CN112832762B - Underground coal mining machine remote control system based on 5G communication technology - Google Patents
Underground coal mining machine remote control system based on 5G communication technology Download PDFInfo
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- CN112832762B CN112832762B CN202011565525.1A CN202011565525A CN112832762B CN 112832762 B CN112832762 B CN 112832762B CN 202011565525 A CN202011565525 A CN 202011565525A CN 112832762 B CN112832762 B CN 112832762B
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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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- 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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Abstract
The invention belongs to the field of remote control, and provides a remote control system of an underground coal mining machine based on a 5G communication technology, which aims at the problems that high-risk time and working environment danger easily occur when an operator of the coal mining machine goes deep into the underground, and is characterized in that: the system comprises an aboveground client and an underground client; the underground client is used for acquiring environmental information of an underground construction site and sending the environmental information to the aboveground client; the aboveground client is used for receiving the environmental information sent by the underground client, and displaying and simulating the environmental information; the system is also used for sending final instruction information to the downhole client; and the underground client is also used for receiving the final instruction information sent by the aboveground client and executing the corresponding underground coal mining operation according to the final instruction information. The operator can acquire underground construction state information on the mine in real time and remotely operate the underground coal mining machine for operation in real time, so that the safety of the operator is guaranteed, and the working environment of the operator is thoroughly improved.
Description
Technical Field
The invention belongs to the field of remote control, and particularly relates to a remote control system of an underground coal mining machine based on a 5G communication technology.
Background
The coal mining machine is one of main equipment of fully mechanized complete sets in the field of coal mines, and is a large-scale complex system integrating machinery, electric power and hydraulic pressure. The coal mining machine is a coal mining machine which breaks down coal from a coal body (breaks coal) and loads the coal into a working face conveyor (loads coal) by a working mechanism on a longwall coal mining working face, and the coal mining machine runs at a set traction speed, so that the coal breaking and loading processes can be continuously carried out. In the prior art. The operation of coal mining machines relies on experienced drivers operating in the field. As is well known, an operator of a coal mining machine under a coal mine is a high-risk technical worker, the underground topography of the coal mine is complex, the working environment is extremely severe, major accidents are easy to occur, and the personnel safety is dangerous.
Disclosure of Invention
The invention provides a remote control system of an underground coal mining machine based on a 5G communication technology, which aims to better ensure the safety of operators of the coal mining machine and thoroughly improve the working environment of drivers.
The basic scheme of the invention is as follows: the utility model provides a coal-winning machine remote control system in pit based on 5G communication technology which characterized in that: the system comprises an aboveground client and an underground client;
the underground client is used for acquiring environmental information of an underground construction site and sending the environmental information to the aboveground client;
the aboveground client is used for receiving the environmental information sent by the underground client, and displaying and simulating the environmental information; the system is also used for sending final instruction information to the downhole client;
and the underground client is also used for receiving the final instruction information sent by the aboveground client and executing corresponding underground coal mining operation according to the final instruction information.
Further, the underground client comprises an image acquisition module, a sound acquisition module and a vibration acquisition module; the aboveground client comprises an image playing module, a sound playing module and a vibration seat;
the image acquisition module is used for acquiring image information of an underground construction site; the sound acquisition module is used for acquiring sound information of an underground construction site; the vibration acquisition module is used for acquiring vibration information of an underground construction site; the environment information is formed by the image information, the sound information and the vibration information;
the image playing module and the sound playing module of the aboveground client are used for displaying the environmental information; the vibration seat of the aboveground client is used for simulating the environmental information.
Further, the underground client also comprises an encryption module and a first signal transceiver module; the aboveground client further comprises
The decryption module and the second signal transceiving module;
the encryption module is used for receiving the image information sent by the image acquisition module, the sound information sent by the sound acquisition module and the vibration information sent by the vibration acquisition module, and performing real-time fitting coding on the image information, the sound information and the vibration information through signal coding to form the environment information;
the first signal transceiving module is used for receiving the environment information sent by the encryption module and sending the environment information to a second signal transceiving module of the aboveground client;
the second signal transceiving module of the aboveground client is used for receiving the environmental information of the first signal transceiving module and sending the environmental information to the decryption module;
the decryption module is used for receiving the environment information sent by the second signal transceiving module, decoding the environment information into image information, sound information and vibration information, sending the image information to the image playing module, sending the sound information to the sound playing module and sending the vibration information to the vibration seat;
the image playing module is used for receiving the image information sent by the decryption module and playing the image information;
the sound playing module is used for receiving the sound information sent by the decryption module and playing the sound information;
and the vibration seat is used for receiving the vibration information sent by the decryption module and vibrating according to the vibration information.
Further, the environment information includes encrypted image information, encrypted sound information, and encrypted vibration information, and the encrypted image information, the encrypted sound information, and the encrypted vibration information are separated in pairs.
Further, the environment information comprises encrypted image information, encrypted sound information and encrypted vibration information;
the encrypted image information, the encrypted sound information and the encrypted vibration information are divided according to time periods, the encrypted image information segments, the encrypted sound information segments and the encrypted vibration information segments in the same time period are sequentially arranged in an adhesion mode according to a fixed sequence, and then all the time periods are spliced, so that the environment information is formed.
Further, the image acquisition device is 360 panorama cameras in the pit, the image playing module is AR glasses.
Further, the final instruction corresponds to the control function of the coal mining machine of the underground client one to one.
Furthermore, the aboveground client further comprises an instruction input module for inputting basic instructions, and the aboveground client further comprises a construction control module; the aboveground client is used for obtaining a final instruction according to the basic instruction input by the instruction input module; and the downhole client is used for executing corresponding operation according to the final instruction.
Furthermore, the aboveground client further comprises an instruction coding module and a second signal transceiving module, and the underground client further comprises a first signal transceiving module, an instruction decoding module and a construction control module;
the instruction coding module is used for receiving a basic instruction sent by the instruction input module, performing instruction coding on the basic instruction to obtain a final instruction, and sending the final instruction to the second signal transceiving module;
the second signal transceiving module is further configured to receive the final instruction sent by the instruction encoding module, and send the final instruction to the first signal transceiving module;
the first signal transceiver module is further configured to receive a final instruction sent by the second signal transceiver module, and send the final instruction to the instruction decoding module;
the instruction decoding module is used for receiving the final instruction sent by the first signal transceiving module, decoding the final instruction into the basic instruction according to the final instruction, and sending the basic instruction to the construction control module;
and the construction control module is used for receiving the basic instruction sent by the instruction decoding module and executing corresponding operation according to the basic instruction.
Furthermore, the aboveground client and the underground client are in communication connection through a 5G communication technology.
Has the advantages that: the remote control system of the underground coal mining machine based on the 5G communication technology provides a novel, safe and reliable operation mode for the operation of the underground coal mining machine. The system adopts a 5G network module, utilizes the characteristics of large bandwidth and low time delay of 5G, adopts AR glasses and other equipment, and realizes the remote control of the coal mining machine under the mine. The operator can acquire underground construction state information on the mine in real time and remotely operate the underground coal mining machine for operation in real time, so that the safety of the operator is guaranteed, and the working environment of the operator is thoroughly improved.
Drawings
Fig. 1 is a module schematic diagram of an embodiment of a remote control system of a downhole coal mining machine based on a 5G communication technology.
Reference numerals in the drawings of the specification include: the system comprises a downhole client 1, a aboveground client 2, an image acquisition module 11, a sound acquisition module 12, a vibration acquisition module 13, an encryption module 14, a first signal transceiving module 15, an instruction decoding module 16, a construction control module 17, an image playing module 21, a sound playing module 22, a vibration seat 23, a decryption module 24, a second signal transceiving module 25, an instruction encoding module 26 and an instruction input module 27.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The embodiment of the invention provides a remote control system of an underground coal mining machine based on a 5G communication technology, which comprises an aboveground client terminal 2 and an underground client terminal 1; the underground client 1 is used for acquiring environmental information of an underground construction site and sending the environmental information to the aboveground client 2; the aboveground client 2 is used for receiving the environmental information sent by the underground client 1, and displaying and simulating the environmental information; the system is also used for sending final instruction information to the underground client 1; the underground client 1 is also used for receiving the final instruction information sent by the aboveground client 2 and executing corresponding underground coal mining operation according to the final instruction information.
By adopting the scheme, an operator can acquire underground construction state information on a mine in real time and remotely operate the underground coal mining machine for operation in real time, so that the safety of the operator is guaranteed, the working environment of the operator is thoroughly improved, and a novel, safe and reliable operation mode is provided for the operation of the underground coal mining machine.
In one example, the downhole client 1 includes an image acquisition module 11, a sound acquisition module 12, and a vibration acquisition module 13; the aboveground client 2 comprises an image playing module 21, a sound playing module 22 and a vibration seat 23; the image acquisition module 11 is used for acquiring image information of an underground construction site; the sound acquisition module 12 is used for acquiring sound information of the underground construction site; the vibration acquisition module 13 is used for acquiring vibration information of an underground construction site; the environment information is formed by the image information, the sound information and the vibration information; the image playing module 21 and the sound playing module 22 of the aboveground client 2 are used for displaying the environmental information; the vibration seat 23 of the above-well client 2 is used for simulating the environmental information.
In the scheme, the image information and the sound information collected by the image collection module 11 and the sound collection module 12 of the underground client 1 are displayed in real time through the image playing module 21 and the sound playing module 22 of the aboveground client 2, so that the underground environment is displayed in real time; meanwhile, the vibration seat 23 of the uphole client 2 can also simulate the vibration information collected by the downhole vibration collection module 13, so that the downhole environment can be simulated in real time. The underground coal mining system is convenient for workers to know and experience the surrounding environment of the underground client 1 during coal mining operation in real time through the underground client 2, the workers can accurately judge the underground coal mining condition according to the simulation and display environment, and then corresponding instructions are accurately given, and the accuracy of final instruction information is improved.
Further, the downhole client 1 further comprises an encryption module 14 and a first signal transceiver module 15; the aboveground client 2 further comprises a decryption module 24 and a second signal transceiver module 25;
the encryption module 14 is configured to receive the image information sent by the image acquisition module 11, the sound information sent by the sound acquisition module 12, and the vibration information sent by the vibration acquisition module 13, and perform real-time fitting encoding on the image information, the sound information, and the vibration information through signal encoding to form the environment information;
the first signal transceiver module 15 is configured to receive the environment information sent by the encryption module 14, and send the environment information to the second signal transceiver module 25 of the uphole client 2;
the second signal transceiving module 25 of the above-well client 2 is configured to receive the environmental information of the first signal transceiving module 15, and send the environmental information to the decryption module 24;
the decryption module 24 is configured to receive the environment information sent by the second signal transceiver module 25, decode the environment information into image information, sound information, and vibration information, send the image information to the image playing module 21, send the sound information to the sound playing module 22, and send the vibration information to the vibration seat 23;
the image playing module 21 is configured to receive the image information sent by the decryption module 24, and play the image information;
the sound playing module 22 is configured to receive the sound information sent by the decryption module 24, and play the sound information;
the vibration seat 23 is configured to receive the vibration information sent by the decryption module 24, and vibrate according to the vibration information.
According to the scheme, the rest encryption and decryption operations are added on the basis of the previous example, so that the environment information communicated between the aboveground client 2 and the underground client 1 is encrypted, the safety and the accuracy of information transmission are guaranteed, and the external interference can be resisted to a certain degree.
The encryption module 14 encrypts the video information, the audio information, and the vibration information into the environment information, and this encryption process has two embodiments, which are:
(1) the encryption module 14 encrypts the image information, the sound information and the vibration information respectively to obtain encrypted image information, encrypted sound information and encrypted vibration information; the environment information comprises encrypted image information, encrypted sound information and encrypted vibration information, and the encrypted image information, the encrypted sound information and the encrypted vibration information are separated in pairs.
For example: the video information A1A2A3 is encrypted as A1A2A3, the audio information B1B2B3 is encrypted as B1B2B3, the vibration information C1C2C3 is encrypted as C1C2C3, and the environment information is a set of "A1 A2 A3", "B1B 2B 3", and "C1C 2C 3".
(2) The encryption module 14 encrypts the image information, the sound information and the vibration information respectively to obtain encrypted image information, encrypted sound information and encrypted vibration information; the encrypted image information, the encrypted sound information and the encrypted vibration information are divided according to time periods, the encrypted image information segments, the encrypted sound information segments and the encrypted vibration information segments in the same time period are sequentially arranged in an adhesion mode according to a fixed sequence, and then all the time periods are spliced, so that the environment information is formed.
For example: the video information A1A2A3 is encrypted as A1A2A3, the audio information B1B2B3 is encrypted as B1B2B3, the vibration information C1C2C3 is encrypted as C1C2C3, and the environment information is "A1B 1C1A2B2C2A3B3C 3".
In one example, the image capturing device is a 360 ° panoramic camera in the well, and the image playing module 21 is AR glasses; and the panoramic camera is used for displaying, so that the display equipment with the AR type panoramic display function is realized. The vibration seat 23 can receive the vibration signal sent by the decryption module 24 and feed the vibration signal back to the seat, so as to realize the vibration reduction of the underground coal mining machine.
In one example, the above-well client 2 and the down-well client 1 are in communication connection through a 5G communication technology; that is, the communication connection between the first signal transceiver module 15 and the second signal transceiver module 25 is implemented by using a 5G communication technology, and both the first signal transceiver module 15 and the second signal transceiver module 25 adopt a 5G network module CPE. The system adopts a 5G network module, utilizes the characteristics of large bandwidth and low time delay of 5G, adopts AR glasses and other equipment, and realizes the remote control of the coal mining machine under the mine.
In one example, the aboveground client 2 further comprises an instruction input module 27 for inputting basic instructions, and the aboveground client 2 further comprises a construction control module 17; the aboveground client 2 is used for obtaining a final instruction according to the basic instruction input by the instruction input module 27; and the downhole client 1 is used for executing corresponding operation according to the final instruction.
Further, the aboveground client 2 further comprises an instruction encoding module 26 and a second signal transceiver module 25, and the downhole client 1 further comprises a first signal transceiver module 15, an instruction decoding module 16 and a construction control module 17;
the instruction encoding module 26 is configured to receive a basic instruction sent by the instruction input module 27, perform instruction encoding on the basic instruction to obtain a final instruction, and send the final instruction to the second signal transceiving module 25;
the second signal transceiving module 25 is further configured to receive the final instruction sent by the instruction encoding module 26, and send the final instruction to the first signal transceiving module 15;
the first signal transceiving module 15 is further configured to receive a final instruction sent by the second signal transceiving module 25, and send the final instruction to the instruction decoding module 16;
the instruction decoding module 16 is configured to receive the final instruction sent by the first signal transceiver module 15, decode the final instruction into the basic instruction according to the final instruction, and send the basic instruction to the construction control module 17;
the construction control module 17 is configured to receive the basic instruction sent by the instruction decoding module 16, and execute a corresponding operation according to the basic instruction.
The command input module 27 is a remote control system, which has the same control functions as those of the actual coal mining machine, such as upper and lower roller selection, left-going, right-going, traction stop, emergency stop, fault query, and the like, and has a consistent control interface with the coal mining machine. The basic command sent by the command input module 27 is ensured to cover all functions of the coal mining machine of the downhole client 1, and the corresponding encrypted basic command becomes a final command, and the final command is in one-to-one correspondence with the control functions of the coal mining machine of the downhole client 1.
In the scheme, command encoding and command decoding are also adopted for the control commands, so that when command communication is carried out between the second signal transceiver module 25 of the uphole client 2 and the first signal transceiver module 15 of the downhole client 1, the sent final command is encrypted, the command sending confidentiality is improved, and external interference is prevented.
The foregoing are embodiments of the present invention and are not intended to limit the scope of the invention to the particular forms set forth in the specification, which are set forth in the claims below, but rather are to be construed as the full breadth and scope of the claims, as defined by the appended claims, as defined in the appended claims, in order to provide a thorough understanding of the present invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several variations and modifications can be made, which should also be considered as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the utility of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. The utility model provides a coal-winning machine remote control system in pit based on 5G communication technology which characterized in that: the system comprises an aboveground client and an underground client;
the underground client is used for acquiring environmental information of an underground construction site and sending the environmental information to the aboveground client;
the aboveground client is used for receiving the environmental information sent by the underground client, and displaying and simulating the environmental information; the system is also used for sending final instruction information to the downhole client;
the underground client is also used for receiving final instruction information sent by the aboveground client and executing corresponding underground coal mining operation according to the final instruction information;
the underground client comprises an image acquisition module, a sound acquisition module and a vibration acquisition module; the aboveground client comprises an image playing module, a sound playing module and a vibration seat;
the image acquisition module is used for acquiring image information of an underground construction site; the sound acquisition module is used for acquiring sound information of an underground construction site; the vibration acquisition module is used for acquiring vibration information of an underground construction site; the environment information is formed by the image information, the sound information and the vibration information;
the image playing module and the sound playing module of the aboveground client are used for displaying the environment information; the vibration seat of the on-well client is used for simulating the environmental information;
the underground client further comprises an encryption module and a first signal transceiving module; the aboveground client further comprises a decryption module and a second signal transceiving module;
the encryption module is used for receiving the image information sent by the image acquisition module, the sound information sent by the sound acquisition module and the vibration information sent by the vibration acquisition module, and performing real-time fitting coding on the image information, the sound information and the vibration information through signal coding to form the environment information; the environment information comprises encrypted image information, encrypted sound information and encrypted vibration information; the encrypted image information, the encrypted sound information and the encrypted vibration information are divided according to time periods, the encrypted image information segments, the encrypted sound information segments and the encrypted vibration information segments in the same time period are sequentially arranged in an adhesion mode according to a fixed sequence, and then all the time periods are spliced to form environment information;
the first signal transceiving module is used for receiving the environmental information sent by the encryption module and sending the environmental information to the second signal transceiving module of the on-well client;
the second signal transceiving module of the aboveground client is used for receiving the environmental information of the first signal transceiving module and sending the environmental information to the decryption module;
the decryption module is used for receiving the environment information sent by the second signal transceiving module, decoding the environment information into image information, sound information and vibration information, sending the image information to the image playing module, sending the sound information to the sound playing module and sending the vibration information to the vibration seat;
the image playing module is used for receiving the image information sent by the decryption module and playing the image information;
the sound playing module is used for receiving the sound information sent by the decryption module and playing the sound information;
and the vibration seat is used for receiving the vibration information sent by the decryption module and vibrating according to the vibration information.
2. The remote control system for the underground coal mining machine based on the 5G communication technology as claimed in claim 1, wherein: the environment information comprises encrypted image information, encrypted sound information and encrypted vibration information, and the encrypted image information, the encrypted sound information and the encrypted vibration information are separated in pairs.
3. The remote control system for the underground coal mining machine based on the 5G communication technology as claimed in claim 1, wherein: the image acquisition module is 360 panorama cameras in the pit, the image broadcast module is AR glasses.
4. The remote control system for the underground coal mining machine based on the 5G communication technology as claimed in claim 1, wherein: and the final instruction corresponds to the control function of the coal mining machine of the underground client one to one.
5. The remote control system for the underground coal mining machine based on the 5G communication technology as claimed in claim 1, wherein: the aboveground client further comprises an instruction input module for inputting basic instructions, and the aboveground client further comprises a construction control module; the aboveground client is used for obtaining a final instruction according to the basic instruction input by the instruction input module; and the downhole client is used for executing corresponding operation according to the final instruction.
6. The remote control system for the underground coal mining machine based on the 5G communication technology as claimed in claim 5, wherein: the underground client also comprises a first signal transceiving module, an instruction decoding module and a construction control module;
the instruction coding module is used for receiving a basic instruction sent by the instruction input module, performing instruction coding on the basic instruction to obtain a final instruction, and sending the final instruction to the second signal transceiving module;
the second signal transceiving module is further configured to receive the final instruction sent by the instruction encoding module, and send the final instruction to the first signal transceiving module;
the first signal transceiver module is further configured to receive a final instruction sent by the second signal transceiver module, and send the final instruction to the instruction decoding module;
the instruction decoding module is used for receiving the final instruction sent by the first signal transceiving module, decoding the final instruction into the basic instruction according to the final instruction, and sending the basic instruction to the construction control module;
and the construction control module is used for receiving the basic instruction sent by the instruction decoding module and executing corresponding operation according to the basic instruction.
7. The remote control system for the underground coal mining machine based on the 5G communication technology as claimed in claim 1, wherein: and the aboveground client is in communication connection with the underground client through a 5G communication technology.
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| CN106101650A (en) * | 2016-08-01 | 2016-11-09 | 魏立科 | A kind of manless working face coal-winning machine and immersion remote control method thereof |
| CN110716481A (en) * | 2019-11-15 | 2020-01-21 | 徐州合卓机械科技有限公司 | Lorry-mounted crane remote control system based on 5g network |
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