CN108174441A - The localization method and device of fully-mechanized mining working stent remote control manipulator - Google Patents
The localization method and device of fully-mechanized mining working stent remote control manipulator Download PDFInfo
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- CN108174441A CN108174441A CN201711309143.0A CN201711309143A CN108174441A CN 108174441 A CN108174441 A CN 108174441A CN 201711309143 A CN201711309143 A CN 201711309143A CN 108174441 A CN108174441 A CN 108174441A
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- 238000005065 mining Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 62
- 230000004807 localization Effects 0.000 title claims abstract description 37
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- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
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- 238000004364 calculation method Methods 0.000 abstract description 6
- 238000012360 testing method Methods 0.000 abstract description 5
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- 239000003245 coal Substances 0.000 description 9
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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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
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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Abstract
The present invention relates to a kind of localization method and device of fully-mechanized mining working stent remote control manipulator, method includes the following steps：Stent remote controler distributes label information for each bracket controller in preset communication distance, wherein each bracket controller in each bracket controller has unique label information；Each bracket controller determines each received signal strength value in the label information for receiving the distribution of stent remote controler, wherein each received signal strength value is corresponded with each label information；Maximum received signal strength value is found out, and label information corresponding with maximum received signal strength value is determined according to maximum received signal strength value；Position with the corresponding bracket controller of corresponding label information is determined according to corresponding label information；And the position of the location determination stent remote control manipulator according to corresponding bracket controller.The localization method of above-mentioned fully-mechanized mining working stent remote control manipulator, this method are interfered small during the test, and result of calculation is accurate.
Description
Technical field
The present invention relates to big datas to set technical field, more particularly to a kind of determining for fully-mechanized mining working stent remote control manipulator
Position method and apparatus.
Background technology
With being continuously increased for coal mining depth, production technique is continuously improved, and fully mechanized coal mining face is gradually to information
Change, automation, less peopleization even unmanned development.Hydraulic support is one of most important corollary equipment of fully mechanized coal mining face,
Generally use electrohydraulic control system controls hydraulic support the automation mechanized operation so as to fulfill fully-mechanized mining working.But with
The fully-mechanized mining working for electrohydraulic control system is relatively more, and work on the spot environment is changeable in addition, normal during the control of hydraulic support
Manual intervention is often needed, typically staff's hand-held remote controller carrys out (i.e. stent remote control manipulator) operation electrohydraulic controller so as to complete
The control of pairs of hydraulic support.However, during coal mining, stent remote control manipulator usually needs to follow coalcutter to move back
It is dynamic, therefore the position of remote control manipulator also often changes.In addition, fully-mechanized mining working is used respectively there are more stent remote controlers
In the action of hydraulic support in the segment of control different operating face, it can generate and interfere with each other when controlling hydraulic support action, hold
It easily causes hydraulic support and generates maloperation, consequently, it is possible to accidentally injuring stent remote control manipulator, there are larger security risks.Therefore,
The position for determining stent remote control manipulator is just particularly important.
At present, the personnel positioning apparatus of generally use fully-mechanized mining working determines the stent remote control manipulator on fully-mechanized mining working
Position, it is mainly current to obtain stent remote control manipulator come collecting work personnel portable positioning label using base station
Then the current position of stent remote control manipulator is sent to hydraulic bracket control system and performs the behaviour such as corresponding locking by position
Make.But there are multiple base stations in above-mentioned positioning device, in being repeatedly in communication with each other, be easy to cause information interference, so as to
Lead to position inaccurate.
Invention content
Based on this, it is necessary to there are problems that position inaccurate for the positioning device of current stent remote control manipulator, carry
For a kind of localization method and device of fully-mechanized mining working stent remote control manipulator.
A kind of localization method of fully-mechanized mining working stent remote control manipulator, includes the following steps：
Stent remote controler distributes label information for each bracket controller in preset communication distance, wherein each stent
Each bracket controller in controller has unique label information；
Each bracket controller determines that each receive is believed in the label information for receiving the stent remote controler distribution
Number intensity value, wherein each received signal strength value is corresponded with each label information；
Maximum received signal strength value is found out, and is determined and the maximum according to the received signal strength value of the maximum
The corresponding label information of received signal strength value；
Position with the corresponding corresponding bracket controller of label information is determined according to the corresponding label information
It puts；And the position of the location determination stent remote control manipulator according to the corresponding bracket controller.
A kind of localization method of fully-mechanized mining working stent remote control manipulator, includes the following steps：
Stent remote controler distributes label information for each bracket controller in preset communication distance, wherein each stent
Each bracket controller in controller has unique label information；
Each bracket controller determines that each receive is believed in the label information for receiving the stent remote controler distribution
Number intensity value, wherein each received signal strength value is corresponded with each label information；
Each label signal and each received signal strength value are sent to server by each bracket controller；
Each received signal strength value is compared by the server, finds out maximum received signal strength value, and
Label information corresponding with the received signal strength value of the maximum is determined according to the received signal strength value of the maximum；
The server determines and the corresponding corresponding stent of label information according to the corresponding label information
The position of controller；And the position of the location determination stent remote control manipulator according to the corresponding bracket controller.
A kind of localization method of fully-mechanized mining working stent remote control manipulator, includes the following steps：
The received signal strength value of each bracket controller is obtained, the received signal strength value is that each bracket controller is connecing
Receive what is determined during the label information that the remote controler in default communication range is sent, the received signal strength value is believed with the label
Breath corresponds；
Each received signal strength value is compared, finds out maximum received signal strength value, and according to it is described most
Big received signal strength value determines label information corresponding with the received signal strength value of the maximum；
Position with the corresponding corresponding bracket controller of label information is determined according to the corresponding label information
It puts；And the position of the location determination stent remote control manipulator according to the corresponding bracket controller.
A kind of positioning device of fully-mechanized mining working stent remote control manipulator, including：
Intensity value acquisition module, for obtaining the received signal strength value of each bracket controller, the received signal strength
Value is that each bracket controller is determined according to the label information that the remote controler in default communication range is sent, and the reception signal is strong
Angle value is corresponded with the label information；
Maximum value determining module for each received signal strength value to be compared, finds out maximum reception signal
Intensity value；
Label information determining module, for determining the reception with the maximum according to the received signal strength value of the maximum
The corresponding label information of signal strength values；
Bracket controller position determination module, for being determined and the corresponding label according to the corresponding label information
The position of the corresponding bracket controller of information；
Remote control manipulator's position determination module, for being remotely controlled people according to the location determination stent of the corresponding bracket controller
The position of member.
The localization method and device of above-mentioned fully-mechanized mining working stent remote control manipulator, is default first with stent remote controler
Communication distance in each bracket controller distribution label information, each bracket controller according to the label information of distribution confirm receive
Signal strength values；Each bracket controller (or each label information and each received signal strength value are sent to clothes by each bracket controller
Business device) or server each received signal strength value is compared, find out maximum received signal strength value, and according to maximum
Received signal strength value determines corresponding label information, confirms the corresponding stent control of label information according to corresponding label information
The position of device processed, it is according to the position of the location determination stent remote control manipulator of bracket controller, i.e., strong according to maximum reception signal
The position of bracket controller corresponding to angle value determines the position of stent remote control manipulator.The positioning side of above-mentioned stent remote control manipulator
Method and device are to determine that hand-held support is distant according to the intensity value of the signal of communication between stent remote controler and each bracket controller
The position of the personnel of device is controlled, this method is interfered small during the test, and result of calculation is accurate.
Description of the drawings
Fig. 1 is the structure diagram of the fully-mechanized mining working of the present invention；
Fig. 2 is the structure diagram of the fully-mechanized mining working of the present invention；
Fig. 3 is the flow diagram of the localization method of the fully-mechanized mining working stent remote control manipulator of the present invention；
Fig. 4 is the flow diagram of the localization method of the fully-mechanized mining working stent remote control manipulator of the present invention；
Fig. 5 is the flow diagram of the localization method of the fully-mechanized mining working stent remote control manipulator of the present invention；
Fig. 6 is the flow diagram of the localization method of the fully-mechanized mining working stent remote control manipulator of the present invention；
Fig. 7 is the flow of the positioning device of the fully-mechanized mining working stent remote control manipulator of the present invention in one of the embodiments
Schematic diagram.
Specific embodiment
Present disclosure is described in further detail below in conjunction with preferred embodiment and attached drawing.Obviously, hereafter institute
The embodiment of description is only used for explaining the present invention rather than limitation of the invention.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiments obtained without making creative work belong to what the present invention protected
Range.It should be noted that illustrating only part related to the present invention rather than full content for ease of description, in attached drawing.
Fig. 1 is the structure diagram of fully-mechanized mining working in the embodiment of the present invention, and fully-mechanized mining working stent of the invention is remotely controlled
The localization method of personnel can be applied to the fully-mechanized mining working that Fig. 1 is provided.With reference to figure 1, fully-mechanized mining working includes hydraulic support
110th, bracket controller 120 and stent remote controler 130, fully-mechanized mining working is typically provided with more hydraulic supports 110, wherein every
A bracket controller 120 is all correspondingly arranged on hydraulic support 110, bracket controller 120 is used to that hydraulic support 110 to be controlled to perform
Supporting of trying to stop people from fighting each other acts, and cooperation coalcutter is moved back and forth and mined between coal wall.It in addition, can between more bracket controllers 120
With by the communication of cable concatenation or by radio communication.Stent remote controler 130 has wireless communication function, can be with a certain range
Into row data communication between more interior bracket controllers 110, so as to which hydraulic support be controlled to perform phase according to remote control manipulator's demand
The coal mining supporting action answered.Bracket controller 120 mainly includes wireless receiving module 121 and logic main control module 122, wirelessly connects
Module 121 is received to be built in inside bracket controller 120, for stent remote controler 130 into row data communication, and communication data
Information is transmitted to logic main control module 122.Logic main control module 122 is used to calculate stent remote control manipulator (i.e. hand-held support remote controler
People) location information and processing stent control action information, calculate the position of stent remote control manipulator in logic main control module 122
Afterwards, bracket controller 120 where control current brackets remote control manipulator performs this locking, forbids controlled any operation, realization pair
The automatic positioning and safeguard protection of stent remote control manipulator.As shown in Fig. 2, in coal mining production process, multiple stent remote control manipulators
Hand-held remote controller walking tunnel inside hydraulic support, follows coalcutter to move back, and according to coal mining demand control liquid in real time
Stent is pressed to perform corresponding action.
In addition, network includes but not limited to used by being communicated between stent remote controler 130 and bracket controller 120
The wireless networks such as bluetooth, WiFi (adopting wireless fidelity technology), RFID (Radio Frequency Identification, radio frequency identification)
Network.
It should be appreciated that above-mentioned fully-mechanized mining working is not limited to above-mentioned structure, other modes are can also be, for example, also wrapping
Server 140 is included, server 140 receives the communication data of all bracket controllers 130 and stent remote controler 110, then to this
A little communication datas are handled, so as to complete the positioning to stent remote control manipulator.
Fig. 3 is the flow signal of the localization method of the fully-mechanized mining working stent remote control manipulator of the present invention in one embodiment
Figure, the present embodiment are illustrated from stent remote controler and each bracket controller bilateral angle.It is as shown in figure 3, of the invention
The localization method of fully-mechanized mining working stent remote control manipulator in embodiment, includes the following steps：
Step S110, stent remote controler distribute label information for each bracket controller in preset communication distance, wherein
Each bracket controller in each bracket controller has unique label information.
The preset communication distance is less than the arbitrary value in effective communication distance value, in actual application, branch
Frame remote control manipulator can set it by bracket controller according to the demand of oneself.In the present embodiment effectively
Communication distance value is typically according to stent remote controler and bracket controller radio transmitted power, information receiving sensitivity, work frequency
What the factors such as rate, signal receiving strength threshold value and frequency reception signal determined.In addition, have on a fully-mechanized mining working very much
A bracket controller (each bracket controller controls a hydraulic support) and multiple stent remote controlers, the remote control of each stent
Device can be established with multiple bracket controllers in communication range and be communicated, i.e., a stent remote controler can be to coping with a stent control
Device processed；But a bracket controller can only communicate each time with a stent remote controler foundation.In order to make it easy to understand, provide one
Detailed embodiment.Fully-mechanized mining working is included there are two stent remote controler A and B and 4 bracket controller, be denoted as respectively Q1,
Q2, Q3 and Q4, wherein at a time interior, stent remote controler A and bracket controller Q1, Q2 and Q3 are in preset communication distance
Interior, A communicates respectively with Q1, Q2 and Q3 foundation；Stent remote controler B and bracket controller Q4 is in preset communication distance simultaneously
Interior, B communicates with Q4 foundation.Before A and Q1, Q2 and Q3 do not release communication, even if B is moved to and Q1, Q2, Q3 are preset logical
In communication distance, it can not establish and communicate with Q1, Q2, Q3.Similarly, before B and Q4 do not release communication, though A be moved to
In the preset communication distances of Q4, it can not establish and communicate with Q4.It, can be same to avoid bracket controller by the way of above-mentioned communication
When be controlled by multiple stent remote controlers, when the operational order of multiple stent remote controlers differs, cause operation confusion, cause
Coal mining can not be normally carried out and lead to safety accident or even jeopardize stent remote control manipulator's life.
When stent remote controler communicates with each bracket controller foundation in preset communication distance or after establishing communication, it is
Each bracket controller distributes label information, and each bracket controller for being controlled by stent remote controler is carried out with the label information of distribution
Mark, the label information of wherein each bracket controller is unique.Such as stent remote controler A and n platform bracket controllers
Establish communication, stent remote controler A for n platforms bracket controller distribute label information, respectively A1, A2 ..., An, wherein the 1st
The label information of bracket controller is A1, the label information of the 2nd bracket controller be A2 ... n-th bracket controller of
Label information is An.Similarly, the label information of n platform bracket controllers to communicate with stent remote controler B foundation is B1~Bn.
Step S120, each bracket controller determine each reception signal in the label information for receiving the distribution of stent remote controler
Intensity value, wherein each received signal strength value is corresponded with each label information.
Specifically, each bracket controller determines received signal strength value when receiving label information, wherein each label
Information has corresponding received signal strength value.Therefore, each bracket controller is all stored with label information and received signal strength
Value.
Step S130, each bracket controller find out maximum received signal strength value, and strong according to maximum reception signal
Angle value determines label information corresponding with maximum received signal strength value.
Step S140, each bracket controller determine and the corresponding branch of corresponding label information according to corresponding label information
The position of frame controller；And the position of the location determination stent remote control manipulator according to corresponding bracket controller.
Specifically, all received signal strength values are compared by each bracket controller, and it is strong to find out maximum reception signal
Angle value.The maximum corresponding label information of received signal strength value is found out again, it is corresponding according to maximum received signal strength value
Label information determines the position of bracket controller corresponding with its label information, finally according to the position of corresponding bracket controller
To determine the position of stent remote control manipulator.Wherein, all received signal strength values are compared, find out maximum reception information
The method of intensity value can be various, can be that each bracket controller is corresponding with itself label information by the label information of itself
Received signal strength value be sent to any one bracket controller in each bracket controller, any one bracket controller pair
All received signal strength values are compared by any one bracket controller, find out maximum reception information strength value.
There can be multiple bracket controllers to be compared all received signal strength values, find out maximum reception information strength
Value.Alternatively it is also possible to it is that each bracket controller is strong by the label information of itself reception signal corresponding with itself label information
Angle value is sent to server, and all received signal strength values are compared any one bracket controller, looked for by server
Go out maximum reception information strength value.
The localization method of above-mentioned fully-mechanized mining working stent remote control manipulator is preset communication first with stent remote controler
Each bracket controller distribution label information in distance, each bracket controller confirm that reception signal is strong according to the label information of distribution
Angle value；Each received signal strength value is compared by each bracket controller, finds out maximum received signal strength value, and according to most
Big received signal strength value determines corresponding label information, confirms the corresponding branch of label information according to corresponding label information
The position of frame controller according to the position of the location determination stent remote control manipulator of bracket controller, i.e., is believed according to maximum reception
The position of number bracket controller corresponding to intensity value determines the position of stent remote control manipulator.Above-mentioned stent remote control manipulator's determines
Position method and apparatus are that hand-held branch is determined according to the intensity value of the signal of communication between stent remote controler and each bracket controller
The position of the personnel of frame remote controler, this method are interfered small during the test, and result of calculation is accurate.
Fig. 4 is the flow signal of the localization method of the fully-mechanized mining working stent remote control manipulator of the present invention in one embodiment
Figure, the present embodiment are illustrated from stent remote controler, each bracket controller and three side angle degree of server.As shown in figure 4,
The localization method of fully-mechanized mining working stent remote control manipulator in the embodiment of the present invention, includes the following steps：
Step S210, stent remote controler distribute label information for each bracket controller in preset communication distance, wherein
Each bracket controller in each bracket controller has unique label information；
Step S220, each bracket controller determine each reception signal in the label information for receiving the distribution of stent remote controler
Intensity value, wherein each received signal strength value is corresponded with each label information；
Each label signal and each received signal strength value are sent to server by step S230, each bracket controller；
Each received signal strength value is compared by step S240, server, finds out maximum received signal strength value, and
Label information corresponding with maximum received signal strength value is determined according to maximum received signal strength value；
Step S250, server determine that stent corresponding with corresponding label information controls according to corresponding label information
The position of device；And the position of the location determination stent remote control manipulator according to corresponding bracket controller.
Specifically, each bracket controller determines that each reception signal is strong in the label information for receiving the distribution of stent remote controler
After angle value, each label signal and each received signal strength value are sent to server, server is by each received signal strength value
It is compared, finds out maximum received signal strength value, and determine and maximum reception according to maximum received signal strength value
The corresponding label information of signal strength values；Server determines corresponding with corresponding label information according to corresponding label information
The position of bracket controller；And the position of the location determination stent remote control manipulator according to corresponding bracket controller.Server connects
Each label information and received signal strength value corresponding with each label information are received, each received signal strength value is compared, i.e.,
Data are focused on, maximum received signal strength value can be rapidly found out, and then can quickly determine stent remote control manipulator
Position.
Each bracket controller is also wrapped in the label information for receiving the distribution of stent remote controler in one of the embodiments,
It includes：
Respective number information and control authority are sent to stent remote controler by each bracket controller；
Stent remote controler obtains each number information and each control authority, and is sent according to each number information and each control authority
Corresponding control instruction is to each bracket controller；
Each bracket controller performs corresponding operation according to corresponding control instruction.
Specifically, stent remote controler communicates with the foundation of each bracket controller, and distributes label information for each bracket controller,
Each bracket controller is sent to stent remote controler when receiving label information, by respective number information and control authority.Branch
Frame remote controler sends corresponding control instruction according to number information and control authority to corresponding bracket controller, receives corresponding
The bracket controller of control instruction can perform corresponding operation according to corresponding control instruction.Number information is mainly used for area
Divide the information of each bracket controller, can be the number information of pure digi-tal composition or the number letter of spcial character composition
The number information that breath or number are combined into special code groups.Control authority is used to determine stent remote controler to stent
Controller carries out the range of control operation.The number of itself and control authority are sent to stent remote controler by each bracket controller,
Stent remote controler is facilitated to carry out information inquiry to corresponding bracket controller, and sends corresponding control instruction and is controlled to stent
Device, and then hydraulic support is controlled to perform corresponding operating.
It further includes in one of the embodiments,：Preset communication distance value is determined by following steps：
According to the information transmission power of stent remote controler, working frequency and each bracket controller information receiving sensitivity
Preset communication distance is determined with information strength threshold value is received.
Specifically, before stent remote controler communicates with each bracket controller foundation in preset communication distance, each
Frame controller determines preset communication distance.Each bracket controller or server are according to the information transmission power of stent remote controler
(the stent remote controler of different model has corresponding information transmission power), the frequency of stent remote controler work and each stent
The sensitivity and each bracket controller that controller information receives receive the threshold value of information strength to determine maximum efficient communication
Then distance determines preset communication distance according to maximum effective communication distance.Wherein, preset communication distance can root
It is set according to actual bracket demand for control, in order to ensure that the timeliness of communication and communication quality, preset communication distance are less than
Maximum effective communication distance.Using the method for determination of above-mentioned preset communication distance, can realize to stent remote control manipulator
The high efficiency and high quality of the information interaction of stent remote controler and each bracket controller can be effectively ensured while positioning, so as to
Realize try to stop people from fighting each other supporting control of the stent remote controler to hydraulic support.
Fig. 5 is the flow of the localization method of the fully-mechanized mining working stent remote control manipulator of the present invention in one of the embodiments
Schematic diagram, the present embodiment are illustrated from each bracket controller or server unilateral side angle.It is of the invention with reference to figure 5
The localization method of fully-mechanized mining working stent remote control manipulator in embodiment, includes the following steps：
Step S310, obtains the received signal strength value of each bracket controller, and received signal strength value is each stent control
Device determines that received signal strength value and label information are one by one according to the label information that the remote controler in default communication range is sent
It is corresponding；
Each received signal strength value is compared by step S320, finds out maximum received signal strength value, and according to most
Big received signal strength value determines label information corresponding with maximum received signal strength value；
Step S330 determines the position with the corresponding bracket controller of corresponding label information according to corresponding label information
It puts；And the position of the location determination stent remote control manipulator according to corresponding bracket controller.
In the present embodiment, it is write from each bracket controller or server unilateral side angle.Wherein, each stent control
Device or server processed obtain the received signal strength value of each bracket controller, wherein received signal strength value with it is preset communicate away from
It is corresponded from the label information that interior stent remote controler is sent.Then, each bracket controller or server are to being owned
Received signal strength value is compared, and finds out maximum received signal strength value, and true according to maximum received signal strength value
Fixed label information corresponding with maximum received signal strength value；It is determined and corresponding label information according to corresponding label information
The position of corresponding bracket controller；And the position of the location determination stent remote control manipulator according to corresponding bracket controller.
The localization method of above-mentioned stent remote control manipulator is according to the strong of the communication information between stent remote controler and each bracket controller
Angle value (i.e. received signal strength value) determines the position of the personnel of hand-held support remote controler, and this method is interfered during the test
Small, result of calculation is accurate.In addition, this method calculating process is very simple and convenient.
In one of the embodiments, from each bracket controller unilateral side angle, as shown in fig. 6, fully-mechanized mining working stent is distant
The localization method of control personnel, the process for obtaining the received signal strength value of each bracket controller include：
Step S111, each bracket controller receive the label information that default communication range inner support remote controler is sent, wherein
Each bracket controller has unique label information.
Step S112, each bracket controller determines received signal strength value when receiving label information, wherein receiving signal
Intensity value is corresponded with the label information.
Specifically, when each bracket controller communicates with the stent remote controler foundation in preset communication distance or after communication,
The label information of stent remote controler distribution is received, wherein each bracket controller has unique label information.It is marked receiving
When signing information, received signal strength value is determined according to label information.Since each bracket controller has, there are one labels to believe
Breath, each label information are corresponding with received signal strength value.
The present embodiment is described from each bracket controller unilateral side angle in one of the embodiments, is finding out maximum
Received signal strength value the step of in, including：
Metal pylon controller obtains the label information of each bracket controller and the corresponding received signal strength value；
Each received signal strength value is compared by Metal pylon controller, finds out maximum received signal strength
Value, and determine that label corresponding with the received signal strength value of the maximum is believed according to the received signal strength value of the maximum
Breath.
Metal pylon controller determines corresponding with the corresponding label information according to the corresponding label information
The position of the bracket controller, and the position of the location determination stent remote control manipulator according to the corresponding bracket controller.
Specifically, each bracket controller is by the label information of itself received signal strength value corresponding with itself label information
Any one bracket controller (i.e. Metal pylon controller) being sent in each bracket controller.Any one bracket controller
In logic main control module all received signal strength values are compared, find out maximum received signal strength value.It looks for again
Go out the maximum corresponding label information of received signal strength value, it is true according to the maximum corresponding label information of received signal strength value
The position of fixed bracket controller corresponding with its label information, finally determines stent according to the position of corresponding bracket controller
The position of remote control manipulator.
For the ease of understanding said program, a detailed embodiment is provided.The stent remote controler A and n in communication distance
Platform bracket controller establishes communication, and stent remote controler A distributes label information An, An for n platforms bracket controller and represents stent remote control
Device A is the label information of n-th bracket controller distribution, i.e., the label information of the 1st bracket controller is A1, the 2nd stent
The label information of controller be A2 ... the label information of n-th bracket controller of is An.Wherein n platforms bracket controller is connecing
When receiving label information, determine that received signal strength value Rn, Rn represent that n-th bracket controller is received when label information is An and receive
Signal strength values are Rn, i.e. the 1st bracket controller receive label information strength when label information is A1 be R1, the 2nd stent
It is R2 that controller, which receives label information strength when label information is A2, and so on, n-th bracket controller receives label information
Label information strength is Rn during for An.Each bracket controller is by the label information of itself and corresponding received signal strength value
Be sent to the 1st bracket controller, i.e., by A1, A2 ..., An and R1, R2 ..., Rn be all sent to the control of the 1st stent
Device.1st bracket controller by R1, R2 ..., Rn be compared, find out maximum value, be denoted as Rmax.Assuming that Rn is maximum, then
Rmax=Rn.The corresponding label informations of Rn are An, and An corresponds to n-th bracket controller, wherein the position of n-th bracket controller
For a, then the position of stent remote controler A can be determined according to a, and then determines that (i.e. hand-held support is remotely controlled stent remote control manipulator
The personnel of device A) position.
The localization method of above-mentioned fully-mechanized mining working stent remote control manipulator, each bracket controller is by each label information and respectively connects
It receives signal strength values and is sent to any one bracket controller, any one bracket controller carries out each received signal strength value
Compare, find out maximum received signal strength value, and corresponding label information, root are determined according to maximum received signal strength value
The position of the corresponding bracket controller of label information is confirmed according to corresponding label information, according to the location determination of bracket controller
The position of stent remote control manipulator, i.e., the position of bracket controller determines stent according to corresponding to maximum received signal strength value
The position of remote control manipulator.The localization method of above-mentioned stent remote control manipulator is according between stent remote controler and each bracket controller
The intensity value of the communication information determine the position of the personnel of hand-held support remote controler, this method interfere during the test it is small,
Result of calculation is accurate.In addition, this method calculating process is very simple and convenient.
The present embodiment is described from each bracket controller unilateral side angle in one of the embodiments, finds out most
It is further included in the step of big received signal strength value：
The current brackets controller to communicate with bracket controller receives label signal and the reception of a upper bracket controller
Signal strength values, and the received signal strength value of itself and the received signal strength value of a upper bracket controller are compared
Compared with, and the label information corresponding to big received signal strength value and big received signal strength value is sent to next
Frame controller；
Received signal strength value is repeated to compare and big received signal strength value is sent to next stent control
The step of device processed, is until find out maximum received signal strength value.
Specifically, current brackets controller is any one bracket controller in each bracket controller, current brackets control
Device processed receives the label signal and received signal strength value of a upper bracket controller, and by the received signal strength value of itself with
The received signal strength value of a upper bracket controller is compared, and big received signal strength value and big reception are believed
Label information corresponding to number intensity value is sent to next bracket controller；Next stent is controlled the reception signal of itself
Intensity value finds out big received signal strength value compared with the received signal strength value of the current brackets controller received, and
It by the big next bracket controller of received signal strength value sending value, so repeats always, until finding out maximum reception letter
Number intensity value.
In a kind of optional embodiment, the left hand edge bracket controller that communicates with stent remote controler is by the label of itself
Information and the label information intensity value of itself are sent to first bracket controller on the right side of left hand edge bracket controller, right side
First bracket controller carries out the label information intensity value of left hand edge bracket controller and the label information intensity value of itself
Compare, and the label information corresponding to big label information intensity value and big label information intensity value is sent to left hand edge
Second bracket controller on the right side of bracket controller.Repeat that label information intensity value compares and big label information is strong
The step of angle value is sent is up to the label information corresponding to by big label information intensity value and big label information intensity value
Right hand edge bracket controller is sent to, finds out maximum label information intensity value.
Specifically, label information is sent to each bracket controller by any one bracket controller in each bracket controller
(other bracket controllers i.e. except itself), if a bracket controller in each bracket controller receives only right side
(the label information of same type is controlled by the bracket controller label information of same stent remote controler, such as A1 to label information
~An), then can determine that the bracket controller controlled by current brackets remote controler under left hand edge bracket controller；If each stent
A bracket controller in controller receives only the label information of left side same type, then can determine that the bracket controller to work as
Fore-stock remote controler control under right hand edge bracket controller.Left hand edge bracket controller is label information Am (its of itself
Middle m=1,2,3 ... .., n) and received signal strength value Rm (wherein m=1,2,3 ... .., n) side direction of turning right bracket controller
(i.e. m+1 bracket controllers) is sent, and m+1 bracket controllers are again by by the received signal strength value Rm+1 of itself and m stent controls
The received signal strength value Rm of device processed is compared, if Rm>Rm+1, then Rmax=Rm, while the label of m bracket controllers is believed
Breath Am and received signal strength value Rm is transmitted to next bracket controller, on the contrary then Rmax=Rm+1, while the label of itself
Information Am+1 and received signal strength value Rm+1 are sent to m+2 bracket controllers, until being dealt into right hand edge bracket controller,
By the method, received signal strength value Rmax maximum in lower n platforms controller is controlled so as to find out current brackets remote controler
Representative bracket controller, at the same the position of the bracket controller representated by maximum received signal strength value Rmax be exactly when
Position where fore-stock remote controler.It is above-mentioned when determining maximum received signal strength value, using the branch from leftmost edge
The received signal strength value of frame controller starts, and is compared successively with the received signal strength value of right side bracket controller, one
Aspect can rapidly find out maximum received signal strength value；On the other hand, each bracket controller all carries out data calculating, and arbitrary
One bracket controller calculates all data and compares the calculation amount for reducing bracket controller.
It should be appreciated that the method for the received signal strength value of above-mentioned determining maximum is not limited in above-mentioned mode.Also may be used
With since the received signal strength value of right hand edge bracket controller, the label information with left side brackets controller is compared successively
Compared with so as to find out maximum received signal strength value.Alternatively, it is also possible to from the received signal strength of any one bracket controller
Value starts, and is compared respectively with the received signal strength value to the left with right side, and the reception of left side and right side maximum respectively is believed
Number intensity value, the then relatively received signal strength value of left side and right side maximum, so as to find out the received signal strength value of maximum.
The present embodiment is described from each bracket controller or server unilateral side angle in one of the embodiments,
, it further includes：
According to the information transmission power of stent remote controler, working frequency and each bracket controller information receiving sensitivity
Preset communication distance is determined with information strength threshold value is received.
Specifically, before stent remote controler communicates with each bracket controller foundation in preset communication distance, each
Frame controller or server determine preset communication distance.Each bracket controller or server are according to the information of stent remote controler
Transmission power (the stent remote controler of different model has corresponding information transmission power), the frequency of stent remote controler work, with
And the sensitivity that receives of each bracket controller information and each bracket controller receive the threshold value of information strength to determine maximum
Then effective communication distance determines preset communication distance according to maximum effective communication distance.Wherein, it is preset communication away from
From can be set according to actual bracket demand for control, in order to ensure the timeliness of communication and communication quality, preset communication away from
From the effective communication distance for being less than maximum.Using the method for determination of above-mentioned preset communication distance, can realize to stent
The high efficiency and height of the information interaction of stent remote controler and each bracket controller can be effectively ensured in remote control manipulator while positioning
Quality, so as to fulfill try to stop people from fighting each other supporting control of the stent remote controler to hydraulic support.
The step of receiving the label information that default communication range inner support remote controler is sent in one of the embodiments,
In, it further includes：
Bracket controller sends number information and control authority to stent remote controler；
Bracket controller receives the corresponding control instruction that stent remote controler is determined according to number information and control authority, and
Corresponding operation is performed according to corresponding control instruction.
The embodiment is illustrated from each bracket controller unilateral side, and stent remote controler is established logical with each bracket controller
After letter, respective number information and control authority are sent to stent remote controler by each bracket controller.Stent remote controler is according to volume
Number information and control authority send corresponding control instruction to corresponding bracket controller, receive the stent of corresponding control instruction
Controller can perform corresponding operation according to corresponding control instruction.Number information is mainly used for distinguishing each bracket controller
Information, can be pure digi-tal composition number information or spcial character composition number information or number
The number information being combined into special code groups.Control authority is used to determine that stent remote controler carries out control behaviour to bracket controller
The range of work.The number of itself and control authority are sent to stent remote controler by each bracket controller, facilitate stent remote controler pair
Corresponding bracket controller carries out information inquiry, and sends corresponding control instruction to bracket controller, and then control hydraulic pressure branch
Frame performs corresponding operating.
According to the localization method of the fully-mechanized mining working stent remote control manipulator of the invention described above, the present invention also provides a kind of fully mechanized minings
The positioning device of force piece remote control manipulator, below in conjunction with the accompanying drawings and preferred embodiment is to fully-mechanized mining working stent of the invention
The positioning device of remote control manipulator is described in detail.
Fig. 7 is the structural representation of the positioning device of the fully-mechanized mining working stent remote control manipulator of the present invention in one embodiment
Figure.The present embodiment is described from each bracket controller or server unilateral side.As shown in fig. 7, the working face in the embodiment
The positioning device of face stent remote control manipulator, including：
Intensity value acquisition module 10, for obtaining the received signal strength value of each bracket controller, received signal strength value
The label information that be each bracket controller send according to the remote controler in default communication range determines, received signal strength value with
Label information corresponds；
For each received signal strength value to be compared, it is strong to find out maximum reception signal for maximum value determining module 20
Angle value；
Label information determining module 30 is strong with maximum reception signal for being determined according to maximum received signal strength value
The corresponding label information of angle value；
Bracket controller position determination module 40, for being determined and corresponding label information phase according to corresponding label information
The position of corresponding bracket controller；
Remote control manipulator's position determination module 50, for the location determination stent remote control manipulator according to corresponding bracket controller
Position.
Intensity value acquisition module further includes in one of the embodiments,：Label information receiving module and intensity value determine
Module,
Label information receiving module, for receiving the label information that default communication range inner support remote controler is sent, wherein
Each bracket controller has unique label information；
Intensity value determining module, for determining received signal strength value, wherein received signal strength value according to label information
It is corresponded with label information.
It further includes in one of the embodiments,
Information receiving module, it is maximum for obtaining the label information of each bracket controller and corresponding received signal strength value
It is worth determining module, is additionally operable to each received signal strength value being compared, finds out maximum received signal strength value；
Label information determining module, for being determined and maximum received signal strength according to maximum received signal strength value
It is worth corresponding label information；
Bracket controller position determination module determines corresponding with corresponding label information according to corresponding label information
The position of bracket controller.
Remote control manipulator's position determination module, for the location determination stent remote control manipulator's according to corresponding bracket controller
Position.
It further includes in one of the embodiments,：
Intensity value comparison module, the current brackets controller for communicating with the bracket controller receive a upper stent
The label signal of controller and received signal strength value, and by the received signal strength value of itself and a upper bracket controller
Received signal strength value is compared, and by the big received signal strength value and the big received signal strength value institute
Corresponding label information is sent to next bracket controller；
Maximum value determining module, for repeat received signal strength value compare and by the big reception signal it is strong
Angle value is sent to the step of next bracket controller until finding out maximum received signal strength value.
It further includes in one of the embodiments,：
Signal and permission sending module, for sending number information and control authority to stent remote controler.
Control instruction receiving module is determined for receiving stent remote controler according to number information and control authority corresponding
Control instruction；
Operation executing module, for performing corresponding operation according to corresponding control instruction.
The positioning device of above-mentioned fully-mechanized mining working stent remote control manipulator can perform the fully mechanized mining work that the embodiment of the present invention is provided
Make the localization method of face stent remote control manipulator, have the corresponding function module of execution method and advantageous effect.As for wherein each work(
Processing method performed by energy module, such as intensity value acquisition module 10, bracket controller position determination module 40, can refer to
The description in embodiment of the method is stated, is no longer repeated herein.
The alignment system of above-mentioned fully-mechanized mining working stent remote control manipulator can perform the fully mechanized mining work that the embodiment of the present invention is provided
Make the localization method of face stent remote control manipulator, have the corresponding advantageous effect of execution method.It can refer in above method embodiment
Description, no longer repeated herein.
Each technical characteristic of above example can be combined arbitrarily, to make description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present contradiction,
All it is considered to be the range of this specification record.
Above example only expresses the several embodiments of the present invention, and description is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, these belong to protection scope of the present invention.
Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of localization method of fully-mechanized mining working stent remote control manipulator, which is characterized in that include the following steps：
Stent remote controler distributes label information for each bracket controller in preset communication distance, wherein each stent control
Each bracket controller in device has unique label information；
Each bracket controller determines that each reception signal is strong in the label information for receiving the stent remote controler distribution
Angle value, wherein each received signal strength value is corresponded with each label information；
Maximum received signal strength value is found out, and determines to connect with described maximum according to the received signal strength value of the maximum
Receive the corresponding label information of signal strength values；
Position with the corresponding corresponding bracket controller of label information is determined according to the corresponding label information；And
According to the position of the location determination stent remote control manipulator of the corresponding bracket controller.
2. a kind of localization method of fully-mechanized mining working stent remote control manipulator, which is characterized in that include the following steps：
Stent remote controler distributes label information for each bracket controller in preset communication distance, wherein each stent control
Each bracket controller in device has unique label information；
Each bracket controller determines that each reception signal is strong in the label information for receiving the stent remote controler distribution
Angle value, wherein each received signal strength value is corresponded with each label information；
Each label signal and each received signal strength value are sent to server by each bracket controller；
Each received signal strength value is compared by the server, finds out maximum received signal strength value, and according to
The received signal strength value of the maximum determines label information corresponding with the received signal strength value of the maximum；
The server determines to control with the corresponding corresponding stent of label information according to the corresponding label information
The position of device；And the position of the location determination stent remote control manipulator according to the corresponding bracket controller.
3. the localization method of fully-mechanized mining working stent remote control manipulator according to claim 1 or 2, which is characterized in that described
Each bracket controller is further included in the label information for receiving the stent remote controler distribution：
Respective number information and control authority are sent to the stent remote controler by each bracket controller；
The stent remote controler obtains each number information and each control authority, and according to each number information and each control
Permission sends corresponding control instruction to each bracket controller；
Each bracket controller performs corresponding operation according to corresponding control instruction.
4. a kind of localization method of fully-mechanized mining working stent remote control manipulator, which is characterized in that include the following steps：
The received signal strength value of each bracket controller is obtained, the received signal strength value is that each bracket controller is receiving in advance
If being determined during the label information that the remote controler in communication range is sent, the received signal strength value and the label information one
One corresponds to；
Each received signal strength value is compared, finds out maximum received signal strength value, and according to the maximum
Received signal strength value determines label information corresponding with the received signal strength value of the maximum；
Position with the corresponding corresponding bracket controller of label information is determined according to the corresponding label information；And
According to the position of the location determination stent remote control manipulator of the corresponding bracket controller.
5. the localization method of fully-mechanized mining working stent remote control manipulator according to claim 4, which is characterized in that obtain each
The process of the received signal strength value of frame controller：Including：
Each bracket controller receives the label information that default communication range inner support remote controler is sent, wherein each stent control
Utensil has unique label information；
Each bracket controller determines received signal strength value when receiving the label information, wherein the reception signal is strong
Angle value is corresponded with the label information.
6. the localization method of fully-mechanized mining working stent remote control manipulator according to claim 5, which is characterized in that find out maximum
Received signal strength value the step of include：
Metal pylon controller obtains the label information of each bracket controller and the corresponding received signal strength value；
Each received signal strength value is compared by the Metal pylon controller, finds out maximum received signal strength
Value, and determine that label corresponding with the received signal strength value of the maximum is believed according to the received signal strength value of the maximum
Breath；
The Metal pylon controller determines corresponding with the corresponding label information according to the corresponding label information
The position of the bracket controller, and the position of the location determination stent remote control manipulator according to the corresponding bracket controller.
7. the localization method of fully-mechanized mining working stent remote control manipulator according to claim 5, which is characterized in that find out maximum
Received signal strength value the step of in：It further includes：
The current brackets controller to communicate with the bracket controller receives label signal and the reception of a upper bracket controller
Signal strength values, and the received signal strength value of itself and the received signal strength value of a upper bracket controller are compared
Compared with, and the label information corresponding to the big received signal strength value and the big received signal strength value is sent to
Next bracket controller；
Received signal strength value is repeated to compare and the big received signal strength value is sent to next stent control
The step of device processed, is until find out maximum received signal strength value.
8. the localization method of fully-mechanized mining working stent remote control manipulator according to claim 5, which is characterized in that further include：
It is received according to the information of the information transmission power of the stent remote controler, working frequency and each bracket controller
Sensitivity determines the preset communication distance with information strength threshold value is received.
9. the localization method of fully-mechanized mining working stent remote control manipulator according to claim 5, which is characterized in that each stent control
Device processed was received in the step of label information that default communication range inner support remote controler is sent, and was further included：
Each bracket controller sends number information and control authority to the stent remote controler；
Each bracket controller reception stent remote controler determines corresponding according to the number information and the control authority
Control instruction, and corresponding operation is performed according to corresponding control instruction.
10. a kind of positioning device of fully-mechanized mining working stent remote control manipulator, which is characterized in that including：
Intensity value acquisition module, for obtaining the received signal strength value of each bracket controller, the received signal strength value is
Each bracket controller determines according to the label information that the remote controler in default communication range is sent, the received signal strength value
It is corresponded with the label information；
Maximum value determining module for each received signal strength value to be compared, finds out maximum received signal strength
Value；
Label information determining module, for determining the reception signal with the maximum according to the received signal strength value of the maximum
The corresponding label information of intensity value；
Bracket controller position determination module, for being determined and the corresponding label information according to the corresponding label information
The position of corresponding bracket controller；
Remote control manipulator's position determination module, for the location determination stent remote control manipulator's according to the corresponding bracket controller
Position.
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