WO2020147260A1 - 一种液压支架远程定位通讯错误支架的系统和方法 - Google Patents

一种液压支架远程定位通讯错误支架的系统和方法 Download PDF

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WO2020147260A1
WO2020147260A1 PCT/CN2019/091632 CN2019091632W WO2020147260A1 WO 2020147260 A1 WO2020147260 A1 WO 2020147260A1 CN 2019091632 W CN2019091632 W CN 2019091632W WO 2020147260 A1 WO2020147260 A1 WO 2020147260A1
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Prior art keywords
support
controller
node
command
hydraulic
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PCT/CN2019/091632
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English (en)
French (fr)
Inventor
谭超
王忠宾
周红亚
司垒
刘新华
路绪良
李小玉
刘博文
吴越
吴虹霖
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou Goldfluid Hydraulic Technology Development Co Ltd
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou Goldfluid Hydraulic Technology Development Co Ltd
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Application filed by China University of Mining and Technology CUMT, China University of Mining and Technology Beijing CUMTB, Xuzhou Goldfluid Hydraulic Technology Development Co Ltd filed Critical China University of Mining and Technology CUMT
Priority to US16/632,375 priority Critical patent/US10830044B1/en
Priority to CA3068713A priority patent/CA3068713C/en
Priority to AU2019299867A priority patent/AU2019299867A1/en
Publication of WO2020147260A1 publication Critical patent/WO2020147260A1/zh
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Priority to AU2021273651A priority patent/AU2021273651A1/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
    • E21D23/148—Wireless transmission of signals or commands
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/407—Bus networks with decentralised control
    • H04L12/413—Bus networks with decentralised control with random access, e.g. carrier-sense multiple-access with collision detection [CSMA-CD]
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40052—High-speed IEEE 1394 serial bus
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

Definitions

  • the invention relates to a hydraulic support, in particular to a system and method for a better hydraulic support to remotely locate a communication error support, and belongs to the technical field of underground hydraulic support.
  • the hydraulic support is the main supporting equipment in the "three machines" supporting equipment of the fully mechanized mining face, but there are some interference factors such as vibration, electromagnetic interference, system noise, dust and random noise in the underground working face environment, which may easily cause signal loss on the bus And software errors and other faults, resulting in node failure, transmission interruption or packet loss.
  • the CAN bus of the hydraulic support has a certain error detection function, due to the difficulty of underground wiring, the debris of coal and rock falling on the ground will easily wear the line and affect the reliability and accuracy of communication; and once there is a hydraulic The communication error of the support node will affect the communication status of other hydraulic supports, and even cause incalculable economic loss due to production shutdown.
  • the present invention provides a system and method for remotely locating communication error supports for hydraulic supports, which can accurately and quickly locate faulty nodes, reduce the work intensity of underground workers, and improve the work of hydraulic supports effectiveness.
  • the present invention proposes a system for remotely locating a communication error support for a hydraulic support, which includes an operation panel for displaying the address and control command of the communication error support, a support controller, and data conversion inserted in the bus interface of the support controller And two bracket drivers of the same model connected to the bracket controller interface, each bracket driver has two bus interfaces, respectively connected to the CANH twisted pair and CANL twisted pair; the control panel will control the command with WiFi signal
  • the form is transferred to the data converter.
  • the data converter converts the wireless signal into a message signal and transmits it to the bracket controller.
  • the bracket controller transmits the control commands to the two bracket drivers.
  • the bracket driver transmits the commands through the CANH twisted pair and CANL dual Twisted wire for transmission; when an error occurs in the bus of a node’s transmission command, the support controller will follow the formula Calculate the faulty node and feed it back to the operation panel; where m is the number of bytes of each message transmitted, t is the time counted by the timer, and p is the network speed of the CAN bus in kbps.
  • Each controller corresponds to two rack drives, and the interface corresponding to each rack drive is connected to two twisted-pair cables. Since the command messages sent to the two drives are the same, even if one line fails, the command will pass through the other. A driver transmits the control command to the other two twisted pairs, so it will not delay the action process of the hydraulic support; once a communication node fails, the support controller can automatically detect the specific location of the failed node according to the preset program. And feed it back to the operation panel so that the underground workers can quickly and accurately troubleshoot.
  • the rack controller has a timing module and a counting module.
  • the system also includes an Ethernet control module, and the data converters are Ethernet switches, optical fiber switches, and optical fiber switches.
  • the Ethernet control module In the daily state, the Ethernet control module is in a dormant state. When the bus corresponding to the bracket drive fails, the Ethernet control module is activated, so that the control panel can transmit control commands via Ethernet.
  • a method for remotely locating a communication error support for a hydraulic support includes the following steps:
  • the program is initialized.
  • the control panel sends commands to the bracket controller through the data converter, and the bracket controller transmits the information to the two drives respectively;
  • the two drivers receive the command and transmit it to the CANH twisted pair and CANL twisted pair respectively.
  • the first command that arrives on the twisted pair is the receiving command, and the response command is in accordance with Return the original route to the controller and finally to the control panel;
  • the transmission command is forced to end, and the support controller repeats the transmission command again.
  • the timer is triggered, and when the transmission signal reaches the faulty node At the end of the timing, if the main node is the first hydraulic support, the faulty hydraulic support is the nth frame, and the main node is the hydraulic support node corresponding to the support controller;
  • the fourth step the bracket controller according to the formula Calculate the faulty node and feed it back to the operation panel; where m is the number of bytes of each message transmitted, t is the time counted by the timer, and p is the network speed of the CAN bus in kbps.
  • the data converter is CANWiFi-200T.
  • the CANWiFi-200T converter is a high-performance industrial-grade WiFi and CAN-bus data conversion equipment, which is responsible for converting the WiFi signal from the control panel into a CAN message that the bracket controller can receive.
  • the cradle controller repeatedly sends the transmission command again, and when the message is transmitted for the N+1th time, the timer is triggered, where N takes 20 times.
  • the Ethernet control module switches to working mode, and transmits the commands issued by the control panel to the support through the Ethernet switch, fiber switch and fiber switch Controller.
  • the support controller is a SJA1000 controller.
  • the SJA1000 controller is responsible for processing, sending and receiving instructions from the control panel and passing them to the bracket driver.
  • the driver is PCA82C250.
  • PCA82C250 provides its interface with twisted-pair cable for transmitting message information.
  • each group of hydraulic supports is less than or equal to 5.
  • the disadvantage of supporting and shielding hydraulic supports is that the retracting time of the supports is short.
  • hydraulic supports adopt instant support, that is, lowering frame-moving frame-raising frame-pushing and sliding. If every movement is slow, the working surface will be long. Time is in a state of empty roof, which will greatly increase the risk of roof fall and collapse. It has been verified by experiments that when five hydraulic supports are used for group control, even if the hydraulic supports move, the area of the top beams of the five hydraulic supports will be on the empty roof, because there are more than one hundred supports supporting the mined face , There will be no danger of collapse, and if six or more hydraulic supports are used for group control, the probability of collapse will be greatly increased. In summary, five hydraulic supports are selected for group control.
  • the invention adopts the double support driver to greatly reduce the failure rate of bus communication, and automatically detects and remotely locates the fault node through a preset program during the communication process, which increases the reliability of the automatic control of the underground hydraulic support, thereby effectively reducing the downhole operator
  • the working intensity improves the working efficiency of the hydraulic support.
  • Figure 1 is a schematic diagram of the system structure in the present invention.
  • Figure 2 is a control flow chart of the method in the present invention.
  • Figure 3 is a flow chart of a method for changing low priority messages in real time
  • Figure 4 is an Ethernet control flow chart
  • Figure 5 is an interface diagram of the operation panel of the present invention.
  • a hydraulic support system for remotely locating a communication error support includes an operation panel for displaying the address and control command of the communication error support, a support controller, and a bus interface inserted in the support controller
  • the data converter and two bracket drivers of the same model connected to the bracket controller interface.
  • Each bracket driver has two bus interfaces, which are respectively connected to the CANH twisted pair and CANL twisted pair; the control panel will control the command to
  • the WiFi signal is transmitted to the data converter, and the data converter converts the wireless signal into a message signal and transmits it to the bracket controller.
  • the bracket controller transmits the control commands to the two bracket drivers respectively, and the bracket driver transmits the commands through the CANH twisted pair cable And CANL twisted pair for transmission; when an error occurs in the bus of a node’s transmission command, the support controller will follow the formula Calculate the faulty node and feed it back to the operation panel; where m is the number of bytes of each message transmitted, t is the time counted by the timer, and p is the network speed of the CAN bus in kbps.
  • Each controller corresponds to two rack drives, and the interface corresponding to each rack drive is connected to two twisted-pair cables. Since the command messages sent to the two drives are the same, even if one line fails, the command will pass through the other. A driver transmits the control command to the other two twisted pairs, so it will not delay the action process of the hydraulic support; once a communication node fails, the support controller can automatically detect the specific location of the failed node according to the preset program. And feed it back to the operation panel, so that the underground workers can quickly and accurately troubleshoot.
  • the rack controller has a timing module and a counting module.
  • the system also includes an Ethernet control module, and the data converters are Ethernet switches, optical fiber switches, and optical fiber switches.
  • the Ethernet control module In the daily state, the Ethernet control module is in a dormant state. When the bus corresponding to the bracket drive fails, the Ethernet control module is activated, so that the control panel can transmit control commands via Ethernet.
  • a method for remotely locating a communication error support for a hydraulic support includes the following steps:
  • the program is initialized.
  • the control panel sends commands to the bracket controller through the data converter, and the bracket controller transmits the information to the two drives respectively;
  • the two drivers receive the command and transmit it to the CANH twisted pair and CANL twisted pair respectively.
  • the first command that arrives on the twisted pair is the receiving command, and the response command is in accordance with Return the original route to the controller and finally to the control panel;
  • the transmission command is forced to end, and the support controller repeats the transmission command again.
  • the timer is triggered, and when the transmission signal reaches the faulty node At the end of the timing, if the main node is the first hydraulic support, the faulty hydraulic support is the nth frame, and the main node is the hydraulic support node corresponding to the support controller;
  • the fourth step the bracket controller according to the formula Calculate the faulty node and feed it back to the operation panel; where m is the number of bytes of each message transmitted, t is the time counted by the timer, and p is the network speed of the CAN bus in kbps.
  • the cradle controller repeatedly sends the transmission command again, and when the message is transmitted for the N+1th time, the timer is triggered, where N takes 20 times.
  • L p is the level of node p in the queue at a certain moment;
  • the core of the algorithm is that L 0 is reduced by subtracting this item from the initial level, so that the level of this site is increased, increasing the probability of the next competition;
  • n is the number of competition failures.
  • the Ethernet control module switches to working mode, and transmits the commands issued by the control panel to the support through the Ethernet switch, fiber switch and fiber switch Controller.
  • the specific control program flow is shown in Figure 4, which determines whether the Ethernet is in idle mode or working mode.
  • the data converter is CANWiFi-200T.
  • the support controller is a SJA1000 controller.
  • the driver is PCA82C250.
  • each group of hydraulic supports is less than or equal to 5.

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Abstract

公开了一种液压支架远程定位通讯错误支架的系统，该系统包括控制面板、支架控制器、数据转换器，以及两个同型号支架驱动器，每个支架驱动器均具有两个总线接口，控制面板将控制命令以WiFi信号的形式传递至数据转换器，数据转换器将无线信号转换为报文信号传递至支架控制器，支架控制器将控制命令分别传送至两个支架驱动器，支架驱动器将命令通过CANH双绞线和CANL双绞线进行传输；当某个节点的传输命令的总线出现错误时，支架控制器根据公式 (I) 计算出出现故障的节点，并将其反馈至操作面板上。本系统能够精准、快速的定位故障节点，降低井下工作人员的作业强度，提高液压支架的工作效率。同时公开了使用该系统的方法。

Description

一种液压支架远程定位通讯错误支架的系统和方法 技术领域
本发明涉及一种液压支架，具体涉及一种更好液压支架远程定位通讯错误支架的系统和方法，属于井下液压支架技术领域。
背景技术
液压支架是综采工作面“三机”配套设备中主要的支护设备，但是井下工作面环境存在一些诸如振动、电磁干扰、系统噪声、灰尘和随机噪声等干扰因素，容易引起总线出现信号丢失和软件错误等故障，从而导致节点失效、传输中断或丢包等现象。虽然液压支架的CAN总线已经具备了一定的检错功能，但是由于井下布线困难，地面上掉落的煤岩的碎屑容易使线路磨损，影响通信的可靠性与准确性；且一旦有一个液压支架节点出现通讯错误就会影响其他的液压支架通讯状态，甚至会导致停产造成无法估量的经济损失，因此当有支架节点出现故障时需要立即采取措施进行修复，但井下环境黑暗而且灰尘较多，如果靠人为一一检测来确定出现故障的节点费时费力，因此上述缺陷一直制约着井下无人生产技术的发展。
发明内容
为了克服现有技术存在的各种不足，本发明提供一种液压支架远程定位通讯错误支架的系统和方法，能够精准、快速的定位故障节点，降低井下工作人员的作业强度，提高液压支架的工作效率。
为了实现上述发明目的，本发明提出一种液压支架远程定位通讯错误支架的系统，包括用于显示通讯错误支架地址和控制命令的操作面板、支架控制器、插在支架控制器总线接口的数据转换器，以及与支架控制器接口相连的两个同型号支架驱动器，每个支架驱动器均具有两个总线接口，分别接入CANH双绞线和CANL双绞线；控制面板将控制命令以WiFi信号的形式传递至数据转换器，数据转换器将无线信号转换为报文信号传递至支架控制器，支架控制器将控制命令分别传送至两个支架驱动器，支架驱动器将命令通过CANH双绞线和CANL双绞线进行传输；当某个节点的传输命令的总线出现错误时，支架控制器根据公式
Figure PCTCN2019091632-appb-000001
计算出出现故障的节点，并将其反馈至操作面板上；其中m为每次传送报文的字节个数，t为定时器计时的时间，p为CAN总线的网速，单位kbps。
每个控制器对应两个支架驱动器，每个支架驱动器所对应的接口分别接入两根双绞线，由于传送给两个驱动器的命令报文相同，即使一条线路出现故障，命令也会通过另一个驱动器将控制命令传到另外两条双绞线上，因此不会耽误液压支架的动作过程；一旦某个通讯节点出现故障，支架控制器可以根据预设程序自动检测出故障节点的具体位置，并将其反馈至操作面板，以便井下工作人员可以迅速精准的排除故障。
进一步的，所述支架控制器具有计时模块和计数模块。
为了不耽误生产任务，本系统还包括以太网控制模块，所述数据转换器为以太网交换机、光纤交换器和光纤交换机。日常状态下，以太网控制模块处于休眠状态，当支架驱动器所对应的总线均出现故障时，以太网控制模块被激活，从而使控制面板可将控制命令通过以太网进行传输。
一种液压支架远程定位通讯错误支架的方法，包括如下步骤：
第一步，程序初始化，控制面板通过数据转换器将命令发送至支架控制器，支架控制器将信息分别传输至两个驱动器；
第二步，两个驱动器接收命令并分别将其传送到CANH双绞线和CANL双绞线上，且以时间最优的原则，最先到达双绞线上的命令作为接收命令，应答命令按照原路返回送到控制器，最终传给控制面板；
第三步，当某个节点传输命令的总线出现错误时，传输命令强制结束，支架控制器再次重复发送传输命令，第N+1次传送消息时，触发定时器，当传输信号到达故障节点时定时结束，以主节点为第一架液压支架，则出现故障的液压支架就是第n架，主节点即支架控制器所对应的液压支架节点；
第四步，支架控制器根据公式
Figure PCTCN2019091632-appb-000002
计算出出现故障的节点，并将其反馈至操作面板上；其中m为每次传送报文的字节个数，t为定时器计定的时间，p为CAN总线的网速，单位kbps。
优选的，数据转换器为CANWiFi-200T。CANWiFi-200T转换器是一种高性能工业级WiFi与CAN-bus的数据转换设备，负责把控制面板传来的WiFi信号转化为支架控制器可以接收的CAN报文。
第三步中，支架控制器再次重复发送传输命令，第N+1次传送消息时，触发定时器，其中的N取20次。
第三步中，当某个液压支架的两条总线传输均出现故障时，以太网控制模块转为工作模 式，并通过以太网交换机、光纤交换器和光纤交换机将控制面板发出的命令传输至支架控制器。
优选的，支架控制器为SJA1000控制器。SJA1000控制器负责处理、发送和接收控制面板传来的指令并传给支架驱动器。
优选的，驱动器为PCA82C250。PCA82C250提供了其与双绞线连接的接口，用于传输报文信息。
优选的，当支架驱动器成组控制液压支架时，每组液压支架小于等于5台。
支撑掩护式液压支架的缺点在于支架缩回时间短，一般液压支架都采用即时支护，即降架—移架—升架—推溜，如果每一个动作都慢的话，那工作面就会长时间处于空顶的状态，这样就会大大增加冒顶，坍塌的危险。通过实验验证，当采用五架液压支架成组控制时，即使液压支架动作时会有五架液压支架顶梁的面积处于空顶，由于还有剩余一百多架支架撑着采空的工作面，也不会出现坍塌的危险，而如果采用六台甚至更多液压支架成组控制，就会大大增加坍塌的概率，综上考虑，成组控制选择五架液压支架。
本发明采用双支架驱动器大大降低了总线通讯的故障率，并在通讯过程中通过预设程序自动检测故障节点并远程定位，增加了井下液压支架自动控制的可靠性，从而有效减少井下作业人员的工作强度，提高了液压支架的工作效率。
附图说明
图1为本发明中系统结构示意图；
图2为本发明中方法控制流程图；
图3为实时改变低优先级报文消息的方法流程图；
图4为以太网控制流程图；
图5为本发明操作面板界面图。
具体实施方式
下面结合附图和具体实施例对本发明做详细的阐述。
如图1、图2、图5所示，一种液压支架远程定位通讯错误支架的系统，包括用于显示通讯错误支架地址和控制命令的操作面板、支架控制器、插在支架控制器总线接口的数据转换器，以及与支架控制器接口相连的两个同型号支架驱动器，每个支架驱动器均具有两个总线接口，分别接入CANH双绞线和CANL双绞线；控制面板将控制命令以WiFi信号的形式传递至数据转换器，数据转换器将无线信号转换为报文信号传递至支架控制器，支架控制器将控制命令分别传送至两个支架驱动器，支架驱动器将命令通过CANH双绞线和CANL双绞线 进行传输；当某个节点的传输命令的总线出现错误时，支架控制器根据公式
Figure PCTCN2019091632-appb-000003
计算出出现故障的节点，并将其反馈至操作面板上；其中m为每次传送报文的字节个数，t为定时器计时的时间，p为CAN总线的网速，单位kbps。
每个控制器对应两个支架驱动器，每个支架驱动器所对应的接口分别接入两根双绞线，由于传送给两个驱动器的命令报文相同，即使一条线路出现故障，命令也会通过另一个驱动器将控制命令传到另外两条双绞线上，因此不会耽误液压支架的动作过程；一旦某个通讯节点出现故障，支架控制器可以根据预设程序自动检测出故障节点的具体位置，并将其反馈至操作面板，以便井下工作人员可以迅速精准地排除故障。
进一步的，所述支架控制器具有计时模块和计数模块。
为了不耽误生产任务，本系统还包括以太网控制模块，所述数据转换器为以太网交换机、光纤交换器和光纤交换机。日常状态下，以太网控制模块处于休眠状态，当支架驱动器所对应的总线均出现故障时，以太网控制模块被激活，从而使控制面板可将控制命令通过以太网进行传输。
一种液压支架远程定位通讯错误支架的方法，包括如下步骤：
第一步，程序初始化，控制面板通过数据转换器将命令发送至支架控制器，支架控制器将信息分别传输至两个驱动器；
第二步，两个驱动器接收命令并分别将其传送到CANH双绞线和CANL双绞线上，且以时间最优的原则，最先到达双绞线上的命令作为接收命令，应答命令按照原路返回送到控制器，最终传给控制面板；
第三步，当某个节点传输命令的总线出现错误时，传输命令强制结束，支架控制器再次重复发送传输命令，第N+1次传送消息时，触发定时器，当传输信号到达故障节点时定时结束，以主节点为第一架液压支架，则出现故障的液压支架就是第n架，主节点即支架控制器所对应的液压支架节点；
第四步，支架控制器根据公式
Figure PCTCN2019091632-appb-000004
计算出出现故障的节点，并将其反馈至操作面板上；其中m为每次传送报文的字节个数，t为定时器计时的时间，p为CAN总线的网速，单位kbps。
第三步中，支架控制器再次重复发送传输命令，第N+1次传送消息时，触发定时器，其中的N取20次。
为了满足井下液压支架实时性的要求，支架控制器传输命令的次数N不能设置太大以避 免延时，但是如果设置过小，优先级较低的站点可能在多次竞争中仍然失败，但是操作人员可能会将站点优先级低而消息没有传成功的原因错认为是CAN总线出错而使消息没有传成功；因此当同一时刻有多个站点向控制器发送消息时，高优先级的站点可以顺利完成数据的传送，为了能让在上一轮竞争失败的站点增加下次竞争中成功的概率，可以通过改变它的优先级来达到这一目的，某个节点p在队列的位置可表示为：L p＝L 0-15n
式中：L p为节点p某一时刻在队列的等级；L 0为节点p在队列中的初始等级，譬如最低等级是编码为11111111的站点，等级为2 8-1＝255；15n是此算法的核心，通过初始等级减去此项使得L 0减小，从而此站点的等级提高，增加了下次竞争的概率；n为竞争失败的次数，该算法的实现流程如图3所示，即使初始优先级为最低等级255，竞争失败最多17次优先等级就提升到最高等级，因此设置N＝20。
第三步中，当某个液压支架的两条总线传输均出现故障时，以太网控制模块转为工作模式，并通过以太网交换机、光纤交换器和光纤交换机将控制面板发出的命令传输至支架控制器。具体控制程序流程如图4所示，依此来决定以太网处于空闲模式或者工作模式。
优选的，数据转换器为CANWiFi-200T。
优选的，支架控制器为SJA1000控制器。
优选的，驱动器为PCA82C250。
优选的，当支架驱动器成组控制液压支架时，每组液压支架小于等于5台。

Claims (10)

  1. 一种液压支架远程定位通讯错误支架的系统，其特征在于，包括用于显示通讯错误支架地址和控制命令的操作面板、支架控制器、插在支架控制器总线接口的数据转换器，以及与支架控制器接口相连的两个同型号支架驱动器，每个支架驱动器均具有两个总线接口，分别接入CANH双绞线和CANL双绞线；控制面板将控制命令以WiFi信号的形式传递至数据转换器，数据转换器将无线信号转换为报文信号传递至支架控制器，支架控制器将控制命令分别传送至两个支架驱动器，支架驱动器将命令通过CANH双绞线和CANL双绞线进行传输；当某个节点的传输命令的总线出现错误时，支架控制器根据公式
    Figure PCTCN2019091632-appb-100001
    计算出出现故障的节点，并将其反馈至操作面板上；其中m为每次传送报文的字节个数，t为定时器计时的时间，p为CAN总线的网速，单位kbps。
  2. 根据权利要求1所述的液压支架远程定位通讯错误支架的系统，所述支架控制器具有计时模块和计数模块。
  3. 根据权利要求2所述的液压支架远程定位通讯错误支架的系统，还包括以太网控制模块，所述数据转换器为以太网交换机、光纤交换器和光纤交换机。
  4. 一种液压支架远程定位通讯错误支架的方法，其特征在于，包括如下步骤：
    第一步，程序初始化，控制面板通过数据转换器将命令发送至支架控制器，支架控制器将信息分别传输至两个驱动器；
    第二步，两个驱动器接收命令并分别将其传送到CANH双绞线和CANL双绞线上，且以时间最优的原则，最先到达双绞线上的命令作为接收命令，应答命令按照原路返回送到控制器，最终传给控制面板；
    第三步，当某个节点传输命令的总线出现错误时，传输命令强制结束，支架控制器再次重复发送传输命令，第N+1次传送消息时，触发定时器，当传输信号到达故障节点时定时结束，以主节点为第一架液压支架，则出现故障的液压支架就是第n架，主节点即支架控制器所对应的液压支架节点；
    第四步，支架控制器根据公式
    Figure PCTCN2019091632-appb-100002
    计算出出现故障的节点，并将其反馈至操作面板上；其中m为每次传送报文的字节个数，t为定时器计定的时间，p为CAN总线的网速，单位kbps。
  5. 根据权利要求4所述的液压支架远程定位通讯错误支架的方法，其特征在于，第三步中，支架控制器再次重复发送传输命令，第N+1次传送消息时，触发定时器，其中的N取20次。
  6. 根据权利要求5所述的液压支架远程定位通讯错误支架的方法，其特征在于，第三步 中，当某个液压支架的两条总线传输均出现故障时，以太网控制模块转为工作模式，并通过以太网交换机、光纤交换器和光纤交换机将控制面板发出的命令传输至支架控制器。
  7. 根据权利要求4所述的液压支架远程定位通讯错误支架的方法，其特征在于，数据转换器为CANWiFi-200T。
  8. 根据权利要求4所述的液压支架远程定位通讯错误支架的方法，其特征在于，支架控制器为SJA1000控制器。
  9. 根据权利要求4所述的液压支架远程定位通讯错误支架的方法，其特征在于，驱动器为PCA82C250。
  10. 根据权利要求4至9任一权利要求所述的液压支架远程定位通讯错误支架的方法，其特征在于，当支架驱动器成组控制液压支架时，每组液压支架小于等于5台。
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