DE102018111938A1 - Arrangement and method for remote control of an electro-hydraulic control system of a longwall construction - Google Patents

Abstract

The invention relates to an arrangement for the remote control of an electrohydraulic control system C1 - C4, Cn of a longwall construction with the following features: a) Fixed anchor points A1 - A4 are attached to the longwall structure at regular intervals for transmitting or receiving radio signals F, a mobile module M1, M2 of a localization system is designed to transmit radio signals F or to receive them from the anchor points A1-A4, An, with a miner W and possibly any other person P carrying a module M1, M2 in the strut; Evaluation unit is designed to determine the absolute signal propagation times or the transit time differences of the radio signals F between the anchor points A1 to A4, An and the modules M1, M2, taking into account the position of the anchor points A1 - A4, to the position of the miner W in the longwall construction c) The control system C1 - C4, Cn is remotely controlled by a wireless remote control R Bergmann W, said at the Remote control R signaling means is formed, which, taking into account the position of the miner W and the position of the remote control R indicates with which shield construction 1 to 4, n the remote control R is coupled.

Description

The invention relates to an arrangement for remote control of an electro-hydraulic control system of a longwall construction with the features of claim 1 and a method for remote control of an electro-hydraulic control system of a longwall construction according to the features of claim 8.

The use of electrohydraulic control systems in the long-front construction for the precise control of shield extension points (shield) corresponds to the prior art. A sign is usually controlled by a control unit of a neighboring sign. The control of a shield over its own built-in control should be avoided, since the stepping of the shield endangers the miner, if he himself is in the shield. Also, electrohydraulic control systems offer the possibility to automatically map the control process in parts. This is done by interaction with the extraction equipment, in particular roll skid loaders or planing.

For very powerful struts with strains greater than 4 meters, these automated functions rarely or never apply, as improperly set shield construction poses a significant hazard. The control of each shield extension therefore continues to be carried out manually, in particular in the case of powerful struts, via the neighborhood control described above.

The state of the art includes remote controls for non-stationary control of Schildausbaue. These remote controls offer the miner the advantage of being able to precisely observe the mining front during the control process and not having to turn to the control device on the blade rack. However, there have been disadvantages in the handling. Wired variants prove to be impractical due to the connector to be manufactured to the respective connector. Even remote controls that use radio technology are often not used in practice. This has the following background: Depending on the signal strength of the radio link, the remote control recognizes 30 or more ECUs in its environment and requires information about which of the ECUs the connection should be established for. There are several methods for this. The application is often used via a localized interface, eg. As an infrared interface or the connection setup by activating a button on the respective control unit of the Schildausbaugestells. This registration process must be carried out regularly, costs time and hinders the smooth and rapid extraction process.

The invention is therefore based on the object to show an arrangement and a method for remote control of an electro-hydraulic control system of a longwall construction, which or does not have these disadvantages.

1. a) An dem Strebausbau sind in regelmäßigen Abständen ortsfeste Ankerpunkte zum Senden oder Empfangen von Funksignalen installiert, wobei ein mobiles Modul eines Lokalisierungssystems dazu ausgebildet ist, Funksignale zu senden oder von den Ankerpunkten zu empfangen, wobei ein Bergmann und ggf. jede andere Person im Streb ein solches Modul mit sich führt;
2. b) Eine Auswerteinheit ist dazu ausgebildet, die absoluten Signallaufzeiten oder die Laufzeitunterschiede der Funksignale zwischen den Ankerpunkten und den Modulen zu bestimmen, um unter Berücksichtigung der Position der Ankerpunkte die Position des Bergmanns im Strebausbau zu bestimmen;
3. c) Das Steuerungssystem ist mit einer drahtlosen Fernbedienung vom Bergmann fernsteuerbar, wobei an der Fernbedienung ein Signalmittel ausgebildet ist, welches unter Berücksichtigung der Position des Bergmanns und der Position der Fernbedienung anzeigt, mit welchem Schildausbau die Fernbedienung koppelbar ist.

The arrangement according to the invention according to claim 1 solves this problem by the following features:

1. a) At the longwall fixed anchor points for transmitting or receiving radio signals are installed at regular intervals, wherein a mobile module of a localization system is adapted to transmit radio signals or to receive from the anchor points, a miner and possibly any other person in the longwall carries such a module with it;
2. b) An evaluation unit is designed to determine the absolute signal propagation times or the transit time differences of the radio signals between the anchor points and the modules in order to determine the position of the miner in the longwall construction, taking into account the position of the anchor points;
3. c) The control system can be remotely controlled by a miner with a wireless remote control, wherein on the remote control a signal means is formed, which, taking into account the position of the miner and the position of the remote control indicates with which shield removal the remote control can be coupled.

In the arrangement according to the invention, the radio link is automatically realized to that sign in which the miner is at the time of connection establishment. For security reasons, the connection option is initially displayed via a signal means. The miner can accept this proposal of the arrangement according to the invention and thereby unlock the coupling. This automated connection setup means that the miner does not have to go to the local control on the respective shield removal, but can work exclusively with the remote control. The connection establishment is acknowledged by the miner, preferably by pressing a button. The compound is preferably confirmed in less than 1 second.

Two different wireless technologies are used here. The first radio technology for position detection and determination differs from the second radio technology for remote control of the shields. In this way mutual interference is avoided.

With the method according to the invention, the previously time-consuming regular registration process is directly dispensed with the individual Removing shield. Automated sign-up saves time. The extraction process is smoother and faster. The miner can observe the mining area even better without interruptions.

The arrangement according to the invention can also be referred to as a person recognition system. It enables position detection of all persons in the longwall, provided they are equipped with a small receiver. Depending on the radio technology, the number and the position of the anchor points, at least one exact position detection is possible, ie. H. the position can be determined with a deviation of less than 50 cm. In this way, the observance of defined safety distances to a mining machine or other shield extensions in the automatic process can be precisely monitored and thus the safety in the longwall be significantly increased. The arrangement according to the invention can be installed as an extension of electrohydraulic long-distance control systems or operated as a self-sufficient system with independent supply and data connection.

A special security feature is that a logic unit of the arrangement is designed to block movements of that shield construction in which and / or adjacent to which the miner or another person with a mobile module is located. Once a person enters the longwall, a motion profile can be recorded. If the longwall for existing danger z. B. be cleared at gas outbreak, can be checked immediately that all persons have left the longwall. This serves to increase safety in case of danger.

In principle, however, an automated sequence control can pose a danger to the miner, should he be in a sign that is moved automatically. The logic unit is used to define safety areas to protect people from blade removal movements.

The arrangement according to the invention is also suitable for defining security zones which are blocked for access, e.g. B. the Abwetterbereich leading to a shearer. The inventive arrangement is used to check whether locked security zones are entered. If disregarded, a visual and / or audible warning may be issued. This also serves to increase security. In addition, operations can be better understood, for. B. unwanted manual controls. In this way, processes can be improved and production increased.

In the system according to the invention, an anchor point is preferably assigned to each shield extension. This allows a very high position accuracy can be achieved. Depending on the desired spatial resolution, an anchor point may also be arranged only on every second or third shield extension. The decisive factor is that the radio connection is stable enough to reliably detect the position of a person in any operating situation. Preferably, therefore, the anchor points are arranged on a hanging end shield of the Schildausbauen. The anchor points are preferably above the persons. This is an area in which a lamp can be arranged. Therefore, the anchor point can be integrated as a transmitter or receiver in the lamp. The lamps are positioned so that optimum illumination of the shield construction is achieved. The optical illumination means at the same time that the person has an optical connection without obstacles between the receiver and the anchor point. In this way, interference is avoided as much as possible.

The underground location system is based on evaluating signal transit times between a transmitter and a receiver. The following methods can be distinguished: The time-of-arrival method (TOA) and the time-difference-of-arrival method (TDOA). The TOA method uses the distance between transmitter and receiver for localization. About the known signal propagation speed of the transmitted pulse and a measurement of the signal propagation time, the distance between the transmitter and receiver can be calculated. By using several anchor points one obtains a system of equations, where X can be determined as the position of the mobile module from the particular routes to the respective anchor points. The calculation of the solution of the systems of equations using the method of least squares yields the resulting position of the mobile module.

In the second method (TDOA), the absolute transit time between the transmitter and the receiver is not measured, but the transit time differences are determined. This procedure assumes that the anchor points are exactly synchronized in time. In this case, the mobile station transmits a single pulse which is received from the respective anchor points depending on the distance at a different time. Based on the transit time differences, the position of the mobile unit can be determined. The localization can be one-dimensional or multi-dimensional.

The position of the mobile module must be transmitted to the control system. The position evaluation can be done either in the mobile module itself, which then sends a signal to the electrohydraulic control system passes. However, the evaluation unit according to the invention can also be arranged outside the mobile module. The evaluation takes place in the higher-level control system, which, in practical application, must ultimately in turn display the remote control with which shield extension the remote control can be coupled or determines security zones.

The method of the invention is based on the use of a device as described above. In the method, the position determination of the persons takes place taking into account the transit times of radio signals or taking into account the differences in the signal propagation times of radio signals between an anchor point and a mobile module, which the miner has with him. In this way, the position of a remote control can be determined, which carries the miner with it. The miner is signaled after determining the position, with which shield removal the remote control can be coupled due to its current position. The coupling can be done automatically. Preferably, it acknowledges the coupling, in particular by pressing a button on the remote control. With the method according to the invention, it is also possible to protect persons who are in the longwall, but who are not operators of the shields, whose position is determined by mobile modules carrying the persons with them. The position of people in longwall construction can be visualized on display units above or below ground. Motion profiles can also be saved.

The method according to the invention can be expanded in particular with regard to a variable rights system for various user groups. The mobile modules that are carried by the persons have, in particular, an individual identifier assigned to the respective person. In this way, a particular person can be assigned a specific right with regard to the operation of the electro-hydraulic control system individually. The assignment can also be made in groups, with each person being assigned to a specific group. In a first example, safety-related functions of the electro-hydraulic control system can only be assigned to specific user groups. By assigning the rights individually or by assigning a person to a user group, an employee of the group "Schildrücker" can steal, move and set shields. On the other hand, an operator of the "Repair" group can not do this during operation.

Another example concerns the rights to change parameters. In the method according to the invention, the controller recognizes a person in the respective removal screen. Due to the rights assignment, a member of the Team Leader group can change global parameters in every blade removal. An employee of the group "Schildrücker" can change local parameters in every shield construction. Parameter changes and the executing agent who makes the change are stored in a database.

The method according to the invention is also suitable with regard to the position detection of cutting machines. For example, a roller loader can be equipped manufacturer-independently with a mobile module, so that the exact position of the shearer loader in the longwall can also be detected and visualized.

Knowing the position of the cutting machine, a safety zone adjacent to the cutting machine can be determined. The system according to the invention can be used redundantly for infrared detection. This results in e.g. an improved roller position detection with roller loaders. The inventive system increases the availability of automatic functions of the blade control and thus improves productivity. The system is insensitive to disturbances and generally increases system availability because there are fewer downtimes. The remote control automatically connects to the current shield extension and only requires acknowledgment by the operator.

Within the scope of the invention, mobile modules are used which allow a position resolution in the range of less than 50 cm. The system can be used in any longwall, has high system availability and is easy to retrofit.

The invention will be explained in more detail with reference to an embodiment shown in the drawings.

The 1 shows in a purely schematic representation of an electro-hydraulic control system in Langfrontstrebbau. Every single longwall construction 1 - 4 . n , is via a separate control system C1 . C2 . C3 . C4 . cn controlled. These local control systems are connected to the respective neighboring control system C1 - C4 . cn connected. In addition, there is at each longwall construction 1 - 4 . n an anchor point A1 - A4 . On , The anchor points A1 - A4 . On are used to send or receive radio signals F within the longwall. They are part of a localization system that is designed to be a mobile module M1 to locate a miner W or other mobile modules, of which the module is an example M2 one person P located elsewhere in the longwall. In the illustrated embodiment, the dashed line arrows illustrate radio signals F from or to the anchor points A1 - A4 . On and the respective modules M1 . M2 ,

For example, there are significant differences in transit time between the anchor point A4 on the fourth longwall construction 4 to the module M1 that the miner W carries with it in comparison to the radio signal F that from or to the anchor point A1 on the first longwall construction 1 is received or sent.

In this way, the respective modules M1 . M2 be located within the strut exactly. In this embodiment, the anchor points take on the localization A1 - On in the framed area L, which may also be called a localization area. This area can be defined as a security area at the same time. The safety area can for example be defined so that it is the respective longwall construction 2 . 4 captured in which a miner W or a person P located, plus the respectively adjacent longwall construction 1,3, n. Would these longwall construction 1 - 4 . n Being moved could pose a threat to the miner W and for the person P result. These longwall construction 1 - 4 . n in the field L lie, for example, automatically locked for a movement.

The miner W also runs a remote control R with itself, about which the control systems C1 - C4 . cn wirelessly remotely controllable. On the remote R is in a manner not shown, a signal means formed, taking into account the position of the miner W and the position of the remote control R indicates with which longwall construction the remote control R can be coupled. In this case, the arrow illustrates P1 that the remote control R with the longwall construction 2 can be coupled. The coupling takes place via an acknowledgment of the miner W on the remote R , Now the miner W authorized to access a development site that is not blocked. This can be, for example, an expansion rack that is outside the restricted area L located.

In the presentation of the 1 are the radio signals F between the anchor points A1 - A4 . On shown with a dashed line, unlike the arrow P1 , Two different wireless transmission systems are used, which do not interfere with each other. These are two different radio systems, one of which is the remote control R and on the other hand the mobile modules M1 . M2 Make use.

LIST OF REFERENCE NUMBERS

1 -

roof supports

2 -

roof supports

3 -

roof supports

4 -

roof supports

n -

roof supports

A1 -

anchor point

A2 -

anchor point

A3 -

anchor point

A4 -

anchor point

On -

anchor point

C1 -

control system

C2 -

control system

C3 -

control system

C4 -

control system

Cn -

control system

P -

person

P1 -

arrow

R -

remote Control

M1 -

Mobile modules

M2 -

Mobile modules

F -

radio signal

Claims (15)

Arrangement for the remote control of an electrohydraulic control system (C1 - C4, Cn) of a longwall construction with the following features: a) Stationary anchor points (A1 - A4, An) for transmitting or receiving radio signals (F) are installed at regular intervals on the longwall construction, with a mobile module (M1, M2) of a localization system is adapted to transmit radio signals (F) or to receive from the anchor points (A1 - A4, An), wherein a miner (W) and possibly any other person (P) in the str a module (M1, M2) leads with it; b) An evaluation unit is designed to determine the absolute signal propagation times or the transit time differences of the radio signals (F) between the anchor points (A1-A4, An) and the modules (M1, M2) in order to take into account the position of the anchor points (A1-A4, An). A4, An) to determine the position of the miner (W) in the longwall construction; c) The control system (C1 - C4, Cn) with a wireless remote control (R) from the miner (W) remotely controllable, wherein on the remote control (R) a signaling means is formed, which takes into account the position of the miner (W) and the Position of the remote control (R) indicates with which shield extension (1 - 4, n) the remote control (R) can be coupled. Arrangement according to Claim 1 , characterized in that a logic unit is adapted to block movements of that shield structure (1-4, n) in and / or adjacent to which the miner (W) or another person (P) with a mobile module (M1 , M2). Arrangement according to Claim 1 , characterized in that at each shield extension (1-4, n) an anchor point (A1 - A4, An) is arranged. Arrangement according to Claim 1 or 2 , characterized in that on each 2nd or 3rd shield extension an anchor point (A1 - A4, An) is arranged. Arrangement according to one of Claims 1 to 4 , characterized in that the anchor points (A1 - A4, An) are arranged on a hanging end shield of the shield extensions (1-4, n). Arrangement according to one of Claims 1 to 5 , characterized in that the mobile module (M1) is integrated in the remote control (R). Arrangement according to one of Claims 1 to 6 , characterized in that the anchor point (A1 - A4, An) is arranged in a lamp. Method for the remote control of an electrohydraulic control system (C1 - C4, Cn) of a longwall construction, comprising: a) At the longwall anchor points (A1 - A4, An) for transmitting or receiving radio signals (F) are installed at regular intervals, with a miner (W) and any other person (P) a mobile module (M1) with it to transmit or receive radio signals (F) from the anchor points (A1 to A4, An); b) Absolute signal propagation times or differences in the signal propagation times of the radio signals (F) between the anchor points (A1 - A4, An) and the mobile modules (M1) in an evaluation unit are determined, taking into account the position of the anchor points (A1 - A4, An ) the position of the miner (W) in the longwall construction is determined; c) The miner (W) carries a remote control unit (F) which can be wirelessly coupled to the control system (C1 - C4, Cn) to control the control system (C1 - C4, Cn), whereby a signal means of the remote control (F) on the basis of the preceding Position determination indicates with which shield extension (1 - 4, n) the remote control (F) can be coupled. Method according to Claim 8 , characterized in that the miner (W) on the remote control (F) acknowledges with which shield removal (1 - 4, n) the remote control (F) is to be coupled. Method according to Claim 8 or 9 , characterized in that a logic unit blocks movements of that shield construction (1-4, n) in and / or adjacent to which the miner (W) or another person (P) is located with a mobile module (M1, M2). Method according to one of Claims 8 to 10 , characterized in that positions in the longwall structure of persons (P, W) with mobile modules (M1, M2) are visualized on display units over days or underground. Method according to one of Claims 8 to 11 , characterized in that movement profiles of persons with mobile modules (M1, M2) are stored. Method according to one of Claims 8 to 12 , characterized in that the mobile modules (M1, M2) have an identifier assigned to the respective person (P, W), each person (P, W) individually assigning rights for controlling certain functions of the control system (C1 to C4, Cn) become. Method according to one of the Claims 8 to 13 , characterized in that in addition to the mobile modules (M1, M2), which are carried by persons (P, W), another mobile module is arranged on a cutting machine, wherein the evaluation of the absolute signal propagation times or the differences in the signal transit times of Radio signals (F) from the anchor points (A1 - A4, An) to the other mobile module, the position of the cutting machine is determined. Method according to Claim 14 , characterized in that, knowing the position of the cutting machine, a safety zone adjacent to the cutting machine is determined.

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