CN109915193A - Hydraulic bracket control system - Google Patents
Hydraulic bracket control system Download PDFInfo
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- CN109915193A CN109915193A CN201910259169.1A CN201910259169A CN109915193A CN 109915193 A CN109915193 A CN 109915193A CN 201910259169 A CN201910259169 A CN 201910259169A CN 109915193 A CN109915193 A CN 109915193A
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- QSNQXZYQEIKDPU-UHFFFAOYSA-N [Li].[Fe] Chemical compound [Li].[Fe] QSNQXZYQEIKDPU-UHFFFAOYSA-N 0.000 description 1
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Abstract
The embodiment of the invention discloses a kind of hydraulic bracket control systems comprising control device, monitoring device and host computer, control device include controller and electromagnetic valve driver, and monitoring device includes video camera；Controller includes communication module and processor module, and video camera obtains the video information of coal working face and/or coalcutter operation, and video information is sent to host computer through communication module；Host computer shows the video information, and receives the input instruction of user's input；Communication module receives input instruction, and input instruction is sent to processor module, the communication module is connect with host computer by least two communication links, the at least two communication link redundancy communications, processor module receives the input instruction, and control electromagnetic valve driver work is instructed according to input, hydraulic support is acted with drive magnetic valve.It can be improved the transmission speed and transmission stability of hydraulic support input instruction using the embodiment of the present invention.
Description
Technical field
The present invention relates to hydraulic support technical fields, and in particular to a kind of hydraulic bracket control system.
Background technique
Industrial Ethernet technology continues to develop, real-time of intelligent, the unmanned coal mining to communication link, data band
Width has higher requirement, and original industrial field bus is not able to satisfy the technical requirements of Intelligentized mining.
Hydraulic support in the prior art is controlled by individual communications links, individual communications links stability compared with
Difference cannot control hydraulic support movement well, and be difficult to meet the requirement of data bandwidth.
Summary of the invention
In view of this, the embodiment of the present invention proposes a kind of hydraulic bracket control system, to solve the above technical problems.
The embodiment of the present invention proposes a kind of hydraulic bracket control system comprising: control device, monitoring device and upper
Machine, the control device include controller and electromagnetic valve driver, and the monitoring device includes video camera；The controller includes
Communication module and processor module, video camera obtain the video information of coal working face and/or coalcutter operation, and by the view
Frequency information is sent to host computer through communication module；The host computer shows the video information, and receives the input of user's input
Instruction；Communication module receives the input instruction that host computer is sent, and input instruction is sent to processor module, the communication mould
Block is connect with host computer by least two communication links, at least two communication link redundancy communications, the processor die
Block receives the input instruction, and instructs control electromagnetic valve driver work according to input, makes hydraulic support with drive magnetic valve
Movement.
Optionally, the electromagnetic valve driver includes processor unit, communication unit, the first half-bridge drive circuit, second
Half-bridge drive circuit and energy storage part, the energy storage part include the energy-storage units for storing electric energy, and the energy-storage units are used to be electromagnetism
The opening and closing of valve provide electric energy；The of the energy-storage units and the solenoid valve is arranged in first half-bridge drive circuit
On the power supply circuit of one coil, the on-off of first coil is controlled；Second half-bridge drive circuit is arranged in the energy-storage units
On the power supply circuit of the second coil of the solenoid valve, the on-off of the second coil is controlled；The communication unit is for receiving control
The control instruction that device processed is sent, and the control instruction is sent to processor unit, the processor unit receives the control
System instruction, and control the first half-bridge drive circuit and the work of the second half-bridge drive circuit one by one according to control instruction, so that electromagnetism
Valve events.
Optionally, first half-bridge drive circuit and the second half-bridge drive circuit include driving logic circuit, upper mos
Pipe and lower mos pipe, driving logic circuit are connect with the grid of the grid of upper mos pipe and lower mos pipe respectively, and driving logic circuit is used
In the control instruction for receiving processor unit and sending, and control according to control instruction mos one by one and manages and the on-off of lower mos pipe,
The energy-storage units are powered to the drain electrode of the upper mos pipe, and the source electrode of the upper mos pipe and the drain electrode of lower mos pipe pass through control
Circuit connection, the source electrode ground connection of the lower mos pipe, the first end of the first coil are connected to first half-bridge drive circuit
Control circuit on, the first end of second coil is connected in the control circuit of second half-bridge drive circuit, described
The second end of first coil, the second end of second coil are used to be grounded or connect with energy-storage units.
Optionally, energy storage part further includes battery management circuit, and the battery management circuit is for reading filling for energy-storage units
Discharge parameter, and management of charging and discharging is carried out to energy-storage units according to the charge-discharge parameter.
Optionally, energy storage part further includes power converting circuit, and the power converting circuit is for controlling energy-storage units output
Burning voltage.
Optionally, the controller further includes reservoir, and the communication module real-time reception graphical programming software is write
Program software, and described program software is sent to the memory, the memory real-time storage described program software, institute
The program software in processor module reading memory is stated, and in the memory by described program software installation.
Optionally, the controller further includes personnel positioning module, and personnel positioning module uses at least two localization methods
The location information of staff is obtained, and the location information is sent to processor module, wherein at least two kinds of localization methods
The location information of acquisition is mutually redundant backup.
Optionally, the monitoring device further include: sensor, the sensor obtain the posture information of hydraulic support, and
The posture information is sent to controller, controller works according to posture information and input instruction control electromagnetic valve driver.
Optionally, the controller includes data acquisition module, sensor described in data collecting module collected, communication mould
Block, processor module, electromagnetic valve driver current information and/or information of voltage, and current information and/or information of voltage are sent out
It send to processor module.
Optionally, at least two communication links include two-wire CAN industrial field bus and two-wire Industrial Ethernet bus,
In, two-wire CAN industrial field bus is communicated using proprietary protocol.
Hydraulic bracket control system provided in an embodiment of the present invention passes through setting control device, monitoring device and host computer,
Host computer is connect with communication module by least two communication links, and the transmission speed of hydraulic support input instruction not only can be improved
And transmission stability, real-time, the reliability of hydraulic support control are improved, the requirement of data bandwidth can be also met.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the hydraulic bracket control system of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the controller of the embodiment of the present invention.
Fig. 3 is the controller of the embodiment of the present invention and the connection schematic diagram of host computer.
Fig. 4 is the structural schematic diagram of the electromagnetic valve driver of the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of the energy storage part of the embodiment of the present invention.
Fig. 6 is the circuit diagram of the first half-bridge drive circuit of the embodiment of the present invention.
Fig. 7 is that the electromagnetic valve driver of the embodiment of the present invention uses the circuit diagram of the common anode way of output.
Fig. 8 is that the electromagnetic valve driver of the embodiment of the present invention uses the circuit diagram of the common cathode way of output.
Specific embodiment
Below in conjunction with attached drawing and specific embodiment, technical solution of the present invention is described in detail.It is wherein identical
Components are presented with like reference characters.It should be noted that word "front", "rear" used in the following description, " left side ",
" right side ", "up" and "down" refer to that the direction in attached drawing, word "inner" and "outside" are referred respectively to towards or away from particular elements
The direction of geometric center.
Fig. 1 shows the structural schematic diagram of the hydraulic bracket control system of the embodiment of the present invention, and Fig. 2 shows realities of the present invention
The structural schematic diagram of the controller of example is applied, Fig. 3 shows the controller of the embodiment of the present invention and the structural schematic diagram of host computer.Such as
Shown in Fig. 1-3, hydraulic bracket control system provided in an embodiment of the present invention comprising: control device, monitoring device and host computer
11。
The control device includes controller 1 and electromagnetic valve driver 2, and the monitoring device includes video camera 3.
The controller 1 include communication module 102 and processor module 101, video camera 3 obtain coal working face and/or
The video information of coalcutter operation, and the video information is sent to host computer 11 by communication module 102.
Host computer 11 shows the video information to staff, and receives the input instruction of user's input.
Communication module 102 receives the input instruction that host computer 11 is sent, and input instruction is sent to processor module
101。
The communication module 102 is connect with host computer 11 by least two communication links, at least two communication chains
Road redundancy communication.
Wherein, redundancy communication refers to, when wherein a communication link blocking or transmission speed (are, for example, less than slowly relatively predetermined
Transmission speed) when, data are transmitted using an other communication link.When all communication link transmission speeds are respectively less than predetermined pass
When defeated speed, wherein the most fast communication link of transmission speed is communicated for selection.
In a preferred embodiment of the invention, at least two communication links include 8 He of two-wire CAN industrial field bus
Two-wire Industrial Ethernet bus 9.
Wherein, high-speed data, high band wide data preferentially walk two-wire Industrial Ethernet bus 9, and business datum preferentially walks two-wire
CAN industrial field bus 8.
Wherein, two-wire CAN industrial field bus is communicated using proprietary protocol, belongs to the communication of dereliction formula, two-wire industry ether
Network bus 9 establishes unified CIP model based on Ethernet/IP industrial ethernet protocol.
In addition, wireless communication bus, G.hn network communication bus etc. also can be used in communication link.With wired forms transmission
Communication link can be placed in steel wire protector connector.
The processor module 101 receives the input instruction, and instructs control 2 work of electromagnetic valve driver according to input
Make, acts hydraulic support with drive magnetic valve.
In use, controller 1 can be mounted on hydraulic support correspondingly.
When hydraulic bracket control system works, video camera 3 takes the photograph coal working face and/or coalcutter operating condition
Picture obtains video information.Video information is uploaded to host computer 11 through a wherein communication link.
The coal working face and/or coalcutter operating condition that staff shows according to host computer 11, to host computer 11
The corresponding input instruction of input, such as control hydraulic support Forward instruction.
Control instruction is sent to communication module 102 through a wherein communication link, then goes to processor module 101.
Processor module 101 works according to control electromagnetic valve driver 2, and electromagnetic valve driver 2 controls corresponding solenoid valve
Work, acts hydraulic support.
Hydraulic bracket control system provided in an embodiment of the present invention passes through setting control device, monitoring device and host computer,
Host computer is connect with communication module by least two communication links, and the transmission speed of hydraulic support input instruction not only can be improved
And transmission stability, real-time, the reliability of hydraulic support control are improved, the requirement of data bandwidth can be also met.
Further, as shown in figure 4, the electromagnetic valve driver 2 includes energy storage part 203, the energy storage part 203 includes storage
The energy-storage units 2031 of electric energy are deposited, the energy-storage units 231 are used to provide electric energy for the opening and closing of solenoid valve.
In use, the charging end of energy storage part 203 is connect with intrinsic safety electric source, feeder ear is connect with solenoid valve.Electromagnetism valve events
When, the energy-storage units 2031 of energy storage part 203 provide electric energy for solenoid valve.
In the hydraulic support free time, i.e., when solenoid valve does not work, intrinsic safety electric source is the charging of energy storage part 203.
The embodiment of the present invention provides electric energy by setting energy storage part for the opening and closing of solenoid valve, it is no longer necessary to intrinsic safety electricity
Source provides electric energy for solenoid valve, compared with directlying adopt intrinsic safety electric source in the prior art and being solenoid valve power supply, can reduce intrinsic safety electricity
Peak power in the power supply circuit of source improves the load-carrying quantity of intrinsic safety electric source, reduces the output-power fluctuation of intrinsic safety electric source, keep away
The output power for exempting from intrinsic safety electric source suddenly increases, and can not only improve the safety coefficient of intrinsic safety electric source work, but also can extend
The service life of intrinsic safety electric source, reduces cost.
Further, as shown in figure 5, energy storage part 203 further includes battery management circuit 2032, the battery management circuit
2032 for reading the charge-discharge parameter of energy-storage units 2031, and is filled according to the charge-discharge parameter to energy-storage units 2031
Electric discharge management.
By reading the charge-discharge parameter of energy-storage units 2031, energy-storage units 2031 can effectively be managed, be kept away
Exempt from the excessive charge and discharge of energy-storage units 2031, reduces by 2031 service life of energy-storage units or damage energy-storage units 2031.
Wherein, charge-discharge parameter includes charging voltage, discharge voltage, charging overcurrent, electric discharge overcurrent etc..
Preferably, energy storage part 203 further includes power converting circuit 2033, the power converting circuit 2033 is for controlling storage
Energy unit 2031 exports burning voltage, it is ensured that the output voltage of energy storage part 203 does not reduce with electricity and reduced.In the present embodiment
In, BUCK-BOOST circuit can be used in power converting circuit 2033.
Preferably, energy storage part 203 further includes dual-electrode protecting circuit 2034, and the dual-electrode protecting circuit 2034 is for limiting institute
The output electric current of energy-storage units 2031 is stated, to guarantee that the electric current of the output of energy storage part 203 meets the requirement of essential safety, meets coal mine
Production requirement.
In the present embodiment, the protection circuit such as Zener type, throttle-type, isolated form can be used in dual-electrode protecting circuit.
In a preferred embodiment of the invention, battery or battery pack, such as phosphoric acid can be used in energy-storage units 2031
Lithium iron battery.
Energy-storage units 2031, battery management circuit 2032, power converting circuit 2033, dual-electrode protecting circuit 2034 use glue
Envelope fits together.
Further, charge-discharge parameter is sent to processor unit 201, the processing by the battery management circuit 2032
Device unit 201 receives and saves the charge-discharge parameter.
The charge-discharge parameter of energy-storage units 2031 can not only be monitored in real time, but also save the charge-discharge parameter, for control
Device 1 is inquired, controller 1 is facilitated to grasp the charge and discharge power information of energy-storage units 2031 in real time.
In the present embodiment, controller 1 is connect with electromagnetic valve driver 2 by connector, and model can be used in connector
The braided steel wire rubber sheath connector of LCFB-4.For connector while signal of communication, there are also power supply signals, to realize confession
Electricity.
In addition, controller 1 is connect with host computer 11 also by connector.The quantity of controller 1 and electromagnetic valve driver 2 is equal
Can have it is multiple, neighbor controller 1, adjacent electromagnetic valve driver 2 can also be used connector realize cascade so that hydraulic support control
System processed runs through entire coal working face.
Connector has 8 cores, respectively two-wire CAN industrial field bus 8 and two-wire Industrial Ethernet bus 9, electricity
Source supply lines.
Further, hydraulic bracket control system further includes power supply box 10, and power supply box 10 is separated to monitoring device and control
Device power supply, can not only reduce the quantity of power supply box 10, it is also ensured that when monitoring device power supply damages, not influence hydraulic support
It works normally.
As shown in Figure 1, power supply box 10 can provide four road intrinsic safety electric sources, every side provides two-way power supply, distinguishes two sides to the left and right
Controller 1 power.
There is communication import and communication outlet on the communication unit 202 of electromagnetic valve driver 2, communicate import and communication outlet
It is cascade port, supports Concatenation Protocol, such as RS485, CAN etc., in order to cascade multiple electromagnetic valve drivers 2.
Preferably, as shown in Figure 4-8, electromagnetic valve driver 2 further include: processor unit 201, communication unit 202, first
Half-bridge drive circuit 205, the second half-bridge drive circuit 206.
The first coil 12 of the energy-storage units 2031 and the solenoid valve is arranged in first half-bridge drive circuit 205
Power supply circuit on, the first half-bridge drive circuit 205 control first coil 12 in electric current on-off.
The second coil 13 of the energy-storage units 2031 and the solenoid valve is arranged in second half-bridge drive circuit 206
Power supply circuit on, the second half-bridge drive circuit 206 control the second coil 13 in electric current on-off.
The communication unit is used to receive the control instruction of the transmission of controller 1, and the control instruction is sent to processing
Device unit 201.
The processor unit 201 receives and parses through the control instruction, is analyzed the instruction, according to analyzing the instruction one by one
The first half-bridge drive circuit 205 and the work of the second half-bridge drive circuit 206 are controlled, so that electromagnetism valve events.
By the first half-bridge drive circuit 205 of setting and the second half-bridge drive circuit 206, electromagnetic valve driver can be realized
The common anode or common cathode of 2 driving interface export, and with the solenoid valve that mating different manufacturers produce, improve electromagnetic valve driver 2
Range of applicability.
Optionally, first half-bridge drive circuit 205 is identical with the design circuit of the second half-bridge drive circuit 206, and
It include driving logic circuit 2053, upper mos pipe 2051 and lower mos pipe 2052.
Driving logic circuit 2053 is connect with the grid of the grid of upper mos pipe 2051 and lower mos pipe 2052 respectively, and driving is patrolled
It collects circuit 2053 and is used to receive analyzing the instruction for the transmission of processor unit 201, and managed according to the upper mos of control one by one is analyzed the instruction
2051 and lower mos pipe 2052 on-off.
The energy-storage units 2031 are powered to the drain electrode of the upper mos pipe 2051, and the source electrode of the upper mos pipe 2051 is under
The drain electrode of mos pipe 2052 is connected by control circuit.
The source electrode of the lower mos pipe 2052 is grounded, and the first end of the first coil 12 is connected to first half-bridge and drives
In the control circuit of dynamic circuit 205.
The first end of second coil 13 is connected in the control circuit of second half-bridge drive circuit 206.
The second end of the first coil 12, the second end of second coil 13 are used to ground connection or and energy-storage units
2031 connections.
As shown in fig. 7, when the second end of first coil 12, the second end of second coil 13 with energy-storage units 2031
When connection, the driving interface of electromagnetic valve driver 2 realizes common anode output.
As shown in figure 8, when the second end of the second end of first coil 12, second coil 13 is grounded, solenoid valve
The driving interface of driver 2 realizes common cathode output.
Further, as shown in figure 4, electromagnetic valve driver 2 further include: energy storage protection circuit 204, for real-time monitoring the
The current information of one half-bridge drive circuit 205 and/or the second half-bridge drive circuit 206.
The working condition of solenoid valve is judged according to the current information, and when the working condition is short circuit, control storage
It can the stopping power supply of unit 2031.
As shown in fig. 6, the source electrode of lower mos pipe 2052 passes through sampling resistor and amplifying circuit 2054 is grounded, wherein sampling
Resistance and amplifying circuit 2054 are in parallel.
After sampling resistor samples electric current, voltage value is read after the amplification of amplifying circuit 2054, to monitor every
The current conditions of half-bridge drive circuit, to judge the working condition (such as open circuit, short circuit, work) of solenoid valve.
When solenoid valve short circuit, control energy-storage units 2031 stop power supply, can prevent the generation of accident, improve the peace of operation
Overall coefficient.
Further, the current information is sent to processor unit 201, the place by the energy storage protection circuit 204
Reason device unit 201 receives and saves the current information, for the inquiry of controller 1.
It preferably, further include reservoir as shown in Fig. 2, the controller 1 is programmable controller, the communication mould
The program software that graphical programming software on block real-time reception host computer 11 is write, and described program software is sent to described
Memory.
The memory real-time storage described program software, the processor module read the program software in memory,
And in the memory by described program software installation.
In actual use, it is soft that staff writes program on host computer 11, through image conversion programming software to controller 1
Part.Program software passes through in 102 real-time Transmission to memory of communication module.
Program software, can be installed in memory by 101 Built In Operating System of processor module in real time, can also be soft in program
After part is all transmitted to memory, restart lower dress program, then program software is mounted in memory.It can also be in host computer 11
On, program software is all write, then click lower dress program, program software is mounted in memory.
Processor module 101 has no effect on the execution of original program in installation procedure software, after being installed, control
Device 1 is restarted automatically, and then calls original parameter (such as hydraulic support serial number, follow-up parameter etc., design parameter out of memory again
Can be set according to actual conditions, support customized), run the program software of installation.
Controller provided in an embodiment of the present invention is by setting processor module, communication module, memory, by graphically compiling
The program software of journey software real-time edition by communication module real-time Transmission and can be stored in memory, device module for processing
It installs and uses, the set-up time of program software can be saved, improve the installation effectiveness of program software, and transmitting or installing
Cheng Zhong does not influence the operation of controller, improves the job stability of equipment even if host computer has a power failure, suspension.
Further, control device further includes sensor, and sensor is used to monitor the posture information of hydraulic support, and by appearance
State information is sent to controller 1, and controller 1 controls solenoid valve according to posture information and input instruction control electromagnetic valve driver 2
Work, so that hydraulic support acts.
By the way that sensor is arranged, controller 1 controls electromagnetic valve work in combination with the input instruction of user and posture information, just
It is acted in more accurately controlling hydraulic support.
The communication link interface connecting with sensor is provided in the communication module 102, sensor can be bus-type
Sensor 6, analog sensor 5 etc..
Angular transducer can be used in sensor, may be provided at the portions such as pedestal, back link, caving shield, the top beam of hydraulic support
On part, by the inclination angle of each component of real-time monitoring, the pose of hydraulic support is obtained.
Sensor can also monitor the column pressure of hydraulic support, passage stroke, altitude information etc., such as wall supporting stroke sensing
Device, proximity sensor etc..
Communication link interface can using the communication link interfaces such as RS232, RS485, for connect numeric type sensor or
Person's bus-type sensor 6.
Cascade characteristic is all had on single sensor, highest supports 255 nodes, and all the sensors are arranged in parallel, any
Node damages the communication for not influencing other sensors.
Video camera 3 also has cascade characteristic, provides Industrial Ethernet interface, can cascade multiple network equipments, such as take the photograph
As instrument 3.
Further, controller 1 further include: personnel positioning module 103, personnel positioning module 103 are fixed using at least two
Position method obtains the location information of staff, and the location information is sent to processor module, and wherein at least two kinds fixed
The location information that position method obtains is mutually redundant backup, more accurately to obtain personnel positions.
The frequency such as 125KHz, 433MHz, 800MHz, 900MHz, 1GHz, 2.5GHz, 5GHz can be used in personnel positioning module 103
Two kinds of frequency ranges in section realize personnel positioning.
At least two localization methods can be fixed close to perception, UWB (ultrawideband, ultra wide band) triangle for 125KHz
The methods of position.
Wireless transmitter can be used in personnel positioning module 103 and positioning label realizes that wireless transmitter is mounted on hydraulic branch
On frame, positioning label is worn on staff.
Further, controller 1 further include: emergency stop lock modules 103, when staff is less than at a distance from hydraulic support
When preset distance (such as 1 meter), the processor module 101 controls the emergency stop lock modules 104 and works, to control and work
The hydraulic support that personnel are less than preset distance is latched, and to avoid hydraulic support movement, is damaged staff, is improved operation safety system
Number.
Emergency stop lock modules 103 can also monitor that latch buttons state, coal working face emergency stop on current hydraulic support are believed
Breath, the locking information of the hydraulic support adjacent with current hydraulic support, and these information are sent to processor module 101, with
Just these comprehensive information of processor module 101 more accurately operate emergency stop lock modules 103 and work.
Preferably, controller 1 further include: alarm module 105, such as combined aural and visual alarm.
When staff is in non-active area, the processor module 101 controls the alarm module 105 and alarms,
To warn staff.
Preferably, controller 1 further include: input/output module 106, the input/output module 106 receive user and refer to
It enables, and the user instruction is sent to processor module 101.
Equipment is improved so that controller 1 can be manipulated at the scene by staff by setting input/output module 106
Operability.
In the present embodiment, keyboard can be used in input module, and indicator light can be used in output module.
Optionally, controller 1 further include: display module 108, the display module 108 receive video-stream processor module 101
The data information of transmission, and human-computer interaction interface is provided, preferably to operate.
In this example it is shown that module 108 may include display screen and backlight control module, display screen shows data letter
Breath, backlight control module control the brightness of display screen.
Further, controller 1 further include: remote control module 109, the remote control module 109 are controlled for wireless receiving
Instruction, and the control instruction is sent to processor module 101, to realize the wireless control of controller 1.Remote control module 109
Infrared remote receiver can be used.
Further, controller 1 further includes data acquisition module 107, and data acquisition module 107 acquires sensor, electromagnetism
Processor module 101, communication module 102 inside valve actuator 2, controller, personnel positioning module 103, emergency stop lock modules
104, the current/voltage information of alarm module 105, input/output module 106, display module 108, remote control module 109, and will
The current/voltage information is sent to processor module 101.
Processor module 101 judges the working condition of all parts according to current/voltage information, to make all parts more
It works well.
Data acquisition module 107 also has data transformation function, converts digitized signal for analog signals.
Preferably, hydraulic bracket control system also has the function of recording walking path, personnel positioning module is by work people
The location information of member is sent to host computer 11, and host computer 11 combines the location information of map system and staff, obtains work
The walking path of personnel, preferably to learn the working line of staff.
Further, the monitoring device of hydraulic bracket control system further includes wireless access device 4, and wireless access device 4 receives
Wireless signal reach controller 1.
Wireless access device 4 provides the wireless communication and at least one G.hn network communication bus of at least two frequency ranges, is
The possibility of hydraulic bracket control system offer wireless access.Adjacent wireless access device 4 is connected by G.hn network communication bus.
In a preferred embodiment of the invention, hydraulic bracket control system can have multiple, on each hydraulic support
One control system is set, the communication signal between the controller 1 of adjacent control system is isolation signals, therefore, hydraulic branch
Isolating coupler is no longer needed between frame control system, can be reduced the setting of isolating coupler, be reduced cost.
Further, function of exchange is integrated in controller 1, processor module 101 not only can be read video camera 3, wirelessly connect
The data for entering device 4, can also read control instruction.
More than, technical solution of the present invention is described in detail in conjunction with specific embodiments, described specific implementation
Example is used to help understand thought of the invention.The derivation that those skilled in the art make on the basis of the specific embodiment of the invention
It is also belonged within the scope of the present invention with modification.
Claims (10)
1. a kind of hydraulic bracket control system characterized by comprising control device, monitoring device and host computer, the control
Device includes controller and electromagnetic valve driver, and the monitoring device includes video camera；The controller include communication module and
Processor module, video camera obtain the video information of coal working face and/or coalcutter operation, and by the video information through logical
Letter module is sent to host computer；The host computer shows the video information, and receives the input instruction of user's input；Communicate mould
Block receives the input instruction that host computer is sent, and input instruction is sent to processor module, the communication module and host computer
It is connected by least two communication links, at least two communication link redundancy communications, described in the processor module reception
Input instruction, and control electromagnetic valve driver work is instructed according to input, hydraulic support is acted with drive magnetic valve.
2. hydraulic bracket control system as described in claim 1, which is characterized in that the electromagnetic valve driver includes processor
Unit, communication unit, the first half-bridge drive circuit, the second half-bridge drive circuit and energy storage part, the energy storage part include storage electricity
The energy-storage units of energy, the energy-storage units are used to provide electric energy for the opening and closing of solenoid valve；The first half-bridge driven electricity
Road is arranged on the power supply circuit of the first coil of the energy-storage units and the solenoid valve, controls the on-off of first coil；Institute
On the power supply circuit for stating the second coil that the energy-storage units and the solenoid valve is arranged in the second half-bridge drive circuit, control the
The on-off of two coil；The communication unit is used to receive the control instruction of controller transmission, and the control instruction is sent to
Processor unit, the processor unit receives the control instruction, and controls the first half-bridge driven one by one according to control instruction
Circuit and the work of the second half-bridge drive circuit, so that electromagnetism valve events.
3. hydraulic bracket control system as claimed in claim 2, which is characterized in that first half-bridge drive circuit and second
Half-bridge drive circuit includes driving logic circuit, upper mos pipe and lower mos pipe, driving logic circuit grid with upper mos pipe respectively
Pole is connected with the grid of lower mos pipe, and driving logic circuit is used to receive the control instruction of processor unit transmission, and according to control
Instruction controls the on-off of upper mos pipe and lower mos pipe one by one, and the energy-storage units are powered to the drain electrode of the upper mos pipe, it is described on
The source electrode of mos pipe is connect with the drain electrode of lower mos pipe by control circuit, the source electrode ground connection of the lower mos pipe, the first coil
First end be connected in the control circuit of first half-bridge drive circuit, the first end of second coil is connected to described
In the control circuit of second half-bridge drive circuit, the second end of the first coil, the second end of second coil are used to
Ground connection connect with energy-storage units.
4. hydraulic bracket control system as claimed in claim 3, which is characterized in that energy storage part further includes battery management circuit,
The battery management circuit is used to read the charge-discharge parameters of energy-storage units, and according to the charge-discharge parameter to energy-storage units into
Row management of charging and discharging.
5. hydraulic bracket control system as claimed in claim 4, which is characterized in that energy storage part further includes power converting circuit,
The power converting circuit is for controlling energy-storage units output burning voltage.
6. hydraulic bracket control system as described in claim 1, which is characterized in that the controller further includes reservoir, institute
The program software that communication module real-time reception graphical programming software is write is stated, and described program software is sent to the storage
Device, the memory real-time storage described program software, the processor module read the program software in memory, and by institute
State program software installation in the memory.
7. hydraulic bracket control system as described in claim 1, which is characterized in that the controller further includes personnel positioning mould
Block, personnel positioning module obtain the location information of staff using at least two localization methods, and the location information is sent out
It send to processor module, the location information that wherein at least two kinds of localization methods obtain is mutually redundant backup.
8. hydraulic bracket control system as described in claim 1, which is characterized in that the monitoring device further include: sensor,
The sensor obtains the posture information of hydraulic support, and the posture information is sent to controller, and controller is according to pose
Information and input instruction control electromagnetic valve driver work.
9. hydraulic bracket control system as claimed in claim 8, which is characterized in that the controller includes data acquisition module
Block, sensor, communication module described in data collecting module collected, processor module, electromagnetic valve driver current information and/or
Information of voltage, and current information and/or information of voltage are sent to processor module.
10. the hydraulic bracket control system as described in claim 1-9 is any, which is characterized in that at least two communication link packets
Include two-wire CAN industrial field bus and two-wire Industrial Ethernet bus, wherein two-wire CAN industrial field bus uses privately owned association
View communication.
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| CN201910259169.1A CN109915193B (en) | 2019-04-02 | 2019-04-02 | Hydraulic support control system |
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Address after: 101399 No.27, Linhe Development Zone, Shunyi District, Beijing Patentee after: CCTEG Beijing Tianma Intelligent Control Technology Co.,Ltd. Patentee after: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. Address before: No.131, ground floor, Tiandi building, No.5, qingniangou East Road, Hepingli, Chaoyang District, Beijing 100013 Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee before: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. |