CN118151592A - Coal mining centralized control system of fully mechanized coal mining face based on low power consumption - Google Patents
Coal mining centralized control system of fully mechanized coal mining face based on low power consumption Download PDFInfo
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Abstract
The invention discloses a comprehensive mining working face coal mining centralized control system based on low power consumption, and relates to the technical field of coal mining centralized control. The system comprises an encoder arranged on the coal mining machine, a centralized control center server, an infrared emission device arranged on the coal mining machine, an infrared receiving device arranged on a hydraulic support controller, an ultrasonic directional emission module arranged on the coal mining machine, an infrared receiving device arranged on the hydraulic support controller and the like. The invention realizes accurate detection and real-time broadcasting of the position of the coal cutter, and provides basic conditions and basis for intelligent production of fully mechanized coal faces; the accident occurrence caused by the field confusion caused by the connection of a large number of communication cables is reduced, and the operation safety is improved; the problem that the working face cannot normally run due to cable faults is solved, and the safety production efficiency is improved; the cost is saved, the production consumption is reduced, and the economic benefit is improved; the construction pace of the intelligent mine is promoted, and technical support is provided for unmanned or less people.
Description
Technical Field
The invention relates to the technical field of centralized control of coal mining, in particular to a fully mechanized coal face coal mining centralized control system based on low power consumption.
Background
Along with the increasing demand of China for energy sources, the mining scale of coal mines is gradually increased, working conditions of working faces are more and more complex, safety threats to personnel are more and more increased, and the existing fully-mechanized mining equipment and mining modes cannot adapt to the demands. The core of the fully-mechanized coal face coal mining equipment is a coal mining machine, and an unattended or less-attended fully-mechanized coal face intelligent coal mining mode is that corresponding hydraulic supports automatically coordinate according to the coal mining process according to the position of the coal mining machine, namely a so-called chasing machine pulling frame, so that unattended automatic production of the working face is realized, the mining efficiency is improved, the safe production is ensured, and the labor intensity is reduced.
To achieve the above objective, acquisition of the position of the shearer becomes a key location. The length of a fully mechanized coal mining face is generally 200-300 m, 120-180 hydraulic supports are provided, and actions and operations of a crusher, a reversed loader, a scraper conveyor and the like are provided besides the hydraulic supports. The operation of the coal mining machine means the start of the coal mining work, the position of a support and the traveling direction of the support determine the coal mining process section of the coal mining work, and the operation mode of each device, so that the accurate detection of the position of the coal mining machine is a basic condition for realizing intelligent production of a working face.
1. Method for determining current position of coal mining machine
The following methods are commonly used for determining the position of the coal mining machine.
(1) The infrared emission receiving is determined by infrared emission receiving, the infrared emitter is arranged on the coal mining machine, each hydraulic support controller is provided with a receiving device, when which support receives the infrared signals of the coal mining machine, the position of the coal mining machine can be known, but the requirements of the mode on the distance and the angle of the infrared emission are higher, the misalignment often occurs, the position of the coal mining machine is not acquired, and automatic coal mining cannot be performed.
(2) The position of the coal mining machine is obtained through the encoder, the walking distance of the coal mining machine is obtained through the absolute value encoder, the number of the bracket is converted, and the number is transmitted to the bracket controller through the communication line. However, this method creates errors and requires real-time calculation of the frame number and transmission by the shearer.
(3) In order to ensure safety and reliability, the two hydraulic supports are used simultaneously, if the two hydraulic supports are consistent, the actions of the corresponding hydraulic supports are automatically controlled, and if the two hydraulic supports are inconsistent, the alarm is given, and the operation of the coal mining machine is stopped.
2. Current transmission mode of information such as position of coal mining machine
The method is based on the wired communication to transmit the position of the coal mining machine to each bracket controller, and as the coal mining working face is a continuously moving working environment, various large-scale mining equipment on the working face needs to be continuously propelled along with the coal mining process, the relative positions among the equipment in the mining and propulsion processes are changed, and the shape of the corresponding working face space is also continuously changed. The existing wired communication system widely used is difficult to adapt to the working site which is continuously moved and changed, various factors cause the phenomena of damage and tearing of transmission cables and optical cables, and the problems of a plurality of communication lines and relatively poor communication quality occur. Therefore, the research team builds a novel wireless working face system, changes the original wire serial communication mode into a wireless parallel communication mode, and reduces the problem that the working face cannot operate normally due to cable faults.
3. Power supply mode of current control system
The controllers of the wired or wireless support are powered by a power supply, and at present, 3-4 controllers generally need one power supply of a mining flameproof and intrinsic safety power supply. Therefore, not only are power supply sources and cables needed, but also the number of the needed power sources is large, and the cost is very high.
Therefore, a fully mechanized coal mining face coal mining centralized control system based on low power consumption is provided to solve the difficulty existing in the prior art, and the problem to be solved is urgent for those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a fully mechanized coal mining face coal mining centralized control system based on low power consumption, which solves the problems existing in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
comprehensive mining working face coal mining centralized control system based on low power consumption includes:
The coder is arranged on the coal mining machine and used for acquiring the walking distance of the coal mining machine, calculating the number of the hydraulic support where the coal mining machine is positioned according to the walking distance of the coal mining machine and the center distance of the hydraulic support, and transmitting the number of the current hydraulic support to the comprehensive mining working face crossheading centralized control center server in a wireless mode;
The infrared emission device is arranged on the coal mining machine and is used for emitting infrared rays to the infrared receiving device arranged on the hydraulic support controller, and the hydraulic support controller judges the number of the coal mining machine on the hydraulic support according to the infrared emission information acquired by the infrared receiving device and sends the number of the current hydraulic support to the comprehensive mining working face crossheading centralized control center server;
The centralized control center server is used for judging whether the received hydraulic support numbers obtained through the encoder and the received hydraulic support numbers obtained through the infrared receiving transposition are consistent, and if not, sending an alarm signal to the alarm module; if the current position of the coal mining machine is consistent with the current position of the coal mining machine, the current position of the coal mining machine is sent to all equipment on a working face, and the action of a corresponding hydraulic support is automatically controlled through a hydraulic support controller according to the current position of the coal mining machine;
The ultrasonic directional transmitting module is arranged on the coal mining machine and is used for transmitting ultrasonic signals to the ultrasonic receiving module arranged on the hydraulic support controller, and the hydraulic support controller is used for controlling the action of the relevant hydraulic support according to the coal mining process after receiving the ultrasonic signals.
The system is characterized in that communication conversion equipment is arranged between the centralized control center server and the hydraulic support controller and between the centralized control center server and each equipment of the working face, and the communication conversion equipment is used for converting wired signal transmission into wireless signal transmission.
The above system, optionally, the communication conversion device includes: the device is arranged on the hydraulic support controller, and the Zigbee terminals and the working face on each device of the working face are provided with a plurality of Zigbee routers and a Zigbee coordinator.
The system, optionally, the Zigbee router is responsible for collecting and transmitting terminal data in a coverage area, and the Zigbee terminal performs long-distance wireless data transmission through the Zigbee router, accesses to the Zigbee coordinator, and the Zigbee coordinator is used for establishing and managing a network.
According to the system, optionally, a Zigbee network is established by using upper computer software, and each Zigbee terminal and each Zigbee router device are respectively connected to the Zigbee network to perform parameter configuration, so that data transmission is realized.
The system, optionally, each device of the working surface includes: crusher, reversed loader, scraper conveyor.
The above system, optionally, the ultrasonic directional transmitting module includes: an audio signal generator, a carrier signal generator, a signal modulation circuit, a power amplifier and an ultrasonic transducer;
the signal modulation circuit is respectively connected with the audio signal generator and the carrier signal generator and is used for modulating the audio signal to the ultrasonic carrier;
the power amplifier is connected with the output end of the signal modulation circuit and is used for amplifying the modulated ultrasonic electric signal;
and the ultrasonic transducer is connected with the output end of the power amplifier and is used for converting ultrasonic electric signals into ultrasonic waves.
The system, optionally, the hydraulic support controller adopts a low-power MSP430 singlechip.
In the above system, optionally, the ultrasonic receiving module adopts an ultrasonic detecting and actuating circuit, the ultrasonic detecting and actuating circuit is used for converting the received ultrasonic signal into an electrical signal, the electrical signal is used as an external interrupt source to cause interrupt to wake up the MSP430 singlechip, and the MSP430 singlechip is changed into an AM state and enters an interrupt service routine.
The system, optionally, the ultrasonic directional transmitting module adopts an ultrasonic directional horn, and the head and the tail of the coal mining machine are respectively provided with an ultrasonic directional horn.
Compared with the prior art, the invention provides the fully-mechanized coal mining face coal mining centralized control system based on low power consumption, which has the following beneficial effects:
(1) Accurate detection and real-time broadcasting of the position of the coal cutter are realized, and basic conditions and basis are provided for intelligent production of the fully mechanized coal face;
(2) The accident occurrence caused by the field confusion caused by the connection of a large number of communication cables is reduced, and the operation safety is improved;
(3) The problem that the working face cannot normally run due to cable faults is solved, and the safety production efficiency is improved;
(4) The cost is saved, the production consumption is reduced, and the economic benefit is improved;
(5) The construction pace of the intelligent mine is promoted, and technical support is provided for unmanned or less people.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of a fully mechanized coal mining face coal mining centralized control system based on low power consumption, which is disclosed by the invention;
FIG. 2 is a block diagram of the ultrasonic wave orientation generation-detection-action function disclosed in the present invention;
FIG. 3 is a schematic view of an ultrasonic directional horn installation of the present disclosure;
FIG. 4 is a schematic diagram of a wireless network of a fully mechanized coal mining face coal mining centralized control system based on low power consumption;
Fig. 5 is a software interface for establishing a Zigbee network according to the embodiment of the present disclosure;
fig. 6 is a read parameter interface when a Zigbee network is established according to the embodiment of the present disclosure;
fig. 7 is a network configuration interface for establishing a Zigbee network according to the embodiment of the present disclosure;
fig. 8 is a device parameter setting interface when joining a Zigbee network according to an embodiment of the present disclosure.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the present disclosure, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions, and the terms "comprise," "include," or any other variation thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, the invention discloses a low-power consumption based centralized control system for coal mining of a fully mechanized coal mining face, which comprises:
The coder is arranged on the coal mining machine and used for acquiring the walking distance of the coal mining machine, calculating the number of the hydraulic support where the coal mining machine is positioned according to the walking distance of the coal mining machine and the center distance of the hydraulic support, and transmitting the number of the current hydraulic support to the comprehensive mining working face crossheading centralized control center server in a wireless mode;
The infrared emission device is arranged on the coal mining machine and is used for emitting infrared rays to the infrared receiving device arranged on the hydraulic support controller, and the hydraulic support controller judges the number of the coal mining machine on the hydraulic support according to the infrared emission information acquired by the infrared receiving device and sends the number of the current hydraulic support to the comprehensive mining working face crossheading centralized control center server;
The centralized control center server is used for judging whether the received hydraulic support numbers obtained through the encoder and the received hydraulic support numbers obtained through the infrared receiving transposition are consistent, and if not, sending an alarm signal to the alarm module; if the current position of the coal mining machine is consistent with the current position of the coal mining machine, the current position of the coal mining machine is sent to all equipment on a working face, and the action of a corresponding hydraulic support is automatically controlled through a hydraulic support controller according to the current position of the coal mining machine;
The ultrasonic directional transmitting module is arranged on the coal mining machine and is used for transmitting ultrasonic signals to the ultrasonic receiving module arranged on the hydraulic support controller, and the hydraulic support controller is used for controlling the action of the relevant hydraulic support according to the coal mining process after receiving the ultrasonic signals.
Further, communication conversion equipment is arranged between the centralized control center server and the hydraulic support controller and between the centralized control center server and each device of the working face and is used for converting wired signal transmission into wireless signal transmission.
Still further, referring to fig. 4, the communication conversion apparatus includes: the device comprises a hydraulic support, zigbee terminals arranged on each device of a working face, a plurality of Zigbee routers and a Zigbee coordinator, wherein the Zigbee terminals and the working face are arranged on each device of the working face.
Further, the Zigbee router is responsible for collecting and transmitting terminal data in a coverage area, and the Zigbee terminal performs long-distance wireless data transmission through the Zigbee router, accesses to the Zigbee coordinator, and the Zigbee coordinator is used for establishing and managing a network.
Furthermore, a Zigbee network is established by using the upper computer software, and each Zigbee terminal and each Zigbee router device are respectively added into the Zigbee network to carry out parameter configuration so as to realize data transmission.
Further, each equipment of the working surface comprises a crusher, a reversed loader and a scraper conveyor.
Referring to fig. 4, the wireless transmitting device on the coal mining machine side broadcasts and transmits the real-time position of the coal mining machine to supporting and transporting equipment such as a hydraulic support, a reversed loader, a crusher and the like through a wireless network system, and can directly receive equipment which has realized wireless communication, and communication conversion equipment is added to the equipment which still realizes wired communication so as to receive the equipment.
Aiming at the mode that an electrohydraulic control system of a hydraulic support of a fully mechanized mining face, a crusher, a reversed loader, a scraper conveyor and the like are still in wired communication, when position signals sent by a coal mining machine are received by means of wireless communication, zigbee terminals are required to be added on the basis of original equipment, and a plurality of Zigbee routers and a Zigbee coordinator are arranged on the working face to receive the position signals.
Specifically, the invention also discloses a method for converting wired communication into wireless communication, which comprises the following specific contents:
(1) The coal mining equipment of the fully mechanized coal face is as follows: hydraulic support electrohydraulic control systems, crushers, reversed loaders, scraper conveyors, and the like, and related Zigbee terminals, zigbee routers, and Zigbee coordinators.
(2) The current system comprises a Zigbee coordinator, a plurality of Zigbee routers and a plurality of Zigbee terminals, wherein each Zigbee router is responsible for acquiring and transmitting Zigbee terminal data in a coverage area. The Zigbee terminals can be arranged on each coal mining device of the fully mechanized mining face, and are used for carrying out long-distance wireless data transmission through a Zigbee router, accessing to a Zigbee coordinator and finally being connected with a server in a wired mode so as to realize data interaction of the controller.
(3) The Zigbee coordinator is responsible for establishing and managing a network, controlling whether other nodes are allowed to join the network, storing network information, and having all functions of routing equipment, and has the main tasks of managing the network, recording child node information, forwarding a message, and meanwhile, the Zigbee coordinator needs to identify the authority of a terminal requesting to access the network. After the Zigbee coordinator is powered off, the network cannot collapse, and the Zigbee router and the Zigbee terminal can work normally in the current network.
The Zigbee router has the main task of forwarding the message and plays a role of relay routing.
The main task of the Zigbee terminal device is to send and receive messages, and not allow other terminal nodes to connect to the Zigbee terminal device. The Zigbee terminal is in an operating state all the time, and can receive and transmit data at any time.
(4) The device establishes a Zigbee network by combining upper computer software, and each Zigbee terminal and each Zigbee router device are respectively connected to the network to carry out corresponding parameter configuration so as to realize data transmission.
Further, referring to fig. 2, the ultrasonic directional transmitting module includes an audio signal generator, a carrier signal generator, a signal modulating circuit, a power amplifier and an ultrasonic transducer;
the signal modulation circuit is respectively connected with the audio signal generator and the carrier signal generator and is used for modulating the audio signal to the ultrasonic carrier;
The power amplifier is connected with the output end of the signal modulation circuit and is used for amplifying the modulated ultrasonic signals;
and the ultrasonic transducer is connected with the output end of the power amplifier and is used for converting ultrasonic electric signals into ultrasonic waves.
Furthermore, the hydraulic support controller adopts a low-power-consumption MSP430 singlechip.
Furthermore, the ultrasonic receiving module adopts an ultrasonic detecting and operating circuit, the ultrasonic detecting and operating circuit is used for converting a received ultrasonic signal into an electric signal, the electric signal is used as an external interrupt source to cause interrupt to wake up the MSP430 singlechip, the MSP430 singlechip is changed into an AM state and enters an interrupt service routine, and the machine-following drawing frame is carried out according to the position of the coal mining machine, namely, the action of the support is controlled according to the coal mining process.
Further, referring to fig. 3, the ultrasonic directional transmitting module adopts an ultrasonic directional horn, and an ultrasonic directional horn is respectively arranged at the head and the tail of the coal mining machine, and along with the operation of the coal mining machine, the ultrasonic directional horn wakes up a controller on the hydraulic support which should act, and the machine tracking pulling frame is carried out according to the position of the coal mining machine, namely, the action of the support is controlled according to the coal mining process.
Specifically, the invention also discloses the action of the ultrasonic directional horn awakening hydraulic support controller, which comprises the following specific contents:
The current working face hydraulic support controllers still adopt a wired POWER supply for POWER supply, and because the hydraulic support controllers are large in number, the cost is high, and potential safety hazards are large. The low power consumption mode is selected, and the wake-up from the low power consumption mode to the active state is in an external interrupt mode, wherein an external interrupt signal is derived from an ultrasonic sound signal on the coal mining machine.
In order to avoid the interference of other noises of the working face, ultrasonic directional horns are respectively arranged on the left side and the right side of the coal cutter body, and a hydraulic support controller in a dormant low-power consumption mode is awakened to automatically track the machine and pull the frame according to the coal mining process, so that the automatic control of the coal mining process is realized. Because the hydraulic support controller adopts the MCU with low power consumption, most of the hydraulic support controllers are in a dormant working mode in the whole working surface, and the working time of the hydraulic support controller activated to be in an active state (AM) mode is also short, the hydraulic support controller is powered by a battery.
The invention adopts the low power consumption mode, and the wake-up from the low power consumption mode to the active state is realized by utilizing the external interrupt form, and the external interrupt signal is derived from the sound signal of the ultrasonic wave on the coal mining machine. In order to avoid the interference of working face noise, ultrasonic directional horns are arranged at the head and tail of the coal mining machine.
The ultrasonic directional loudspeaker controls the propagation direction of sound through a special sounding principle, so that the sound is emitted and propagated like a flashlight beam at night, and can be heard where to point. The 20KHz high frequency signal (ultrasonic wave) has good directivity during transmission. By modulating the audio signal onto the ultrasonic carrier wave, directional propagation of audible sound is formed by utilizing the characteristic of directional propagation of ultrasonic waves and the nonlinear effect of air. When the ultrasonic detection circuit and the action circuit receive the sound of the ultrasonic directional loudspeaker, an electric signal is sent out, the signal is used as an external interrupt source to cause interrupt and wake up the MSP430 singlechip, the MSP430 singlechip is caused to interrupt, and the MSP430 singlechip immediately changes into an AM state and enters an interrupt service routine. In the program, firstly, a position signal of the coal mining machine, which is broadcast and sent in real time by a wireless network system, is received, then, according to the position, what function is executed by the user according to the coal mining process, the machine following operation is automatically carried out, and the automatic coal mining work is completed. The functions that the hydraulic controller can perform at present are: lifting upright posts (if 4 upright post supports are used for lifting front posts and rear posts respectively), extending and retracting balance beams, pushing, pulling, extending and retracting side protection edges, lifting bottoms, spraying, extending and retracting primary protection edges, extending and retracting secondary protection edges and the like (if 4 upright post supports) are used for 16 single actions. After completion, the execution statement LMP4 enters the low power mode again before the interrupt service routine returns. See functional block diagram of fig. 2.
An ultrasonic directional loudspeaker for emitting sound signals at a certain frequency is respectively arranged at the right and left sides of the coal cutter body, sound with the frequency is transmitted forwards and backwards along the working face in a directional manner, and the brackets for sound wave are 13 frames in front and behind the coal cutter, as shown in figure 3.
When no event occurs, the low power consumption mode is entered, and when the event occurs, the MSP430 singlechip is awakened by interruption, and after the event is processed, the MSP430 singlechip enters the low power consumption mode again. Because the operation speed of the MSP430 singlechip and the speed of exiting low power consumption are fast, in the application, the MSP430 singlechip is in a low power consumption state most of the time, and in the automatic coal mining process, only 3 to 5 frames of brackets at the front and back of the coal mining machine are operated, most of the brackets are inactive, so the operating time of each controller is short, most of the time, the system is in a low power state so that it can be powered by the battery.
In one embodiment, referring to fig. 5-8, the invention discloses a specific application of low-power consumption based centralized control of coal mining on a fully mechanized coal face.
1. Establishing a Zigbee network
The method comprises the following specific steps:
(1) The device is connected with a computer, upper computer software is opened, the type of the device is selected, an IP address and an input port number are input, the connection server is clicked, and the connection success can be seen on the right side, and the connection is shown in fig. 5.
(2) Clicking on "read parameters", the message box prompts "read parameters successful", the main network parameters include: the long address, the device type defaults to coordinator (if not please set to coordinator), and the network state is "not have" (if it is not required to exit the network or restore the factory). If the read parameters are invalid, it is possible that the module is currently in the transmission mode, and the "enter configuration mode" needs to be clicked, and the message box prompts "enter configuration state successfully", as shown in fig. 6.
(3) Clicking on "start distribution", coordinating to build an open network, the coordinator will last 180 seconds after newly building the network, and the router and the terminal can join the network in this time, as shown in fig. 7.
2. Joining a zigbee network
(1) The upper computer software is opened, the type of the equipment is selected, the IP address is input, the port number is input, the connection server is clicked, and the right window can be seen to display that the connection is successful. Then the module type is set as a router or a terminal node, then the writing parameters are clicked, and then the restarting module is clicked, and at the moment, the role of the equipment is successfully switched, as shown in fig. 8.
(2) Clicking on "start distribution" the LINK lamp of the device flashes rapidly at 10Hz, at which time it is necessary to ensure that the coordinator device is also in a distribution state. Waiting for a moment, the LINK lamp of the device becomes bright or 1Hz blinks (router mode), clicks "read parameters", and can view the network access information of the device, and the network state is "connect". If the LINK lamp becomes off and the network state is "not have", the module fails to network, please check if the coordinator device is in a network configuration state and if the coordinator device and router/terminal device distance is within a reasonable range.
(3) Other router/terminal device information, including MAC addresses and short addresses, that have joined the coordinator device network can be viewed through the upper computer interface of the coordinator device. Clicking on the "device control instruction" and clicking on the "refresh device list" can see the MAC address and short address of the network access device. According to this method, several routers and end nodes may be added within a coordinator network.
3. Data transmission
(1) Clicking "enter parameter configuration" in the upper computer interface, the coordinator device and router device enter configuration mode. After entering the configuration mode, the coordinator receives a heartbeat packet reported by the network access equipment periodically.
(2) And setting the terminal node equipment to bind the router equipment on the upper computer interface of the coordinator, so that the terminal node equipment can transmit data to the router equipment. Clicking a 'network instruction' menu on an upper computer interface of the coordinator equipment, filling a short address of a terminal equipment in a 'equipment temporary storage list' into a 'target short address', filling an SN number of the terminal equipment into a 'source target SN', filling an SN of a router equipment into a 'target virtual SN', filling a cluster ID into 08 FC, and clicking a 'set normal connection'.
(3) Setting a 'target short address' as 'FEFF' (0 xFFFE is an invalid short address, and after the target short address is set as the invalid short address, the device automatically defaults the transparent transmission target as a binding address) and clicking the 'setting'. Then "module group" is input "01" and "module group" is clicked, the terminal device is added to the 0x0001 group, and then "enter transmission mode" is clicked.
(4) Setting a target port to '00' (the target port is set to 0x00 is a multicast mode) and then setting a target short address to '01' (the target short address is a multicast address in the multicast mode, and multicast is carried out to a 0x0001 group) at an upper computer interface of the router equipment, clicking the setting, and sending a transparent transmission message to the group 0x0001 multicast by the router. And then click "enter transfer mode".
4. Action of ultrasonic directional horn waking up bracket controller
The invention adopts the battery to supply power, the hydraulic support controller adopts the MCU with low power consumption, most of the support controllers are in a dormant working mode in the whole working surface, and the working time of the hydraulic support controller which is activated to be in an active state (AM) mode is also short, so the hydraulic support controller can adopt the battery to supply power.
The invention discloses a LOW-POWER consumption fully-mechanized coal face coal mining centralized control system, a hydraulic support controller MCU selects a LOW-POWER consumption MSP430 singlechip, 5 LOW-POWER consumption MODEs are LPM 0-LPM 4 (LOW POWER MODE) respectively, and the active state of a CPU is called AM (ACTVE MODE) MODEs. The low power consumption mode is selected, and the mode from the low power consumption mode to the active state is in an external interrupt mode, wherein an external interrupt signal is derived from an ultrasonic sound signal on the coal mining machine.
In order to avoid the interference of other noises of the working face, ultrasonic directional horns are respectively arranged on the left side and the right side (namely the head and the tail of the coal mining machine) of the coal mining machine body, and a support controller in a dormant low-power consumption mode is awakened to enable the support controller to automatically track the machine and pull the support according to the coal mining process, so that the automatic control of the coal mining process is realized.
In order to avoid the interference of working face noise, ultrasonic directional horns are arranged at the head and tail of the coal mining machine. The ultrasonic directional loudspeaker controls the propagation direction of sound through a special sounding principle, so that the sound is emitted and propagated like a flashlight beam at night, and can be heard where to point. The 20KHz high frequency signal (ultrasonic wave) has good directivity during transmission. By modulating the audio signal onto the ultrasonic carrier wave, directional propagation of audible sound is formed by utilizing the characteristic of directional propagation of ultrasonic waves and the nonlinear effect of air. When the ultrasonic detection circuit and the action circuit receive the sound of the ultrasonic directional loudspeaker, an electric signal is sent out, the signal is used as an external interrupt source to cause interrupt and wake up the MSP430 singlechip, the MSP430 singlechip is caused to interrupt, and the MSP430 singlechip immediately changes into an AM state and enters an interrupt service routine. In the program, firstly, a position signal of the coal mining machine, which is transmitted by a wireless ad hoc network system in a real-time broadcasting way, is received, then, according to the position, what function is executed by the wireless ad hoc network system according to the coal mining process is judged, the machine following operation is automatically carried out, and the automatic coal mining work is completed. The functions that the controller can perform at present are: lifting upright posts (if 4 upright post supports are used for lifting front posts and rear posts respectively), extending and retracting balance beams, pushing, pulling, extending and retracting side protection edges, lifting bottoms, spraying, extending and retracting primary protection edges, extending and retracting secondary protection edges and the like (if 4 upright post supports) are used for 16 single actions. After completion, the execution statement LMP4 enters the low power mode again before the interrupt service routine returns. See functional block diagram of fig. 2.
In one embodiment of the invention, an ultrasonic directional horn for emitting sound signals at a certain frequency is respectively arranged at the proper positions of the front end machine body and the rear end machine body of the coal mining machine, the sound with the certain frequency is transmitted forwards and backwards along the direction of the working surface, and the brackets for sound wave are 13 frames in front of and behind the coal mining machine, as shown in fig. 3.
In the invention, the low power consumption mode is entered when no event occurs, and the MSP430 singlechip is awakened by interrupt when the event occurs, so that the MSP430 singlechip enters the low power consumption mode again after the event is processed. Because the operation speed of the MSP430 singlechip and the speed of exiting the low power consumption are fast, in the application, most of the time of the MSP430 singlechip is in a low power consumption state, and in the automatic coal mining process, only 3-5 hydraulic supports in front and behind the coal mining machine are in action, and most of the hydraulic supports are not working, so the working time of each hydraulic controller is very short, and most of the time is in a low power consumption state, so that the hydraulic support control system can be powered by a battery.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. Comprehensive mining working face coal mining centralized control system based on low power consumption, which is characterized by comprising:
The coder is arranged on the coal mining machine and used for acquiring the walking distance of the coal mining machine, calculating the number of the hydraulic support where the coal mining machine is positioned according to the walking distance of the coal mining machine and the center distance of the hydraulic support, and transmitting the number of the current hydraulic support to the comprehensive mining working face crossheading centralized control center server in a wireless mode;
The infrared emission device is arranged on the coal mining machine and is used for emitting infrared rays to the infrared receiving device arranged on the hydraulic support controller, and the hydraulic support controller judges the number of the coal mining machine on the hydraulic support according to the infrared emission information acquired by the infrared receiving device and sends the number of the current hydraulic support to the comprehensive mining working face crossheading centralized control center server;
The centralized control center server is used for judging whether the received hydraulic support numbers obtained through the encoder and the received hydraulic support numbers obtained through the infrared receiving transposition are consistent, and if not, sending an alarm signal to the alarm module; if the current position of the coal mining machine is consistent with the current position of the coal mining machine, the current position of the coal mining machine is sent to all equipment on a working face, and the action of a corresponding hydraulic support is automatically controlled through a hydraulic support controller according to the current position of the coal mining machine;
The ultrasonic directional transmitting module is arranged on the coal mining machine and is used for transmitting ultrasonic signals to the ultrasonic receiving module arranged on the hydraulic support controller, and the hydraulic support controller is used for controlling the action of the relevant hydraulic support according to the coal mining process after receiving the ultrasonic signals.
2. The low-power consumption integrated mining face coal mining centralized control system according to claim 1, wherein,
Communication conversion equipment is arranged between the centralized control center server and the hydraulic support controller and between the centralized control center server and each equipment of the working face and is used for converting wired signal transmission into wireless signal transmission.
3. The low-power consumption integrated mining face coal mining centralized control system according to claim 2, wherein,
The communication conversion device includes: the device is arranged on the hydraulic support controller, and the Zigbee terminals and the working face on each device of the working face are provided with a plurality of Zigbee routers and a Zigbee coordinator.
4. The low-power consumption integrated mining face coal mining centralized control system according to claim 3, wherein,
The Zigbee router is responsible for collecting and transmitting terminal data in a coverage area, and the Zigbee terminals perform long-distance wireless data transmission through the Zigbee router and access to the Zigbee coordinator, and the Zigbee coordinator is used for establishing and managing a network.
5. The low-power consumption integrated mining face coal mining centralized control system according to claim 4, wherein,
And establishing a Zigbee network by using upper computer software, wherein each Zigbee terminal and each Zigbee router device are respectively connected to the Zigbee network to carry out parameter configuration, so that data transmission is realized.
6. The low-power consumption integrated mining face coal mining centralized control system according to claim 1, wherein,
Each equipment of the working surface comprises: crusher, reversed loader, scraper conveyor.
7. The low-power consumption integrated mining face coal mining centralized control system according to claim 1, wherein,
The directional ultrasonic wave transmitting module comprises: an audio signal generator, a carrier signal generator, a signal modulation circuit, a power amplifier and an ultrasonic transducer;
the signal modulation circuit is respectively connected with the audio signal generator and the carrier signal generator and is used for modulating the audio signal to the ultrasonic carrier;
the power amplifier is connected with the output end of the signal modulation circuit and is used for amplifying the modulated ultrasonic electric signal;
and the ultrasonic transducer is connected with the output end of the power amplifier and is used for converting ultrasonic electric signals into ultrasonic waves.
8. The low-power consumption integrated mining face coal mining centralized control system according to claim 7, wherein,
The hydraulic support controller adopts a low-power-consumption MSP430 singlechip.
9. The low-power consumption integrated mining face coal mining centralized control system according to claim 8, wherein,
The ultrasonic receiving module adopts an ultrasonic detecting and operating circuit, the ultrasonic detecting and operating circuit is used for converting a received ultrasonic signal into an electric signal, the electric signal is used as an external interrupt source to cause interrupt to wake up the MSP430 singlechip, and the MSP430 singlechip is changed into an AM state and enters an interrupt service routine.
10. The low-power consumption integrated mining face coal mining centralized control system according to claim 7, wherein,
The ultrasonic directional transmitting module adopts an ultrasonic directional horn, and an ultrasonic directional horn is respectively arranged at the head and the tail of the coal mining machine.
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