CN106168139B - A kind of hydraulic support Wireless movement detects and looks for straight system and method automatically - Google Patents
A kind of hydraulic support Wireless movement detects and looks for straight system and method automatically Download PDFInfo
- Publication number
- CN106168139B CN106168139B CN201610715629.3A CN201610715629A CN106168139B CN 106168139 B CN106168139 B CN 106168139B CN 201610715629 A CN201610715629 A CN 201610715629A CN 106168139 B CN106168139 B CN 106168139B
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- hydraulic support
- wireless devices
- uwb wireless
- coalcutter
- hydraulic
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Classifications
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- 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
Straight system and method is looked for the present invention relates to a kind of detection of hydraulic support Wireless movement and automatically, technical characterstic is：The system includes UWB wireless devices and hydraulic bracket controller, each hydraulic bracket controller is all connected with a UWB wireless devices and each UWB wireless devices are mounted on each hydraulic support in same position, three UWB wireless devices are equidistantly mounted on coalcutter, and above-mentioned UWB wireless devices are linked together by ad hoc network mode；This method passes through using three UWB wireless devices on coalcutter as coordinate basic point, calculate each hydraulic support relative coordinate and each hydraulic support to the distance of coalcutter baseline, hydraulic bracket controller elapses and looks for according to the distance controlling hydraulic support of hydraulic support to coalcutter baseline straight.The present invention realizes hydraulic support displacement measurement and looks for straight function automatically, drastically increases the accuracy and precision of underground coal mine measurement, error is reduced, in the environment that can be widely used for the explosion dangers 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
With the development of coal mine underground hydraulic support frame electrohydraulic control system and coalcutter technology, automatic mining way is gradually walked
To practical.In automatic coal-mining technique, hydraulic support is automatically key problem in technology with machine and automatic passage, wherein, automatically with machine
Refer to that hydraulic support is put automatically with machine-made egg-shaped or honey-comb coal briquets seat in the plane to be acted in due course, automatic passage refer to hydraulic support according to demand it is automatic forward
Passage, pushing distance should meet system requirements.In existing hydraulic support electronic control system, the mode of hydraulic support displacement is detected
It is that stroke sensor is installed to be measured indirectly in hydraulic cylinder.During fluid injection, the movement of baffle can be promoted, passes through displacement sensor
The displacement of cylinder and baffle is measured, is then inferred to hydraulic support movement distance.Since stroke sensor is built in before dispatching from the factory
In cylinder body, therefore, replacement has to dismantle cylinder body.In practical applications, it is necessary to upper well servicing after scene is broken down, more
It changes not in time, seriously affects production.When in addition drawing hydraulic support, baffle and scraper plate are it is possible that retraction phenomenon, so fluid cylinder
Displacement be not directly equal to hydraulic support movement distance, cause hydraulic support pushing distance detection error larger.This is to survey
Fluid cylinder stroke is measured to calculate the common fault of hydraulic support displacement method.The inaccuracy of hydraulic support displacement measurement directly results in each
A hydraulic support point-blank, does not significantly impact coal mining efficiency and safety.
The content of the invention
It is an object of the invention to overcome the shortcomings of existing design, a kind of hydraulic support Wireless movement detection and automatic is provided
Straight system and method is looked for, the relative displacement that super wideband wireless mode directly measures hydraulic support and object of reference is adopted, and then measures
Entire row hydraulic support and it is made to be held on straight line with adjustment, thoroughly solve hydraulic support and push away not in place and misalignment
The problem of.
The present invention solves its technical problem and following technical scheme is taken to realize：
A kind of hydraulic support Wireless movement detects and looks for lineal system automatically, is controlled including UWB wireless devices and hydraulic support
Device, each hydraulic bracket controller is all connected with a UWB wireless devices and each UWB wireless devices are mounted on each hydraulic support
In same position, the UWB wireless devices on hydraulic support are powered by hydraulic bracket controller；Three UWB wireless devices
It is equidistantly mounted on coalcutter, the virtual line and coalcutter fuselage of three UWB wireless devices are in parastate, on coalcutter
Three UWB wireless devices be powered by the intrinsic safety electric source on coalcutter, above-mentioned UWB wireless devices have independent numbering and lead to
Ad hoc network mode is crossed to link together.
The UWB wireless devices by STM antennas, UWB pulses transmission circuit, MCU module, power circuit, clock circuit,
Flash circuits and communication interface circuit are formed, the MCU module and power circuit, UWB pulses transmission circuit, clock circuit,
Flash circuits are connected with communication interface circuit, and the UWB pulses transmission circuit is connected with STM antennas for emitting and connecing
Receive wireless pulse signals.
The MCU module uses STM21L151 modules.
A kind of hydraulic support Wireless movement detection and the method for looking for lineal system automatically, comprise the following steps：
Three UWB wireless devices are mounted equidistant in step 1 on coalcutter, pacify on each hydraulic support in same position
Fill a UWB wireless device；
Step 2, using three UWB wireless devices on coalcutter as coordinate basic point, calculate the opposite of each hydraulic support
Coordinate and each hydraulic support are to the distance of coalcutter baseline；
Step 3, hydraulic bracket controller according to the distance controlling hydraulic support of hydraulic support to coalcutter baseline elapse and
It looks for straight.
Three UWB wireless devices on the coalcutter are stringent equidistant, intermediate UWB wireless devices simultaneously to both sides
UWB wireless devices send lock-out pulse, make three UWB wireless devices stringent synchronization in time.
The specific method of the step 2 is：
(1) using the angle of the tested hydraulic support of AoA methods measurement and the UWB wireless devices on coalcutter；
(2) using the tested hydraulic support of TDoA methods measurement and the range difference of the UWB wireless devices on coalcutter, calculate
The rough location of tested hydraulic support；
(3) according to the rough location of tested hydraulic support, the time synchronization pulse that sends through over-fitting and accurately adjust makes
Time obtains stringent synchronization；
(4) secondary calculating is carried out by TDoA algorithms, draws the final position information of tested hydraulic support, then draw and adopt
Horizontal and vertical distance between coal machine and tested hydraulic support.
The advantages and positive effects of the present invention are：
1st, the present invention is using ultra wide band (UWB) wireless distances measurement technology, by UWB wireless devices be mounted on hydraulic support and
On coalcutter, and pass through hydraulic support displacement measurement method and Nogata method is looked for realize hydraulic support displacement measurement and look for automatically automatically
Straight function drastically increases the accuracy and precision of underground coal mine measurement, reduces error, can be widely used for underground coal mine watt
This, in the environment of explosion dangers such as coal dust.
2nd, the present invention has abandoned the form of indirect measurement oil cylinder stroke, is directly measured using UWB wireless devices, this
Mode measured directly is more direct, more accurately, meanwhile, the convenience of maintenance is improved, can easily replace measurement in underground
Equipment.
Description of the drawings
Fig. 1 is the connection diagram of the system；
Fig. 2 is the displacement measurement of the present invention and looks for straight principle schematic automatically；
Fig. 3 is UWB wireless devices schematic diagram on hydraulic support；
Fig. 4 is the circuit block diagram of UWB wireless devices.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing：
A kind of hydraulic support Wireless movement detects and looks for lineal system automatically, as shown in Figure 1, including UWB wireless devices and liquid
Bracket controller is pressed, each hydraulic bracket controller is all connected with a UWB wireless devices and is mounted on identical on each hydraulic support
On position, and there is independent number, the UWB wireless devices on hydraulic support are powered by hydraulic bracket controller,
It goes forward side by side row data communication.Three UWB wireless devices are equidistantly mounted on coalcutter, the virtual line of three UWB wireless devices and
Coalcutter fuselage is in parastate.The UWB wireless devices use UWB (ultra wide band) technology, utilize nanosecond to picosecond
Non-sinusoidal waveform burst pulse transmission data, and transmit on wider frequency spectrum the signal strong anti-interference performance of extremely low power, transmission
Rate is high, and low-power consumption, high security, wireless distance finding precision are high.
As shown in Fig. 2, the system using three UWB wireless devices on coalcutter as wireless datum mark, can position often
The coordinate of a hydraulic support, and its distance with coalcutter parallel lines is calculated.When hydraulic support elapses, the displacement of passage
Existing distance is subtracted by initial range to draw.Meanwhile using straight multiple hydraulic supports as reference point, will elapse or
It detects that not straight hydraulic support is looked for directly automatically, itself and other hydraulic supports is made to be on same straight line.
As shown in figure 3, the UWB wireless devices on hydraulic support are powered by hydraulic bracket controller, and pass through communication
Interface circuit carries out data transmission.The shared of data and control command is carried out by CAN bus between hydraulic bracket controller.It adopts
Three UWB wireless devices on coal machine are powered by the intrinsic safety electric source on coalcutter.The coordinate that UWB wireless device measurements are drawn
Information and displacement information are first sent to hydraulic bracket controller.Hydraulic support controls the demand according to passage amount, controls hydraulic pressure branch
The passage and stopping of frame.
UWB wireless devices can realize positioning, range measurement and data wireless transmission function.As shown in figure 4, UWB is wireless
Device is by STM antennas, UWB pulses transmission circuit, MCU module, power circuit, clock circuit, flash circuits and communication interface electricity
Road is formed.MCU module is using STM21L151 modules and electric with power circuit, UWB pulses transmission circuit, clock circuit, flash
Road is connected with communication interface circuit, and UWB pulses transmission circuit is connected with STM antennas for emitting and receiving wireless pulses letter
Number；STM21L151 (MCU) is used for performing control command and calculates data.Communication interface circuit is used for and hydraulic bracket controller
It is communicated and data transmission, the hydraulic bracket controller is for hydraulic support control special equipment, for hydraulic support
It is monitored and controls.
Of the invention to use UWB ad hoc networks, each UWB wireless devices, can also be certainly in addition to can be with ranging and positioning
The dynamic wireless network that carries out is established and mutual data transmission.The present invention is combined excellent when being positioned using AoA and TDoA
Change algorithm, make measurement accuracy higher, more accurately.On the basis of both basic fixed position algorithms, it is proposed that some specific optimizations
Algorithm can make measurement more accurate.
A kind of hydraulic support Wireless movement detects and straight method is looked for comprise the following steps automatically：
Three UWB wireless devices are mounted equidistant in step 1 on coalcutter, pacify on each hydraulic support in same position
Fill a UWB wireless device.
In order to ensure the precision of measurement, three UWB wireless devices mounting distances on coalcutter are intermediate to be stringent equidistant
B points can send lock-out pulse to A points and C points simultaneously, make three UWB wireless devices stringent synchronization in time.
Meanwhile the distance between hydraulic support and hydraulic support are generally 1.5 meters, therefore set hydraulic support and hydraulic pressure branch
Limited lateral separation scope between frame, is mutually authenticated and is screened to the position data of each hydraulic support, rejects invalid data,
Improve measurement accuracy.
Step 2, using three UWB wireless devices on coalcutter as coordinate basic point, calculate the opposite of each hydraulic support
Coordinate and each hydraulic support are to the distance of coalcutter baseline.
In this step, UWB wireless devices are sent by antenna, after reception device receives pulse, calculate this pulse
Time of propagation is simultaneously multiplied with the light velocity, you can must send and receive the distance between a little.Multiple datum marks all measure and measured point
Distance after, its relative coordinate and lateral separation component and fore-and-aft distance component (displacement) can be calculated.Specific method is such as
Under：
(1) using AoA methods measurement measured point (hydraulic support) and the angle of datum mark (coalcutter).
Some are carried out in the present invention to AoA algorithms to optimize, tri- points of ABC on coalcutter are respectively to same hydraulic pressure branch
When frame wireless points measure, the sum of angle of angle and BC measurement of AB two-point measurements, equal to the angle of AC measurements.Pass through angle
With the mathematical computations of line length, it will be deemed as inaccurate measurement data and abandon, you can increase measurement accuracy.
(2) using TDoA methods measurement measured point and the range difference of datum mark, so as to calculate the rough location of measured point.
During using TDoA measurement distances, combination of two surveys same hydraulic support wireless points to tri- points of ABC respectively
Amount, is divided into AB point measurements in a closed series, AC point measurements in a closed series and BC point measurements in a closed series.Measurement result is screened, according to three's
Distance relation rejects invalid data, improves measurement accuracy.
(3) based on the rough location information calculated, by calculating, the time synchronization that sends through over-fitting and accurately adjust
Pulse makes the time obtain stringent synchronization.
(4) secondary calculating is carried out by TDoA algorithms, draws the final position information of measured point, then draw coalcutter with
Horizontal and vertical distance between hydraulic support.
Step 3, hydraulic bracket controller are pushed away according to the distance controlling hydraulic support of each hydraulic support to coalcutter baseline
It moves and looks for and is straight.
If the distance of each hydraulic support to datum mark is equal, all hydraulic stent just point-blank, and
And this straight line and coalcutter are parallel relations；When coalcutter walks, hydraulic support thereafter can elapse forward；Hydraulic pressure branch
Frame arrived originally coalcutter baseline distance subtract it is mobile after position to baseline distance be passage displacement；UWB wireless devices
By this data real-time delivery to hydraulic bracket controller；Hydraulic bracket controller compares displacement data and preset data
Compared with whether control hydraulic support continues to elapse, and after reaching preset displacement, stops passage.
Due to also reference point each other between hydraulic support and hydraulic support, mutually check whether straight.If detect certain
Stent does not have straight, and hydraulic bracket controller can send passage order, makes until it is adjusted to straight.
The present invention is not limited only to hydraulic support displacement detecting in coal mine underground hydraulic support frame system and looks for this straight one kind automatically
Mode, similar relevant way can also use this scheme.
It is emphasized that embodiment of the present invention is illustrative rather than limited, therefore present invention bag
The embodiment being not limited to described in specific embodiment is included, it is every by those skilled in the art's technique according to the invention scheme
The other embodiment drawn, also belongs to the scope of protection of the invention.
Claims (3)
1. a kind of hydraulic support Wireless movement detection and the method for looking for lineal system automatically, the system include UWB wireless devices and liquid
Bracket controller is pressed, each hydraulic bracket controller is all connected with a UWB wireless devices and each UWB wireless devices are mounted on each
On hydraulic support in same position, the UWB wireless devices on hydraulic support are powered by hydraulic bracket controller；Three
UWB wireless devices are equidistantly mounted on coalcutter, and the virtual line and coalcutter fuselage of three UWB wireless devices are in parallel shape
State, three UWB wireless devices on coalcutter are powered by the intrinsic safety electric source on coalcutter, and above-mentioned UWB wireless devices have
Independent numbering is simultaneously linked together by ad hoc network mode；It is characterized by comprising following steps：
Three UWB wireless devices are mounted equidistant in step 1 on coalcutter, and one is installed in same position on each hydraulic support
A UWB wireless devices；
Step 2, using three UWB wireless devices on coalcutter as coordinate basic point, calculate the relative coordinate of each hydraulic support
And each hydraulic support is to the distance of coalcutter baseline；
Step 3, hydraulic bracket controller elapse and look for according to the distance controlling hydraulic support of hydraulic support to coalcutter baseline straight.
2. a kind of hydraulic support Wireless movement detection according to claim 1 and the method for looking for lineal system automatically, feature
It is：Three UWB wireless devices on the coalcutter are stringent equidistant, intermediate UWB wireless devices simultaneously to both sides
UWB wireless devices send lock-out pulse, make three UWB wireless devices stringent synchronization in time.
3. a kind of hydraulic support Wireless movement detection according to claim 1 and the method for looking for lineal system automatically, feature
It is：The specific method of the step 2 is：
(1) using the angle for reaching the tested hydraulic support of angle ranging method measurement and the UWB wireless devices on coalcutter；
(2) range difference of hydraulic support and the UWB wireless devices on coalcutter is tested using arrival digital algorithm measurement,
Calculate the rough location of tested hydraulic support；
(3) according to the rough location of tested hydraulic support, the time synchronization pulse that sends through over-fitting and accurately adjust makes the time
Obtain stringent synchronization；
(4) secondary calculating is carried out by arrival time difference positioning algorithm, draws the final position information of tested hydraulic support, then
Draw distance horizontal and vertical between coalcutter and 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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| CN106168139B true CN106168139B (en) | 2018-05-22 |
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| 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 |
| CN106895771B (en) * | 2017-04-18 | 2023-04-28 | 山东科技大学 | Colliery hydraulic support arranges straightness accuracy detection device |
| 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 |
| CN110426016B (en) * | 2019-07-30 | 2021-04-16 | 精英数智科技股份有限公司 | Alignment auxiliary method and system for moving hydraulic support of fully mechanized coal mining face |
| 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 |
| 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 |
| 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 |
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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 |
| 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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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4195953A (en) * | 1977-12-29 | 1980-04-01 | Gewerkschaft Eisenhutte Westfalia | Advance mechanism for a mine roof support assembly |
| 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 |
| 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 |
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| CN106168139A (en) | 2016-11-30 |
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Inventor after: Zhang Yuan Inventor after: Wang Long Inventor after: Ma Ruyi Inventor after: Zheng Jinwen Inventor before: Gao Jianmin Inventor before: Ma Ruyi Inventor before: Zheng Jinwen Inventor before: Zhang Yuan Inventor before: Wang Long |
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