CN112012738A - Intelligent remote control system of development machine - Google Patents
Intelligent remote control system of development machine Download PDFInfo
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- CN112012738A CN112012738A CN202010842103.8A CN202010842103A CN112012738A CN 112012738 A CN112012738 A CN 112012738A CN 202010842103 A CN202010842103 A CN 202010842103A CN 112012738 A CN112012738 A CN 112012738A
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- mining
- intrinsic safety
- heading machine
- safety type
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
Abstract
The invention belongs to the field of digital communication and industrial control, and particularly relates to an intelligent remote system of a heading machine based on network communication, digital image processing and automatic control, in particular to an intelligent remote control system of the heading machine, which comprises a mining intrinsic safety type switch, an intrinsic safety type camera and a mining explosion-proof and intrinsic safety type wireless receiver; the mining explosion-proof and intrinsic safety type wireless receiver is in signal connection with the mining intrinsic safety type switch and used for sending images and data of the development machine to the mining intrinsic safety type switch; the invention can accurately position and position the heading machine, so that workers can control the heading machine more and leave dangerous working faces really, and can experience feelings of the workers after the workers experience the situation by adopting an intuitive operation interface, the efficiency of the workers is more efficient, the safety is ensured, and meanwhile, the working efficiency of the workers can be ensured.
Description
Technical Field
The invention belongs to the field of digital communication and industrial control, and particularly relates to an intelligent remote control system of a heading machine based on network communication, digital image processing and automatic control, in particular to an intelligent remote control system of the heading machine.
Background
With the continuous development of automation and communication technology and the increasing requirements of mines on safety and unmanned, the working face of the heading machine in mineral work is the most dangerous working face and has the characteristics of high dust, high humidity and high risk, the personnel safety and health of the working face are under pressure and threatened by dust all the time, and according to statistics, most of mine accidents occur on the working face of the heading machine, therefore, the unmanned working face is needed to be realized, the traditional heading machine controls to realize the visual range control or remote visual operation of the heading machine, personnel can not leave dangerous areas or can not cut according to a preset track, the undercutting or the over-cutting of the heading machine is easily caused during the operation, therefore, personnel can not completely break away from the traditional working mode, and the remote control of the heading machine is not realized fundamentally.
In order to solve the problems, the intelligent remote control system of the heading machine is provided in the application.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides an intelligent remote control system of a heading machine, which can realize a more accurate control mode, so that workers can evacuate from a dangerous working surface, the threat of rock burst and dust is avoided, the safety of the workers is ensured, and the production efficiency is improved.
In order to achieve the purpose, the invention provides the following technical scheme: the intelligent remote control system of the development machine comprises a mining intrinsic safety type switch, an intrinsic safety type camera and a mining explosion-proof and intrinsic safety type wireless receiver;
the mining explosion-proof and intrinsic safety type wireless receiver is in signal connection with the mining intrinsic safety type switch and is used for sending images and data of a heading machine to the mining intrinsic safety type switch, and the mining intrinsic safety type switch transmits the data to a wireless base station through optical fibers;
the mining explosion-proof and intrinsic safety type wireless receiver is communicated with the electric control box of the heading machine through a 485 communication interface and used for interacting data and control signals, and the mining explosion-proof and intrinsic safety type wireless receiver is communicated with the sight distance remote controller through wireless signals and used for remote control of sight distance.
Preferably, the intelligent remote control system of the heading machine is characterized in that the sight distance remote control adopts bidirectional data transmission to realize the remote control of the heading machine and simultaneously realize the data display of the heading machine, and the mining explosion-proof and intrinsically safe wireless receiver is provided with various sensor structures for connecting the sensors and acquiring the data of the sensors.
Preferably, the intelligent remote control system of the heading machine comprises a mining magnetic hysteresis displacement sensor, a mining infrared sensor and a mining inclination angle sensor; the mining hysteresis displacement sensor adopts a hidden installation mode and is used for accurately calculating and positioning the position of the cutting head; the mining infrared sensor is used for forming a safety fence on a working surface and analyzing current and voltage data of a machine; the mining inclination angle sensor is used for further correcting the position of the cutting head and can be matched with a fixed-surface radar to further correct the position of the heading machine.
The intelligent remote control system of the heading machine is preferably characterized by further comprising a remote control console, wherein the remote control console comprises a mining explosion-proof and intrinsic safety computer, a mining explosion-proof and intrinsic safety hard disk video recorder and a mining intrinsic safety display;
the mining flameproof and intrinsically safe computer is used for receiving data of the sensor and the heading machine to perform operation in real time, displaying the posture of the heading machine, the position of the cutting head and the data of the heading machine on an upper computer, simultaneously sending control signals of operators to the mining flameproof and intrinsically safe wireless base station, transmitting the data to the mining intrinsically safe switch by the mining flameproof and intrinsically safe wireless base station, and transmitting the data to the mining flameproof and intrinsically safe receiver by the mining intrinsically safe switch so as to control an electro-hydraulic system on the heading machine.
The intelligent remote control system of the heading machine is preferably characterized by further comprising a mining face-fixing radar, wherein the mining face-fixing radar is used for accurately measuring the position of the heading machine in a roadway and is used for detecting by adopting millimeter waves.
The mining explosion-proof and intrinsic safety type wireless base station is used for receiving control signals of operators and transmitting data to the mining intrinsic safety type switch.
Compared with the prior art, the invention has the beneficial effects that: the invention can accurately position and position the heading machine, so that workers can control the heading machine more and leave dangerous working faces really, and can experience feelings of the workers after the workers experience the situation by adopting an intuitive operation interface, the efficiency of the workers is more efficient, the safety is ensured, and meanwhile, the working efficiency of the workers can be ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of an intelligent remote control system of a heading machine of the invention;
FIG. 2 is a diagram of the upper computer monitoring software interface according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1 and 2;
FIG. 1 is a flow chart of an intelligent remote control system of a heading machine of the invention;
FIG. 2 is a diagram of the upper computer monitoring software interface according to the present invention.
The intelligent remote control system of the development machine comprises a mining intrinsic safety type switch, an intrinsic safety type camera and a mining explosion-proof and intrinsic safety type wireless receiver;
the mining explosion-proof and intrinsic safety type wireless receiver is in signal connection with the mining intrinsic safety type switch and is used for sending images and data of a heading machine to the mining intrinsic safety type switch, and the mining intrinsic safety type switch transmits the data to a wireless base station through optical fibers;
the mining explosion-proof and intrinsic safety type wireless receiver is communicated with the electric control box of the heading machine through a 485 communication interface and used for interacting data and control signals, and the mining explosion-proof and intrinsic safety type wireless receiver is communicated with the sight distance remote controller through wireless signals and used for remote control of sight distance.
In an optional embodiment, the line-of-sight remote control adopts bidirectional data transmission, so that the remote control of the heading machine is realized, and the data display of the heading machine is realized.
In an optional embodiment, the sensors comprise a mining hysteresis displacement sensor, a mining infrared sensor and a mining inclination angle sensor; the mining hysteresis displacement sensor adopts a hidden installation mode and is used for accurately calculating and positioning the position of the cutting head; the mining infrared sensor is used for forming a safety fence on a working surface and analyzing current and voltage data of a machine; the mining inclination angle sensor is used for further correcting the position of the cutting head and can be matched with a fixed-surface radar to further correct the position of the heading machine.
In an optional embodiment, the system further comprises a remote control console, wherein the remote control console comprises a mining explosion-proof and intrinsic safety type computer, a mining explosion-proof and intrinsic safety type hard disk video recorder and a mining intrinsic safety type display;
the mining flameproof and intrinsically safe computer is used for receiving data of the sensor and the heading machine to perform operation in real time, displaying the posture of the heading machine, the position of the cutting head and the data of the heading machine on an upper computer, simultaneously sending control signals of operators to the mining flameproof and intrinsically safe wireless base station, transmitting the data to the mining intrinsically safe switch by the mining flameproof and intrinsically safe wireless base station, and transmitting the data to the mining flameproof and intrinsically safe receiver by the mining intrinsically safe switch so as to control an electro-hydraulic system on the heading machine.
In an optional embodiment, the mining surface-fixing radar is used for accurately measuring the position of the heading machine in the roadway, and the mining surface-fixing radar detects by using millimeter waves.
In an optional embodiment, the system further comprises a mining explosion-proof and intrinsic safety type wireless base station, wherein the mining explosion-proof and intrinsic safety type wireless base station is used for receiving control signals of an operator and transmitting data to the mining intrinsic safety type switch.
In this embodiment: the system has the advantages that the position of the cutting head and the overall posture of the heading machine can be accurately calculated, the heading machine can be operated by operators completely according to the display of the upper computer, and the efficiency can be ensured while the operators leave the dangerous working face.
The mining flameproof and intrinsically safe receiver passes through the electric control box of the heading machine through the 485 communication interface to perform interaction of data and control signals, and meanwhile, the receiver can also communicate with the line-of-sight remote controller through wireless signals to realize line-of-sight remote control. The receiver is provided with various interfaces of the sensors to realize data acquisition of the sensors.
The invention uses a plurality of sensing technologies, such as: the mining face-fixing radar, the mining magnetic hysteresis displacement sensor, the mining inclination angle sensor and the like can well solve the problems of the posture and the position of the development machine by combining the algorithm used in the invention, can accurately position the positions of the development machine and the cutting head, can accurately measure the position of the development machine in a roadway, is not influenced by dust, water mist and illumination in the environment because the mining face-fixing radar adopts millimeter waves for detection, adopts 80G millimeter waves to ensure the precision of data acquisition, corrects the position in real time in the working process of the development machine, adopts a hidden installation mode to avoid the influence of the field environment on the precision of the sensor, can accurately calculate and position the position of the cutting head by combining the specific algorithm in the invention, can accurately judge the super-cutting and the under-cutting which occur in the working process and can display the super-cutting and the under-cutting through an upper computer, the staff can visually display the working track of cutting, so that the loss caused by deviation during cutting can be reduced.
As the further optimization of the scheme, the inclination angle sensor is added in the system, the position of the cutting head can be further corrected, the accuracy of the position of the cutting head can be guaranteed even if the heading machine is inclined in time, and meanwhile, the inclination angle sensor can be matched with a solid radar to further correct the position of the heading machine, so that the occurrence of accumulated deviation is prevented.
According to the invention, the mining infrared sensor is used to form a safety fence on a working surface, when a person intrudes into the safety fence, the safety fence gives an alarm and stops, and simultaneously, the current and voltage data of the machine are analyzed, so that an operator is reminded to prevent the machine from being damaged when the person encounters hard rock, and the safety of a human machine is ensured.
According to the invention, an image human-computer interface is used, the posture of the heading machine is analyzed through multiple visual angles, so that the working condition of the heading machine can be more comprehensively controlled by a worker, the cutting track of the heading machine is displayed in an animation mode, the operation of the worker is more convenient and visual, and the working efficiency is improved.
In conclusion, the position and the posture of the heading machine can be accurately positioned, so that workers can control the heading machine more and leave dangerous working faces really, the workers can experience feelings of the workers after the workers leave the dangerous working faces by adopting an intuitive operation interface, the efficiency of the workers is more efficient, the safety is ensured, and meanwhile, the working efficiency of the workers can be ensured.
As shown in fig. 1:
the intrinsic safety type camera and the mining explosion-proof and intrinsic safety type receiver are connected with an intrinsic safety switch, the image and data of the heading machine are sent to the switch, the switch transmits the data to the wireless base station through optical fibers, the base station of the vehicle body side and the base station of the operation table side perform data interaction through wireless signals, and the wireless base station of the operation table side transmits the data to the operation table through the optical fibers. The operation table comprises a mining explosion-proof and intrinsic safety computer, a mining explosion-proof and intrinsic safety hard disk video recorder and a mining intrinsic safety display. The mining flame-proof and intrinsic safety type computer carries out real-time operation after receiving data of the sensor and the heading machine, displays the posture of the heading machine, the position of the cutting head and the data of the heading machine on an upper computer, simultaneously sends control signals of operators to a mining flame-proof and intrinsic safety type wireless base station, the mining flame-proof and intrinsic safety type wireless base station transmits the data to a mining intrinsic safety type switch, and the mining intrinsic safety type switch transmits the data to a mining flame-proof and intrinsic safety type receiver, so that an electro-hydraulic system on the heading machine is controlled.
As shown in fig. 2:
the upper computer comprises cutting head position display, heading machine attitude display, heading machine data display, control mode display and the like. The position display of the cutting head can display the position of the cutting head on the section of the roadway through calculated data, and the section of the roadway can be automatically generated by inputting field surveying and mapping data into an upper computer. The heading machine posture display picture can display the posture of the heading machine in a side view and a top view mode, and the display is more comprehensive and visual. The data display of the heading machine can display data such as system voltage, motor current and the like of the heading machine, and an operator can know the working condition of the heading machine in more detail.
The invention also provides a using method, which comprises the following steps:
1. the control mode of the heading machine is changed into a remote control mode on the heading machine operation box.
2. The COM port at the upper left corner of the upper computer is selected from COM1, the connecting button is clicked, the mode display window can display a remote control mode at the moment, and meanwhile, data such as system voltage, current, cutting head position and posture of the heading machine can be displayed.
3. And the on-off switch is turned to the upper side and is kept still for 3S, the mode display window displays that the startup is completed, and at the moment, various operations can be performed on the heading machine.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. Intelligent remote control system of entry driving machine, its characterized in that: the mining flame-proof and intrinsic safety type wireless receiver comprises a mining intrinsic safety type switch, an intrinsic safety type camera and a mining flame-proof and intrinsic safety type wireless receiver;
the mining explosion-proof and intrinsic safety type wireless receiver is in signal connection with the mining intrinsic safety type switch and is used for sending images and data of a heading machine to the mining intrinsic safety type switch, and the mining intrinsic safety type switch transmits the data to a wireless base station through optical fibers;
the mining explosion-proof and intrinsic safety type wireless receiver is communicated with the electric control box of the heading machine through a 485 communication interface and used for interacting data and control signals, and the mining explosion-proof and intrinsic safety type wireless receiver is communicated with the sight distance remote controller through wireless signals and used for remote control of sight distance.
2. The intelligent remote control system of the heading machine according to claim 1, wherein: the visual range remote control adopts bidirectional data transmission, so that the remote control of the heading machine is realized, the data display of the heading machine is realized, and the mining flameproof and intrinsically safe wireless receiver is provided with various sensor structures for connecting the sensors and acquiring the data of the sensors.
3. The intelligent remote control system of the heading machine of claim 2, wherein: the sensors comprise a mining magnetic hysteresis displacement sensor, a mining infrared sensor and a mining inclination angle sensor; the mining hysteresis displacement sensor adopts a hidden installation mode and is used for accurately calculating and positioning the position of the cutting head; the mining infrared sensor is used for forming a safety fence on a working surface and analyzing current and voltage data of a machine; the mining inclination angle sensor is used for further correcting the position of the cutting head and can be matched with a fixed-surface radar to further correct the position of the heading machine.
4. The intelligent remote control system of a heading machine according to claim 3, wherein: the mining explosion-proof and intrinsic safety type remote control system comprises a mining explosion-proof and intrinsic safety type computer, a mining explosion-proof and intrinsic safety type hard disk video recorder and a mining intrinsic safety type display;
the mining flameproof and intrinsically safe computer is used for receiving data of the sensor and the heading machine to perform operation in real time, displaying the posture of the heading machine, the position of the cutting head and the data of the heading machine on an upper computer, simultaneously sending control signals of operators to the mining flameproof and intrinsically safe wireless base station, transmitting the data to the mining intrinsically safe switch by the mining flameproof and intrinsically safe wireless base station, and transmitting the data to the mining flameproof and intrinsically safe receiver by the mining intrinsically safe switch so as to control an electro-hydraulic system on the heading machine.
5. The intelligent remote control system of the heading machine according to claim 1, wherein: the mining surface-fixing radar is used for accurately measuring the position of the heading machine in a roadway and is used for detecting by millimeter waves.
6. The intelligent remote control system of a heading machine according to claim 3, wherein: the mining explosion-proof and intrinsic safety type wireless base station is used for receiving control signals of operators and transmitting data to the mining intrinsic safety type switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010842103.8A CN112012738A (en) | 2020-08-20 | 2020-08-20 | Intelligent remote control system of development machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010842103.8A CN112012738A (en) | 2020-08-20 | 2020-08-20 | Intelligent remote control system of development machine |
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| CN112012738A true CN112012738A (en) | 2020-12-01 |
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| CN202010842103.8A Withdrawn CN112012738A (en) | 2020-08-20 | 2020-08-20 | Intelligent remote control system of development machine |
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Cited By (2)
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| CN113030612A (en) * | 2021-02-26 | 2021-06-25 | 兖矿东华重工有限公司 | Safety detection method, system, device and medium for development machine |
| WO2023206937A1 (en) * | 2022-04-25 | 2023-11-02 | 三一重型装备有限公司 | Wireless data transmission system of boring machine camera |
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| AU2003204336B1 (en) * | 2003-05-26 | 2004-08-19 | Larry G. Stolarczyk | Drillstring Radar |
| CN103806912A (en) * | 2013-12-23 | 2014-05-21 | 三一重型装备有限公司 | Anti-collision control system and method for heading machine |
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| WO2023206937A1 (en) * | 2022-04-25 | 2023-11-02 | 三一重型装备有限公司 | Wireless data transmission system of boring machine camera |
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Application publication date: 20201201 |