CN201273195Y - Position detection apparatus of fully-mechanized mining face coal mining machine - Google Patents
Position detection apparatus of fully-mechanized mining face coal mining machine Download PDFInfo
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- CN201273195Y CN201273195Y CNU2008201862424U CN200820186242U CN201273195Y CN 201273195 Y CN201273195 Y CN 201273195Y CN U2008201862424 U CNU2008201862424 U CN U2008201862424U CN 200820186242 U CN200820186242 U CN 200820186242U CN 201273195 Y CN201273195 Y CN 201273195Y
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Abstract
A position detecting device for a fully mechanized face coal cutting machine consists of an infrared emitter and an infrared receiver, wherein the infrared emitter comprises a power processing module, a control unit, a signal modulation module, an emitting module and an RS 485 communication module, and the emitting module is respectively connected with the signal modulation module and the control unit, and sends out data under the common control of the signal modulation module and the control unit. The infrared receiver comprises a power processing module, a control unit, two infrared receiving modules, a D A C output module and an RS 485 communication module, wherein the infrared receiving modules are connected with the control unit, and can send the received data which is processed to the control unit. The receiver can realize the following automation of a frame and the coal cutting machine after matching with a hydraulic frame controller, can increase the production efficiency, reduce the false operation of the frame, increase the reliability of a system, and realize the accurate positioning of the coal cutting machine without blind regions. The position detecting device has the advantages of high measuring precision, strong interference resistance capacity, reliable operation, strong actual effect, high efficiency and wide application.
Description
Technical field
The utility model relates to a kind of checkout gear, especially a kind of position detecting device for coal winning machine on integrated excavating coal face that cooperates hydraulic support electrohydraulic control system to use.
Background technology
The automation of coal-winning machine fully mechanized coal face is the basis of realizing the high-yield and high-efficiency mine, one of its key technology be hydraulic support with the machine automation.Realize hydraulic support with the machine automation, must detect the position of coal-winning machine, hydraulic bracket controller sends the control corresponding instruction according to the positional information of coal-winning machine, to realize the interlock of support and coal-winning machine.The checkout gear that uses has following several mode at present:
A kind of is meter tooth method.Utilize the gear counting principle to obtain the revolution of coal-winning machine walking gear, obtain the distance of coal-winning machine walking again according to the girth of gear, go out the center that coal-winning machine is positioned at which support of work plane (be frame number) according to the frame distance computation of support, thereby determine that coal-winning machine in the position of work plane, passes to the hydraulic support control system to positional information by checkout gear then.Checkout gear comprises coal-winning machine position probing emitter and coal-winning machine positional information receiver.Emitter is made up of two parts: a part is to be made of magnetic gear sensor, magnet disk and magnetic bead, and another part is to be made of correcting sensor and correcting magnet.Emitter is installed on the coal-winning machine, and major function is that coal-winning machine walking gear number of teeth counting and counting are proofreaied and correct, and gathers coal-winning machine position and directional information by the technical sensor sensing head, and sends in the radio wave mode.Receiver is received the laggard line correlation processing of information, sends bracket controller to through stube cable then.This system configuration mode is emitter of a work plane installing, and emitter is contained in the coal-winning machine position, and work plane just disposes a receiver for about each 50 meters.Communication is short-distance wireless communication between this mode transmitter receiver, there is not the direct connection of electricity, increase security of system, but also there are some shortcomings simultaneously: the one, measurement accuracy is relatively poor, and coal-winning machine is operation back and forth continuously, and pulse might be lost or increase to sensor, as popping one's head between two gears, will lose a pulse when coal-winning machine moves once more, the error long-term accumulation will influence coal-winning machine position locating accuracy, just must the additive correction device in order to improve accuracy.The 2nd, when coal-winning machine in running power down takes place, checkout gear will lose the detection to coal-winning machine, for addressing this problem auxiliary equipment such as just needing reserve battery, whole device complexity be improved, and installation difficulty increases.The 3rd, there is the matching problem of interface and signal in receiver when communicating by letter with bracket controller, and such checkout gear does not at present all possess the interface with external bracket controller, can not realize that hydraulic support cooperates the fast linked of coal-winning machine.The 4th, adopt radio wave under the complicated adverse circumstances in down-hole, communication distance is short, very easily receives interference, and reliability is not high.
Another kind is a supersonic reflection method, and checkout gear is made up of the ultrasonic sensor that is contained in detection position on the face end support, coal-winning machine locomotive position detecting unit and corresponding communication interface unit.Position probing realizes that by four ultrasonic sensors four sensors are divided into two groups, and every group has two sensors, is installed in the top of face end support respectively, and sensor probe is over against the place ahead.Position detection unit transmits different pieces of information according to the coal-winning machine diverse location, can judge the direction of motion, judge whether coal-winning machine arrives the moment of termination and record coal-winning machine arrival termination.This method is to utilize ultrasonic sensor and frequency converter interface circuit, calculates the range ability and the direction of coal-winning machine by central station computer, and then definite coal-winning machine position.Its operating principle is: when coal-winning machine runs to the ultrasonic sensor detection range, sensor output signal changes, gathering this signal with the ADC converter sends into single-chip microcomputer and handles, judge whether coal-winning machine has arrived this position, determine the coal-winning machine direction of motion according to the sequencing that two sensors change.Single-chip microcomputer confirms to write down when coal-winning machine arrives the moment of this moment, sends central station to, and central station as the reference position, is calculated the distance of coal-winning machine relative this position according to the coal-winning machine direction of motion and speedometer with this position, thereby determines the position of coal-winning machine.Coal-winning machine speed is to determine by the output signal of the inner frequency converter of coal-winning machine, and it is according to being that motor speed is directly proportional with the power supply frequency under motor number of pole-pairs and revolutional slip remain unchanged condition.This square law device is simple, easy for installation.But there is following shortcoming in this device: the one, and accuracy of identification is very low, and coal-winning machine speed in service can not be at the uniform velocity always, and revolutional slip and power supply frequency also can change, and influence is to the accuracy of coal-winning machine position judgment; The 2nd, ultrasonic wave very easily is interfered; The 3rd, checkout gear is only communicated by letter with central station, can not get in touch with bracket controller, do not realize the interlock of coal-winning machine and support, and autgmentability is bad.
Summary of the invention
The purpose of this utility model is the weak point that overcomes in the prior art, and a kind of accuracy of detection height is provided, and the reliability height is realized the omnidistance position detecting device for coal winning machine on integrated excavating coal face that detects monitoring.
For achieving the above object, position detecting device for coal winning machine on integrated excavating coal face of the present utility model, form by being installed in the infrared transmitter on the coal-winning machine and being installed on the coal-winning machine passage infrared remote receiver on each hydraulic support respectively, infrared transmitter is by power supply processing module, control module, the signal modulation module, transmitter module and RS485 communication module are formed, transmitter module links to each other with control module with the signal modulation module respectively, power supply processing module, watchdog circuit is connected control module respectively with the RS485 communication module, and signal modulation module and control module are controlled the transmission data jointly; The a plurality of infrared remote receivers that are installed in respectively on each hydraulic support are made up of power supply processing module, control module, two infrared receiving modules, DAC output module and RS485 communication modules, power supply processing module, watchdog circuit, infrared receiving module, DAC output module and RS485 communication module link to each other with control module respectively, and infrared receiving module sends control module to after the data that receive are handled.
Described signal modulation module is made up of timer U1, resistance R 1, R2, R3, R4 and capacitor C 1, C2, in order to the pulse train that produces required 38kHz as carrier wave, resistance R 1 is connected between the pin b and pin g of U1, pin b connects pin f, by capacitor C 1 ground connection, resistance R 2 is connected between pin g and the pin d, pin d is connected power Vcc with pin h, resistance R 3 one ends connect pin h, the other end links to each other with transmitter module, and resistance R 4 one ends are connected on the pin c, and the other end is connected on the transmitter module, pin e connects pin a, by capacitor C 2 ground connection; Described transmitter module is made up of two infrared transmitting tube D1 and two driving tube T1, T2 and protective resistance R5, and two infrared transmitting tube D1 one ends that connect connect the end of protective resistance R3, the other end connects the colelctor electrode of driving tube T1, the base stage of driving tube T1 is connected with an end of resistance R 4, the emitter-base bandgap grading of driving tube T1 links to each other with the emitter-base bandgap grading of driving tube T2, the base stage of driving tube T2 is connected to the TXD pin of control module 7, the grounded collector of driving tube T2 by resistance R 5; Be connected with protective resistance R4 between driving tube T1 and the timer U1, be connected with the protective resistance R5 that prevents that electric current is excessive between driving tube T2 and the control module; The emission angle of described infrared emission tube D1 and D2 is ± 25 °; Described infrared receiving module comprises two infrared sensor U2, resistance R 6, resistance R 7 and the capacitor C 3 that is located on the control module, R6, R7 that infrared sensor U2 is connected and C3 are infrared sensor U2 peripheral circuit, the output pin i of infrared sensor U2 is connected with RXD2 with the RXD1 of control module, capacitor C 3 is connected between the pin j and pin k of infrared sensor U2, pin j ground connection, the pin k of resistance R 6 one termination infrared sensor U2, another termination power Vcc, the pin i of resistance R 7 one termination infrared sensor U2, another termination power Vcc.
Position detecting device of the present utility model adopts infrared rays transmitting-receiving location, and infrared transmitter mainly is made up of power supply processing module, control module, signal modulation module and infrared transmission module.Power supply processing module provides the voltage of the required different brackets of work and has functions such as anti-reverse for whole transmitter; Control module is the core of transmitter, finishes functions such as infrared rays transmitting-receiving control, information processing; The signal modulation module produces pulse train as carrier signal, modulates being sent out signal, can strengthen anti-interference and transmission range.Receiver is installed on each support, cooperates hydraulic controller to realize the interlock of support, that can realize support and coal-winning machine follows the machine automation, enhance productivity, reduce the misoperation of support, improve the stability and the reliability of system, the realization non-blind area is accurately located.Its certainty of measurement height, antijamming capability is strong, and is reliable, and effective strong, the efficient height has practicality widely.
Description of drawings
Fig. 1 is a position assumption diagram of the present utility model;
Fig. 2 is a RF transmitter system architecture diagram of the present utility model;
Fig. 3 is a RF transmitter partial circuit connection layout of the present utility model;
Fig. 4 is an infrared receiver system architecture diagram of the present utility model;
Fig. 5 is a receiver module circuit connection diagram in the infrared receiver of the present utility model.
Among the figure: 1-infrared transmitter, 2-power supply processing module, 3-watchdog circuit, 4-signal modulation module, 5-infrared transmission module, 6-RS485 communication interface, the 7-control module, the 8-power supply processing module, 9-watchdog circuit, 10-infrared receiving module, the 11-DAC communication interface, the 12-RS485 communication interface, 13-control module, 14-infrared remote receiver.
The specific embodiment
The utility model will be further described below in conjunction with the embodiment in the accompanying drawing:
Shown in Figure 1, position detecting device for coal winning machine on integrated excavating coal face of the present utility model is made up of infrared transmitter 1, infrared remote receiver 14, infrared transmitter 1 is installed on the coal-winning machine in the heading, an infrared remote receiver 14 is installed on each hydraulic support, when coal-winning machine moves, constantly launch infrared rays by the infrared transmitter 1 that is located on the coal-winning machine, during certain hydraulic support of operation process, infrared remote receiver 14 received signals on the hydraulic support, infrared remote receiver 14 receivers and hydraulic controller communication can be informed coal-winning machine current location and state at any time.
Shown in Figure 2, infrared transmitter 1 is made up of power supply processing module 2, MCU control module 7, signal modulation module 4, transmitter module 5 and RS485 communication module 6, transmitter module 5 links to each other with MCU control module 7 with signal modulation module 4 respectively, DC/DC power supply processing module 2, WDG watchdog circuit 3 and RS485 communication module 6 are connected control module 7 respectively, send data under signal modulation module 4 and control module 7 common controls.
Shown in Figure 3, transmitter circuit mainly comprises signal modulation module 4, transmitter module 5 and MCU control module 7, and wherein timer U1, resistance R 1, R2 and capacitor C 1, C2 form, in order to the pulse train that produces required 38kHz as signal.Resistance R 1 is connected between the pin b and pin g of timer U1, pin b and pin f link together, be connected to ground through capacitor C 1 then, pin a and pin e link together, be connected to ground through capacitor C 2, resistance R 2 is connected between pin g and the pin d, be connected to pin h jointly with resistance R 3 then, pin d is the power pins of timer U1, resistance R 3 connects the anode of two parallel with infrared transmitting tube D1, allow the back negative electrode be connected to the colelctor electrode of driving tube T1 jointly, the pin c of timer U1 is connected to the base stage of driving tube T1 through resistance R 4, the emitter-base bandgap grading of driving tube T1 links to each other with the emitter-base bandgap grading of driving tube T2, and the base stage of driving tube T2 is connected to the TXD pin of MCU control module 7, the direct ground connection of driving tube T2 colelctor electrode.Infrared emission tube D1 emission angle ± 25 ° of infrared rays that are used for launching 940nm.Resistance R 3 is protective resistances of infrared transmitting tube D1, and resistance R 4 is protective resistances of driving tube T1, timer U1, and resistance R 5 is protective resistances of driving tube T2, control module 7, prevents the excessive device of being protected that burns out of electric current.Control module 7 is used to realize transmitting and receiving of infrared signal, has RS485 communication and analog quantity output function in addition.Serial data is sent by the serial output terminal TXD of control module 7, and driving driving tube T1, low level makes driving tube T1 conducting, be modulated into the carrier signal of 38kHz by driving tube T2, infrared transmitting tube D1 light pulse form outwards sends, high level ends driving tube T1, and infrared transmitting tube D1 does not just launch infrared rays.
Shown in Figure 4, infrared remote receiver 14 is made up of DC/DC power supply processing module 8, MCU control module 13, two infrared receiving modules 10, DAC output module 11 and RS485 communication modules 12, two infrared receiving modules 10 link to each other with MCU control module 13, send MCU control module 13 to after by infrared receiving module 10 data that receive being handled, connect DC/DC power supply processing module 8, WDG watchdog circuit 9, DAC output module 11 and RS485 communication module 12 on the MCU control module 13 respectively.
Shown in Figure 5, infrared rays receiver module 10 mainly comprises infrared sensor U2, two resistance R 6, R7 and capacitor C 3.Power supply VCC is connected to the pin k of infrared sensor U2 through resistance R 6, be connected to the pin i of infrared sensor U2 through resistance R 7, pin j is connected to pin k through capacitor C 3, the direct ground connection of pin j, the pin i of infrared sensor U2 is connected to the RXD pin of MCU control module 13, and the data after the demodulation are passed to control module.By infrared sensor U2 the impulse modulation infrared signal of the 38kHz that receives is converted into the signal of telecommunication, again by inner self circuit of infrared sensor U2 amplify, filtering, demodulation, output to MCU control module 13 by reverse amplification of output-stage circuit at last, 13 pairs of information of receiving of MCU control module are handled.
Claims (5)
1. position detecting device for coal winning machine on integrated excavating coal face, it is characterized in that: form by the infrared remote receiver (14) that is installed in the infrared transmitter (1) on the coal-winning machine and be installed in respectively on each hydraulic support of coal-winning machine passage, infrared transmitter (1) is by power supply processing module (2), watchdog circuit (3), control module (7), signal modulation module (4), transmitter module (5) and RS485 communication module (6) are formed, transmitter module (5) links to each other with control module (7) with signal modulation module (4) respectively, power supply processing module (2), watchdog circuit (3) is connected control module (7) respectively with RS485 communication module (6), and the common control of signal modulation module (4) and control module (7) sends data; The a plurality of infrared remote receivers (14) that are installed in respectively on each hydraulic support are made up of power supply processing module (8), watchdog circuit (9), control module (13), infrared receiving module (10), DAC output module (11) and RS485 communication module (12), power supply processing module (8), watchdog circuit (9), infrared receiving module (10), DAC output module (11) and RS485 communication module (12) link to each other with control module (13) respectively, and infrared receiving module (10) sends control module (13) to after the data that receive are handled.
2. position detecting device for coal winning machine on integrated excavating coal face according to claim 1, it is characterized in that: described signal modulation module (4) is by timer U1, resistance R 1, R2, R3, R4 and capacitor C 1, C2 forms, in order to the pulse train that produces required 38kHz as carrier wave, R1 is connected between the pin b and pin g of U1, pin b connects pin f, by capacitor C 1 ground connection, R2 is connected between pin g and the pin d, pin d is connected power Vcc with pin h, and resistance R 3 one ends connect pin h, and the other end links to each other with transmitter module (5), resistance R 4 one ends are connected on the pin c, the other end is connected on the transmitter module (5), and pin e connects pin a, by capacitor C 2 ground connection.
3. position detecting device for coal winning machine on integrated excavating coal face according to claim 1, it is characterized in that: described transmitter module (5) is made up of two infrared transmitting tube D1 and two driving tube T1, T2 and protective resistance R5, and two infrared transmitting tube D1 one ends that connect connect the end of protective resistance R3, the other end connects the colelctor electrode of driving tube T1, the base stage of driving tube T1 is connected with the end of R4, the emitter-base bandgap grading of driving tube T1 links to each other with the emitter-base bandgap grading of driving tube T2, the base stage of driving tube T2 is connected to the TXD pin of control module (7), the grounded collector of driving tube T2 by R5; Be connected with protective resistance R4 between driving tube T1 and the timer U1, driving tube T2 and control module are connected with the protective resistance R5 that prevents that electric current is excessive between (7).
4. position detecting device for coal winning machine on integrated excavating coal face according to claim 3 is characterized in that: the emission angle of described infrared emission tube D1 and D2 is ± 25 °.
5. position detecting device for coal winning machine on integrated excavating coal face according to claim 1, it is characterized in that: described infrared receiving module (10) comprises two infrared sensor U2 that are located on the control module (13), resistance R 6, resistance R 7 and capacitor C 3, the R6 that infrared sensor U2 is connected, R7 and C3 are infrared sensor U2 peripheral circuit, the output pin i of infrared sensor U2 is connected with RXD2 with the RXD1 of control module (13), capacitor C 3 is connected between the pin j and pin k of infrared sensor U2, pin j ground connection, the pin k of resistance R 6 one termination infrared sensor U2, another termination power Vcc, the pin i of resistance R 7 one termination infrared sensor U2, another termination power Vcc.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201862424U CN201273195Y (en) | 2008-10-16 | 2008-10-16 | Position detection apparatus of fully-mechanized mining face coal mining machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008201862424U CN201273195Y (en) | 2008-10-16 | 2008-10-16 | Position detection apparatus of fully-mechanized mining face coal mining machine |
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| CN201273195Y true CN201273195Y (en) | 2009-07-15 |
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| CNU2008201862424U Expired - Lifetime CN201273195Y (en) | 2008-10-16 | 2008-10-16 | Position detection apparatus of fully-mechanized mining face coal mining machine |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101725366B (en) * | 2008-10-16 | 2011-11-02 | 中国矿业大学 | Position detecting device for coal winning machine on integrated excavating coal face |
| CN102278132A (en) * | 2011-08-25 | 2011-12-14 | 北京天地玛珂电液控制系统有限公司 | Device and method for detecting position of coal mining machine based on wireless ZigBee technology |
| CN102383819A (en) * | 2011-11-22 | 2012-03-21 | 郑州煤矿机械集团股份有限公司 | Economical and practical controller for hydraulic support |
| CN103291338A (en) * | 2013-06-24 | 2013-09-11 | 山西平阳广日机电有限公司 | Hydraulic support electrohydraulic control system |
| CN105697046A (en) * | 2016-01-29 | 2016-06-22 | 中国矿业大学 | Automatic control system and method for front face guards of hydraulic supports |
| CN107905846A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of fully-mechanized mining working advance rate detecting system and method |
| CN109839109A (en) * | 2019-02-25 | 2019-06-04 | 中国矿业大学 | The absolute position and posture detection method of development machine based on image recognition and Multi-sensor Fusion |
| CN109931107A (en) * | 2019-03-14 | 2019-06-25 | 中国矿业大学 | A kind of hydraulic support and winning machine cutting part interference protective device and method |
-
2008
- 2008-10-16 CN CNU2008201862424U patent/CN201273195Y/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101725366B (en) * | 2008-10-16 | 2011-11-02 | 中国矿业大学 | Position detecting device for coal winning machine on integrated excavating coal face |
| CN102278132A (en) * | 2011-08-25 | 2011-12-14 | 北京天地玛珂电液控制系统有限公司 | Device and method for detecting position of coal mining machine based on wireless ZigBee technology |
| CN102278132B (en) * | 2011-08-25 | 2014-04-16 | 北京天地玛珂电液控制系统有限公司 | Device and method for detecting position of coal mining machine based on wireless ZigBee technology |
| CN102383819A (en) * | 2011-11-22 | 2012-03-21 | 郑州煤矿机械集团股份有限公司 | Economical and practical controller for hydraulic support |
| CN103291338A (en) * | 2013-06-24 | 2013-09-11 | 山西平阳广日机电有限公司 | Hydraulic support electrohydraulic control system |
| CN105697046A (en) * | 2016-01-29 | 2016-06-22 | 中国矿业大学 | Automatic control system and method for front face guards of hydraulic supports |
| CN105697046B (en) * | 2016-01-29 | 2017-09-29 | 中国矿业大学 | Face guard automatic control system and method before a kind of hydraulic support |
| CN107905846A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of fully-mechanized mining working advance rate detecting system and method |
| CN109839109A (en) * | 2019-02-25 | 2019-06-04 | 中国矿业大学 | The absolute position and posture detection method of development machine based on image recognition and Multi-sensor Fusion |
| CN109931107A (en) * | 2019-03-14 | 2019-06-25 | 中国矿业大学 | A kind of hydraulic support and winning machine cutting part interference protective device and method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20090715 Effective date of abandoning: 20081016 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20090715 Effective date of abandoning: 20081016 |