CN202250113U - Hydraulic bracket pose detecting device based on multi-sensor data fusion - Google Patents

Hydraulic bracket pose detecting device based on multi-sensor data fusion Download PDF

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Publication number
CN202250113U
CN202250113U CN2011203487088U CN201120348708U CN202250113U CN 202250113 U CN202250113 U CN 202250113U CN 2011203487088 U CN2011203487088 U CN 2011203487088U CN 201120348708 U CN201120348708 U CN 201120348708U CN 202250113 U CN202250113 U CN 202250113U
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CN
China
Prior art keywords
bracket
support
pose
information
gesture detector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2011203487088U
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Chinese (zh)
Inventor
于月森
伍小杰
左东升
宋中仓
戴鹏
耿乙文
周娟
周书颖
袁庆庆
刘杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
XUZHOU BAODI ELECTRIC CO Ltd
China University of Mining and Technology CUMT
Original Assignee
XUZHOU BAODI ELECTRIC CO Ltd
China University of Mining and Technology CUMT
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Filing date
Publication date
Application filed by XUZHOU BAODI ELECTRIC CO Ltd, China University of Mining and Technology CUMT filed Critical XUZHOU BAODI ELECTRIC CO Ltd
Priority to CN2011203487088U priority Critical patent/CN202250113U/en
Application granted granted Critical
Publication of CN202250113U publication Critical patent/CN202250113U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model provides a hydraulic bracket pose detecting device based on multi-sensor data fusion, belonging to a hydraulic bracket pose detecting method of a fully mechanized coal face underground a coal well. The detecting method comprises the following steps of isolating an intrinsically safe power supply by adopting an isolation coupler by a system structure, collecting pressure, displacement and inclination angle information of a hydraulic bracket in real-time, and analyzing and summarizing the collected information; detecting the pose of the bracket by multiple information sources; adjusting the bracket by a bracket pose detector according to the obtained bracket pose information, and locally displaying the pose information and performing sound and light alarming, and uploading the pose information of the working face bracket to an underground crossheading main control computer through a CAN (control area network) bus network. The device provided by the utility model can correctly obtain the pose information of the bracket through performing data fusing of multi-information source information such as the pressure, the displacement, the inclination angle and the like, modify the bracket pose according to the current pose information, realize real-time on-line detection of the bracket pose, thereby ensuring reliable and safe operation of the bracket.

Description

Hydraulic support Attitute detecting device based on the multi-sensor data fusion
Technical field
The utility model relates to a kind of hydraulic support Attitute detecting device, the hydraulic support Attitute detecting device based on the multi-sensor data fusion of fully-mechanized mining working under particularly a kind of suitable ground coal mine.
Background technology
In order to prevent the roof inbreak, guarantee staff's safety and normally carrying out of production at fully-mechanized mining working, must carry out supporting to top board, hydraulic support is the indispensable support apparatus of coal mine fully-mechanized mining working.Along with the development of coal mining technology, increasingly high to the stability and the security requirement of working surface hydraulic support, top, support top coal moves the state that can influence top, adjacent stent top coal in process of production; And then influencing the stress of adjacent stent, the low level at sublevel caving hydrau lic support rear portion is put coal mechanism and in putting the coal process, is received the component of coal under flowing to, and can apply lateral force to support caving shield and tail boom; Make support produce sideshake, thereby drive the support skew, work plane is pushed ahead in the process; Because the work plane inclination angle changes; When the frame reach falls in support, can be because of losing strong point deflection, the variation that the timberer gestures is very big to the supporting capacity influence of support; Even can damage supporting structure spare itself, the danger that produces frame is arranged when serious.
The utility model content
The purpose of the utility model is that a kind of hydraulic support Attitute detecting device that merges based on multi-sensor data will be provided; Solve because the work plane inclination angle changes; When the frame reach falls in support; Can be because of losing strong point deflection, the variation that the timberer gestures is very big to the supporting capacity influence of support, even can damage the problem of supporting structure spare itself.
The utility model purpose checkout gear; Comprise pressure sensor, displacement transducer, obliquity sensor, support gesture detector, electromagnetic valve, LCD, acoustic-optic alarm, crossheading main control computer; Pressure sensor, displacement transducer and obliquity sensor all are connected through the input of signal condition transmitter with the support gesture detector; The output of support gesture detector is connected with acoustic-optic alarm with LCD respectively, and the output of support gesture detector is connected with hydraulic support through electromagnetic valve; The crossheading main control computer is connected with the support gesture detector through coupler, and the crossheading main control computer is connected with the ground main control computer through the down-hole switch; AC power is a double loop power supply, and double loop power supply is connected with the input of the intrinsic safety electric source of support gesture detector through isolating coupler; Connect through the CAN bus between many support gesture detector.
Beneficial effect is owing to adopted such scheme, pressure sensor, displacement transducer, obliquity sensor to be used to gather pressure, displacement, the obliquity information of hydraulic support each several part; The signal that collects converts standard signal to through the signal condition transmitter, is input to the support gesture detector, and the support gesture detector is carried out aggregation of data, analysis; Attitude to support detects, and when the support attitude offsets, the support gesture detector is sent the adjustment order and given electromagnetic valve; The action of solenoid control hydraulic support; Correct the support attitude, the support gesture detector is with the real-time attitude information input of support LCD simultaneously, and LCD shows the support attitude information in real time; When attitude parameter surpasses the warning threshold, through the acoustic-optic alarm information that gives a warning; Down-hole electricity hydraulic control is set up through CAN bus network and all support gesture detector with the crossheading main control computer and is got in touch; The attitude information of support transfers to the downhole crossheading main control computer through the CAN bus network and gathers, stores and show; Also can get into the down-hole looped network by switch, transfer of data is arrived the indoor ground main control computer of ground maneuvers through the down-hole.Solved because the work plane inclination angle changes, when the frame reach falls in support, can be because of losing strong point deflection, the variation that the timberer gestures is very big to the supporting capacity influence of support, even can damage the problem of supporting structure spare itself, has reached the purpose of the utility model.
Advantage: the utility model is through carrying out data fusion to multiple information sources information such as the pressure of support, displacement, inclination angles; Can accurately know the attitude information of support; And the support attitude is revised according to current attitude information; The real-time online of realizing the support attitude detects, and then guarantees that support is reliable, safe operation.
Description of drawings
Fig. 1 is the utility model support Attitute detecting device pie graph.
Fig. 2 is the utility model support attitude detection system network architecture figure.
Among the figure: 1, pressure sensor; 2, displacement transducer; 3, obliquity sensor; 4, support gesture detector; 5, electromagnetic valve; 6, hydraulic support; 7, LCD; 8, acoustic-optic alarm; 9, signal condition transmitter; 10, crossheading main control computer; 11, intrinsic safety electric source.
The specific embodiment
Below in conjunction with accompanying drawing the embodiment of the utility model is done further description:
The hydraulic support Attitute detecting device that the utility model merges based on multi-sensor data; Comprise pressure sensor 1, displacement transducer 2, obliquity sensor 3, support gesture detector 4, electromagnetic valve 5, LCD 7, acoustic-optic alarm 8, crossheading main control computer 10; Pressure sensor 1, displacement transducer 2 and obliquity sensor 3 all are connected through the input of signal condition transmitter 9 with support gesture detector 4; The output of support gesture detector 4 is connected with acoustic-optic alarm 8 with LCD 7 respectively, and the output of support gesture detector 4 is connected with hydraulic support 6 through electromagnetic valve 5; Crossheading main control computer 10 is connected with support gesture detector 4 through coupler, and crossheading main control computer 10 is connected with the ground main control computer through the down-hole switch; AC power is a double loop power supply, and double loop power supply is connected with the input of the intrinsic safety electric source 11 of support gesture detector through isolating coupler; Connect through the CAN bus between many support gesture detector.
In Fig. 1, pressure sensor 1, displacement transducer 2, obliquity sensor 3 are used to gather pressure, displacement, the obliquity information of hydraulic support each several part, and the signal that collects converts standard signal to through signal condition transmitter 9; Be input to support gesture detector 4, the support gesture detector is carried out aggregation of data, analysis, and the attitude of support is detected; When the support attitude offsets; The support gesture detector is sent the adjustment order and is given electromagnetic valve 5, and the support attitude is corrected in 6 actions of electromagnetic valve 5 control hydraulic supports; Support gesture detector 5 is with the real-time attitude information input of support LCD 7 simultaneously, and LCD 7 shows the support attitude information in real time; When attitude parameter surpasses the warning threshold, through acoustic-optic alarm 8 information that gives a warning;
In Fig. 2; Down-hole electricity hydraulic control is set up through CAN bus network and all support gesture detector with the crossheading main control computer and is got in touch; The attitude information of support transfers to downhole crossheading main control computer 10 through the CAN bus network and gathers, stores and show; Also can get into the down-hole looped network by switch, transfer of data is arrived the indoor ground main control computer of ground maneuvers through the down-hole.

Claims (1)

1. hydraulic support Attitute detecting device that merges based on multi-sensor data; It is characterized in that: the device of realizing the hydraulic support attitude detecting method: comprise pressure sensor, displacement transducer, obliquity sensor, support gesture detector, electromagnetic valve, LCD, acoustic-optic alarm, crossheading main control computer; Pressure sensor, displacement transducer and obliquity sensor all are connected through the input of signal condition transmitter with the support gesture detector; The output of support gesture detector is connected with acoustic-optic alarm with LCD respectively, and the output of support gesture detector is connected with hydraulic support through electromagnetic valve; The crossheading main control computer is connected with the support gesture detector through coupler, and the crossheading main control computer is connected with the ground main control computer through the down-hole switch; AC power is a double loop power supply, and double loop power supply is connected with the input of the intrinsic safety electric source of support gesture detector through isolating coupler; Connect through the CAN bus between many support gesture detector.
CN2011203487088U 2011-09-19 2011-09-19 Hydraulic bracket pose detecting device based on multi-sensor data fusion Expired - Fee Related CN202250113U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011203487088U CN202250113U (en) 2011-09-19 2011-09-19 Hydraulic bracket pose detecting device based on multi-sensor data fusion

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011203487088U CN202250113U (en) 2011-09-19 2011-09-19 Hydraulic bracket pose detecting device based on multi-sensor data fusion

Publications (1)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102337908A (en) * 2011-09-19 2012-02-01 中国矿业大学 Hydraulic bracket posture detecting method and device based on multi-sensor data fusion
CN103775118A (en) * 2013-12-27 2014-05-07 中国矿业大学 Reproduction system and method for hydraulic support working gestures based on holographic laser projection
CN103968856A (en) * 2014-04-04 2014-08-06 中国矿业大学 Real-time detection method of hydraulic support poses
CN107725089A (en) * 2017-11-21 2018-02-23 天地科技股份有限公司 Unattended automatic coal discharge system and method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102337908A (en) * 2011-09-19 2012-02-01 中国矿业大学 Hydraulic bracket posture detecting method and device based on multi-sensor data fusion
CN103775118A (en) * 2013-12-27 2014-05-07 中国矿业大学 Reproduction system and method for hydraulic support working gestures based on holographic laser projection
CN103968856A (en) * 2014-04-04 2014-08-06 中国矿业大学 Real-time detection method of hydraulic support poses
CN103968856B (en) * 2014-04-04 2015-06-24 中国矿业大学 Real-time detection method of hydraulic support poses
CN107725089A (en) * 2017-11-21 2018-02-23 天地科技股份有限公司 Unattended automatic coal discharge system and method
CN107725089B (en) * 2017-11-21 2019-04-19 天地科技股份有限公司 Unattended automatic coal discharge system and method

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GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120530

Termination date: 20140919