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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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
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scraper
sensor
shearer
chute
wireless
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PCT/CN2016/108401
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English (en)
French (fr)
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李伟
张行
卢明立
杨善国
杨志明
闵令江
杨海军
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中国矿业大学
连云港天明装备有限公司
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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 AU2016396707A priority Critical patent/AU2016396707B2/en
Priority to RU2017146581A priority patent/RU2705295C2/ru
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
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral

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  • 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)
  • Control Of Position Or Direction (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

一种基于销轨应力变化的采煤机无线定位系统及方法。该采煤机（5）的传感器模块通过数字量传感模块与无线通讯模块输入端连接，无线通讯模块的输出端与远程定位控制系统连接；超声波传感器用于测量液压支架（3）的相对位置，位移传感器用于确定刮板机溜槽（1）的推进距离，应变传感器用于获取采煤机（5）运行姿态的反馈信息；数字传感模块用于传感器模块信号的采集与处理；无线通讯模块用于与远程定位控制系统无线通信，实现数据信息的无线传输；远程定位控制系统对数据信号进行处理、记录和显示。方法：通过多传感器信号获取任意刮板机溜槽（1）的空间分布信息，并基于销轨应力反馈信息实时获取采煤机（5）的位置。优点：可靠适用、简单易行。

Description

一种基于销轨应力变化的采煤机无线定位系统及方法 技术领域
本发明涉及一种采煤机的定位系统及方法，特别是一种基于销轨应力变化的采煤机无线定位系统及方法。
背景技术
综采工作面生产环境恶劣，煤炭开采过程中，受到采掘工作面过长、粉尘颗粒多、光线较弱等因素的影响，无人化、自动化的设备监控已经是亟待解决的问题。三机配套设备中采煤机位置移动性大、运行轨迹变化性强，其精确定位一直难以实现。
现有的采煤机定位技术有轨道里程计法、齿轮计数法、红外对射法、超声波反射法和无线网络法等，多将监测装置安装于采煤机上，采煤机切割煤壁时，受到大量落煤和粉尘的影响，难以规避设备损坏和传感器测量数据错误的问题，可靠性极差。
发明内容
本发明的目的是要提供一种可靠适用、简单易行的基于销轨应力变化的采煤机无线定位系统及方法。
本发明的目的是这样实现的：该采煤机无线定位系统包括传感器模块、数字量传感模块、无线通讯模块和远程定位控制系统；传感器模块通过数字量传感模块与无线通讯模块输入端连接，无线通讯模块的输出端与远程定位控制系统连接。
所述的传感器模块包括超声波传感器、位移传感器和应变传感器；所述超声波传感器安装在各液压支架底座相同位置，用于测量液压支架与煤壁之间的距离；所述位移传感器安装于任意液压支架推移油缸内部，用于确定刮板机溜槽的推进距离；所述应变传感器以贴片形式安装于任意刮板机溜槽轨座间销轨的销排表面，用于采煤机运行姿态的反馈信息，为确保采煤机位置信息获取的准确性，相邻刮板机溜槽间销轨不安装应变传感器。
所述的数字量传感器模块用于传感器信号的采集与处理。
所述的无线通讯模块采用无线wifi技术，由无线传输路由器和无线接收路由器两部分组成，将数据信息无线传输至远程定位控制系统。
所述的远程定位控制系统以WINCC工控软件为核心进行视窗监控，并以ARM芯片为微处理器，可实现对数据信号的处理、记录和显示。
一种基于销轨应力变化的采煤机无线定位系统的定位方法，具体步骤如下：
a)、综采工作面刮板机溜槽沿采煤机运行方向，按照顺序编号，任意刮板机溜槽都有独立编号，液压支架与刮板机溜槽一一对应且编号相同；
b)、空间分布信息获取：刮板机溜槽推进动作完成时，以首端刮板机溜槽为参考基准，获取任意刮板机溜槽的水平方向位置；通过超声波传感器确定任意采煤机与煤壁之间的距离，推移油缸内部的位移传感器获取任意刮板机溜槽的推进距离，获取任意刮板机溜槽的竖直方向位置；数字传感模块将各传感器信号处理转换成数据信号，并通过无线通讯模块传输至远程定位控制系统，远程定位控制系统进一步处理，将任意编号的刮板机溜槽位置 信息记录整理并显示；
c)、采煤机定位：远程定位系统对采煤机行走过程中，其行走轮轮齿与刮板机溜槽上的销排啮合，当与安装有应变传感器的销排啮合时，远程定位控制系统可通过接收到应力反馈信号来确定采煤机所到达的刮板机溜槽的编号，基于刮板机溜槽的编号即可确定啮合销排对应的刮板机溜槽的水平和竖直位置，进一步地，可确定采煤机运行位置；
d)、重复步骤a)至c)，实时对采煤机定位。
有益效果，由于采用了上述方案，在工作面推进过程完成后，通过超声波传感器和位移传感器一次性获取任意刮板机溜槽的空间分布信息，并基于销轨应力反馈信息实时获取采煤机的位置，可靠适用、简单易行。
附图说明：
图1为本发明的采煤机空间位置信息图。
图2为本发明的应变传感器贴片图。
图3为本发明的采煤机定位系统组成图。
图中：1、刮板机溜槽；2、推移油缸；3、液压支架；4、煤壁；5、采煤机；6、刮板机溜槽轨座；7、贴片位置。
具体实施方式
该采煤机无线定位系统包括传感器模块、数字量传感模块、无线通讯模块和远程定位控制系统；传感器模块通过数字量传感模块与无线通讯模块输入端连接，无线通讯模块的输出端与远程定位控制系统连接。
所述的传感器模块包括超声波传感器、位移传感器和应变传感器；所述超声波传感器安装在各液压支架3底座相同位置，用于测量液压支架3与煤壁4之间的距离；所述位移传感器安装于任意液压支架推移油缸2内部，用于确定刮板机溜槽1的推进距离；所述应变传感器以贴片形式安装于任意刮板机溜槽轨座6间销轨的销排表面，用于采煤机运行姿态的反馈信息，为确保采煤机5位置信息获取的准确性，相邻刮板机溜槽间销轨不安装应变传感器。
所述的数字量传感器模块用于传感器信号的采集与处理。
所述的无线通讯模块采用无线wifi技术，由无线传输路由器和无线接收路由器两部分组成，将数据信息无线传输至远程定位控制系统。
所述的远程定位控制系统以WINCC工控软件为核心进行视窗监控，并以ARM芯片为微处理器，可实现对数据信号的处理、记录和显示。
一种基于销轨应力变化的采煤机无线定位系统的定位方法，具体步骤如下：
a)、综采工作面刮板机溜槽沿采煤机运行方向，按照顺序编号，任意刮板机溜槽都有独立编号，液压支架与刮板机溜槽一一对应且编号相同；
b)、空间分布信息获取：刮板机溜槽推进动作完成时，以首端刮板机溜槽为参考基准，获取任意刮板机溜槽的水平方向位置；通过超声波传感器确定任意采煤机与煤壁之间的距 离，推移油缸内部的位移传感器获取任意刮板机溜槽的推进距离，获取任意刮板机溜槽的竖直方向位置；数字传感模块将各传感器信号处理转换成数据信号，并通过无线通讯模块传输至远程定位控制系统，远程定位控制系统进一步处理，将任意编号的刮板机溜槽位置信息记录整理并显示；
c)、采煤机定位：远程定位系统对采煤机行走过程中，其行走轮轮齿与刮板机溜槽上的销排啮合，当与安装有应变传感器的销排啮合时，远程定位控制系统可通过接收到应力反馈信号来确定采煤机所到达的刮板机溜槽的编号，基于刮板机溜槽的编号即可确定啮合销排对应的刮板机溜槽的水平和竖直位置，进一步地，可确定采煤机运行位置；
d)、重复步骤a)至c)，实时对采煤机定位。
下面结合附图对本发明做更进一步的解释。
实施例1：在图1中，一种基于销轨应力变化的采煤机无线定位系统，该定位系统包括传感器模块、数字传感模块、无线通讯模块和远程定位控制系统；所述传感器模块包括超声波传感器、位移传感器和应变传感器；数字量传感器模块用于传感器信号的采集与处理；无线通讯模块采用无线wifi技术，由无线传输路由器和无线接收路由器两部分组成，可将数据信息无线传输至远程定位控制系统；远程定位控制系统以WINCC工控软件为核心进行视窗监控，并以ARM芯片为微处理器，可实现对数据信号的处理、记录和显示。
如图2、3，所述超声波传感器安装在各液压支架3底座相同位置，用于测量液压支架3与煤壁4之间的距离；所述位移传感器安装于任意液压支架推移油缸2内部，用于确定刮板机溜槽1的推进距离；所述应变传感器以贴片形式安装于任意刮板机溜槽轨座6间销轨的销排表面，用于采煤机运行姿态的反馈信息，为确保采煤机位置信息获取的准确性，相邻刮板机溜槽间销轨不安装应变传感器。
如图2、图3，一种基于销轨应力变化的采煤机无线定位系统的定位方法，具体步骤如下：
a)、综采工作面刮板机溜槽沿采煤机运行方向，按照顺序编号：1、2……N-1、N，任意刮板机溜槽都有独立编号，液压支架与刮板机溜槽一一对应且编号相同；
b)、空间分布信息获取：刮板机溜槽推进动作完成时，以首端编号1的刮板机溜槽为参考基准，对于编号K的刮板机溜槽，刮板机溜槽长为N1，可获取刮板机溜槽的水平方向位置为Nk＝K*N1；通过超声波传感器确定采煤机与煤壁之间的距离M1，推移油缸内部的位移传感器可获取任意刮板机溜槽的推进距离M2，液压支架底座长M3，以此可获取任意刮板机溜槽的竖直方向位置Mk＝M1+M2+M3；数字传感模块将各传感器信号处理转换成数据信号，并通过无线通讯模块传输至远程定位控制系统，远程定位控制系统进一步处理，刮板机溜槽位置定位(Nk，Mk)，依次对编号为1、2……N-1、N的刮板机溜槽进行位置，并将数据信息记录整理并显示，即可获取任意刮板机溜槽的空间分布信息；
c)、采煤机定位：远程定位系统对采煤机5行走过程中，其行走轮轮齿与刮板机溜槽 上的销排啮合，当与安装有应变传感器的销排啮合时，远程定位控制系统可通过接收到应力反馈信号来确定采煤机所到达的刮板机溜槽的编号i，基于刮板机溜槽的编号i即可确定啮合销排对应的刮板机溜槽的水平和竖直位置(Ni，Mi)，进一步地，可确定采煤机运行位置；
d)、重复步骤a)至c)，实时对采煤机定位。

Claims (6)

  1. 一种基于销轨应力变化的采煤机无线定位系统，其特征是：该采煤机无线定位系统包括传感器模块、数字量传感模块、无线通讯模块和远程定位控制系统；传感器模块通过数字量传感模块与无线通讯模块输入端连接，无线通讯模块的输出端与远程定位控制系统连接。
  2. 根据权利要求1所述的一种基于销轨应力变化的采煤机无线定位系统，其特征是：所述的传感器模块包括超声波传感器、位移传感器和应变传感器；所述超声波传感器安装在各液压支架底座相同位置，用于测量液压支架与煤壁之间的距离；所述位移传感器安装于任意液压支架推移油缸内部，用于确定刮板机溜槽的推进距离；所述应变传感器以贴片形式安装于任意刮板机溜槽轨座间销轨的销排表面，用于采煤机运行姿态的反馈信息，为确保采煤机位置信息获取的准确性，相邻刮板机溜槽间销轨不安装应变传感器。
  3. 根据权利要求1所述的一种基于销轨应力变化的采煤机无线定位系统，其特征是：所述的数字量传感器模块用于传感器信号的采集与处理。
  4. 根据权利要求1所述的一种基于销轨应力变化的采煤机无线定位系统，其特征是：所述的无线通讯模块采用无线wifi技术，由无线传输路由器和无线接收路由器两部分组成，将数据信息无线传输至远程定位控制系统。
  5. 根据权利要求1所述的一种基于销轨应力变化的采煤机无线定位系统，其特征是：所述的远程定位控制系统以WINCC工控软件为核心进行视窗监控，并以ARM芯片为微处理器，可实现对数据信号的处理、记录和显示。
  6. 权利要求1所述的一种基于销轨应力变化的采煤机无线定位系统的方法，其特征是：该定位方法，具体步骤如下：
    a)、综采工作面刮板机溜槽沿采煤机运行方向，按照顺序编号，任意刮板机溜槽都有独立编号，液压支架与刮板机溜槽一一对应且编号相同；
    b)、空间分布信息获取：刮板机溜槽推进动作完成时，以首端刮板机溜槽为参考基准，获取任意刮板机溜槽的水平方向位置；通过超声波传感器确定任意采煤机与煤壁之间的距离，推移油缸内部的位移传感器获取任意刮板机溜槽的推进距离，获取任意刮板机溜槽的竖直方向位置；数字传感模块将各传感器信号处理转换成数据信号，并通过无线通讯模块传输至远程定位控制系统，远程定位控制系统进一步处理，将任意编号的刮板机溜槽位置信息记录整理并显示；
    c)、采煤机定位：远程定位系统对采煤机行走过程中，其行走轮轮齿与刮板机溜槽上的销排啮合，当与安装有应变传感器的销排啮合时，远程定位控制系统可通过接收到应力反馈信号来确定采煤机所到达的刮板机溜槽的编号，基于刮板机溜槽的编号即可确定啮合销排对应的刮板机溜槽的水平和竖直位置，进一步地，可确定采煤机运行位置；
    d)、重复步骤a)至c)，实时对采煤机定位。
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