CN107571876A - A kind of colliery downhole equipment train intelligent control system - Google Patents
A kind of colliery downhole equipment train intelligent control system Download PDFInfo
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- CN107571876A CN107571876A CN201710370846.8A CN201710370846A CN107571876A CN 107571876 A CN107571876 A CN 107571876A CN 201710370846 A CN201710370846 A CN 201710370846A CN 107571876 A CN107571876 A CN 107571876A
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Abstract
A kind of underground coal mine Self-moving equipment train control system, by installing electrofluidic control device, electromagnetic valve actuator, electromagnetic priority valve and electric-hydraulic control reversing valve, infrared wireless communication device, remote control, voice device, pressure sensor device, stroke sensor, obliquity and attitude sensor, ultra-broadband ranging sensor, the realization of video acquisition transmitting device on Self-moving equipment train and anchor support.System can be instructed come drive control electromagnetic priority valve and electric-hydraulic control reversing valve by way of global control, a key intelligent control and remote control on the spot to electrofluidic control device transmission；Equipment train control system is equipped with video monitoring system simultaneously, and real-time pictures are transmitted to monitoring host computer and carry out integral monitoring, and the intelligence for realizing equipment train with reference to voice alarm function is moved certainly.
Description
Technical field
The present invention relates to a kind of colliery downhole equipment train intelligent control system, more particularly to one kind to use multiple sensors
Device feedback realize it is global on the spot, automatically, remote control be aided with remote monitoring control model colliery downhole equipment train intelligence control
System processed.
Background technology
Fully-mechanized mining is the important symbol of Coal Mining Technology modernization, and the use of equipment train is working face
One of important symbol of tunnel automated mining.At present, the equipment train used in underground coal mine working face is divided into Track equipment row
Car and the class of trackless step type equipment train two.Railcar train is subject to track auxiliary, and it is more convenient to move integrally；Trackless step type is set
Standby train need not lay a railway track to be drawn with winch, and train movement control is carried out by manual operation.When using traditional step type equipment,
More personnel are needed to synchronize control to operation valve, to ensure the stationarity of train moving process.But manual hand manipulation
Control accuracy it is relatively low, there is randomness risk, and the mobile of equipment train can tie up to operating personnel and train peripheral equipment
Shield personnel bring certain 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 is by flat car, supporting leg sole of taking a step, the Flat car wheel being arranged on below flat car and is arranged on
Protective frame composition above flat car；But it is without reference to electrohydraulic control system and related Control System.
CN202966313U discloses a kind of shifting trackless equipment train control system certainly, and it includes frame body, electrichydraulic control
Device and wireless remote controller；Wherein described 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 remote control transmitter with wirelessly connecing
Device is received, is carried out data transmission by above-mentioned wireless remote control emitter by wireless receiver and controller noted above, described controller
Output end is connected with electromagnetic valve driver input, electromagnetic valve driver output end respectively with electric-hydraulic control reversing valve group, automatic anti-
Flush filter connects；But its control mode is relatively simple, it can only realize and control on the spot, it is impossible to realize remote control and intelligence control
System.
The content of the invention
To improve the operating efficiency of mine underground equipment train, operator's labor intensity is reduced, reduces equipment and operation
Personal security risk, the present invention propose a kind of colliery downhole equipment train intelligent control system, and the system establishes equipment train
Electrohydraulic control system, employ a variety of sensing components and carry out Real-time Feedback to equipment train key operations and state, and according to
The intelligent control of the train of equipment is realized according to sensing data and control algolithm.
A kind of colliery downhole equipment train intelligent control system, by step type anchor support and Track equipment train
Equipment train controller, electromagnetic valve driver, electromagnetic priority valve and electric-hydraulic control reversing valve, infrared wireless communication device, distant are installed
Control device device, phonetic alarm device, pressure sensor, stroke sensor, obliquity and attitude sensor, video acquisition transmitting device
Deng.System can be instructed by way of global control, a key intelligent control and remote control on the spot to electrofluidic control device transmission
Come drive control electromagnetic priority valve and electric-hydraulic control reversing valve；Equipment train control system is equipped with video monitoring system simultaneously, will be real
When picture transmission to monitoring host computer carry out integral monitoring, realize intelligence from moving device train with reference to voice alarm function.Pressure passes
Sensor is distributed in anchor support column and flat car hydraulic jack, and system monitors load pressure and lifting height by it, and right
Column carries out automatic feedback control.The stroke that stroke sensor monitoring anchor support jack stretches out, ensures that front end takes a step to draw
The flexible synchronism of equipment both sides jack cylinder.Obliquity sensor detection device posture, measure angle and feed back to control system
System, obtains the in-orbit attitude information of current device train.Ultra-broadband ranging sensor matches for base station label, for equipment section
Wireless distances detect.
It is preferred that intelligence control system has global control and intelligent control function on the spot, on any one controller manually
Operational control device man-machine interface, it can be achieved to control the holding function of anchor support and any flat board train；And can be according to system
In various sensors and control algolithm realize a key intelligent control of equipment.
It is preferred that the ultra-broadband ranging device realizes maximum range 20m by paired label base station, worst error 0.2m's
The wireless point-to-point distance measurement function arbitrarily arranged.
The present invention realizes the overall situation, and control, intelligent control, remote control are aided with the control mode that Video Remote monitors on the spot,
Controlling remote control ensures the safe and effective of operating personnel's control instruction；Detect each state of feedback device in real time by sensor group
Index, control system receive and carry out control algolithm and logic judgment decision-making, solve anchor support and take a step mobile and flat car
Advancing jack coordinated signals problem in left and right during following, possess flexible left and right advancing jack oil cylinder, oil cylinder working-pressure and set
The automatic monitoring function of standby train posture, realizes intelligent control mode；Equipment train language is realized under different control models
Sound linkage warning function, reduces security risk of the equipment train movement to operating personnel and periphery personnel.
Brief description of the drawings
Accompanying drawing 1 is connection sketch of the underground coal mine of the present invention intelligence from moving device train control system.
Accompanying drawing 2 is the logical flow chart of key intelligent control of the present invention.
Embodiment
The present invention is described in further detail with reference to specific embodiment.
A kind of colliery downhole equipment train intelligent control system, referring to accompanying drawing 1, control system is included in anchor support and set
Electrofluidic control device, infrared wireless communication device, phonetic alarm device, the various kinds of sensors device installed on standby train, also have
There are monitoring host computer, video acquisition device and long-range hand-held remote control device, realize the intelligent monitoring to equipment train.
Draw anchor support and control is implemented by an independent electrohydraulic controller.Controller is by isolating coupler with being
Other controllers of uniting connect and compose control system.Draw anchor support controller and two pressure sensor detection column cavity of resorptions are installed
Pressure.In the process of rise, controller judges whether setting load reaches requirement by pressure data；In passage process, controller leads to
The stroke that overtravel Sensor monitoring anchor support jack stretches out, ensure that front end is taken a step pulling equipment both sides jack cylinder
Flexible synchronism.
The equipment train flat car being connected with anchor support is led to using electrohydraulic controller control lifting action, every controller
Cross solenoid-driven mouth or the multiple electromagnetic priority valves of driver control, the corresponding flat car of each pilot valve, so as to realize pair
Multiple flat car elevating controls.Controller carries out hoist cylinder and vehicle body attitude by sensors such as pressure, inclination angles to flat car
Monitoring, and realize that data interaction controls with sequential packet between different controllers by CAN.
Electrohydraulic control system is aided with Video Remote monitoring using global control on the spot, a key intelligent control, remote control
Control mode controls electromagnetic priority valve and electric-hydraulic control reversing valve group.So-called global control on the spot refers to manually operate electro-hydraulic control
System processed, the manual operation controller man-machine interface on any one controller of equipment train, can be achieved to anchor support and
The holding function control of any flat board train；So-called key intelligent control refers to that control system obtains each sensing device feedback, leads to
Cross the key intelligent behaviour control function that various control algolithms and logical decision realize equipment train；So-called remote control refers to pass through behaviour
Carry out output services instruction as remote control, be wirelessly transferred to electrohydraulic control system and be controlled；So-called remote monitoring
Refer to be fed back to foundation with video acquisition device, instructed by monitoring host computer in Surveillance center's output services, pass through industrial ether
Net is controlled to electrohydraulic control system.Operating personnel can be set by electrofluidic control device, monitoring host computer, remote control realization pair
The control of standby train.Pressure sensor is distributed in anchor support column and flat car hydraulic jack, and system monitors load by it
Pressure and lifting height, and column carries out automatic feedback control.Obliquity sensor is used for detection device posture, ensures that train is whole
Body posture is normal；Stroke sensing device is used for the stroke for monitoring the stretching of train jack, ensures train both sides jack cylinder
Flexible synchronism；Infrared wireless communication device establishes wireless connection at work with remote control, for transmitting data；Voice fills
Default storaged voice fragment is put, can selectively be played under the control of electrofluidic control device.
Specific operation process is as follows：
First, operating personnel can be controlled the equipment train progress overall situation on the spot by directly operating electrofluidic control device, be led to
It is electro-hydraulic to anchor support and the corresponding various actions function progress of equipment train flat car to cross any controller panel man-machine interface
Control.
Secondly, operating personnel are controlled by remote control to equipment train.In remote control mode, operating personnel
Established and communicated by remote control and infrared wireless communication device.The process for establishing communication has two ways：1st, in remote control
On by input rack number in a manner of carry out selecting frame；2nd, remote control and infrared wireless communication device are closely aligned and selects frame；It is logical
After the completion of news connection is established, control signal is effective in the range of being not more than 5 meters apart from infrared wireless communication device.In each control
Device RS-232 interface processed is respectively mounted a wireless receiver, and remote control passes through wireless receiver access control system, it is possible to achieve
The full-function remote-control operation of control system.Remote range covers Self-moving equipment train 150m scopes, and operator, which may stand in, to be appointed
The section of meaning one flat car is nearby using hand-held remote controller operation train from moving, and whether facilities for observation is according to setting program while operation
Action, it is efficiently convenient.Operating personnel can pass through the functions such as remote control support corresponding to equipment train, balance, left and right passage
Carry out electrichydraulic control.The stretching stroke for the left and right advancing jack that electrofluidic control device monitors according to stroke sensing device, can be right
Left and right advancing jack pilot valve synchronizes opening control, realizes the accurate linkage function of electric-hydraulic control reversing valve group.
When remote control and infrared wireless communication device distance are more than 5 meters, electrofluidic control device disconnects automatically and remote control
The connection of device, system enter holding state, are exported without any holding function, when avoiding operating personnel away from equipment train
Train malfunctions made possibility injury.
3rd, operating personnel can realize a key intelligent control of equipment train, be determined by setting control algolithm and logic
Plan, coupled system various kinds of sensors Real-time Feedback, it is corresponding dynamic to realize that intelligence system performs automatically according to current device train status
Make and be automatically stopped after goal-selling is reached.Realize that anchor support drops first in the case of unmanned intervene after pressing start key
Post, lay down its pressure between top plate；After pressure sensor feedback reaches drop post target, anchor support passage oil cylinder stretch pushing away
It is mobile to make, oneself is elapsed forward using equipment train flat car as fixing end；After stroke sensor feedback reaches pass trip, stop
Only stretch passage and setting prop anchors pressure to reach between top plate.After anchor support reach is fixed, equipment train flat car integrally rises
Rise, lay down it and reach removable state for interorbital pressure pallet, pressure rear anchor support passage oil cylinder up to standard starts receipts and pushed away
Mobile to make more piece flat car being pulled along, stroke sensor is detected up to after setting value, is automatically stopped and is dropped back to from train is moved
Elemental height, complete a whole set of auto-action.Entire exercise need not be done manually again after manipulating the triggering of auto-action start key by personnel
Adjustment, closed loop is formed by logic of propositions and system sensing system Real-time Feedback, realizes a key intelligent control.
4th, using monitoring host computer as equipment train control axis, it is believed by industrial ethernet ring network collecting sensor
Breath and video information, and then electrofluidic control device is sent control signals to using remote console, realize long-range awareness apparatus row
Car situation and remote control function.
The video data of mining video camera is shown by EPA network transmission to display.Video system is a kind of
Collection camera, Video coding, video decoding, video show, operating desk, are in communication in integral equipment, and specific function is reason
The image that video frequency pick-up head captures, image is switched into digital data transmission to decoded portion, then be shown in and regard after decoding
In frequency display.
Electrofluidic control device according to the broadcasting content of the function Auto-matching voice device of the electromagnetic pilot valve group of control, when
During the advancing jack expanding-contracting action of left and right, equipment train mobile voice content is preferentially repeated playing, until left and right advancing jack
Expanding-contracting action terminates, and realizes voice interlocking early warning in equipment train moving process, ensure that the complicated working face in the pit of environment
Personnel equipment safety.
By super-broadband tech, realize that ultra wide band small base station label matches, the wireless distance finding work(on equipment train
Can, ensure the propulsion of equipment and from during moving whole work cycle, steel wire rope is tensioned all the time.
It is described above, the preferable embodiment of patent only of the present invention, but the protection domain of patent of the present invention is not
This is confined to, any one skilled in the art can readily occur in the technical scope of patent diselosesll of the present invention
Change or replacement, should all cover within the protection domain of patent of the present invention.
Claims (7)
- A kind of 1. intelligent control system from moving device train of underground coal mine, it is characterised in that：Passed with pressure sensor, stroke Sensor, obliquity sensor detection device train posture function, and inquire about two kinds of feedbacks with real-time sensory data and sensing data Mode.
- 2. the intelligent control system from moving device train of underground coal mine as claimed in claim 1, it is characterised in that：According to train The broadcasting content of Auto-matching voice device is acted, and is equipped with bi-colour LED prompting.
- 3. the intelligent control system from moving device train of underground coal mine as claimed in claim 1, it is characterised in that：Using mining Video data is implemented remote monitoring by essential safe type video camera by EPA network transmission to monitoring host computer.
- 4. the intelligent control system from moving device train of underground coal mine as claimed in claim 1, it is characterised in that：Using the overall situation The mode of control, a key intelligent control and remote control transmits the action of order-driven train to electrofluidic control device on the spot.
- 5. global control model on the spot as claimed in claim 4, it is characterised in that：In any one controller of equipment train Upper manual operation controller man-machine interface, it can be achieved to control the holding function of anchor support and any flat board train.
- 6. key intelligent control mode as claimed in claim 4, it is characterised in that：Setting automatically controls logic, presses startup Realize that anchor support drop shifts the flat car reach for driving and rising in the case of unmanned intervene after key, sensor is detected up to setting After value, it is automatically stopped and falls from train is moved, complete a whole set of auto-action.
- 7. remote control pattern as claimed in claim 4, it is characterised in that：Pass through remote control and infrared wireless communication device Near Field Communication connection is established, electrichydraulic control is carried out from moving device train to intelligence, the whole that global local operation can be achieved is moved Make function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370846.8A CN107571876A (en) | 2017-05-23 | 2017-05-23 | A kind of colliery downhole equipment train intelligent control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370846.8A CN107571876A (en) | 2017-05-23 | 2017-05-23 | A kind of colliery downhole equipment train intelligent control system |
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| Publication Number | Publication Date |
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| CN107571876A true CN107571876A (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710370846.8A Pending CN107571876A (en) | 2017-05-23 | 2017-05-23 | A kind of colliery downhole equipment train intelligent control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110244633A (en) * | 2019-06-25 | 2019-09-17 | 国家能源投资集团有限责任公司 | Long-range control method, the apparatus and system of equipment train |
| CN110737224A (en) * | 2019-10-30 | 2020-01-31 | 中铁隧道局集团有限公司 | Automatic detection control device for rail state of earth pressure balance shield tunnel storage battery locomotive and corresponding detection method |
| 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 |
| 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 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN110737224A (en) * | 2019-10-30 | 2020-01-31 | 中铁隧道局集团有限公司 | Automatic detection control device for rail state of earth pressure balance shield tunnel storage battery locomotive and corresponding detection method |
| 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 |
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Application publication date: 20180112 |