CN110671122B - Control system and control method for underground pipe jacking rescue equipment of coal mine - Google Patents
Control system and control method for underground pipe jacking rescue equipment of coal mine Download PDFInfo
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- 239000003245 coal Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 47
- 239000003921 oil Substances 0.000 claims description 130
- 238000001514 detection method Methods 0.000 claims description 121
- 230000001276 controlling effect Effects 0.000 claims description 34
- 230000007613 environmental effect Effects 0.000 claims description 26
- 239000007788 liquid Substances 0.000 claims description 25
- 239000010720 hydraulic oil Substances 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 17
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 14
- 239000003570 air Substances 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 229910052760 oxygen Inorganic materials 0.000 claims description 9
- 239000001301 oxygen Substances 0.000 claims description 9
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 8
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 8
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 7
- 239000007789 gas Substances 0.000 claims description 6
- 230000001595 contractor effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000012080 ambient air Substances 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000002159 abnormal effect Effects 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 238000005065 mining Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 206010021143 Hypoxia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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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
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Business, Economics & Management (AREA)
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- Pulmonology (AREA)
- Alarm Systems (AREA)
Abstract
The invention relates to a post-disaster rescue technology in a coal mine, in particular to a control system of pipe jacking rescue equipment for the coal mine, which comprises a data exchange bus, and a main top controller, an in-machine controller, a relay controller, a monitoring unit and a wireless remote control unit which are respectively connected with the data exchange bus to form data exchange. The invention also provides a control method of the pipe jacking rescue equipment for the underground coal mine.
Description
Technical Field
The invention relates to a post-disaster rescue technology in a coal mine, in particular to a safe and efficient control system for quickly constructing pipe jacking equipment in a post-disaster rescue channel in the coal mine.
Background
Common disasters of coal mines such as coal mine gas explosion, roof collapse and the like have the characteristics of sudden, catastrophic, destructive and the like, and once the accidents occur, a mine system is seriously damaged, so that a safety channel is blocked, a ventilation system is damaged, and serious oxygen deficiency is caused, and a large number of casualties are caused. The post-disaster rescue of the collapse roadway has urgency in time, and various influencing factors such as safety, rapidness, high efficiency and the like are required to be considered. At present, no case of constructing a rescue channel by using a pipe jacking machine in a coal mine underground collapse roadway exists at home and abroad, and when the traditional pipe jacking equipment control system is applied to the field of coal mine rescue, a plurality of defects exist.
Firstly, the traditional pipe jacking equipment control system does not have the environment monitoring and rescue personnel vital sign monitoring functions, and the safety of rescue actions cannot be guaranteed.
Secondly, due to the huge difference between the traditional surrounding rock interface and the environment of the collapsed roadway, the transmission jacking pipe equipment control system does not have the capability of quickly identifying the abnormal working condition of the underground coal mine collapsed roadway.
Thirdly, the transmission pipe jacking equipment control system is small in data acquisition amount, low in communication instantaneity and poor in anti-interference capability, and cannot meet the requirements of the pipe jacking rescue equipment on the whole machine for high-information real-time communication and robustness.
The traditional pipe jacking equipment is applied to a coal mine, a control system of the traditional pipe jacking equipment does not have an environment monitoring function, a vital sign monitoring function and an abnormal working condition identification function, and can not meet the requirements of quick, safe and efficient rescue, meanwhile, the network architecture level of the traditional pipe jacking equipment control system is low, the data communication is mainly realized by adopting a polling communication mode, the transmission data volume is small, the instantaneity is low, the anti-interference capability is poor, and the faults are very easy to occur.
Disclosure of Invention
In order to solve the problems, the control system of the underground pipe jacking rescue equipment for the coal mine solves the problems that a traditional pipe jacking machine cannot monitor environmental parameters in real time, can not monitor vital signs of rescue workers, can not identify abnormal working conditions, is low in data transmission rate, and is poor in anti-interference capability. Meanwhile, the invention also provides a control method of the pipe jacking rescue equipment for the underground coal mine.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a control system is equipped with in the push pipe rescue in colliery underground, it is used for controlling the in-mine underground in the colliery in the work tunnel to be equipped with in the push pipe rescue in the colliery underground and has main top hydro-cylinder, the main top hydraulic power unit that is used for driving main top hydro-cylinder work, the relay ring, the relay hydraulic power unit that is used for driving relay cylinder work, the relay hydraulic cylinder that is used for driving relay ring work, the aircraft nose, the built-in hydraulic power unit that is used for driving the aircraft nose work and be used for driving the deviation correcting hydro-cylinder of aircraft nose top income direction; the control system of the pipe jacking rescue equipment for the underground coal mine comprises a data exchange bus, a main top controller, an in-machine controller, a relay controller, a monitoring unit and a wireless remote control unit which are respectively connected with the data exchange bus in a signal manner to form data exchange, wherein the method comprises the steps of
The main roof controller is provided with an operation panel of a monitoring unit, an environment parameter detection unit, a main roof state detection unit, a roadway motor driving unit, a main roof hydraulic control unit and a cutter disc speed regulation unit which are respectively connected with signals of the main roof controller;
the built-in controller is provided with an environment parameter detection unit, a built-in state detection unit, a machine head gesture detection unit, a vital sign detection unit, a built-in motor driving unit and a built-in hydraulic control unit which are respectively connected with signals;
the relay controller is provided with an environment parameter detection unit, a relay motor driving unit, a relay state detection unit and a relay hydraulic control unit which are respectively connected with the relay controller through signals;
the monitoring unit comprises an operation panel and a display, and is used for acquiring detection data of the main top controller, the built-in controller and the relay controller, and an input signal of the operation panel is connected with the main top controller; the main roof controller sends out control instructions to the relay ring and the machine head from the operation panel to the bus, and the in-machine controller and the relay controller control the underground pipe jacking rescue equipment of the coal mine after receiving the corresponding instructions through the bus;
the wireless remote control unit consists of a signal transmitter and a signal receiver and is used for wirelessly remotely controlling the working of the underground pipe jacking rescue equipment for the coal mine.
Preferably, the operation authority of the wireless remote control unit on the underground coal mine pipe jacking rescue equipment is higher than that of an operation panel of the monitoring unit, and the operation authority of the monitoring unit is cut off when the wireless remote control unit operates the underground coal mine pipe jacking rescue equipment.
Preferably, the on-board controller and/or the relay controller has a lighting unit in signal connection therewith.
Preferably, the built-in controller has a video unit in signal connection therewith.
Preferably, the environmental parameter detection units are arranged in the working roadway, the machine head and the relay ring respectively, and the environmental parameter detection units are composed of a methane sensor, a carbon monoxide sensor and an oxygen sensor so as to detect the concentration parameters of surrounding environmental gas in real time.
Preferably, the main top state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged in a main top hydraulic pump station and is used for detecting the pressure of a main top oil cylinder; the liquid level sensor is arranged on an oil tank of the main top hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from sucking air caused by the too low liquid level; the displacement sensor is arranged in the main top oil cylinder and used for detecting the extension distance of the main top oil cylinder;
the tunnel motor driving unit is arranged in the working tunnel and used for controlling the start and stop of the main top oil pump motor and protecting the motor from overload, overcurrent, electric leakage, overvoltage and undervoltage;
the main top hydraulic control unit is arranged in the working roadway and used for controlling the extending and retracting actions of the main top oil cylinder and the extending and retracting speed adjustment of the main top oil cylinder;
the cutter disc speed regulating unit is arranged in the working roadway and used for controlling the start and stop of the cutter disc motor, the steering of the cutter disc motor and the rotating speed of the cutter disc motor, and feeding back the working frequency, the working voltage, the working current, the working state and the alarm information of the cutter disc motor to the main top controller.
Preferably, the built-in state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged on a built-in hydraulic pump station and is used for detecting the pressure of the deviation correcting oil cylinder; the liquid level sensor is arranged on an oil tank of the hydraulic pump station in the machine and used for detecting the oil level of the oil tank and preventing the oil pump from sucking air caused by too low; the movement sensor is arranged on a deviation correcting oil cylinder in the machine and used for calculating the extending distance of the deviation correcting oil cylinder;
the machine head posture detection unit consists of a double-shaft inclination angle sensor arranged in the machine head, posture data of the machine head are detected in real time, and the machine head controller calculates the numerical value of the double-shaft inclination angle sensor to obtain the inclination angle and the rotation angle of the machine head 7;
the vital sign detection unit detects heart rate indexes of a person in real time, and sends signals to the built-in controller after the vital sign detection unit detects physiological parameters of the person
The motor driving unit in the machine is arranged in the machine head and used for controlling the motor of the hydraulic pump station in the machine to start and stop and protecting the motor from overload, overcurrent, electric leakage, overvoltage and undervoltage;
the hydraulic control unit in the machine is arranged in the machine head and is responsible for controlling the extending and contracting actions of the four deviation correcting cylinders.
Preferably, the relay motor driving unit is arranged in the relay ring and used for controlling the starting and stopping of the motor of the relay hydraulic pump station to perform overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;
the relay state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged in a relay hydraulic pump station and is used for detecting the pressure of a relay oil cylinder, and the relay controller 103 converts the detected pressure value into a top force value of the relay oil cylinder, so that the top force upper limit of the relay oil cylinder is protected; the liquid level sensor is arranged on an oil tank of the relay hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from sucking air caused by too low; the displacement sensor is arranged on the relay oil cylinder and used for calculating the extending distance of the relay oil cylinder;
the relay hydraulic control is used for controlling the extension and retraction of the relay oil cylinder and the telescopic speed regulation control.
Preferably, the data exchange bus is a CAN bus.
A control method for pipe jacking rescue equipment for underground coal mines, which uses the pipe jacking rescue equipment control system for underground coal mines, and has at least one of the following parallel characteristics:
A. the operation panel of the monitoring unit and the wireless remote control unit can control and operate the pipe jacking rescue equipment, and after the wireless remote control unit is started, the control and operation functions of the operation panel of the monitoring unit are invalid;
B. the main roof controller, the built-in controller and the relay controller collect detection data of the environmental parameter detection unit in real time, and when the concentration of the combustible gas in the environmental air exceeds a threshold value, the roadway motor driving unit, the cutterhead speed regulating unit, the built-in motor driving unit and the relay motor driving unit immediately cut off the power supply of a motor main loop, and simultaneously alarm and feed back detection values to the monitoring unit; when the oxygen concentration in the ambient air is too low, alarming to a monitoring unit and feeding back a detection value;
C. the main top controller collects data of the main top state detection unit in real time, and when the measured value of the main top state detection unit exceeds a threshold value, the main top controller sends a stop instruction to the main top oil cylinder when the pressure of the main top oil cylinder is too high, so that equipment damage caused by excessive top force is prevented; when the measured value of the main top state detection unit is lower than a threshold value, the main top controller sends a stop instruction to the main top oil cylinder, so that a large amount of hydraulic oil is prevented from entering the main top oil cylinder from the hydraulic oil tank, and the phenomenon of oil pump suction occurs;
D. the relay controller collects data of the relay state detection unit in real time, and when the measured value of the relay state detection unit exceeds a threshold value, the relay controller sends a stop instruction to the relay cylinder to prevent equipment damage caused by overlarge top force when the pressure of the relay cylinder is too high; when the measured value of the relay state detection unit is lower than a threshold value, the relay controller sends a stop instruction to the relay oil cylinder to prevent a large amount of hydraulic oil from entering the relay oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump suction occurs;
E. the in-machine controller collects data of an in-machine state detection unit in real time, and when the measured value of the in-machine state detection unit exceeds a threshold value, the relay controller sends a stop instruction to the relay oil cylinder to prevent equipment damage caused by excessive jacking force when the pressure of the deviation correcting oil cylinder is too high; when the measured value of the in-machine state detection unit is lower than a threshold value, the in-machine controller sends a stop instruction to the deviation correcting oil cylinder, so that a large amount of hydraulic oil is prevented from entering the deviation correcting oil cylinder from the hydraulic oil tank, and the phenomenon of oil pump suction occurs;
F. the machine-internal controller collects data of the machine head gesture detection unit in real time, and when the measured value of the machine head gesture detection unit is too large through calculation of the rolling angle, the rotation of the cutter disc is stopped, so that damage to equipment inside the machine head due to the fact that the whole rotating angle is too large is prevented; when the measured value of the machine head posture detection unit is overlarge in the calculated inclination angle, an alarm signal is sent to the monitoring unit so as to remind a person of correcting the deviation;
G. the in-machine controller receives information sent by the vital sign detection unit in real time, and feeds back the information to the main top controller and the relay controller after the vital sign detection unit detects vital signs of a person, the main top controller sends a stop signal to the main top oil cylinder and the cutterhead speed regulation unit, and the relay controller sends the stop signal to the relay oil cylinder.
The beneficial effects of using the invention are as follows:
the invention designs a control system of a pipe jacking rescue device for a coal mine, which is used for solving the problem that the traditional pipe jacking device is not suitable for water and soil in the control system in the field of post-disaster rescue of the coal mine, and is an important component of a rapid construction technology of a coal mine collapse roadway rescue channel. The control system is provided with an intra-machine pressure sensor, a cutter motor current sensor, a cutter motor rotating speed sensor, a main top pressure sensor and an oil cylinder stroke sensor, so that the abnormal working condition is ensured to be identified rapidly and accurately; in order to ensure the safety of rescue environment and rescue personnel, on one hand, the pipe jacking rescue equipment control system senses the environment state in real time through environment parameter detection units arranged in a working roadway, a machine head and a relay ring, and on the other hand, monitors vital sign information of rescue personnel in real time through vital sign detection units, and when vital sign parameters of the personnel are abnormal, the control system immediately informs nearby personnel to go to and check.
Drawings
FIG. 1 is a diagram of a control system architecture of a pipe jacking rescue equipment for underground coal mines.
Fig. 2 is a schematic layout diagram of an environmental parameter detection unit, a main roof state detection unit, an in-machine state detection unit and a relay state detection unit of the pipe jacking rescue equipment.
The reference numerals include:
the hydraulic system comprises a 1-working roadway, a 2-main top hydraulic pump station, a 3-main top oil cylinder, a 4-relay ring, a 5-relay hydraulic pump station, a 6-relay oil cylinder, a 7-machine head, an 8-built-in hydraulic pump station, a 9-deviation correcting oil cylinder, a 10-auxiliary roadway, an 11-methane sensor, a 12-carbon monoxide sensor, a 13-oxygen sensor, a 14-pressure sensor, a 15-liquid level sensor, a 16-stroke sensor, a 17-double-shaft inclination angle sensor and an 18-cutter head;
the system comprises a main top controller, a 102-built-in controller, a 103-relay controller, a 104-wireless remote control unit, a 105-monitoring unit, a 106-environment parameter detection unit, a 107-main top state detection unit, a 108-roadway motor driving unit, a 109-main top hydraulic control unit, a 110-cutterhead speed regulation unit, a 111-built-in state detection unit, a 112-machine head posture detection unit, a 113-video unit, a 114-vital sign detection unit, a 115-built-in motor driving unit, a 116-built-in hydraulic control unit, a 117-lighting unit, a 118-relay motor driving unit, a 119-relay state detection unit, a 120-relay hydraulic control unit and a 121-CAN bus.
Detailed Description
In order to make the objects, technical solutions and advantages of the present technical solution more apparent, the present technical solution is further described in detail below in conjunction with the specific embodiments. It should be understood that the description is only illustrative and is not intended to limit the scope of the present technical solution.
As shown in fig. 1 and 2, the embodiment provides a control system for a pipe jacking rescue device for underground coal mine, which is characterized by meeting the requirements of quick, safe and efficient rescue. The pipe jacking rescue equipment control system is composed of a main top controller 101, an in-machine controller 102, a relay controller 103, a monitoring unit 105, a wireless remote control unit 104, an environmental parameter detection unit 106, a main top state detection unit 107, a motor driving unit 8, a main top hydraulic control unit 109, a cutterhead speed regulation unit 110, an in-machine state detection unit 111, a machine head posture detection unit 112, a video unit 113, a vital sign detection unit 114, an in-machine hydraulic control unit 116, a lighting unit 117, a relay state detection unit 119 and a relay hydraulic control unit 120, wherein the main top controller 101, the in-machine controller 102 and the relay controller 103 are cores of the pipe jacking rescue equipment control system, and other devices are signal sending or action executing mechanisms.
The main top controller 101 is located in the working roadway and is responsible for receiving control instructions of an operation panel of the monitoring unit 105, and sending the control instructions to the CAN bus 121 after logic operation processing; and simultaneously, signals of the environment parameter detection unit 106 and the main top state detection unit 107 are received, and after operation processing, data are sent to the CAN bus 121. The main top controller 101 sends control instructions to the motor drive unit 8, the main top hydraulic control unit 109, and the cutterhead speed regulating unit 110.
The monitoring unit 105 is installed in the working roadway, and is composed of an operation panel and an HMI display, an operator controls the pipe jacking rescue equipment through an operation panel button, and the HMI display monitors the running state and parameters of the pipe jacking rescue equipment through reading data on the CAN bus 121.
The wireless remote control unit 104 is composed of a signal transmitter and a signal receiver, the signal receiver and the main top controller 101 are jointly installed in the same control box, the signal transmitter is portable movable equipment, an operator can use the signal transmitter to control the pipe jacking rescue equipment, and when the operator adopts the signal transmitter to control the pipe jacking rescue equipment, the operation panel cannot control the pipe jacking rescue equipment. The signal transmitter wirelessly transmits the control instruction of the operator to the signal receiver, and the signal receiver transmits the received control instruction information to the CAN bus 121, so that the main top controller 101, the in-flight controller 102 and the relay controller 103 CAN share the control instruction information on the CAN bus 121 at the same time.
The environmental parameter detection unit 106 is composed of a methane sensor 11, a carbon monoxide sensor 12, and an oxygen sensor 13. The sensors are distributed in the working roadway, the machine head and the relay ring according to the requirements of coal mines, and detect the concentration parameters of surrounding environmental gas in real time.
The main top state detection unit 107 is composed of a pressure sensor 14, a liquid level sensor 15, and a displacement sensor 16. The pressure sensor 14 is installed in the main top hydraulic pump station 2 and is used for detecting the pressure of the main top oil cylinder 3, and the main top controller 101 converts the detected pressure value into a top force value of the main top oil cylinder 3, so that the upper limit of the main top force is protected. The liquid level sensor 15 is installed on the oil tank of the main top hydraulic pump station 2 and is used for detecting the oil level of the oil tank and preventing the oil pump from absorbing air caused by the too low liquid level. The displacement sensor 16 is installed in the main top cylinder 2 and is used for detecting the extension distance of the main top cylinder 2, and the main top controller 101 derives the time from the detected extension amount of the main top cylinder 2 to obtain the propulsion speed of the main top cylinder 2, so that an operator can conveniently control the pipe jacking rescue equipment better.
The tunnel motor driving unit 108 is installed in the working tunnel and used for controlling the start and stop of the main top oil pump motor and protecting the motor from overload, overcurrent, electric leakage, overvoltage and undervoltage.
The main top hydraulic control unit 109 is installed in the working roadway and is responsible for controlling the extending and retracting actions of the main top oil cylinder 2 and the extending and retracting speed adjustment of the main top oil cylinder 2.
The cutterhead speed regulating unit 110 is installed in the working roadway and can control the starting and stopping of the cutterhead motor, the steering of the cutterhead motor and the rotating speed of the cutterhead motor according to the received control signals sent by the main top controller 101. Meanwhile, the deck speed adjusting unit 110 transmits the operating frequency, operating voltage, operating current, operating state, and alarm information of the deck motor to the main head controller 101.
The in-machine controller 102 is located inside the machine head 7 and is mainly responsible for receiving data sent by the environmental parameter detection unit 106, the in-machine state detection unit 111, the machine head posture detection unit 112 and the vital sign detection unit 114, and sending the data to the CAN bus 121 after operation processing. Meanwhile, the in-machine controller 102 sends control instructions to the motor drive unit 8 and the in-machine hydraulic control unit 116 to supply power to the illumination unit 117.
The in-machine state detection unit 111 is composed of a pressure sensor 14, a liquid level sensor 15, and a displacement sensor 16. The pressure sensor 14 is installed on the hydraulic pump station 8 in the machine and is used for detecting the pressure of the deviation rectifying cylinder 9, and the machine controller 102 converts the detected pressure value into a top force value of the deviation rectifying cylinder 9, so that the top force upper limit of the deviation rectifying cylinder 9 is protected. The liquid level sensor 15 is installed on the oil tank of the built-in hydraulic pump station 8 and is used for detecting the oil level of the oil tank and preventing the oil pump from absorbing air caused by too low. The four displacement sensors 16 are respectively installed on four deviation rectifying cylinders 9 in the machine and are used for calculating the extending distances of the deviation rectifying cylinders 9, and an operator performs deviation rectifying control by observing the extending distances of the four deviation rectifying cylinders 9.
The head posture detecting unit 112 is composed of a biaxial inclination sensor 17 installed in the head 7, detects posture data of the head 7 in real time, and the in-machine controller 102 obtains the inclination angle and rotation angle of the head 7 by calculating the numerical value of the biaxial inclination sensor 17, and an operator uses the posture of the head 7 as a reference for the deviation correcting operation.
The video unit 113 is composed of a mining flameproof infrared camera and a mining flameproof display. The infrared camera is arranged in the machine head 7 and used for collecting slag discharging pictures, laser light target pictures and transferring pictures, and a picture data transmission medium is an optical fiber. The display is mounted on the work lane monitoring unit 105 for displaying a monitoring screen.
The vital sign detection unit 114 detects heart rate indexes of a person in real time, and when the vital sign detection unit 114 detects physiological parameters of the person, signals the person to the in-machine controller 102.
The motor driving unit 115 is installed in the machine head 7, and is used for controlling the motor of the hydraulic pump station 8 to start and stop, and protecting the motor from overload, overcurrent, electric leakage, overvoltage and undervoltage.
The hydraulic control unit 116 is installed in the machine head and is responsible for controlling the extending and contracting actions of the four deviation correcting cylinders 9.
The illumination unit 117 consists of a plurality of mining flame-proof type LED roadway lamps and is responsible for the internal illumination of the pipe jacking rescue equipment machine head 7 and the relay ring 4.
The relay controller 103 is located in the relay ring 4 and is mainly responsible for receiving the data transmitted from the environmental parameter detection unit 106 and the relay state detection unit 119, and transmitting the data to the CAN bus 121 after the operation processing. Meanwhile, the relay controller 103 transmits a control instruction to the motor drive unit 8 and the relay hydraulic control unit 120 to supply power to the illumination unit 117.
The relay motor driving unit 118 is installed in the relay ring 4, and is used for controlling the start and stop of the motor of the relay hydraulic pump station 5, and protecting the motor from overload, overcurrent, electric leakage, overvoltage and undervoltage.
The relay state detection unit 119 is composed of a pressure sensor 14, a liquid level sensor 15, and a displacement sensor 16. The pressure sensor 14 is installed in the relay hydraulic pump station 5 and is used for detecting the pressure of the relay oil cylinder 6, and the relay controller 103 converts the detected pressure value into a top force value of the relay oil cylinder 6, so that the top force upper limit of the relay oil cylinder 6 is protected. The liquid level sensor 15 is installed on the oil tank of the relay hydraulic pump station 5 and is used for detecting the oil level of the oil tank and preventing the oil pump from sucking air due to too low. The displacement sensor 16 is mounted on the relay cylinder 6 for calculating the extension distance of the relay cylinder 6. The relay controller 103 derives the time from the detected extension amount of the relay oil cylinder 6 to obtain the pushing speed of the relay oil cylinder 6, so that an operator can conveniently and well control the pipe jacking rescue equipment.
The relay hydraulic control unit 120 is installed in the relay ring 4, and the relay hydraulic control unit 120 is responsible for controlling the extension and retraction of the relay cylinder 6 and the telescopic speed regulation control.
In order to ensure the safety of rescue workers, the pipe jacking rescue equipment control system senses the environmental state through the environmental parameter detection units 106 arranged in the working roadway 1, the relay ring 4 and the machine head 7, and alarms and reminds when the environmental parameters are abnormal; on the other hand, the vital sign information of the rescue workers is monitored in real time through the vital sign detection unit 114, and when the vital sign parameters of the workers are abnormal, the control system immediately informs the workers nearby to go to and view.
The invention provides a control method of pipe jacking rescue equipment for underground coal mines, which is characterized by effectively and safely protecting important parts of the pipe jacking rescue equipment and assisting an operator to effectively remind the operator when the operation and indexes of the operator are abnormal.
a. Both the operation panel of the monitoring unit 105 and the wireless remote control unit 104 can control the pipe jacking rescue equipment, and the control operation cannot be performed simultaneously in consideration of the safety of equipment control. When the wireless remote control unit 104 is not started, the operation panel of the monitoring unit 105 allows control operation to be performed on the pipe jacking rescue equipment; in contrast, after the wireless remote control unit 104 is turned on, the operation panel control operation function of the monitoring unit 105 is disabled. Compared with the common pipe jacking tunneling machine, the wireless remote control unit 104 is added, and after pipe jacking rescue equipment is transported to the underground accident site, a certain time is needed for wiring the monitoring unit 105 and debugging of other electrical units. Because the rescue time is very precious, after the wireless remote control unit 104 is added, the pipe jacking rescue equipment is transported to the site, the pipe jacking rescue equipment can be quickly controlled, operated and debugged through the wireless remote control unit 104, and the wiring work of the monitoring unit 105 and other electrical units can be performed while the debugging is performed, so that the installation and debugging time of equipment is saved. In addition, in the construction process of the pipe jacking rescue equipment, faults occur in the machine head 7 or the relay ring 4, and when an operator wears the wireless remote control unit 104 and a fault inspector enter the machine head 7 or the relay ring 4 together, the fault removing efficiency is greatly improved, and the problem that the former fault inspector needs to communicate with the operator of the working roadway 1 remotely is solved.
b. The main top controller 101, the built-in controller 102 and the relay controller 103 collect data of the methane sensor 11 and the carbon monoxide sensor 12 of the environmental parameter detection unit 106 in real time, and the data are calculated to find that the methane concentration or the carbon monoxide concentration exceeds the standard, and the roadway motor driving unit 108, the cutterhead speed regulating unit 110, the built-in motor driving unit 115 and the relay motor driving unit 118 immediately cut off the power supply of the motor main loop, and meanwhile, the HMI of the monitoring unit 105 displays the concentration value of methane and the concentration value of carbon monoxide to remind an operator. The oxygen concentration is displayed in real time on the HMI of the monitoring unit 105 and if the oxygen concentration is too low, no personnel are allowed to enter the relay ring 4 or the handpiece 7.
c. The main top controller 101 collects data of the main top state detection unit 107 in real time, and when the pressure of the main top oil cylinder 3 is too high, the main top controller 101 sends out an instruction of stopping stretching to the main top oil cylinder 3 through calculation, so that equipment damage caused by excessive top force is prevented; when the hydraulic oil tank level of the main top hydraulic pump station 2 is too low, the main top controller 101 sends an instruction of stopping extension to the main top oil cylinder 3, so that a large amount of hydraulic oil is prevented from entering the main top oil cylinder 3 from the hydraulic oil tank, and the phenomenon of oil pump suction occurs.
d. The relay controller 103 collects data of the relay state detection unit 119 in real time, and when the pressure of the relay oil cylinder 6 is too high, the relay controller 103 sends an instruction of stopping stretching out of the relay oil cylinder 6 through calculation, so that equipment damage caused by excessive top force is prevented; when the hydraulic oil tank level of the relay hydraulic pump station 5 is too low, the relay controller 103 issues an instruction of "stop extension" to the relay cylinder 6, preventing a large amount of hydraulic oil from entering the relay cylinder 6 from the hydraulic oil tank, and thus, a phenomenon of oil pump suction occurs.
e. The in-machine controller 102 collects data of the in-machine state detection unit 111 in real time, and when the pressure of the deviation rectifying oil cylinder 9 is too high, the in-machine controller 102 sends an instruction of stopping stretching out to the deviation rectifying oil cylinder 9 through calculation, so that equipment damage caused by excessive jacking force is prevented; when the liquid level of the hydraulic oil tank of the built-in hydraulic pump station 8 is too low, the built-in controller 102 sends an instruction of stopping stretching out to the deviation rectifying oil cylinder 9, so that a large amount of hydraulic oil is prevented from entering the deviation rectifying oil cylinder 9 from the hydraulic oil tank, and the phenomenon of oil pump air suction occurs.
f. The in-machine controller 102 collects the data of the machine head gesture detection unit 112 in real time, and stops the rotating instruction of the cutter head 18 when the rolling angle is overlarge through calculation, so that the damage of the equipment in the machine head caused by overlarge integral rotating angle is prevented; when the inclination angle is too large, the HMI of the monitoring unit 105 alarms, reminding the operator to perform the correction operation in time.
g. The in-machine controller 102 receives information sent by the vital sign detection unit 114 in real time, and immediately sends an "emergency stop" control command to the CAN bus 121 after detecting the vital sign of the person. After receiving the "emergency stop" on the CAN bus 121, the main top controller 101 immediately sends a control command for stopping jacking to the main top cylinder 3, and at the same time, the main top controller 101 immediately sends a control command for stopping the cutterhead to the cutterhead speed regulating unit 110 to stop the rotation of the cutterhead 18; the relay controller 103 immediately issues a control command of "stop jacking" to the relay cylinder 6 after receiving the "emergency stop" on the CAN bus 121. After the jacking pipe rescue equipment stops jacking and the cutterhead stops rotating, rescue workers immediately rescue trapped people.
In this embodiment, the pipe jacking rescue equipment control system is composed of a main roof controller 101, an in-machine controller 102, a relay controller 103, a monitoring unit 105, a wireless remote control unit 104, an environmental parameter detection unit 106, a main roof state detection unit 107, a tunnel motor drive unit 108, a main roof hydraulic control unit 109, a cutterhead speed regulation unit 110, an in-machine state detection unit 111, a machine head posture detection unit 112, a video unit 113, a vital sign detection unit 114, an in-machine motor drive unit 115, an in-machine hydraulic control unit 116, a lighting unit 117, a relay motor drive unit 118, a relay state detection unit 119, and a relay hydraulic control unit 120. The main top controller 101, the built-in controller 102 and the relay controller 103 are cores of a pipe jacking rescue equipment control system, and other devices are signal sending or action executing mechanisms.
The main roof controller 101 is located in the working roadway, and is used for receiving data sent by the controller 102, the relay controller 103, the environmental parameter detection unit 106, the wireless remote control unit 104 and the monitoring unit 105 in the receiver, and controlling corresponding mechanism actions according to control logic.
The in-plane controller 102 is located near the head of the pipe-jacking rescue equipment, and is configured to receive data sent by the environmental parameter detection unit 106 and the head gesture detection unit 112, and communicate with the main-plane controller 101 through the CAN bus 121, where a communication medium is an optical fiber.
The relay controller 103 is located in the relay ring of the pipe jacking rescue equipment, and is configured to receive data sent by the environmental parameter detection unit 106 and the relay motor driving unit 118, and communicate with the main top controller 101 through the CAN bus 121, where a communication medium is an optical fiber.
After the system is electrified, an operator controls the pipe jacking rescue equipment through an operation panel button of the monitoring unit 105, and the running state of the equipment is monitored through an explosion-proof HMI of the monitoring unit 105.
The roadway motor driving unit 108 is installed in the working roadway, and is used for controlling the start and stop of the stirring motor, the grouting motor and the oil pump motor of the main top hydraulic pump station 2 of the working roadway 1, and performing overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor.
The main top hydraulic control unit 109 is a hydraulic solenoid valve, and the main top controller 101 drives the solenoid valve according to an instruction of an operator to control the extension and retraction movements and the extension and retraction speed adjustment of the main top cylinder.
The cutterhead speed regulating unit 110 is a variable frequency speed regulating device, and the main top controller 101 changes the power frequency through the cutterhead speed regulating unit 110 according to an operator instruction so as to regulate the speed of the cutterhead motor.
The nose posture detection unit 112 is composed of pitch angle and roll angle sensors, and an operator monitors the pitch angle and the roll angle of the nose of the pipe jacking rescue equipment in real time through the explosion-proof HMI of the monitoring unit 105.
The wireless remote control unit 104 is composed of a transmitter and a receiver, an operator CAN issue a control command through the transmitter, and the receiver CAN receive a wireless signal sent by the transmitter and upload data into the main top controller 101, the built-in controller 102 and the relay controller 103 through the CAN bus 121.
The video unit 113 is composed of a mining flameproof infrared camera and a mining flameproof display. The infrared camera is arranged in the machine head of the pipe jacking rescue equipment and is used for collecting slag discharging pictures, laser light target pictures and transferring pictures, and a picture data transmission medium is an optical fiber. The operator views the monitoring screen through a display installed on the workplace monitoring unit 105.
In the working roadway 1, the methane sensor 11, the carbon monoxide sensor 12 and the oxygen sensor 13 are arranged on the relay ring 4 and the machine head 7, and the main roof controller 101 collects data sent by the sensors and judges whether the environmental parameters of the corresponding positions are abnormal or not and alarms when the environmental parameters are abnormal.
The equipment state detection unit consists of a cutter head 18 motor current sensor, a cutter head 18 motor rotating speed sensor and a main top hydraulic pump station 2 pressure sensor. The cutterhead motor current and rotation speed sensors are installed inside the cutterhead speed regulating unit 110 for detecting the motor current and rotation speed of the cutterhead 18, respectively. The main top pressure sensor is arranged in the main top hydraulic pump station 2 and is used for detecting the pressure of the main top oil cylinder 3. The specific identification flow of abnormal working conditions is as follows: analyzing the motor current of the cutterhead 18 detected by a cutterhead motor current sensor, and judging whether torque of the cutterhead 18 is suddenly changed or not by an abnormal working condition identification model; analyzing data sent by a motor current sensor and a rotating speed sensor of the cutterhead 18, and judging whether the cutterhead 18 is blocked or not by an abnormal working condition identification model; and analyzing data sent by the pressure sensor of the main top hydraulic pump station 2, and judging whether the cutterhead 18 meets an obstacle or not by using the abnormal working condition identification model.
The foregoing is merely exemplary of the present invention, and those skilled in the art can make many variations in the specific embodiments and application scope according to the spirit of the present invention, as long as the variations do not depart from the spirit of the invention.
Claims (8)
1. The utility model provides a colliery is push pipe rescue equipment control system for pit which characterized in that: the device is used for controlling the underground pipe jacking rescue equipment of the coal mine, which is arranged in a working roadway, and is provided with a main top oil cylinder, a main top hydraulic pump station for driving the main top oil cylinder to work, a relay ring, a relay hydraulic pump station for driving the relay oil cylinder to work, a relay oil cylinder for driving the relay ring to work, a machine head, an intra-machine hydraulic pump station for driving the machine head to work and a deviation correcting oil cylinder for driving the machine head to jack in direction; the control system of the pipe jacking rescue equipment for the underground coal mine comprises a data exchange bus, a main top controller, an in-machine controller, a relay controller, a monitoring unit, a wireless remote control unit and an environmental parameter detection unit, wherein the main top controller, the in-machine controller, the relay controller, the monitoring unit, the wireless remote control unit and the environmental parameter detection unit are respectively in signal connection with the data exchange bus to form data exchange, wherein the data exchange is realized by the data exchange bus
The main roof controller is provided with an operation panel of a monitoring unit, a main roof state detection unit, a roadway motor driving unit, a main roof hydraulic control unit and a cutter disc speed regulation unit which are respectively connected with signals of the main roof controller;
the built-in controller is provided with a built-in state detection unit, a machine head gesture detection unit, a vital sign detection unit, a built-in motor driving unit and a built-in hydraulic control unit which are respectively connected with signals;
the relay controller is provided with a relay motor driving unit, a relay state detecting unit and a relay hydraulic control unit which are respectively connected with signals;
the main top controller, the relay controller and the built-in controller are all provided with environment parameter detection units which are connected with the main top controller, the relay controller and the built-in controller through signals;
the monitoring unit comprises an operation panel and a display, and is used for acquiring detection data of the main top controller, the built-in controller and the relay controller, and an input signal of the operation panel is connected with the main top controller; the main roof controller sends out control instructions to the relay ring and the machine head from the operation panel to the data exchange bus, and the in-machine controller and the relay controller control the underground pipe jacking rescue equipment of the coal mine after receiving the corresponding instructions through the data exchange bus;
the wireless remote control unit consists of a signal transmitter and a signal receiver and is used for wirelessly remotely controlling the working of the underground pipe jacking rescue equipment of the coal mine;
the operation authority limit of the wireless remote control unit on the underground coal mine pipe jacking rescue equipment is higher than that of the operation panel of the monitoring unit, and the operation authority of the monitoring unit is cut off when the wireless remote control unit operates the underground coal mine pipe jacking rescue equipment; the built-in controller and/or the relay controller is provided with a lighting unit in signal connection with the built-in controller and/or the relay controller.
2. The system for controlling jacking pipe rescue equipment for underground coal mine as claimed in claim 1, wherein: the built-in controller is provided with a video unit in signal connection with the built-in controller.
3. The system for controlling jacking pipe rescue equipment for underground coal mine as claimed in claim 1, wherein: the environment parameter detection units are respectively arranged in the working roadway, the machine head and the relay ring, and each environment parameter detection unit consists of a methane sensor, a carbon monoxide sensor and an oxygen sensor so as to detect the concentration parameters of surrounding environment gas in real time.
4. The system for controlling jacking pipe rescue equipment for underground coal mine as claimed in claim 1, wherein: the main top state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged in a main top hydraulic pump station and is used for detecting the pressure of a main top oil cylinder; the liquid level sensor is arranged on an oil tank of the main top hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from sucking air caused by the too low liquid level; the displacement sensor is arranged in the main top oil cylinder and used for detecting the extension distance of the main top oil cylinder;
the tunnel motor driving unit is arranged in the working tunnel and used for controlling the starting and stopping of the main top oil cylinder motor and protecting the motor from overload, overcurrent, electric leakage, overvoltage and undervoltage;
the main top hydraulic control unit is arranged in the working roadway and used for controlling the stretching and shrinking actions of the main top oil cylinder and the stretching and shrinking speed adjustment of the main top oil cylinder;
the cutter disc speed regulating unit is arranged in the working roadway and used for controlling the start and stop of the cutter disc motor, the steering of the cutter disc motor and the rotating speed of the cutter disc motor, and feeding back the working frequency, the working voltage, the working current, the working state and the alarm information of the cutter disc motor to the main top controller.
5. The system for controlling jacking pipe rescue equipment for underground coal mine as claimed in claim 1, wherein: the built-in state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged on a built-in hydraulic pump station and is used for detecting the pressure of the deviation correcting oil cylinder; the liquid level sensor is arranged on an oil tank of the hydraulic pump station in the machine and used for detecting the oil level of the oil tank and preventing the oil pump from sucking air caused by the too low liquid level; the displacement sensor is arranged on the deviation correcting oil cylinder in the machine and is used for calculating the extending distance of the deviation correcting oil cylinder;
the machine head posture detection unit consists of a double-shaft inclination angle sensor arranged in the machine head, posture data of the machine head are detected in real time, and the machine head controller calculates the numerical value of the double-shaft inclination angle sensor to obtain the inclination angle and the rotation angle of the machine head;
the vital sign detection unit detects heart rate indexes of a person in real time, and sends signals to the in-machine controller after the vital sign detection unit detects physiological parameters of the person;
the motor driving unit in the machine is arranged in the machine head and used for controlling the motor of the hydraulic pump station in the machine to start and stop and protecting the motor from overload, overcurrent, electric leakage, overvoltage and undervoltage;
the hydraulic control unit in the machine is arranged in the machine head and is responsible for controlling the extending and contracting actions of the four deviation correcting cylinders.
6. The system for controlling jacking pipe rescue equipment for underground coal mine as claimed in claim 1, wherein: the relay motor driving unit is arranged in the relay ring and used for controlling the starting and stopping of the motor of the relay hydraulic pump station to perform overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;
the relay state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged on a relay hydraulic pump station and is used for detecting the pressure of a relay oil cylinder, and the relay controller converts the detected pressure value into a top force value of the relay oil cylinder, so that the top force upper limit of the relay oil cylinder is protected; the liquid level sensor is arranged on an oil tank of the relay hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from sucking air caused by the too low liquid level; the displacement sensor is arranged on the relay oil cylinder and used for calculating the extending distance of the relay oil cylinder;
the relay hydraulic control unit is used for controlling the extension and retraction of the relay oil cylinder and controlling the telescopic speed.
7. The system for controlling jacking pipe rescue equipment for underground coal mine as claimed in claim 1, wherein: the data exchange bus is a CAN bus.
8. A method for controlling pipe jacking rescue equipment for a coal mine, which uses the pipe jacking rescue equipment control system for the coal mine according to any one of claims 1-7, and is characterized in that: the method has at least one of the following juxtaposition features:
A. the operation panel of the monitoring unit and the wireless remote control unit can control and operate the pipe jacking rescue equipment, and after the wireless remote control unit is started, the control and operation functions of the operation panel of the monitoring unit are invalid;
B. the main roof controller, the built-in controller and the relay controller collect detection data of the environmental parameter detection unit in real time, and when the concentration of the combustible gas in the environmental air exceeds a threshold value, the roadway motor driving unit, the cutterhead speed regulating unit, the built-in motor driving unit and the relay motor driving unit immediately cut off the power supply of a motor main loop, and simultaneously alarm and feed back detection values to the monitoring unit; when the oxygen concentration in the ambient air is too low, alarming to a monitoring unit and feeding back a detection value;
C. the main top controller collects data of the main top state detection unit in real time, and when the measured value of the main top state detection unit exceeds a threshold value, the main top controller sends a stop instruction to the main top oil cylinder when the pressure of the main top oil cylinder is too high, so that equipment damage caused by excessive top force is prevented; when the measured value of the main top state detection unit is lower than a threshold value, the main top controller sends a stop instruction to the main top oil cylinder, so that a large amount of hydraulic oil is prevented from entering the main top oil cylinder from the hydraulic oil tank, and the phenomenon of oil pump suction occurs;
D. the relay controller collects data of the relay state detection unit in real time, and when the measured value of the relay state detection unit exceeds a threshold value, the relay controller sends a stop instruction to the relay cylinder to prevent equipment damage caused by overlarge top force when the pressure of the relay cylinder is too high; when the measured value of the relay state detection unit is lower than a threshold value, the relay controller sends a stop instruction to the relay oil cylinder to prevent a large amount of hydraulic oil from entering the relay oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump suction occurs;
E. the in-machine controller collects data of an in-machine state detection unit in real time, and when the measured value of the in-machine state detection unit exceeds a threshold value, the relay controller sends a stop instruction to the relay oil cylinder to prevent equipment damage caused by excessive jacking force when the pressure of the deviation correcting oil cylinder is too high; when the measured value of the in-machine state detection unit is lower than a threshold value, the in-machine controller sends a stop instruction to the deviation correcting oil cylinder, so that a large amount of hydraulic oil is prevented from entering the deviation correcting oil cylinder from the hydraulic oil tank, and the phenomenon of oil pump suction occurs;
F. the machine-internal controller collects data of the machine head gesture detection unit in real time, and when the measured value of the machine head gesture detection unit is too large through calculation of the rolling angle, the rotation of the cutter disc is stopped, so that damage to equipment inside the machine head due to the fact that the whole rotating angle is too large is prevented; when the measured value of the machine head posture detection unit is overlarge in the calculated inclination angle, an alarm signal is sent to the monitoring unit so as to remind a person of correcting the deviation;
G. the in-machine controller receives information sent by the vital sign detection unit in real time, and feeds back the information to the main top controller and the relay controller after the vital sign detection unit detects vital signs of a person, the main top controller sends a stop signal to the main top oil cylinder and the cutterhead speed regulation unit, and the relay controller sends the stop signal to the relay oil cylinder.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012020451A1 (en) * | 2010-08-10 | 2012-02-16 | 川崎重工業株式会社 | Surveying device for pipe-jacking method |
| CN109488366A (en) * | 2018-11-06 | 2019-03-19 | 东北大学 | Safe and reliable Quick rescue device and rescue mode after a kind of tunnel cave |
| CN210977499U (en) * | 2019-10-28 | 2020-07-10 | 煤科集团沈阳研究院有限公司 | Control system for underground jacking pipe rescue equipment of coal mine |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012020451A1 (en) * | 2010-08-10 | 2012-02-16 | 川崎重工業株式会社 | Surveying device for pipe-jacking method |
| CN109488366A (en) * | 2018-11-06 | 2019-03-19 | 东北大学 | Safe and reliable Quick rescue device and rescue mode after a kind of tunnel cave |
| CN210977499U (en) * | 2019-10-28 | 2020-07-10 | 煤科集团沈阳研究院有限公司 | Control system for underground jacking pipe rescue equipment of coal mine |
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