belong to the scope of protection of the invention.
Claims (6)
1. a hydraulic support Wireless movement detects and automatically looks for lineal system, it is characterised in that: include UWB wireless device and hydraulic pressure
Bracket controller, each hydraulic bracket controller is all connected with a UWB wireless device and each UWB wireless device is arranged on each liquid
On pressure support in same position, the UWB wireless device on hydraulic support is powered by hydraulic bracket controller；Three UWB
Wireless device is equidistantly mounted on coal-winning machine, and virtual line and the coal-winning machine fuselage of three UWB wireless devices are in parastate,
Three UWB wireless devices on coal-winning machine are powered by the intrinsic safety electric source on coal-winning machine, and above-mentioned UWB wireless device all has independence
Numbering is also linked together by MANET mode.
Hydraulic support Wireless movement the most according to claim 1 detects and automatically looks for lineal system, it is characterised in that: described
UWB wireless device is by STM antenna, UWB pulse transmission circuit, MCU module, power circuit, clock circuit, flash circuit and leads to
Communication interface circuit is constituted, described MCU module and power circuit, UWB pulse transmission circuit, clock circuit, flash circuit and communication
Interface circuit is connected, and described UWB pulse transmission circuit is connected for launching and receiving wireless pulse signals with STM antenna.
Hydraulic support Wireless movement the most according to claim 1 detects and automatically looks for lineal system, it is characterised in that: described
MCU module uses STM21L151 module.
4. the hydraulic support Wireless movement detection as described in any one of claims 1 to 3 and the method automatically looking for lineal system,
It is characterized in that comprising the following steps:
Step 1, on coal-winning machine, three UWB wireless devices are mounted equidistant, each hydraulic support is installed in same position one
Individual UWB wireless device；
Step 2, using three UWB wireless devices on coal-winning machine as coordinate basic point, calculate the relative coordinate of each hydraulic support
And each hydraulic support is to the distance of coal-winning machine baseline；
Step 3, hydraulic bracket controller elapse and look for straight according to the distance controlling hydraulic support of hydraulic support to coal-winning machine baseline.
Hydraulic support Wireless movement the most according to claim 4 detection and the method automatically looking for lineal system, it is characterised in that:
Three UWB wireless devices on described coal-winning machine are strict equidistant, middle UWB wireless device simultaneously to the UWB of both sides without
Line apparatus sends lock-out pulse, makes three UWB wireless device stringent synchronization in time.
Hydraulic support Wireless movement the most according to claim 4 detection and the method automatically looking for lineal system, it is characterised in that:
Described step 2 method particularly includes:
(1) AoA method is used to measure the angle of tested hydraulic support and the UWB wireless device on coal-winning machine；
(2) use TDoA method to measure the range difference of tested hydraulic support and the UWB wireless device on coal-winning machine, calculate tested
The rough location of hydraulic support；
(3) according to the rough location of tested hydraulic support, send through over-fitting and the time synchronized pulse of accurately adjustment, make the time
Obtain stringent synchronization；
(4) carry out secondary calculating by TDoA algorithm, draw the final position information of tested hydraulic support, then draw coal-winning machine
And distance horizontal and vertical between tested hydraulic support.
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| CN201610715629.3A CN106168139B (en) | 2016-08-24 | 2016-08-24 | A kind of hydraulic support Wireless movement detects and looks for straight system and method automatically |
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| CN201610715629.3A CN106168139B (en) | 2016-08-24 | 2016-08-24 | A kind of hydraulic support Wireless movement detects and looks for straight system and method automatically |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106837399A (en) * | 2017-02-09 | 2017-06-13 | 宁夏百辰工业产品设计有限公司 | A kind of hydraulic support lift work winding displacement deviation eliminating device |
| CN106895771A (en) * | 2017-04-18 | 2017-06-27 | 山东科技大学 | A kind of coal mine hydraulic supporting arranges linearity testing apparatus |
| CN108397230A (en) * | 2018-05-04 | 2018-08-14 | 王海军 | A kind of underground coal mine scratch board conveyor straightening and personnel's locking system |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN112484625A (en) * | 2020-11-12 | 2021-03-12 | 西南交通大学 | High-precision displacement measurement method based on UWB channel impulse response |
| CN113685177A (en) * | 2021-07-09 | 2021-11-23 | 中煤科工开采研究院有限公司 | Coal mining machine position measuring system and method |
| CN113847876A (en) * | 2021-07-09 | 2021-12-28 | 中煤科工开采研究院有限公司 | Coal mining height measuring device and method for hydraulic support of fully mechanized coal mining face |
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| CN203673062U (en) * | 2014-01-14 | 2014-06-25 | 中国矿业大学 | Device for achieving high-precision tracking and positioning through underground scanning satellites |
| CN104612682A (en) * | 2014-12-09 | 2015-05-13 | 中国矿业大学 | UWB-based precise calibration method for coal-cutter absolute position and apparatus |
| CN206035520U (en) * | 2016-08-24 | 2017-03-22 | 天津华宁电子有限公司 | Linear displacement of not having hydraulic support detects looks for direct line all with automatic |
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| CN103410512A (en) * | 2013-08-15 | 2013-11-27 | 中国矿业大学 | Geological environment information-fused absolute positioning device and method for coal cutter |
| CN203673062U (en) * | 2014-01-14 | 2014-06-25 | 中国矿业大学 | Device for achieving high-precision tracking and positioning through underground scanning satellites |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106837399A (en) * | 2017-02-09 | 2017-06-13 | 宁夏百辰工业产品设计有限公司 | A kind of hydraulic support lift work winding displacement deviation eliminating device |
| CN106895771A (en) * | 2017-04-18 | 2017-06-27 | 山东科技大学 | A kind of coal mine hydraulic supporting arranges linearity testing apparatus |
| CN108397230A (en) * | 2018-05-04 | 2018-08-14 | 王海军 | A kind of underground coal mine scratch board conveyor straightening and personnel's locking system |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN112484625A (en) * | 2020-11-12 | 2021-03-12 | 西南交通大学 | High-precision displacement measurement method based on UWB channel impulse response |
| CN112484625B (en) * | 2020-11-12 | 2021-09-17 | 西南交通大学 | High-precision displacement measurement method based on UWB channel impulse response |
| CN113685177A (en) * | 2021-07-09 | 2021-11-23 | 中煤科工开采研究院有限公司 | Coal mining machine position measuring system and method |
| CN113847876A (en) * | 2021-07-09 | 2021-12-28 | 中煤科工开采研究院有限公司 | Coal mining height measuring device and method for hydraulic support of fully mechanized coal mining face |
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