WO2017152669A1 - 一种基于销轨应力变化的采煤机无线定位系统及方法 - Google Patents

一种基于销轨应力变化的采煤机无线定位系统及方法 Download PDF

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Publication number
WO2017152669A1
WO2017152669A1 PCT/CN2016/108401 CN2016108401W WO2017152669A1 WO 2017152669 A1 WO2017152669 A1 WO 2017152669A1 CN 2016108401 W CN2016108401 W CN 2016108401W WO 2017152669 A1 WO2017152669 A1 WO 2017152669A1
Authority
WO
WIPO (PCT)
Prior art keywords
scraper
sensor
shearer
chute
wireless
Prior art date
Application number
PCT/CN2016/108401
Other languages
English (en)
French (fr)
Chinese (zh)
Inventor
李伟
张行
卢明立
杨善国
杨志明
闵令江
杨海军
Original Assignee
中国矿业大学
连云港天明装备有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 中国矿业大学, 连云港天明装备有限公司 filed Critical 中国矿业大学
Priority to RU2017146581A priority Critical patent/RU2705295C2/ru
Priority to AU2016396707A priority patent/AU2016396707B2/en
Priority to CA2986154A priority patent/CA2986154C/en
Publication of WO2017152669A1 publication Critical patent/WO2017152669A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/302—Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral

Definitions

  • the invention relates to a positioning system and method for a coal mining machine, in particular to a coal mining machine wireless positioning system and method based on the change of the pin rail stress.
  • the existing coal mining machine positioning technology includes an orbital odometer method, a gear counting method, an infrared beam shooting method, an ultrasonic reflection method, and a wireless network method.
  • the monitoring device is installed on the shearer, and when the shearer cuts the coal wall, Affected by a large amount of coal and dust, it is difficult to avoid equipment damage and sensor measurement data errors, and the reliability is extremely poor.
  • the object of the present invention is to provide a reliable and easy to use, based on the change of the pin rail stress, the coal mining machine wireless positioning system and method.
  • the shearer wireless positioning system comprises a sensor module, a digital sensor module, a wireless communication module and a remote positioning control system; the sensor module is connected to the input end of the wireless communication module through the digital sensor module The output of the wireless communication module is connected to the remote positioning control system.
  • the sensor module comprises an ultrasonic sensor, a displacement sensor and a strain sensor; the ultrasonic sensor is installed at the same position of each hydraulic support base for measuring the distance between the hydraulic support and the coal wall; the displacement sensor is installed on any hydraulic support The inside of the cylinder is used to determine the propulsion distance of the scraper slot; the strain sensor is installed in the form of a patch on the pin row surface of the pin rail of any scraper slot, for feedback information of the shearer operating attitude In order to ensure the accuracy of the position information of the shearer, the strain sensor is not installed on the pin rail of the adjacent scraper.
  • the digital sensor module is used for acquisition and processing of sensor signals.
  • the wireless communication module adopts wireless wifi technology, and is composed of a wireless transmission router and a wireless receiving router, and wirelessly transmits data information to the remote positioning control system.
  • the remote positioning control system uses WINCC industrial control software as the core for window monitoring, and uses the ARM chip as a microprocessor to realize processing, recording and display of data signals.
  • a positioning method of a coal mining machine wireless positioning system based on the change of the pin rail stress the specific steps are as follows:
  • the chute of the fully mechanized mining face scraper is along the running direction of the shearer, numbered in sequence, and any scraper chutes are independently numbered.
  • the hydraulic support and the scraper chute correspond to each other and have the same number;
  • coal mining machine positioning remote positioning system for the shearer during the walking process, the walking wheel teeth and the scraper slot on the scraper mesh, when engaged with the pin row with the strain sensor, remote positioning control
  • the system can determine the number of the scraper chute reached by the shearer by receiving the stress feedback signal, and determine the horizontal and vertical position of the scraper chute corresponding to the engaging pin row based on the number of the scraper chute. Ground, the location of the shearer can be determined;
  • the beneficial effect is that, due to the above scheme, after the working surface propulsion process is completed, the spatial distribution information of any scraper chute is obtained by the ultrasonic sensor and the displacement sensor at one time, and the position of the shearer is obtained in real time based on the pin stress feedback information. Reliable and easy to use.
  • Figure 1 is a diagram showing the spatial position information of the shearer of the present invention.
  • FIG. 2 is a view of a strain sensor patch of the present invention.
  • Figure 3 is a composition diagram of the coal mining machine positioning system of the present invention.
  • the coal mining machine wireless positioning system comprises a sensor module, a digital sensor module, a wireless communication module and a remote positioning control system; the sensor module is connected with the input end of the wireless communication module through the digital sensor module, and the output end of the wireless communication module and the remote Positioning control system connection.
  • the sensor module includes an ultrasonic sensor, a displacement sensor and a strain sensor; the ultrasonic sensor is installed at the same position of each hydraulic support 3 for measuring the distance between the hydraulic support 3 and the coal wall 4; the displacement sensor is installed on Any hydraulic support is inside the shifting cylinder 2 for determining the propulsion distance of the scraper chute 1; the strain sensor is mounted in the form of a patch on the pin row surface of the pin rail of any scraper rail chute 6 for coal mining The feedback information of the machine running attitude is to ensure the accuracy of the position information of the shearer 5, and no strain sensor is installed on the pin rail of the adjacent scraper.
  • the digital sensor module is used for acquisition and processing of sensor signals.
  • the wireless communication module adopts wireless wifi technology, and is composed of a wireless transmission router and a wireless receiving router, and wirelessly transmits data information to the remote positioning control system.
  • the remote positioning control system uses WINCC industrial control software as the core for window monitoring, and uses the ARM chip as a microprocessor to realize processing, recording and display of data signals.
  • a positioning method of a coal mining machine wireless positioning system based on the change of the pin rail stress the specific steps are as follows:
  • the chute of the fully mechanized mining face scraper is along the running direction of the shearer, numbered in sequence, and any scraper chutes are independently numbered.
  • the hydraulic support and the scraper chute correspond to each other and have the same number;
  • the remote positioning control system further processes and records and displays the position information of any number of scraper chutes;
  • coal mining machine positioning remote positioning system for the shearer during the walking process, the walking wheel teeth and the scraper slot on the scraper mesh, when engaged with the pin row with the strain sensor, remote positioning control
  • the system can determine the number of the scraper chute reached by the shearer by receiving the stress feedback signal, and determine the horizontal and vertical position of the scraper chute corresponding to the engaging pin row based on the number of the scraper chute. Ground, the location of the shearer can be determined;
  • a shearer wireless positioning system based on a change in pin stress, the positioning system includes a sensor module, a digital sensing module, a wireless communication module, and a remote positioning control system; Ultrasonic sensor, displacement sensor and strain sensor; digital sensor module is used for sensor signal acquisition and processing; wireless communication module uses wireless wifi technology, consisting of wireless transmission router and wireless receiving router, which can transmit data information wirelessly to remote Positioning control system; remote positioning control system uses WINCC industrial control software as the core for window monitoring, and ARM chip as microprocessor, which can process, record and display data signals.
  • the ultrasonic sensor is installed at the same position of each hydraulic support 3 for measuring the distance between the hydraulic support 3 and the coal wall 4; the displacement sensor is installed inside any hydraulic support shift cylinder 2, For determining the propulsion distance of the scraper slot 1; the strain sensor is mounted on the pin row surface of the pin rail of any scraper rail chute 6 in the form of a patch, and is used for feedback information of the shearer running attitude to ensure The accuracy of the position information of the shearer is not installed, and the strain sensor is not installed on the pin rail of the adjacent scraper.
  • the fully mechanized mining face scraper slot is along the direction of the shearer, in sequence: 1, 2 ... N-1, N, any scraper chute has an independent number, hydraulic bracket and scraper chute One-to-one correspondence and the same number;
  • coal mining machine positioning remote positioning system during the walking of the shearer 5, the walking wheel teeth and the pin row on the scraper slot, when engaged with the pin row with the strain sensor, remote positioning
  • the control system can determine the number i of the scraper chute reached by the shearer by receiving the stress feedback signal.
  • the level and vertical of the scraper chute corresponding to the engaging pin row can be determined based on the number i of the scraper chute.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Control Of Conveyors (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Control Of Position Or Direction (AREA)
PCT/CN2016/108401 2016-03-07 2016-12-02 一种基于销轨应力变化的采煤机无线定位系统及方法 WO2017152669A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
RU2017146581A RU2705295C2 (ru) 2016-03-07 2016-12-02 Беспроводная система определения положения угольного комбайна и способ вырубки
AU2016396707A AU2016396707B2 (en) 2016-03-07 2016-12-02 Pin rail stress change based wireless positioning system and method for shearer
CA2986154A CA2986154C (en) 2016-03-07 2016-12-02 Pin rail stress change based wireless positioning system and method for shearer

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610128789.8A CN105783912B (zh) 2016-03-07 2016-03-07 一种基于销轨应力变化的采煤机无线定位系统及方法
CN201610128789.8 2016-03-07

Publications (1)

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WO2017152669A1 true WO2017152669A1 (zh) 2017-09-14

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CN (1) CN105783912B (enBy)
AU (1) AU2016396707B2 (enBy)
CA (1) CA2986154C (enBy)
RU (1) RU2705295C2 (enBy)
WO (1) WO2017152669A1 (enBy)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109765191A (zh) * 2019-01-18 2019-05-17 中国矿业大学 一种运动煤岩平移式追踪高光谱识别装置
CN110319831A (zh) * 2019-05-23 2019-10-11 北斗天地股份有限公司山东分公司 一种工作面取直方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105783912B (zh) * 2016-03-07 2019-01-11 中国矿业大学 一种基于销轨应力变化的采煤机无线定位系统及方法
CN112901273A (zh) * 2021-01-27 2021-06-04 中煤科工开采研究院有限公司 一种基于编码图形识别的综采工作面采煤机定位方法及系统

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109765191A (zh) * 2019-01-18 2019-05-17 中国矿业大学 一种运动煤岩平移式追踪高光谱识别装置
CN109765191B (zh) * 2019-01-18 2023-11-10 中国矿业大学 一种运动煤岩平移式追踪高光谱识别装置
CN110319831A (zh) * 2019-05-23 2019-10-11 北斗天地股份有限公司山东分公司 一种工作面取直方法

Also Published As

Publication number Publication date
AU2016396707A1 (en) 2017-10-26
RU2017146581A (ru) 2019-06-28
CA2986154C (en) 2021-07-13
CN105783912A (zh) 2016-07-20
RU2017146581A3 (enBy) 2019-07-17
CN105783912B (zh) 2019-01-11
RU2705295C2 (ru) 2019-11-07
CA2986154A1 (en) 2017-09-14
AU2016396707B2 (en) 2019-01-31

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