CN113586156A - Control center for intelligent coal mining - Google Patents

Control center for intelligent coal mining Download PDF

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Publication number
CN113586156A
CN113586156A CN202111018678.9A CN202111018678A CN113586156A CN 113586156 A CN113586156 A CN 113586156A CN 202111018678 A CN202111018678 A CN 202111018678A CN 113586156 A CN113586156 A CN 113586156A
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Prior art keywords
coal mining
mining machine
control center
module
early warning
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Chinese (zh)
Inventor
辜清松
任林
付海龙
王永红
刘海涛
刘正平
马晋洲
贺军
姚方富
张善民
朱永强
董国均
李侠
任泽海
刘邦文
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Dabaoding Coal Mine Of Sichuan Chuanmei Huarong Energy Co ltd
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Dabaoding Coal Mine Of Sichuan Chuanmei Huarong Energy Co ltd
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Priority to CN202111018678.9A priority Critical patent/CN113586156A/en
Publication of CN113586156A publication Critical patent/CN113586156A/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C39/00—Devices for testing in situ the hardness or other properties of minerals, e.g. for giving information as to the selection of suitable mining tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses a control center for intelligent coal mining, which comprises a control terminal, a display module, a storage module, a sensing module, a communication module, a distance measuring module, a positioning module, a power supply module and an early warning judgment module, wherein the control terminal is a terminal controller of the control center for intelligent coal mining, the display module is used for displaying data information of the control terminal for intelligent coal mining, the storage module is used for storing reference data and index information of the control center, the sensing module is used for sensing when a coal mining machine is driven, and the communication module is used for communicating the control center with the coal mining machine; the invention can judge the advancing route of the coal mining machine, can effectively carry out obstacle avoidance early warning, improves the safety of controlling the coal mining machine, and can carry out positioning control on the real-time position of the coal mining machine, thereby preventing the coal mining machine from deviating and being out of the working area and improving the functionality of a control center.

Description

Control center for intelligent coal mining
Technical Field
The invention relates to the technical field of coal mining control centers, in particular to a control center for intelligent coal mining.
Background
The coal mining machine is one of important equipment for realizing mechanization and modernization of coal mining production, physical labor can be reduced in the mechanical coal mining, safety is improved, and the purposes of high yield, high efficiency and low consumption are achieved.
The existing control center for intelligent coal mining has certain disadvantages to be improved, the advancing route of the coal mining machine cannot be judged when the control center is used, effective obstacle avoidance early warning cannot be carried out, the safety of the coal mining machine control is not high, the real-time position of the coal mining machine cannot be positioned and controlled, the coal mining machine can be off-tracking and out of a working area, and the control center has poor functionality.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the existing control center for intelligent coal mining cannot judge the advancing route of the coal mining machine when in use, cannot carry out effective obstacle avoidance early warning, has low safety on the control of the coal mining machine, cannot carry out positioning control on the real-time position of the coal mining machine, has the conditions of deviation and no working area in the coal mining machine, and has poor functionality.
The invention solves the technical problems through the following technical scheme, and the control center for intelligent coal mining comprises a control terminal, a display module, a storage module, a sensing module, a communication module, a distance measuring module, a positioning module, a power supply module and an early warning judgment module;
the control terminal is a terminal controller of a control center for intelligent coal mining;
the display module is used for displaying data information of the intelligent coal mining control terminal;
the storage module is used for storing the reference data and the index information of the control center;
the sensing module is used for sensing when the coal mining machine is driven;
the communication module is used for communicating the control center with the coal mining machine;
the distance measurement module is used for measuring the distance between the coal mining machine and the coal mining area;
the positioning module is used for positioning the real-time position of the coal mining machine;
the power supply module is used for distributing power to a control center for intelligent coal mining;
the early warning judgment module is used for early warning and obstacle avoidance when entering a coal mining area.
Preferably, the early warning judgment module comprises a judgment unit, a transmission unit, a feedback unit and an early warning unit.
Preferably, the early warning judgment module specifically comprises the following processing steps:
the method comprises the following steps: installing an infrared detector at the front part of the coal mining machine, and detecting the advancing front of the coal mining machine through the infrared detector;
step two: judging whether an obstacle exists in front of the coal mining machine or not according to a detection result of the infrared detector, if no obstacle continues to move forward, transmitting detected information to a control center through a transmission unit when the obstacle exists in front of the coal mining machine, and setting a new moving route and feeding back the moving route to the coal mining machine by the control center;
step three: if the obstacle influences the advancing of the coal mining machine, the control center sends out early warning to ensure the working safety of the coal mining machine.
Preferably, the early warning unit comprises a sound early warning and a photoelectric early warning, and the sound early warning and the photoelectric early warning are realized through a buzzer and a warning lamp.
Preferably, the positioning module comprises a receiving unit, a transmitting unit and a calculating unit.
Preferably, the positioning module specifically comprises the following processing steps:
a1, installing an ultrasonic transceiver and an RF transceiver on a coal mining machine node, and simultaneously transmitting two wireless signals with different propagation speeds to a receiving node by a transmitting node;
a2, the receiving node calculates the distance between two nodes according to the arrival time difference of two signals and the propagation speed of the two signals, and the calculation method is realized by a TDOA ranging method;
and A3, calculating the distance between the coal mining machine and several points according to the distance between the two nodes, thereby positioning the coal mining machine in real time.
Preferably, the algorithm formula of the TODA ranging method is (T)2-T1) S in the formula
Figure BDA0003240658330000031
Wherein the receiving node records the arrival time of two signals as T2And T1The propagation speeds of the ultrasonic transceiver and the RF transceiver are C1 and C2.
Preferably, the intelligent coal mining control center comprises the following specific processing steps:
s1: the control center is connected with the coal mining machine through the communication module, the power supply module supplies power to the control center, and the control center regulates and controls the coal mining machine;
s2: the method comprises the steps that an infrared detector is installed at the front part of a coal mining machine, the advancing front of the coal mining machine is detected through the infrared detector, whether an obstacle exists in front of the coal mining machine or not is judged according to the detection result of the infrared detector, if no obstacle continues to advance, when the obstacle exists in front of the coal mining machine, the detected information is transmitted to a control center through a transmission unit, the control center sets a new advancing route and feeds the new advancing route back to the coal mining machine, and if the obstacle influences the advancing of the coal mining machine, the control center sends out early warning to guarantee the working safety of the coal mining machine.
S3: the method comprises the steps that an ultrasonic transceiver and an RF transceiver are installed on nodes of a coal mining machine, the transmitting nodes transmit two wireless signals with different propagation speeds to receiving nodes at the same time, the receiving nodes calculate the distance between the two nodes according to the arrival time difference of the two signals and the propagation speeds of the two signals, and the distance between the coal mining machine and several points is calculated according to the distance between the two nodes, so that the coal mining machine is positioned in real time;
and S4, storing the reference data and index information of the distance measurement and positioning.
Compared with the prior art, the invention has the following advantages:
through setting up early warning judgment module and orientation module, can judge the coal-winning machine route of marcing, can effectually keep away the barrier early warning, improve the security to coal-winning machine control, can carry out positioning control to the real-time position of coal-winning machine to can prevent that off tracking and the situation of not in the work area from appearing in the coal-winning machine, improve control center's functionality.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a schematic flow diagram of an early warning determination module according to the present invention;
fig. 3 is a system block diagram of the location module of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1-3, the present embodiment provides the following technical solutions: the intelligent coal mining control center comprises a control terminal, a display module, a storage module, a sensing module, a communication module, a distance measuring module, a positioning module, a power supply module and an early warning judgment module;
the control terminal is a terminal controller of a control center for intelligent coal mining;
the display module is used for displaying data information of the intelligent coal mining control terminal;
the storage module is used for storing the reference data and the index information of the control center;
the sensing module is used for sensing when the coal mining machine is driven;
the communication module is used for communicating the control center with the coal mining machine;
the distance measurement module is used for measuring the distance between the coal mining machine and the coal mining area;
the positioning module is used for positioning the real-time position of the coal mining machine;
the power supply module is used for distributing power to a control center for intelligent coal mining;
the early warning judgment module is used for early warning and obstacle avoidance when entering a coal mining area.
The early warning judgment module comprises a judgment unit, a transmission unit, a feedback unit and an early warning unit.
The early warning judgment module comprises the following specific processing steps:
the method comprises the following steps: installing an infrared detector at the front part of the coal mining machine, and detecting the advancing front of the coal mining machine through the infrared detector;
step two: judging whether an obstacle exists in front of the coal mining machine or not according to a detection result of the infrared detector, if no obstacle continues to move forward, transmitting detected information to a control center through a transmission unit when the obstacle exists in front of the coal mining machine, and setting a new moving route and feeding back the moving route to the coal mining machine by the control center;
step three: if the obstacle influences the advancing of the coal mining machine, the control center sends out early warning to ensure the working safety of the coal mining machine.
The early warning unit comprises a sound early warning and a photoelectric early warning, and the sound early warning and the photoelectric early warning are realized through a buzzer and a warning lamp.
The positioning module comprises a receiving unit, a transmission unit and a calculation unit.
The positioning module comprises the following specific processing steps:
a1, installing an ultrasonic transceiver and an RF transceiver on a coal mining machine node, and simultaneously transmitting two wireless signals with different propagation speeds to a receiving node by a transmitting node;
a2, the receiving node calculates the distance between two nodes according to the arrival time difference of two signals and the propagation speed of the two signals, and the calculation method is realized by a TDOA ranging method;
and A3, calculating the distance between the coal mining machine and several points according to the distance between the two nodes, thereby positioning the coal mining machine in real time.
The algorithm formula of the TODA ranging method is (T)2-T1) S in the formula
Figure BDA0003240658330000051
Wherein the receiving node records the arrival time of two signals as T2And T1The propagation speeds of the ultrasonic transceiver and the RF transceiver are C1 and C2.
The intelligent coal mining control center comprises the following specific processing steps:
s1: the control center is connected with the coal mining machine through the communication module, the power supply module supplies power to the control center, and the control center regulates and controls the coal mining machine;
s2: the method comprises the steps that an infrared detector is installed at the front part of a coal mining machine, the advancing front of the coal mining machine is detected through the infrared detector, whether an obstacle exists in front of the coal mining machine or not is judged according to the detection result of the infrared detector, if no obstacle continues to advance, when the obstacle exists in front of the coal mining machine, the detected information is transmitted to a control center through a transmission unit, the control center sets a new advancing route and feeds the new advancing route back to the coal mining machine, and if the obstacle influences the advancing of the coal mining machine, the control center sends out early warning to guarantee the working safety of the coal mining machine.
S3: the method comprises the steps that an ultrasonic transceiver and an RF transceiver are installed on nodes of a coal mining machine, the transmitting nodes transmit two wireless signals with different propagation speeds to receiving nodes at the same time, the receiving nodes calculate the distance between the two nodes according to the arrival time difference of the two signals and the propagation speeds of the two signals, and the distance between the coal mining machine and several points is calculated according to the distance between the two nodes, so that the coal mining machine is positioned in real time;
and S4, storing the reference data and index information of the distance measurement and positioning.
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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (8)

1. The intelligent coal mining control center is characterized by comprising a control terminal, a display module, a storage module, a sensing module, a communication module, a distance measuring module, a positioning module, a power supply module and an early warning judgment module;
the control terminal is a terminal controller of a control center for intelligent coal mining;
the display module is used for displaying data information of the intelligent coal mining control terminal;
the storage module is used for storing the reference data and the index information of the control center;
the sensing module is used for sensing when the coal mining machine is driven;
the communication module is used for communicating the control center with the coal mining machine;
the distance measurement module is used for measuring the distance between the coal mining machine and the coal mining area;
the positioning module is used for positioning the real-time position of the coal mining machine;
the power supply module is used for distributing power to a control center for intelligent coal mining;
the early warning judgment module is used for early warning and obstacle avoidance when entering a coal mining area.
2. The control center for intelligent coal mining according to claim 1, characterized in that: the early warning judgment module comprises a judgment unit, a transmission unit, a feedback unit and an early warning unit.
3. The control center for intelligent coal mining according to claim 2, characterized in that: the early warning judgment module comprises the following specific processing steps:
the method comprises the following steps: installing an infrared detector at the front part of the coal mining machine, and detecting the advancing front of the coal mining machine through the infrared detector;
step two: judging whether an obstacle exists in front of the coal mining machine or not according to a detection result of the infrared detector, if no obstacle continues to move forward, transmitting detected information to a control center through a transmission unit when the obstacle exists in front of the coal mining machine, and setting a new moving route and feeding back the moving route to the coal mining machine by the control center;
step three: if the obstacle influences the advancing of the coal mining machine, the control center sends out early warning to ensure the working safety of the coal mining machine.
4. The control center for intelligent coal mining according to claim 3, characterized in that: the early warning unit comprises a sound early warning and a photoelectric early warning, and the sound early warning and the photoelectric early warning are realized through a buzzer and a warning lamp.
5. The control center for intelligent coal mining according to claim 1, characterized in that: the positioning module comprises a receiving unit, a transmission unit and a calculation unit.
6. The control center for intelligent coal mining according to claim 5, wherein: the positioning module comprises the following specific processing steps:
a1, installing an ultrasonic transceiver and an RF transceiver on a coal mining machine node, and simultaneously transmitting two wireless signals with different propagation speeds to a receiving node by a transmitting node;
a2, the receiving node calculates the distance between two nodes according to the arrival time difference of two signals and the propagation speed of the two signals, and the calculation method is realized by a TDOA ranging method;
and A3, calculating the distance between the coal mining machine and several points according to the distance between the two nodes, thereby positioning the coal mining machine in real time.
7. The control center for intelligent coal mining according to claim 6, characterized in that: the algorithm formula of the TODA ranging method is (T)2-T1) S in the formula
Figure FDA0003240658320000021
Wherein the receiving node records the arrival time of two signals as T2And T1The propagation speeds of the ultrasonic transceiver and the RF transceiver are C1 and C2.
8. The control center for intelligent coal mining according to claim 1, characterized in that: the intelligent coal mining control center comprises the following specific processing steps:
s1: the control center is connected with the coal mining machine through the communication module, the power supply module supplies power to the control center, and the control center regulates and controls the coal mining machine;
s2: the method comprises the steps that an infrared detector is installed at the front part of a coal mining machine, the advancing front of the coal mining machine is detected through the infrared detector, whether an obstacle exists in front of the coal mining machine or not is judged according to the detection result of the infrared detector, if no obstacle continues to advance, when the obstacle exists in front of the coal mining machine, the detected information is transmitted to a control center through a transmission unit, the control center sets a new advancing route and feeds the new advancing route back to the coal mining machine, and if the obstacle influences the advancing of the coal mining machine, the control center sends out early warning to guarantee the working safety of the coal mining machine.
S3: the method comprises the steps that an ultrasonic transceiver and an RF transceiver are installed on nodes of a coal mining machine, the transmitting nodes transmit two wireless signals with different propagation speeds to receiving nodes at the same time, the receiving nodes calculate the distance between the two nodes according to the arrival time difference of the two signals and the propagation speeds of the two signals, and the distance between the coal mining machine and several points is calculated according to the distance between the two nodes, so that the coal mining machine is positioned in real time;
and S4, storing the reference data and index information of the distance measurement and positioning.
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