CN102431784B - Attitude control system and method based on wireless three-dimensional gyroscope technology for scraper conveyer - Google Patents
Attitude control system and method based on wireless three-dimensional gyroscope technology for scraper conveyer Download PDFInfo
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Abstract
The invention discloses an attitude control system and a method based on a wireless three-dimensional gyroscope technology for a scraper conveyer. The system comprises a wireless three-dimensional gyroscope, hydraulic brackets, a bracket controller and a crossheading monitoring host, wherein the wireless three-dimensional gyroscope is arranged on a sliding chute of the scraper conveyer, and is used for detecting the running attitude of the scraper conveyer; a plurality of hydraulic brackets are connected to one side of the scraper conveyer in sequence; the movement of the scraper conveyer is realized under the pushing actions or pulling actions of the hydraulic brackets; the bracket controller is arranged on the hydraulic brackets, and is used for controlling the pushing or pulling actions of the hydraulic brackets; the crossheading monitoring host is arranged in a crossheading, and is used for concentrically monitoring and controlling the scraper conveyer, the bracket controller and hydraulic brackets; the wireless three-dimensional gyroscope is only communicated with the bracket controller in a wireless way; and the crossheading monitoring host and the bracket controller constitute a communication network system on a work surface through the bracket controller for performing data communication, so that attitude monitoring of the scraper conveyer is realized.
Description
Technical field
The present invention relates to a kind of scraping transporter attitude control system and control method, it has the compositions such as wireless three-dimensional gyroscope, bracket controller and monitoring host computer, for fully-mechanized mining working surface transport plane attitude control under coal mine.
Background technology
Fully-mechanized mining working has the equipment such as coalcutter, scraping transporter and hydraulic support to form, scraping transporter saves chute by one and couples together and form, connecting bore by scraping transporter is fixedly connected with by pin with hydraulic support thrusting rod connector, by the expanding-contracting action of hydraulic support advancing jack, push away the movement of implementing scraping transporter.Therefore, the attitude of scraping transporter is completely by the pushing and sliding of hydraulic support with draw and slip action and control.Scraping transporter is owing to being coupled together and being formed by chute, free gap between chute is limited, angle between chute can not be too large, if the angle between chute is the degree of wear between senior general's increase equipment too, even damage equipment, should ensure smooth connection between chute for this reason as far as possible, carry out ensureing that scraping transporter chute has more rational bending section in pushing and sliding course of action at hydraulic support as far as possible, the life-span using with raising equipment; Because coalcutter is taking scraping transporter as orbital motion, thus after pushing and sliding, require scraping transporter to there is good straightness accuracy, to ensure coalcutter coal cutting quality.At present, hydraulic support manual system driving surface is all by manually carrying out the pushing and sliding of hydraulic support or drawing the attitude control of slipping to carry out scraping transporter, hydraulic support electrohydraulic control system adopts stroke sensor to carry out the passing control of hydraulic support, but because the connecting bore of scraping transporter is U-shaped, there is larger gap with being connected of the pusher rod connector of hydraulic support in it, pass its stroke in course of action at hydraulic support and can produce the larger accumulation of error, cause scraping transporter to be passed uneven, also need manually to adjust, reduced production efficiency.Reasonably control the operation attitude of scraping transporter, the service life that is conducive to improve scraping transporter.For this reason, be badly in need of the control system of development scraping transporter attitude control and automatic flattening.
Summary of the invention
For the problems referred to above, the present invention proposes a kind of based on wireless three-dimensional gyroscope scraping transporter attitude control system, described gyroscope is arranged on scraping transporter, one joint or a few joint chute are installed a gyroscope, the built-in ZigBee wireless data transmission module of gyroscope, each gyroscope has unique fixing No. ID, has radio communication function; Bracket controller is arranged on hydraulic support, the built-in ZigBee wireless data transmission module of bracket controller, and each bracket controller has unique fixing No. ID.Between bracket controller and gyroscope, there is no adaptor union, adopt communication to carry out data exchange.When the relevant action implementing to move with scraping transporter at hydraulic support (pushing and sliding or draw and slip), preset scraping transporter operation attitude, in action executing process, constantly carry out the rectification of attitude, finally reach desirable effect.Native system, by gyroscope is installed on scraping transporter, adopts bracket controller and crossheading monitoring host computer to realize the closed loop control that hydraulic support moves scraping transporter, and actv. has carried out the attitude control of scraping transporter.
Realize the closed loop control to scraping transporter moving process by hydraulic support electrohydraulic control system, control system in the past is only being controlled hydraulic support self, controlled main body (scraping transporter) is not had to perception, adopt and can know that effect that hydraulic support passes process how, makes correct evaluation to passing process after native system; System needed regular driving surface is manually aligned in the past, and system works efficiency is low, and degree of automation is low.Adopt the scraping transporter attitude control system of wireless three-dimensional gyroscope to there is the features such as simple in structure, convenient and flexible installation, low cost, high reliability.
Technical scheme of the present invention is as follows:
A scraping transporter attitude control system based on wireless three-dimensional gyroscope technology, comprises wireless three-dimensional gyroscope, hydraulic support, bracket controller and crossheading monitoring host computer; Described wireless three-dimensional gyroscope is arranged on the chute of scraping transporter, for detection of scraping transporter operation attitude; Multiple hydraulic supports are linked in sequence in a side of slat conveyer, and action is slipped in pushing and sliding by hydraulic support or draw, and realizes the movement of scraping transporter; Described bracket controller is arranged on hydraulic support, is used for controlling hydraulic support action; Described crossheading monitoring host computer is arranged on crossheading, for concentrated monitoring and the centralized control of hydraulic support and scraping transporter; Between described wireless three-dimensional gyroscope and described bracket controller, only carry out data exchange by wireless mode, the communications network system that described crossheading monitoring host computer and described bracket controller consist of at driving surface bracket controller carries out data exchange.
The built-in ZigBee wireless data transmission module of described wireless three-dimensional gyroscope, and have unique No. ID, in order to identify different gyroscopes; Described wireless three-dimensional gyroscope can be measured the angle value of three mutually orthogonal directions; Scraping transporter has more piece chute, is provided with and on a wireless three-dimensional gyroscope or more piece chute, is jointly provided with a wireless three-dimensional gyroscope on every joint chute.
The built-in ZigBee wireless data transmission module of described bracket controller, and have unique No. ID, in order to identify different bracket controllers; Hydraulic support is consistent with the width of the every joint chute of scraping transporter, a corresponding joint scraping transporter chute of hydraulic support, hydraulic support is carrying out pushing and sliding or draw while slipping, scraping transporter will be moved, thereby causes the take off data of corresponding wireless three-dimensional gyroscope on scraping transporter to change.
Described hydraulic support disposes stroke sensor.
The scraping transporter attitude control method of scraping transporter attitude control system, comprising:
Described bracket controller carries out according to predefined stroke value that drawing of hydraulic support slipped or pushing and sliding action, send wireless data request signal to wireless three-dimensional gyroscope simultaneously, receive the wireless three-dimensional gyroscope of wireless data request signal bracket controller is replied, himself take off data of loopback; During hydraulic support action, the time gap that bracket controller sends wireless data request signal is 0.1～0.5 second;
Described bracket controller is controlled and is adjusted the attitude of scraping transporter according to the take off data of the wireless three-dimensional gyroscope obtaining.
According to the take off data of the wireless three-dimensional gyroscope obtaining, the attitude of scraping transporter is controlled and adjustment comprises:
Scraping transporter is coupled together by more piece chute; in the time that the angle value between each joint chute is greater than a certain threshold values; can cause mechanical damage to scraping transporter; according to described threshold values, scraping transporter Protection parameters is set for this reason; in the time that two adjacent gyroscope angle values are greater than described Protection parameters, stop the pushing and sliding of hydraulic support or draw slipping action.
Complete after whole pushing and sliding process at hydraulic support, scraping transporter should keep its straightness accuracy, completing after pushing and sliding all wireless three-dimensional gyroscopes moves towards to measure numerical value in direction at driving surface and should substantially be consistent, as inconsistent in measured numerical value after pushing and sliding, bracket controller and associated supports controller carry out data communication, control associated supports controller and carry out the pushing and sliding of hydraulic support or draw slipping action, the take off data that makes all wireless three-dimensional gyroscopes (except pushing and sliding bending section) is moved towards in direction unanimously at driving surface.
Move frame process at support, should keep the data of corresponding wireless three-dimensional gyroscope constant, if the data of wireless three-dimensional gyroscope change, that suspends hydraulic support that this wireless three-dimensional gyroscope is corresponding moves frame action, starts to move frame action after making the adjacent frame in left and right of this hydraulic support carry out pushing and sliding action again.
Described bracket controller sends described take off data to monitoring host computer at crossheading getting after the take off data of wireless three-dimensional gyroscope, on described crossheading monitoring host computer, show the 3 d pose moulding of scraping transporter, and according to the standard attitude curve arranging, convert hydraulic support to by calculating and pass stroke, and send to bracket controller that driving surface is corresponding and carry out the pushing and sliding of hydraulic support and draw slipping action, realize the long-range attitude control to driving surface scraping transporter.
The invention has the advantages that:
1, adopt wireless three-dimensional gyroscope to realize the closed loop control of scraping transporter attitude, can set the pushing and sliding of hydraulic support and draw according to the desirable attitude run curve of scraping transporter and slip action;
2, can in pushing and sliding process in groups, make scraping transporter there is desirable bending section, reduce the mechanical damage of scraping transporter chute, the service life of having improved scraping transporter;
3, after the whole passing of hydraulic support put in place, there is good straightness accuracy, improved coalcutter coal cutting effect;
4, native system have simple in structure, the advantage such as cost is low, and reliability is high, easy to install;
5, native system can arrange scraping transporter by monitoring host computer and reasonably move attitude, by the long-distance centralized control of hydraulic support, makes scraping transporter reach good operation attitude, improves working surface production efficiency.
Brief description of the drawings
Accompanying drawing 1 is for scraping transporter is by the mobile schematic diagram of pushing and sliding action of hydraulic support;
Accompanying drawing 2 in scraping transporter attitude control system with the scraping transporter of wireless three-dimensional gyroscope with the connection diagram (three joint chutes and three hydraulic supports are only shown) of the hydraulic support of bracket controller.
Reference numeral is as follows:
1-coal-face; 2-scraping transporter; 3-hydraulic support; 4-coalcutter; 5-bracket controller; 6-advancing jack; 7-chute; 8-wireless three-dimensional gyroscope.
Detailed description of the invention
Referring to accompanying drawing 1-2, a kind of scraping transporter attitude control system based on wireless three-dimensional gyroscope technology, comprises wireless three-dimensional gyroscope, hydraulic support, bracket controller and crossheading monitoring host computer (not shown).Scraping transporter is conventionally close to coal-face and is arranged, coalcutter moves thereon, be provided with one group of hydraulic support being disposed in order in a side of scraping transporter, be used for supporting coal-face top board, and move to the direction of coal-face along with pushing ahead of coal-face promotes scraping transporter by advancing jack.Scraping transporter is made up of the interconnected chute of more piece, can limited deflection between each chute, main detection part wireless three-dimensional gyroscope is arranged on the chute of scraping transporter, for detection of scraping transporter operation attitude, wireless three-dimensional gyroscope can be measured the deviation angle value of three mutually orthogonal directions, the normally hydraulic support passing direction of scraping transporter of three directions, driving surface moves towards direction and vertical direction, three-dimensional gyroscope can arrange one on every joint chute, also can more piece chute-as a three-dimensional gyroscope of 2 joints or 3 joints-share, in the case, three-dimensional gyroscope can be arranged on any joint of above-mentioned more piece chute, be evenly arranged multiple three-dimensional gyroscopes at driving surface, so that the attitude to whole driving surface scraping transporter is monitored.
Multiple hydraulic support orders are connected to a side of slat conveyer in turn, action is slipped in pushing and sliding by hydraulic support or draw, realize the movement of scraping transporter, be provided with stroke sensor on hydraulic support, the distance length that it moves can be set by the stroke of configuration stroke sensor; On hydraulic support, be provided with bracket controller, in general on each hydraulic support, be provided with a bracket controller, its function comprise control hydraulic support pushing and sliding, draw and the action such as slip, the width of hydraulic support is consistent with the width of the every joint chute of scraping transporter, a corresponding joint scraping transporter chute of hydraulic support, hydraulic support is carrying out pushing and sliding or draw while slipping, scraping transporter will be moved, thereby cause the three-dimensional gyrostatic position of respective wireless on scraping transporter to change, its angle measurement also changes thereupon.Crossheading monitoring host computer is the mining main control computer of platform, and it is arranged on crossheading, concentrates monitoring and centralized control for scraping transporter, bracket controller.
The built-in ZigBee wireless data transmission module of wireless three-dimensional gyroscope, and have unique No. ID, in order to identify different gyroscopes; Bracket controller is built-in ZigBee wireless data transmission module also, and has unique No. ID, in order to identify different bracket controllers; Between wireless three-dimensional gyroscope and described bracket controller, only carry out data exchange by wireless mode, the communications network system that described crossheading monitoring host computer and described bracket controller consist of the bracket controller at driving surface carries out data exchange.
The control method of above-mentioned scraping transporter attitude control system is:
When certain bracket controller carries out according to predefined stroke value, drawing of hydraulic support slipped or pushing and sliding action, it sends wireless data request signal to wireless three-dimensional gyroscope simultaneously, receiving the wireless three-dimensional gyroscope of wireless data request signal replys bracket controller, himself take off data of loopback is mainly to move towards the deviation angle value in direction at driving surface; During hydraulic support action, the time gap that bracket controller sends wireless data request signal was 0.1～0.5 second, detected a scraping transporter attitude every 0.1～0.5 second;
Above-mentioned bracket controller is controlled and is adjusted the attitude of scraping transporter according to the take off data of the wireless three-dimensional gyroscope obtaining, and comprising:
1. scraping transporter is coupled together by more piece chute, in the time that the angle value between each joint chute is greater than a certain threshold values, can cause mechanical damage to scraping transporter chute, according to described threshold values, scraping transporter Protection parameters is set for this reason, in the time that two adjacent gyroscope angle values are greater than described Protection parameters, stop the pushing and sliding of hydraulic support or draw slipping action;
2. complete after whole pushing and sliding process at hydraulic support, scraping transporter should keep its straightness accuracy, completing the measurement numerical value that all wireless three-dimensional gyroscopes move towards in direction at driving surface after pushing and sliding should be consistent substantially, as inconsistent in measured numerical value after pushing and sliding, bracket controller and associated supports controller communicate, control associated supports controller and carry out the pushing and sliding of hydraulic support or draw slipping action, make the take off data of all wireless three-dimensional gyroscopes consistent;
3. move frame process at support, should keep the data of corresponding wireless three-dimensional gyroscope constant, if the data of wireless three-dimensional gyroscope change, that suspends hydraulic support that this wireless three-dimensional gyroscope is corresponding moves frame action, starts to move frame action after making the adjacent frame in left and right of this hydraulic support carry out pushing and sliding action again;
The problems referred to above can be concurrent processings, once there is above-mentioned any one or a few situation, bracket controller is just processed successively according to above-mentioned processing method.
Bracket controller can send take off data to the monitoring host computer at crossheading getting after the take off data of wireless three-dimensional gyroscope, on crossheading monitoring host computer, show the 3 d pose moulding of scraping transporter, and according to the standard attitude curve arranging, convert hydraulic support to by calculating and pass stroke, and send to bracket controller that driving surface is corresponding and carry out the pushing and sliding of hydraulic support and draw slipping action, realize the long-range attitude control to driving surface scraping transporter, like this, cannot be according to the automatic pushing and sliding of program at bracket controller, draw the pushing and sliding of slipping or carrying out according to program, draw and slip cannot meet actual requirement time, can correct by the mode of Long-distance Control the attitude of scraping transporter, ensure that it is in rationally correct attitude.
Below according to pushing and sliding, draw two problems common in the process of slipping, the attitude control method of scraping transporter attitude control system is described in further detail:
1, pushing and sliding bending section control
In coalcutter coal cutting process, be taking scraping transporter as track travel, after coalcutter coal cutting, the coal loading that coalcutter need to be cut down is gone to transport plane, can complete this process by hydraulic support pushing and sliding action, because scraping transporter is to save chute by one to be formed by connecting, angle between chute can not exceed certain value, otherwise can cause the physical damage of chute, the support that for this reason generally participates in pushing and sliding process will be in the scope of 10～15, make the angle between the chute of slat conveyer pushing and sliding action part less, and can seamlessly transit, the general supporting employing coalcutter of underground equipment cuts dark cutting coal method entirely, hydraulic support adopts total travel to pass.In pushing and sliding process, form rational bending section implementation step as follows:
On scraping transporter chute, gyroscope is installed, can be every joint chute a gyroscope is installed, also can a few joint chutes be installed by a gyroscope, unique different No. ID of each gyrostatic wireless communication module configuration;
Mounting bracket controller on hydraulic support, unique different No. ID of the wireless communication module configuration of each bracket controller, if hydraulic support pushing and sliding and drawing are slipped action and can be had influence on scraping transporter attitude and change, think that this bracket controller is relevant to gyroscope corresponding on scraping transporter chute, No. ID, relevant gyroscope wireless module is set in bracket controller, and the general run of thins mutually relevant gyrostatic quantity of bracket controller is no more than 3;
According to scraping transporter bending section length, the pushing and sliding stroke of pushing and sliding frame number and hydraulic support is in groups set on bracket controller, and the attitude threshold values that relevant gyroscope finally reaches is set, this threshold values can download to bracket controller by the pushing and sliding attitude curve negotiating force piece electrohydraulic control system communications network system of standard by monitoring host computer;
Bracket controller sends pushing and sliding action command in groups, or automatically triggers with machine pushing and sliding order according to coal winning machine position information, carries out hydraulic support pushing and sliding action control;
Carry out in pushing and sliding course of action at bracket controller control hydraulic support, need timing to read relevant gyro data by wireless mode, read time gap at 0.1～0.5s;
Gyroscope is receiving after bracket controller data request command, and gyroscope 3 d pose datagram is delivered on bracket controller;
The relevant gyroscope of bracket controller inspection sends the scraping transporter attitude data of returning, and in the time that scraping transporter reaches regulation attitude, stops the action of hydraulic support.
2, driving surface scraping transporter aligning
In coalcutter coal cutting process, be taking scraping transporter as track travel, only have scraping transporter in the time that coalcutter starts coal cutting, to ensure its straightness accuracy, guarantee coalcutter coal cutting even thickness is consistent, ensures coal cutting quality and the coal cutting efficiency of driving surface.Driving surface scraping transporter aligning implementation step is as follows:
Read relevant gyro data by completing the hydraulic support scope inner support controller that does not carry out straightening processing after pushing and sliding, and report and submit on crossheading monitoring host computer by force piece electrohydraulic control system communications network system;
Crossheading monitoring host computer carries out analyzing and processing to the gyro data receiving, with calibrated curve (straight line) confirmation of comparing, for the hydraulic support that does not meet straightness accuracy requirement, calculate pose difference and the corresponding stroke value thereof of relevant hydraulic support, and the network system consisting of face support controller downloads on corresponding bracket controller;
Crossheading monitoring host computer sends remote control command, specifies bracket controller to implement pushing and sliding or draw and slips action;
Carry out pushing and sliding or draw and slip in course of action at bracket controller control hydraulic support, needing timing to read relevant gyro data by wireless mode, reading time gap at 0.1～0.5s;
Gyroscope is receiving after bracket controller data request command, and gyroscope 3 d pose datagram is delivered on bracket controller;
The relevant gyroscope of bracket controller inspection sends the scraping transporter attitude data of returning, and in the time that scraping transporter reaches regulation attitude, stops the action of hydraulic support.
The above; it is only preferably detailed description of the invention of patent of the present invention; but the protection domain of patent of the present invention is not limited to this; anyly be familiar with in technical scope that those skilled in the art disclose in patent of the present invention; the variation that can expect easily or replacement, within all should being encompassed in the protection domain of patent of the present invention.
Claims (1)
1. a scraping transporter attitude control method for scraping transporter attitude control system,
Described scraping transporter attitude control system comprises wireless three-dimensional gyroscope, hydraulic support, bracket controller and crossheading monitoring host computer; Described wireless three-dimensional gyroscope is arranged on the chute of scraping transporter, for detection of scraping transporter operation attitude; Multiple hydraulic supports are linked in sequence in a side of slat conveyer, and action is slipped in pushing and sliding by hydraulic support or draw, and realizes the movement of scraping transporter; Described bracket controller is arranged on hydraulic support, is used for controlling the action of hydraulic support; Described crossheading monitoring host computer is arranged on crossheading, carries out concentrated monitoring and the centralized control of hydraulic support by the communications network system of face support controller and formation thereof; Between described wireless three-dimensional gyroscope and described bracket controller, only contact by wireless mode, the network system that described crossheading monitoring host computer and bracket controller consist of force piece device is carried out data exchange;
Described crossheading monitoring host computer, by carrying out data communication with described bracket controller in the network system of driving surface formation, is realized the attitude monitoring of scraping transporter;
It is characterized in that: the built-in ZigBee wireless data transmission module of described wireless three-dimensional gyroscope, and have unique No. ID, in order to identify different gyroscopes; Described wireless three-dimensional gyroscope can be measured the angle value of three mutually orthogonal directions, and the hydraulic support that described three mutually orthogonal directions are scraping transporter is passed direction, driving surface moves towards direction and driving surface vertical direction; Scraping transporter has more piece chute, is provided with a wireless three-dimensional gyroscope on every joint chute;
Described scraping transporter attitude control method comprises:
Described bracket controller carries out according to predefined stroke value that drawing of hydraulic support slipped or pushing and sliding action, send wireless data request signal to wireless three-dimensional gyroscope simultaneously, receive the wireless three-dimensional gyroscope of wireless data request signal bracket controller is replied, himself take off data of loopback; During hydraulic support action, the time gap that bracket controller sends wireless data request signal is 0.1～0.5 second;
Described bracket controller is controlled and is adjusted the attitude of scraping transporter according to the take off data of the wireless three-dimensional gyroscope obtaining;
The take off data of the wireless three-dimensional gyroscope that described basis is obtained is controlled by the attitude of scraping transporter and adjustment comprises:
Scraping transporter is coupled together by more piece chute, in the time that the angle value between each joint chute is greater than a certain threshold values, can cause mechanical damage to scraping transporter, in bracket controller, store the scraping transporter Protection parameters arranging according to described threshold values for this reason, in the time that two adjacent gyroscope angle values are greater than described Protection parameters, bracket controller stops the pushing and sliding of hydraulic support or draws slipping action;
The take off data of the wireless three-dimensional gyroscope that described basis is obtained is controlled by the attitude of scraping transporter and adjustment comprises:
Complete after whole pushing and sliding process at hydraulic support, scraping transporter should keep its straightness accuracy, after completing pushing and sliding, the measurement numerical value of all wireless three-dimensional gyroscopes on the sense of motion of scraping transporter should be consistent substantially, as inconsistent in measured numerical value after pushing and sliding, bracket controller and associated supports controller carry out data communication, control associated supports controller and carry out the pushing and sliding of hydraulic support or draw slipping action, make all wireless three-dimensional gyroscopes except pushing and sliding bending section move towards take off data in direction at driving surface consistent;
The take off data of the wireless three-dimensional gyroscope that described basis is obtained is controlled by the attitude of scraping transporter and adjustment comprises:
Move frame process at support, should keep the data of corresponding wireless three-dimensional gyroscope constant, if the data of wireless three-dimensional gyroscope change, that suspends hydraulic support that this wireless three-dimensional gyroscope is corresponding moves frame action, starts to move frame action after making the adjacent frame in left and right of this hydraulic support carry out pushing and sliding action again;
Described bracket controller sends the monitoring host computer at crossheading to getting the communications network system after the take off data of wireless three-dimensional gyroscope, described take off data being consisted of face support controller, on described crossheading monitoring host computer, show the 3 d pose moulding of scraping transporter, and according to the standard attitude curve arranging, convert hydraulic support to by calculating and pass stroke, send to bracket controller that driving surface is corresponding and carry out the pushing and sliding of hydraulic support or draw slipping action, realize the long-range attitude control to driving surface scraping transporter.
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