CN111343574A - Remote controller fault positioning system and mining intrinsic safety type remote controller - Google Patents
Remote controller fault positioning system and mining intrinsic safety type remote controller Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
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Abstract
The embodiment of the invention provides a remote controller fault positioning system and a mining intrinsic safety type remote controller, wherein the system comprises: the system comprises at least three mining intrinsic safety type remote controllers and controllers which are respectively corresponding to the mining intrinsic safety type remote controllers and used for controlling a hydraulic support, wherein each mining intrinsic safety type remote controller comprises at least two communication modules and a UWB positioning tag; the mining intrinsic safety type remote controller is used for enabling the corresponding UWB positioning tag to start to send UWB pulse signals when one or more communication modules are in fault; each controller is used for receiving the UWB pulse signal through the corresponding connected UWB positioning base station and calculating the distance between the corresponding UWB positioning base station and the UWB positioning label; and the corresponding controller is used for calculating the position information of the mining intrinsic safety type remote controller with the communication fault according to the calculated and received distances. The invention can improve the reliability and robustness of system communication, and can realize accurate positioning of a failed mine intrinsic safety type remote controller, thereby ensuring the safety of operators and the like.
Description
Technical Field
The invention relates to the technical field of mine communication, in particular to a remote controller fault positioning system and a mine intrinsic safety type remote controller.
Background
The existing hydraulic support control mode is mostly controlled in a wired mode through a hydraulic support electro-hydraulic controller, the control distance is fixed due to the fact that the length of a cable is fixed and the controller can only be placed at certain fixed positions, the control distance cannot be flexibly changed, and the control mode is single. In addition, because the operator is close to the hydraulic support system during operation, the safety of underground operation is poor. Of course, a small amount of the control is performed in a wireless mode, but a single communication mode such as WIFI or bluetooth is generally adopted, so that the stability is poor, and the control personnel cannot be tracked in real time; if the wireless remote controller has communication faults in the operation process, the wireless remote controller cannot be accurately positioned in time, and the like.
Disclosure of Invention
In view of this, the present invention aims to overcome the defects in the prior art, and provides a remote controller fault location system and a mining intrinsic safety type remote controller.
An embodiment of the present invention provides a remote controller fault location system, including: the system comprises at least three mining intrinsic safety type remote controllers and controllers which are respectively corresponding to the mining intrinsic safety type remote controllers and used for controlling a hydraulic support, wherein each mining intrinsic safety type remote controller comprises at least two communication modules and is provided with a UWB positioning label which is in a non-working state in advance, and each controller is used for being connected to a corresponding UWB positioning base station which is arranged at a preset position;
the mining intrinsic safety type remote controller is used for enabling the corresponding UWB positioning tag to start to send UWB pulse signals when one or more communication modules are in fault;
each controller is used for receiving the UWB pulse signals through the corresponding UWB positioning base station so as to calculate the distance between the corresponding UWB positioning base station and the UWB positioning label, and then the other controllers corresponding to the other mine intrinsic safety type remote controllers without faults of the communication module are also used for sending the calculated distance values to the controllers corresponding to the mine intrinsic safety type remote controllers with faults of the communication module;
and the controller corresponding to the mining intrinsic safety type remote controller with the communication module having the fault is also used for calculating the position information of the mining intrinsic safety type remote controller with the fault of the communication module according to three distance values which are closest to the UWB positioning tags and selected from the distance values between the UWB positioning base stations and the UWB positioning tags.
Further, in the above remote controller fault location system, the mining intrinsic safety type remote controller includes a main control module connected with the UWB positioning tag, and the main control module is electrically connected with each communication module through a serial port;
the main control module is used for automatically triggering or triggering the UWB positioning tag to start broadcasting the UWB pulse signal according to a user instruction when detecting that one or more communication modules have faults.
Further, in the above remote controller fault location system, the at least two communication modules include a Zigbee module, a Lora module, and a wireless ad hoc network module, and the main control module periodically receives heartbeat signals sent by the Zigbee module, the Lora module, and the wireless ad hoc network module, and determines that the corresponding communication module is faulty if the heartbeat signals are not received within a preset time.
Further, in the above remote controller fault location system, the controller corresponding to the mining intrinsically safe remote controller with the communication module having the fault is configured to perform numerical sorting on a distance obtained by the controller and each received distance sent by the other controllers, and select three distances including the distance obtained by the controller and adjacent to each other from the sorted sequence, and calculate the position coordinates of the mining intrinsically safe remote controller with the communication module having the fault based on a three-point location algorithm.
Further, in the above remote controller fault location system, the mining intrinsic safety type remote controller includes a battery, a power management unit, and a DC-DC converter, and the battery is connected to the DC-DC converter and the power management unit, respectively; the DC-DC converter is respectively connected with the main control module, each communication module and the UWB positioning tag to supply power.
Further, in the above remote controller fault location system, each controller is provided with a corresponding signal converter, and the signal converter is configured to receive a wireless communication signal sent by the corresponding mining intrinsic safety type remote controller through one or two communication modules of the at least two communication modules, perform signal conversion, and transmit the signal to the corresponding controller.
Another embodiment of the invention provides a mining intrinsic safety type remote controller, which is used for a remote controller fault positioning system, wherein the system comprises at least three mining intrinsic safety type remote controllers and controllers which respectively correspond to the mining intrinsic safety type remote controllers and are used for controlling a hydraulic support, each controller is used for being connected to a corresponding UWB positioning base station arranged at a preset position, each mining intrinsic safety type remote controller comprises a main control module, at least two communication modules and a UWB positioning label which is in a non-working state in advance, and each communication module and the UWB positioning label are connected with the main control module;
the main control module is used for making the corresponding UWB positioning label begin to send UWB pulse signals when one or more communication modules break down, so that each controller is used for receiving UWB pulse signals through corresponding UWB positioning base stations and calculating the distance between the UWB positioning labels from the corresponding UWB positioning base stations, and the controller corresponding to the mining intrinsically safe remote controller with the communication module breaking down selects three distance values nearest to the UWB positioning labels according to the distance values from the UWB positioning base stations to the UWB positioning labels so as to be used for calculating the position information of the mining intrinsically safe remote controller with the communication module breaking down.
Further, in foretell mining ann's type remote controller, host system passes through the serial ports and each communication module electric connection respectively, host system is used for automatic triggering or according to user's instruction triggering when detecting one or more communication module break down UWB positioning tag begins the broadcast UWB pulse signal.
Further, in the above mining intrinsic safety type remote controller, the at least two communication modules include a Zigbee module, a Lora module, and a wireless ad hoc network module, the main control module periodically receives heartbeat signals sent by the Zigbee module, the Lora module, and the wireless ad hoc network module, and if the heartbeat signals are not received within a preset time, it is determined that the corresponding communication module has a fault.
Further, in the above mining intrinsically safe remote controller, the remote controller further includes: the battery is connected with the DC-DC converter and the power management unit respectively; the DC-DC converter is respectively connected with the main control module, each communication module and the UWB positioning tag to perform voltage matching power supply.
The embodiment of the invention has the following advantages:
the embodiment of the invention provides a remote controller fault positioning system, which comprises at least three mine intrinsic safety type remote controllers and respective corresponding controllers, wherein each mine intrinsic safety type remote controller comprises at least two communication modules, and when one of the mine intrinsic safety type remote controllers fails, the mine intrinsic safety type remote controllers can be switched to other communication modules in time to continue communication so as to ensure the communication stability; each mine intrinsic safety type remote controller is also provided with a UWB positioning tag, when one or more communication modules in the mine intrinsic safety type remote controller have faults, a UWB pulse signal is triggered and sent, so that each controller can receive the UWB pulse signal through a corresponding UWB positioning base station to be used for positioning the mine intrinsic safety type remote controller with the fault communication module in time, and the prompt of system reliability is achieved; in addition, the system with accurate positioning can also position the operator in real time to ensure personnel safety and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a remote controller fault location system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a mining intrinsic safety type remote controller according to an embodiment of the invention;
fig. 3 shows a schematic structural diagram of a power supply module of a mining intrinsic safety type remote controller according to an embodiment of the invention;
fig. 4 shows a flow chart of remote controller fault location according to an embodiment of the present invention.
Description of the main element symbols:
1-remote controller fault location system; 10-mine intrinsic safety type remote controller; 20-a controller; 110-a master control module; 120-a communication module; 130-UWB location tag; 140-a power supply module; 150-key module; 160-liquid crystal display module; 141-a battery; 142-DC-DC converter; 143-power management unit.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1 and 2, the present embodiment provides a remote controller fault locating system 1, which can be applied to a hydraulic support control situation in a mine. Through the mining intrinsic safety type remote controller 10 supporting multiple communication modes and UBW positioning functions in the remote controller fault positioning system 1 of the embodiment, the communication reliability can be greatly improved, and when a part of mining intrinsic safety type remote controllers 10 have communication faults, the fault remote controllers can be timely positioned to prompt workers to pay attention, so that the system reliability, the safety and the like are improved. As shown in fig. 1, the remote controller fault location system 1 will be described in detail below.
Exemplarily, the remote controller fault positioning system 1 comprises at least three mine intrinsic safety type remote controllers 10 and respective corresponding controllers 20, wherein the controllers 20 are used for controlling hydraulic supports of a mine fully-mechanized mining working face; and the mining intrinsically safe remote controller 10 can be used for remotely controlling the hydraulic support. The controllers 20 may be connected by a bus, such as a CAN bus. In this embodiment, each mining intrinsically safe remote controller 10 includes at least two communication modules 120 and is provided with a UWB positioning tag 130, and each UWB tag has a unique ID. When the mining intrinsically safe remote controller 10 is in a normal operating state of each communication module 120, the UWB positioning tag 130 is usually in a non-operating state, such as a sleep state or an off state. The reason is that the movable mining intrinsic safety type remote controller 10 is mainly powered by a battery, and the UWB positioning tag 130 is preset to be in a non-working state, so that the remote controller can be prevented from consuming electricity more quickly, and the cruising ability of the mining intrinsic safety type remote controller 10 is ensured.
Correspondingly, each controller 20 is configured to connect to a corresponding UWB positioning base station. Wherein, these UWB location base stations can install respectively in corresponding position according to actual demand to guarantee that foretell UWB location label 130 and UWB location base station can realize carrying out real-time accurate location to the equipment that has UWB location label 130 through the cooperation. Because the UWB technology is adopted during UWB positioning, the data is transmitted by sending and receiving extremely narrow pulses with nanosecond or nanosecond level or below without using carriers in a traditional communication system, and the communication and positioning are integrated. For complex and severe mine environments, UWB signals with strong penetration are also fully applicable, and thus can be used to provide higher positioning accuracy. In this embodiment, the positioning accuracy of the mining intrinsically safe remote controller 10 using the UWB positioning technology is ± 5 cm.
Exemplarily, as shown in fig. 2, each of the mining intrinsically safe remote controllers 10 includes a main control module 110, and the UWB positioning tag 130 and each of the communication modules 120 are electrically connected to the main control module 110. In addition, each communication module 120 will send a heartbeat signal to the main control module 110 at a regular time (e.g. once per second) to inform the main control module 110 of its working status. Exemplarily, the main control module 110 may adopt a single chip microcomputer of STM32 series or a control chip of ARM series, and is electrically connected to the UWB positioning tag 130 and the at least two communication modules 120 through UART serial ports.
For the above-mentioned at least two communication modules 120, three or more modules including, but not limited to, a wifi module, a bluetooth module, a Zigbee module, a Lora module, and a wireless ad hoc network (WaveMesh) may be included exemplarily. As shown in fig. 2, three communication modules 120, namely a Zigbee module, a Lora module, and a WaveMesh module, are preferably used, wherein the Zigbee module, the Lora module, and the WaveMesh module can perform bidirectional communication with the controller 20 through serial ports. For the three selected communication modules 120, the problem of co-channel interference can be completely avoided because the communication modules are respectively in different communication frequency bands.
For the above-mentioned at least two kinds of communication modules 120, the mining intrinsically safe remote controller 10 may use one kind of communication module 120 to perform single-mode communication, or may use any combination of two or three kinds to perform multi-mode communication. For example, when it is detected that the signal strength of the currently used communication module 120 is weak (e.g., lower than a preset signal strength threshold), the currently used communication module 120 is automatically switched to another communication module 120 in time to ensure communication; or, the mode combination is switched to the multi-mode communication mode, so that the stability of the current communication is improved, and the anti-interference capability of the system is improved. Further, wireless ad hoc networking can be performed between the mine intrinsically safe remote controllers 10 by the single mode communication or the multimode communication.
Each controller 20 is provided with a signal converter, and the signal converter can be used for receiving wireless communication signals sent by the corresponding mining intrinsic safety type remote controller 10 through one or two communication modules 120 of the at least two communication modules 120, and transmitting the wireless communication signals to the controller 20 after signal conversion. For example, a 485 signal converter or the like is adopted, and after the signal converter receives the wireless signal, the signal is analyzed into a 485 signal and transmitted to the controller 20, so that the controller 20 further controls the hydraulic support to execute corresponding actions according to the analyzed control command.
In addition, as shown in fig. 3, each of the mining intrinsically safe remote controllers 10 includes a power supply module 140, and the power supply module 140 mainly includes a battery 141, a DC-DC converter 142, and a power management unit 143. Exemplarily, as shown in fig. 3, the battery 141 is respectively connected to the DC-DC converter 142 and the power management unit 143, and the power management unit 143 is mainly used for monitoring the power state of the battery 141; the DC-DC converter 142 is connected to respective power input terminals of the main control module 110, each communication module 120, and the UWB positioning tag 130, and is used for supplying power to these devices.
In one embodiment, for example, the battery 141 may be a lithium manganate polymer battery 141 meeting mining standards; the power management unit 143 mainly includes a charging and power management chip of model BQ240 XX; the DC-DC converter 142 may be a switching power supply model TPS6208xx, manufactured by TI, and output a rated voltage of 3.3V and a rated current of 1.2A for supplying power to the back-end module. In addition, for the quiescent current of the switching power supply, the loss is only 30mA under the condition of light load, the switching frequency of the switching power supply can reach 2MHz, and the size of the inductor and the capacitor required by the back end can be reduced, which is beneficial to the intrinsic safety design of the back end circuit composed of the main control module 110 and other modules.
Further, as shown in fig. 2, each mining intrinsic safety type remote controller 10 further includes a key module 150, and exemplarily, the key module 150 mainly includes a multi-channel check device, a plurality of keys, a key indicator light, and the like, wherein the multi-channel check device is connected to each key and can be used for switching different functions of the key and the like. Preferably, the key is a matrix key, and certainly, a plurality of independent keys and the like can be adopted and can be specifically selected according to actual requirements.
Further optionally, each mining intrinsic safety type remote controller 10 further includes a liquid crystal display module 160, and the liquid crystal display module 160 may be configured to display a corresponding control command, a current state of the hydraulic support, current location information, and the like.
The remote controller fault positioning system 1 of the embodiment can be used for accurately positioning the mine intrinsic safety type remote controllers 10, and particularly when the mine intrinsic safety type remote controllers 10 have communication faults, the faults can be found in time to avoid other accidents and the like. It can be understood that when the remote controller is positioned, the corresponding operator is also accurately positioned, and the accurate action track of the operator can be obtained.
Taking an actual mine environment as an example, three mine intrinsic safety type remote controllers 10 and three corresponding controllers 20 are provided, each controller 20 is correspondingly connected with a UWB positioning base station arranged at a preset position in a mine, and how to position a fault of the remote controller fault positioning system 1 is described below.
For each mining intrinsic safety type remote controller 10, the main control module 110 periodically receives heartbeat signals sent by each of the plurality of communication modules 120, and if the main control module 110 does not receive corresponding heartbeat signals within a preset time, it is determined that the corresponding communication module 120 is in a fault (i.e., is in an abnormal working state).
For example, as shown in fig. 4, when a mining intrinsically safe remote controller a detects that one or more of a plurality of communication modes of the mining intrinsically safe remote controller a has communication faults, the corresponding UWB positioning tag is automatically triggered to start to transmit UWB pulse signals for positioning. Or when the communication fault occurs, the liquid crystal display module can prompt an operator to manually start the UWB positioning function, so that the UWB positioning tag starts to send a UWB pulse signal.
Then, the controller a corresponding to the mining intrinsic safety type remote controller a with the communication fault and other controllers (B and C) receive the UWB pulse signal through the UWB positioning base stations connected to the controllers. After receiving the UWB pulse signals, other controllers (B and C) corresponding to other mining intrinsic safety type remote controllers without communication faults calculate the relative distance from the UWB positioning label sending the UWB pulse signals to the UWB positioning base station corresponding to the controller, then the relative distance is sent to the controller A corresponding to the mining intrinsic safety type remote controller A with the communication module having faults, and then the controller A calculates the position information of the mining intrinsic safety type remote controller A with the communication module having faults according to the distance between each UWB positioning base station and the UWB positioning label based on a three-point positioning algorithm. It can be understood that, since the system includes three UWB positioning base stations, if there are more than three UWB positioning base stations, three distance values closest to the UWB positioning tag can be selected from distances between all the UWB positioning base stations and the UWB positioning tag to position the mining intrinsically safe remote controller a.
The remote controller fault positioning system provided by the embodiment is provided with at least two communication modules for the mine intrinsic safety type remote controllers, and when one of the at least two communication modules fails, the other communication modules can be switched to continue communication in time so as to ensure the communication stability; under the condition of severe environment, multi-mode communication can be carried out through more than two communication modules so as to make up the defect of a single communication module and ensure that the system has stronger reliability and robustness; meanwhile, each mine intrinsic safety type remote controller is also provided with a UWB positioning tag, so that the remote controller or an operator can be accurately positioned, especially when communication faults occur, the UWB positioning technology can be utilized to position the remote controller in time, and safety and reliability prompt and the like are achieved.
Example 2
Referring to fig. 2 to 3, the present embodiment provides a mining intrinsically safe remote controller 10, where the mining intrinsically safe remote controller 10 has the same structure as the mining intrinsically safe remote controller 10 in the remote controller fault location system 1 of the above embodiment 1. Exemplarily, the remote controller fault locating system 1 includes at least three mining intrinsic safety type remote controllers 10 and respective controllers 20 for controlling the hydraulic support, and each controller 20 is configured to be connected to a corresponding UWB locating base station disposed at a preset position.
Exemplarily, each mining intrinsically safe remote controller 10 includes a main control module 110, at least two communication modules 120 and a UWB positioning tag 130 which is in a non-working state in advance, and each communication module 120 and the UWB positioning tag 130 are connected to the main control module 110, as shown in fig. 2.
The main control module 110 is configured to, when one or more communication modules 120 are faulty, enable the corresponding UWB positioning tag 130 to start sending UWB pulse signals, so that each controller 20 is configured to receive the UWB pulse signals through the corresponding UWB positioning base station to calculate a distance between the UWB positioning base station corresponding to the controller 20 and the UWB positioning tag 130, and further enable the controller 20 corresponding to the mining intrinsically safe remote controller 10 with the fault in the communication module 120 to select three distances closest to the UWB positioning tag 130 from the respective UWB positioning base stations to the UWB positioning tag 130 sending the UWB pulse signals, so as to calculate position information of the mining intrinsically safe remote controller 10 with the fault in the communication module 120.
In one embodiment, the main control module 110 is electrically connected to each communication module 120 through a serial port. And each communication module 120 will send a heartbeat signal to the main control module 110 at regular time (e.g. once per second) for informing the main control module 110 of its working status. Preferably, the at least two communication modules 120 include a Zigbee module, a Lora module, and a wireless ad hoc network module. Accordingly, the main control module 110 receives the heartbeat signal sent by each communication module 120 at regular time, and if the heartbeat signal is not received within the preset time, it determines that the corresponding communication module 120 has a fault. The main control module 110 is further configured to automatically trigger or trigger the UWB positioning tag 130 to start broadcasting the UWB pulse signal according to a user instruction when detecting that one or more communication modules 120 are out of order.
Further, as shown in fig. 3, each of the mining intrinsically safe remote controllers 10 includes a power supply module 140, and the power supply module 140 mainly includes a battery 141, a DC-DC converter 142, a power management unit 143, and the like. Exemplarily, as shown in fig. 3, the battery 141 is respectively connected to the DC-DC converter 142 and the power management unit 143, and the DC-DC converter 142 is respectively connected to the main control module 110, each communication module 120, the UWB positioning tag 130, and the like for supplying power to these devices; the power management unit 143 is used for monitoring the power of the battery 141, and also for monitoring the voltage of each power-supplied module 140.
It is to be understood that the mining intrinsically safe remote controller 10 of the present embodiment has the same structure as the mining intrinsically safe remote controller 10 in the remote controller fault location system 1 of the above embodiment 1, and the alternatives regarding the mining intrinsically safe remote controller 10 in the above embodiment 1 are also applicable to the present embodiment, so that the description thereof is not repeated here.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A remote control fault location system, comprising: the system comprises at least three mining intrinsic safety type remote controllers and controllers which are respectively corresponding to the mining intrinsic safety type remote controllers and used for controlling a hydraulic support, wherein each mining intrinsic safety type remote controller comprises at least two communication modules and is provided with a UWB positioning label which is in a non-working state in advance, and each controller is used for being connected to a corresponding UWB positioning base station which is arranged at a preset position;
the mining intrinsic safety type remote controller is used for enabling the corresponding UWB positioning tag to start to send UWB pulse signals when one or more communication modules are in fault;
each controller is used for receiving the UWB pulse signals through the corresponding UWB positioning base station so as to calculate the distance between the corresponding UWB positioning base station and the UWB positioning label, and then other controllers corresponding to other mine intrinsic safety type remote controllers with the communication module not having faults are also used for sending the calculated distance values to the controllers corresponding to the mine intrinsic safety type remote controllers with the communication module having faults;
and the controller corresponding to the mining intrinsic safety type remote controller with the communication module having the fault is also used for calculating the position information of the mining intrinsic safety type remote controller with the fault of the communication module according to three distance values which are closest to the UWB positioning tags and selected from the distance values between the UWB positioning base stations and the UWB positioning tags.
2. The remote controller fault location system of claim 1, wherein the mining intrinsic safety type remote controller comprises a main control module connected with the UWB positioning tag, and the main control module is electrically connected with each communication module through a serial port;
the main control module is used for automatically triggering or triggering the UWB positioning tag to start broadcasting the UWB pulse signal according to a user instruction when detecting that one or more communication modules have faults.
3. The remote controller fault location system of claim 2, wherein the at least two communication modules include a Zigbee module, a Lora module, and a wireless ad hoc network module, and the main control module periodically receives heartbeat signals sent by the Zigbee module, the Lora module, and the wireless ad hoc network module, and determines that the corresponding communication module is faulty if the heartbeat signals are not received within a preset time.
4. The remote controller fault location system of claim 1, wherein the controller corresponding to the mining intrinsically safe remote controller with the communication module having the fault is configured to perform numerical sorting on a distance obtained by the controller and the received distances sent by the other controllers, and select three distances which include the distance obtained by the controller and are adjacent to each other from the sorted sequence, and calculate the position coordinates of the mining intrinsically safe remote controller with the communication module having the fault based on a three-point location algorithm.
5. The remote controller fault location system of claim 2, wherein the mining intrinsically safe remote controller comprises a battery, a power management unit and a DC-DC converter, the battery being connected to the DC-DC converter and the power management unit, respectively; the DC-DC converter is respectively connected with the main control module, each communication module and the UWB positioning tag to supply power.
6. The remote controller fault location system of claim 1, wherein each controller is provided with a corresponding signal converter, and the signal converter is configured to receive a wireless communication signal sent by the corresponding mining intrinsic safety type remote controller through one or more communication modules of the at least two communication modules, perform signal conversion, and transmit the signal to the corresponding controller.
7. A mining intrinsic safety type remote controller is characterized by being used for a remote controller fault positioning system, wherein the system comprises at least three mining intrinsic safety type remote controllers and controllers which are respectively corresponding and used for controlling a hydraulic support, each controller is used for being connected to a corresponding UWB positioning base station arranged at a preset position, each mining intrinsic safety type remote controller comprises a main control module, at least two communication modules and a UWB positioning tag which is in a non-working state in advance, and each communication module and the UWB positioning tag are connected with the main control module;
the main control module is used for making the corresponding UWB positioning label begin to send UWB pulse signals when one or more communication modules break down, so that each controller is used for receiving UWB pulse signals through corresponding UWB positioning base stations and calculating the distance between the UWB positioning labels from the corresponding UWB positioning base stations, and the controller corresponding to the mining intrinsically safe remote controller with the communication module breaking down selects three distance values nearest to the UWB positioning labels according to the distance values from the UWB positioning base stations to the UWB positioning labels so as to be used for calculating the position information of the mining intrinsically safe remote controller with the communication module breaking down.
8. The mining intrinsic safety type remote controller of claim 7, wherein the master control module is electrically connected to each of the communication modules through a serial port, and the master control module is configured to automatically trigger or trigger the UWB positioning tag to start broadcasting the UWB pulse signal according to a user instruction when detecting that one or more of the communication modules are faulty.
9. The mining intrinsic safety type remote controller according to claim 7, wherein the at least two communication modules include a Zigbee module, a Lora module and a wireless ad hoc network module, the main control module periodically receives heartbeat signals sent by the Zigbee module, the Lora module and the wireless ad hoc network module, and if the heartbeat signals are not received within a preset time, it is determined that the corresponding communication module fails.
10. The mining intrinsically safe remote control of claim 7, further comprising: the battery is connected with the DC-DC converter and the power management unit respectively; the DC-DC converter is respectively connected with the main control module, each communication module and the UWB positioning tag to perform voltage matching power supply.
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