CN117834810A - An intelligent control system and method for a unit support transport vehicle - Google Patents
An intelligent control system and method for a unit support transport vehicle Download PDFInfo
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- CN117834810A CN117834810A CN202311764278.1A CN202311764278A CN117834810A CN 117834810 A CN117834810 A CN 117834810A CN 202311764278 A CN202311764278 A CN 202311764278A CN 117834810 A CN117834810 A CN 117834810A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/006—Equipment transport systems
- E21F13/008—Equipment transport systems for mine roof support units for step-by-step movement
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of coal mine equipment, and particularly discloses an intelligent control system and method for a unit bracket carrier, wherein the system comprises an onboard controller, a remote control end walking control device, a hydraulic driving device and a sensor unit, wherein the onboard controller is used for receiving a remote control instruction and making corresponding logic judgment action based on the remote control instruction; the hydraulic driving device is used for driving the unit bracket carrier to move, and is also used for sending a control instruction to the hydraulic driving device, wherein the control instruction is used for controlling the unit bracket carrier to generate corresponding part actions; and the device is also used for acquiring the position information and the walking information of the unit bracket carrier. The invention realizes the automation of the working machinery of the underground coal mine support conveying operation, monitors the position relationship of the support carrier roadway and the crawler traveling state of the support carrier roadway through the sensor unit and the onboard camera monitoring unit, monitors the surrounding environment in real time, and prevents the entry of irrelevant personnel and the collision of equipment and coal rods.
Description
Technical Field
The invention particularly relates to the technical field of coal mine equipment, in particular to an intelligent control system and method for a unit bracket carrier.
Background
The unit bracket carrier is used as a transfer bracket in the fully-mechanized coal mining process, and comprises a fully-mechanized coal mining bracket, a crenel type bracket and the like, wherein the automation and intellectualization level of the unit bracket carrier directly influences the safety guarantee of the bracket moving operation personnel and the efficiency of the mining work. Because in the unit bracket carrying process, the space is narrow and the position is limited, the quality of the unit bracket is large, the operation of underground operation is difficult, time and labor are wasted, the underground working efficiency is seriously affected, the underground auxiliary operation progress is slow, the construction difficulty is high, the installation danger is high, the personal safety of staff is difficult to ensure, the auxiliary operation working efficiency is seriously restricted, and the potential safety hazard exists.
Disclosure of Invention
The invention aims to provide an intelligent control system and method for a unit bracket carrier, which are used for solving the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an intelligent control system for a unit bracket carrier, comprising an onboard controller, a remote control end walking control device, a hydraulic driving device and a sensor unit, wherein:
the airborne controller is used for receiving the remote control instruction and making corresponding logic judgment action based on the remote control instruction; the hydraulic driving device is used for driving the unit bracket carrier to move, and is also used for sending a control instruction to the hydraulic driving device, wherein the control instruction is used for controlling the unit bracket carrier to generate corresponding part actions; the system is also used for acquiring the position information and the walking information of the unit bracket carrier, processing the position information, generating corresponding early warning instructions according to the processing results and processing the walking information to obtain corresponding walking parameters;
the remote control end walking control device comprises a remote control end control device and a remote control system, wherein:
the remote control end control device comprises a plurality of switch mechanisms for controlling the motion state of the unit bracket carrier;
the hydraulic driving device is used for executing the control instruction issued by the airborne controller and controlling the actions of all parts of the unit bracket carrier;
the sensor unit is used for collecting the position information and the walking information of the unit bracket carrier and sending the position information and the walking information to the airborne controller, and the position information comprises the position relation between the bracket carrier and the roadway highwall and the position relation between an operator and the unit bracket carrier.
As a further scheme of the invention: the component actions include, but are not limited to walking, fork arm ascending, descending, left swinging and right swinging, and supporting leg retracting, extending and retracting.
As still further aspects of the invention: the switch mechanism comprises a control mode changeover switch, a gear adjusting switch, a walking control handle and a pipe grabbing mechanical arm control handle, and the motion state comprises a walking mode, a walking speed and a walking direction.
As still further aspects of the invention: the control mode change-over switch is used for switching the walking mode of the unit bracket carrier, and the walking mode comprises a remote control mode and an on-site mode;
the gear adjusting switch is used for adjusting the left crawler belt walking speed and the right crawler belt walking speed;
the walking control handle is used for controlling the left crawler walking direction and the right crawler walking direction of the unit support carrier, wherein the walking control handle comprises a left crawler control handle and a right crawler control handle, the left crawler control handle is used for controlling the walking direction of the left crawler, and the right crawler control handle is used for controlling the walking direction of the right crawler.
As still further aspects of the invention: the remote control end control device also comprises a walking safety switch, wherein the walking safety switch is used for limiting the operation of the walking control handle and preventing misoperation of equipment caused by mistaken touch of the handle.
As still further aspects of the invention: the remote control system comprises a remote control transmitter and a remote control receiver, wherein:
the remote control transmitter is used for acquiring a remote control instruction input by a user and transmitting the remote control instruction to the remote control receiver;
the remote control receiver is used for receiving the remote control instruction and sending the remote control instruction to the airborne controller, and the airborne controller receives the remote control instruction and then makes corresponding logic judgment action.
As still further aspects of the invention: the sensor unit comprises a highwall ranging sensor, a crawler belt rotating speed sensor and a personnel approaching early warning system, wherein:
the side wall ranging sensor is used for acquiring the position information of the unit bracket carrier and the side wall of the roadway, wherein the position information is the distance between the unit bracket carrier and the side wall of the roadway, and when the distance between the unit bracket carrier and the side wall of the roadway is smaller than a preset threshold value, the onboard controller generates an early warning instruction of too small distance;
the personnel approach early warning system comprises a base station device and a personnel identification card and is used for collecting position information of an operator and the unit support carrier, wherein the position information is the distance between the operator and the unit support carrier, and when the distance between the operator and the unit support carrier is smaller than a preset threshold value, the onboard controller generates an early warning instruction with too small distance.
As still further aspects of the invention: the system is characterized by further comprising an airborne camera and a display, wherein the airborne camera is arranged on the body of the unit bracket carrier, and the airborne camera is connected with an airborne controller through an airborne switch and is used for collecting scene image information around the unit bracket carrier.
An intelligent control method for a unit bracket carrier, comprising the following steps:
step one, mode switching: after power-on, switching a control mode of the unit bracket carrier to a remote control mode;
step two, speed adjustment: the gear adjusting switch is shifted, and the traveling speed of the unit bracket carrier is set to be the target traveling speed;
step three, observing scene information: observing scene information around the unit bracket carrier through a display, and confirming that no operation personnel and no other equipment obstacles exist around the unit bracket carrier;
step four, configuring security rights: simultaneously pressing a left walking safety switch and a right walking safety switch, activating walking safety rights, enabling the unit bracket carrier to operably walk within a preset safe and effective duration, and activating the walking rights again by pressing the left walking safety switch and the right walking safety switch again after the unit bracket carrier exceeds the safe and effective duration;
step five, controlling the crawler belt to walk: the method comprises the steps of stirring a walking mode of the crawler control handle control unit support carrier to walk within the effective duration of the safety authority, wherein the walking mode comprises forward walking, rightward turning, leftward turning and backward walking;
step six, controlling the crawler belt to stop: returning the left crawler control handle and the right crawler control handle to the middle position, and stopping the crawler of the unit bracket carrier;
step seven, controlling a fork arm mechanism: operating a fork arm mechanism handle to operate, carrying the target material, repeating the second to sixth steps, and completing an operation procedure after carrying to a designated place;
step eight, finishing the operation: and (3) turning the fork arm mechanism to one side, retracting to be flush with the machine body, extinguishing the engine of the unit bracket carrier and disconnecting the power supply.
As still further aspects of the invention: the control mode of the unit bracket carrier walking is as follows:
walking forward: when the left crawler control handle and the right crawler control handle simultaneously move forward, the control unit bracket carrier walks forward;
turning right: when the left crawler control handle moves forwards and the right crawler control handle does not move or moves backwards, the control unit supports the carrier to turn rightwards;
turning left: when the right crawler control handle moves forwards and the left crawler control handle does not move or moves backwards, the control unit supports the carrier to turn leftwards;
walk backwards: when the left crawler control handle and the right crawler control handle simultaneously move backwards, the control unit support carrier walks backwards.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes the automation of the working machinery of the underground coal mine support conveying operation, monitors the position relationship of the support carrier roadway and the crawler traveling state of the support carrier roadway through the sensor unit and the onboard camera monitoring unit, monitors the surrounding environment in real time, and prevents the entry of irrelevant personnel and the collision of equipment and coal rods. The fork mechanism has the advantages of high loading capacity, effective improvement of the working efficiency of the fully mechanized mining face, flexible and convenient operation, high safety and high degree of automation.
Drawings
Fig. 1 is a schematic structural view of an intelligent control system for a unit bracket carrier.
Fig. 2 is a control schematic diagram of unit rack handling in an intelligent control system for a unit rack handling vehicle.
Fig. 3 is a wiring diagram of a control box in an intelligent control system for a unit bracket carrier.
Fig. 4 is a flow chart of an intelligent control method for a unit rack truck.
In the figure: the system comprises a 1-airborne controller, a 2-remote control end walking control device, a 3-hydraulic driving device, a 4-airborne camera, a 5-display, a 6-sensor unit and a 7-airborne switch.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, in an embodiment of the present invention, an intelligent control system for a unit bracket carrier includes an on-board controller 1, a remote-control-end walking control device 2, a hydraulic driving device 3, and a sensor unit 6, wherein:
the airborne controller 1 is used for receiving a remote control instruction and making corresponding logic judgment action based on the remote control instruction; and is further configured to send control instructions to the hydraulic driving device 3, where the control instructions are configured to control the unit bracket truck to generate corresponding component actions, where the component actions include, but are not limited to, walking, lifting/lowering/swinging, retraction/extension/retraction of the support legs, etc.; the system is also used for acquiring the position information and the walking information of the unit bracket carrier, processing the position information, generating corresponding early warning instructions according to the processing results and processing the walking information to obtain corresponding walking parameters;
in the embodiment of the application, the onboard controller 1 is a PLC processor, the model of the PLC processor is EPEC3724, the PLC processor is provided with a 16/32-bit CPU, the main frequency of the CPU is 100MHz, the total flash memory is 160 kbytes, the RAM memory is 1024 kbytes+138 kbytes, the power-off storage memory is 2 kbytes, and in addition, the PLC processor supports 2 paths of CAN communication;
further, the PLC processor is configured with 4 socket ports, one socket port is used for uploading/downloading programs and supplying power and communicating, and the other 3 ports are all input/output points, in this embodiment, the 4# socket port is used for uploading/downloading programs and supplying power and communicating; the PLC processor is provided with 24 paths of PWM/DO/DI forward control points, the maximum current is 3A,4 paths of DI/DO reverse control points, 8 paths of AI/DI analog quantity inputs, and the input quantity is 0-5V or 4-20mA inputs, and a technician can select according to the requirement.
It can be understood that the onboard controller 1 is responsible for processing and logic judging all data of the unit bracket carrier, including all functions of a remote control system, a hydraulic system, display content of a display, data acquisition and analysis of a sensor, a complete machine power supply system and the like, and all external devices are centralized and directly or indirectly connected to the PLC processor, and the indirect connection generally needs to be isolated by an isolating grid.
The remote control end walking control device 2 comprises a remote control end control device and a remote control system, wherein:
the remote control end control device comprises a plurality of switch mechanisms for controlling the movement state of the unit bracket carrier, each switch mechanism comprises a control mode changeover switch, a gear adjusting switch, a walking control handle and a pipe grabbing mechanical arm control handle, the movement state comprises a walking mode, a walking speed and a walking direction, and in the embodiment of the application, the specific mode of adjusting the movement state by the switch mechanisms comprises:
the control mode change-over switch is used for switching the walking mode of the unit bracket carrier, wherein the walking mode comprises a remote control mode and a local mode;
the gear adjusting switch is used for adjusting the walking speeds of the left crawler belt and the right crawler belt of the unit bracket carrier;
the walking control handle is used for controlling the walking directions of the left crawler and the right crawler of the unit bracket carrier, wherein the walking control handle comprises a left crawler control handle and a right crawler control handle, the left crawler control handle is used for controlling the walking direction of the left crawler, and the right crawler control handle is used for controlling the walking direction of the right crawler;
further, in this embodiment of the present application, the remote control end control device further includes a travel safety switch, the travel safety switch is used for limiting the operation duration of the travel control handle, that is, the travel safety switch is a safety switch of a travel instruction, the effective duration T of the safety authority is set, when the travel control handle needs to be operated, any travel safety switch is shifted in advance, the track control handle in the effective duration T is effective, the unit support truck walks, if the travel control handle returns to the original position or exceeds the effective duration T without operating the travel control handle, the unit support truck does not have a travel action, and it is required to be noted that the travel safety switch includes a left travel safety switch and a right travel safety switch, which are respectively used for limiting the travel duration of the travel control handle for controlling the left track and the right track.
The remote control system comprises a remote control transmitter and a remote control receiver, wherein:
the remote control transmitter is used for acquiring a remote control instruction input by a user and transmitting the remote control instruction to the remote control receiver;
the remote control receiver is used for receiving the remote control instruction and sending the remote control instruction to the airborne controller 1, and the airborne controller 1 makes corresponding logic judgment action after receiving the remote control instruction; in this embodiment, the remote control receiver communicates with the PLC processor through the CAN protocol, and after receiving a remote control instruction (specifically, a frequency modulation signal instruction) sent by the remote control transmitter, the remote control receiver converts the remote control instruction into a CAN protocol format through an internal circuit, and sends the CAN protocol format to the PLC processor, and the PLC processor receives the instruction and then makes a corresponding logic judgment action.
In the embodiment of the present application, the hydraulic driving device 3 is configured to execute a control instruction issued by the onboard controller 1, and control the actions of each component of the unit bracket carrier, including, but not limited to, walking, lifting/lowering/swinging left/right, retraction/extension/retraction of 4 support legs, etc.;
the sensor unit 6 is used for collecting position information and walking information of the unit bracket carrier and sending the position information and the walking information to the airborne controller 1, wherein the position information comprises a position relation between the bracket carrier and a roadway highwall and a position relation between an operator and the unit bracket carrier, and specifically, in the embodiment of the application, the sensor unit 6 comprises a highwall ranging sensor, a crawler rotating speed sensor and a personnel approaching early warning system, wherein:
the side wall distance measuring sensors are arranged on a machine body of the unit bracket carrier and are used for collecting position information of the unit bracket carrier and the roadway side wall, the position information is the distance between the unit bracket carrier and the roadway side wall, when the distance between the unit bracket carrier and the roadway side wall is smaller than a preset threshold value, the onboard controller 1 generates an early warning instruction with too small distance so as to prompt an operator to timely adjust the position of the unit bracket carrier, and the number of the side wall distance measuring sensors is four and the side wall distance measuring sensors are respectively arranged at the left front, the left rear, the right front and the right rear of the machine body;
the personnel approach early warning system comprises a base station device and a personnel identification card, wherein the base station device is used for collecting position information of an operator and a unit support carrier, the position information is the distance between the operator and the unit support carrier, when the distance between the operator and the unit support carrier is smaller than a preset threshold value, an onboard controller 1 generates an early warning instruction for the too small distance so as to prompt the operator to timely adjust the position of the unit support carrier and prompt the operator to timely avoid the unit support carrier, thereby preventing the operator from approaching equipment in a remote control mode of the unit support carrier;
the crawler belt rotating speed sensor is arranged on a left crawler belt and a right crawler belt driving shaft of the unit bracket carrier, the crawler belt driving shaft and the crawler belt rotating speed sensor are concentrically arranged and used for collecting crawler belt driving shaft rotating speed information of the unit bracket carrier and sending the crawler belt driving shaft rotating speed information to the airborne controller 1, and the airborne controller 1 receives the rotating speed information and then calculates and obtains walking parameters of the unit bracket carrier, namely walking speeds of the left crawler belt and the right crawler belt.
In addition, in this embodiment, intelligent control system for unit support carrier still include organic machine carries camera 4 and display 5, machine carries camera 4 to install on the fuselage of unit support carrier, machine carries camera 4 and machine carries controller 1 to link to each other through machine carries switch 7 for gather scene image information around the unit support carrier, in this embodiment, the quantity of machine carries camera 4 is four, installs respectively in the light department in fuselage left front, left back, right front, right back for comprehensively gather the image information of scene around the unit support carrier, improves image information's integrality, and through setting up the light in the mounted position department of machine carries camera 4, make machine carries camera 4 also can normal use in the environment of light inequality.
The display 5 is connected with the airborne controller 1 through an airborne switch, the display 5 is used for acquiring and displaying scene image information around the unit bracket carrier, in this embodiment, the display 5 is a human interaction display, and an operator observes scene video information around the unit bracket carrier through the display 5 to complete walking operation so as to improve the control accuracy of the unit bracket carrier.
Referring to fig. 2 and 3, fig. 2 shows a complete machine electrical system of the unit bracket carrier, including connection relationships and wiring between the components. The whole machine electric element in the figure comprises an explosion-proof remote control box, namely an electromagnetic valve box body, a methane power-off instrument, an operation panel, an explosion-proof change-over switch, an engine ECU, an explosion-proof and intrinsic safety type audible and visual alarm, a personnel access system, a mining explosion-proof low-voltage junction box, an explosion-proof emergency stop button, an explosion-proof and intrinsic safety type display control box, a mining camera, a mining explosion-proof LED (light-emitting diode) machine lamp, a mining explosion-proof liquid level temperature sensor, a mining explosion-proof type multichannel pressure sensor, an explosion-proof storage battery box, a mining explosion-proof diesel engine, 4GCPE (remote control) and a mining explosion-proof electromagnetic multichannel valve.
The electromagnetic valve box body is internally provided with a detailed configuration shown in fig. 3, the methane power-off instrument comprises a methane power-off instrument host and a methane sensor, the methane sensor detects the concentration of methane in the air, and an alarm signal is sent out when the concentration exceeds a certain value, and a shutdown signal is sent out when the concentration exceeds another concentration. The operation panel is used as an operation unit for local control, receives control instructions of operators, and sends the remote control instructions to the airborne controller, and the airborne controller receives the control instructions of the operation panel and then makes corresponding logic judgment actions. The flameproof change-over switch is used for switching on and off the flameproof storage battery power supply. The engine ECU mainly monitors and protects the running state, failure information, and the like of the engine. The flameproof and intrinsically safe audible and visual alarm mainly sends out an alarm signal before equipment is powered on and started. Personnel approach the system and detect the personnel position around the equipment, prevent that the equipment has irrelevant personnel to approach and take place danger in the course of working. The mining flameproof low-voltage junction box uniformly accesses equipment with partial functions and voltage grades which are not much into the electromagnetic valve box, so that induction and arrangement are convenient. The flameproof and intrinsically safe display control box is used as display equipment of the whole camera and the parameters of the local system, and displays data to an upper computer interface, so that equipment information can be conveniently fed back to operators. The mining camera collects video signals of blind areas operated around the equipment. The mining flameproof LED locomotive lamp is used as an illuminating lamp of equipment, and signal warning is carried out when the equipment advances and retreats. The mining flameproof liquid level temperature sensor detects the temperature and the oil level of hydraulic oil of a hydraulic system of the equipment, and other parts of the hydraulic system of the equipment are damaged due to the fact that the oil-proof temperature is too high or the liquid level is too low. The mining flameproof multi-path pressure sensor collects the pressure of each action loop of the equipment, feeds the pressure back to the airborne controller, and processes the pressure by the airborne controller to obtain a parameter threshold value for alarming the action of the equipment. The flameproof storage battery box is used for supplying power to all electric equipment of the whole machine. The mining explosion-proof diesel engine provides a power source for the whole machine. The 4GCPE converts the local wired data into wireless 4G data and uploads the wireless 4G data to the 4G ring network of the mine. The remote control device is used for acquiring a remote control instruction input by a user, sending the remote control instruction to the airborne controller, and making a corresponding logic judgment action after the airborne controller receives the remote control instruction. The mining flameproof electromagnetic multi-way valve is an element for converting an electric signal into a hydraulic signal, and after an operator sends out an action command, the action command is processed by an onboard controller, PWM signals are output to the mining flameproof electromagnetic multi-way valve, and finally the action command is converted into equipment action.
In addition, the internal components of the explosion-proof remote control box comprise a PLC, a router, a programmable intelligent gateway, a switching value input/output communication module, a voltage-stabilizing isolation power supply, a relay, a CAN relay isolator, an analog quantity signal isolation grid and a terminal strip. The PLC was EPEC3724. The router is responsible for communicating all network devices and has the function of WiFi wireless communication. The programmable intelligent gateway CAN convert the CAN communication signal into an Ethernet signal, and make up for a short board of the PLC without the Ethernet signal. The switching value input/output-to-communication module overcomes the defect that the PLC switching value IO port is insufficient, and reduces the cost under the condition that a small number of IO ports are required to be added. The voltage-stabilizing isolation power supply is used for isolating the power supply of the explosion-proof power supply box from the power supply of the electric devices in the box and preventing the external power supply from fluctuation to damage the electric devices in the box. Relays J1 and J2 are responsible for the on-off of the illuminating lamps and the conversion of red and white signals, J3 and J6 control the states of alarm signal lamps, and J4 and J5 control the output of an engine starting motor. The CAN relay isolator isolates all CAN communication mutually, and prevents the problem of one-path communication from damaging the communication modules of all devices. The analog quantity signal isolation grid converts 4-20mA analog quantity signals into 1-5V analog quantity signals, and performs physical isolation on the signals, so that the PLC is prevented from being damaged, the terminal strip is convenient to wire, and the equipment is convenient to maintain.
Referring to fig. 4, an intelligent control method for a unit bracket carrier includes the following steps:
step one, mode switching: after the power is on, the walking mode of the unit bracket carrier is switched to a remote control mode, and the remote control end walking control device 2 defaults to a remote control mode after the power is on, if the unit bracket carrier is in an on-site mode, the control mode switching switch can switch the on-site mode to the remote control mode;
step two, speed adjustment: the gear adjusting switch is shifted, the walking speed of the unit bracket carrier is set to be a target walking speed, and the target walking speed is selected by an operator according to actual needs;
step three, observing scene information: observing scene information around the unit bracket carrier through the display 5, and confirming that no operation personnel and no other equipment barriers exist around the unit bracket carrier so as to avoid collision accidents when the unit bracket carrier works;
step four, configuring security rights: simultaneously pressing a left walking safety switch and a right walking safety switch, activating walking safety rights, enabling the unit bracket carrier to operably walk within a preset safe and effective duration, and activating the walking rights again by pressing the left walking safety switch and the right walking safety switch again after the unit bracket carrier exceeds the safe and effective duration;
step five, controlling the crawler belt to walk: the method comprises the steps of stirring a walking mode of the crawler control handle control unit support carrier to walk within the effective duration of the safety authority, wherein the walking mode comprises forward walking, rightward turning, leftward turning and backward walking, and the specific control mode is as follows:
walking forward: when the left crawler control handle and the right crawler control handle simultaneously move forward, the control unit bracket carrier walks forward;
turning right: when the left crawler control handle moves forwards and the right crawler control handle does not move or moves backwards, the control unit supports the carrier to turn rightwards;
turning left: when the right crawler control handle moves forwards and the left crawler control handle does not move or moves backwards, the control unit supports the carrier to turn leftwards;
walk backwards: when the left crawler control handle and the right crawler control handle simultaneously move backwards, the control unit bracket carrier walks backwards;
step six, controlling the crawler belt to stop: returning the left crawler control handle and the right crawler control handle to the middle position, and stopping the crawler of the unit bracket carrier;
step seven, controlling a fork arm mechanism: and operating the fork arm mechanism handle to operate, carrying the materials needing to be operated through actions such as falling, feeding and picking, repeating the steps two to six, and completing an operation procedure after carrying to a designated place.
Step eight, finishing the operation: and (3) turning the fork arm mechanism to one side, retracting to be flush with the machine body, extinguishing the engine of the unit bracket carrier and disconnecting the power supply.
In this application embodiment, after the power-on of unit support carrier, still need carry out equipment self-checking, equipment self-checking include following step:
1) Detecting faults of the whole machine, including the insulation performance of the whole machine, left front/left back/right front/right back/remote control/emergency stop state, wherein the insulation performance detection is divided into low-voltage side detection and high-voltage side detection, the low-voltage side insulation resistance detection is used for detecting whether the insulation resistance value to ground meets the requirement or not through a low-frequency signal injection method, the insulation resistance value to ground of the low-voltage side is generally not lower than 0.5MΩ, the use requirement is considered to be met, the emergency stop is a switching value signal, and the emergency stop is a normally closed point when the emergency stop is not triggered normally;
2) Detecting a grabbing arm/platform rotation/platform leveling encoder, a grabbing arm/platform arm displacement sensor, a grabbing arm/platform arm laser ranging sensor, a complete machine inclination sensor, a device advancing/retreating/mechanical arm hydraulic pressure sensor, whether data information of each sensor of a liquid level temperature sensor is normal, if the detection value of the sensor is 0 or infinity or a specific fault code, proving that the sensor is faulty, displaying the sensor on an airborne display, and performing power-on self-detection above, and if all components are normal, enabling the device to be in a standby state.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. An intelligent control system for a unit bracket carrier, which is characterized by comprising an airborne controller, a remote control end walking control device, a hydraulic driving device and a sensor unit, wherein:
the airborne controller is used for receiving the remote control instruction and making corresponding logic judgment action based on the remote control instruction; the hydraulic driving device is used for driving the unit bracket carrier to move, and is also used for sending a control instruction to the hydraulic driving device, wherein the control instruction is used for controlling the unit bracket carrier to generate corresponding part actions; the system is also used for acquiring the position information and the walking information of the unit bracket carrier, processing the position information, generating corresponding early warning instructions according to the processing results and processing the walking information to obtain corresponding walking parameters;
the remote control end walking control device comprises a remote control end control device and a remote control system, wherein:
the remote control end control device comprises a plurality of switch mechanisms for controlling the motion state of the unit bracket carrier;
the hydraulic driving device is used for executing a control instruction issued by the airborne controller and controlling the actions of all parts of the unit bracket carrier;
the sensor unit is used for collecting the position information and the walking information of the unit bracket carrier and sending the position information and the walking information to the airborne controller, and the position information comprises the position relation between the bracket carrier and the roadway highwall and the position relation between an operator and the unit bracket carrier.
2. The intelligent control system for a unit rack truck according to claim 1, wherein the component actions include, but are not limited to, walking, fork arms up, down, left swing, right swing, support legs up, down, extend, retract.
3. The intelligent control system for a unit bracket truck according to claim 1, wherein the switching mechanism comprises a control mode changeover switch, a gear adjusting switch, a traveling control handle and a pipe gripping arm control handle, and the motion state comprises a traveling mode, a traveling speed and a traveling direction.
4. The intelligent control system for a unit rack truck according to claim 3, wherein the control mode changeover switch is for switching a traveling mode of the unit rack truck, the traveling mode including a remote control mode and an in-situ mode;
the gear adjusting switch is used for adjusting the left crawler belt walking speed and the right crawler belt walking speed;
the walking control handle is used for controlling the left crawler walking direction and the right crawler walking direction of the unit support carrier, wherein the walking control handle comprises a left crawler control handle and a right crawler control handle, the left crawler control handle is used for controlling the walking direction of the left crawler, and the right crawler control handle is used for controlling the walking direction of the right crawler.
5. The intelligent control system for a unit bracket carrier according to claim 4, wherein the remote control terminal control device further comprises a travel safety switch for limiting the operation of the travel control handle and preventing malfunction of the device due to erroneous touching of the handle.
6. The intelligent control system for a unit rack truck according to claim 1, wherein the remote control system comprises a remote control transmitter and a remote control receiver, wherein:
the remote control transmitter is used for acquiring a remote control instruction input by a user and transmitting the remote control instruction to the remote control receiver;
the remote control receiver is used for receiving the remote control instruction and sending the remote control instruction to the airborne controller, and the airborne controller receives the remote control instruction and then makes corresponding logic judgment action.
7. The intelligent control system for a unit rack truck of claim 1, wherein the sensor unit comprises a highwall ranging sensor, a track speed sensor, and a personnel proximity warning system, wherein:
the side wall ranging sensor is used for acquiring the position information of the unit bracket carrier and the side wall of the roadway, wherein the position information is the distance between the unit bracket carrier and the side wall of the roadway, and when the distance between the unit bracket carrier and the side wall of the roadway is smaller than a preset threshold value, the onboard controller generates an early warning instruction of too small distance;
the personnel approach early warning system comprises a base station device and a personnel identification card and is used for collecting position information of an operator and the unit support carrier, wherein the position information is the distance between the operator and the unit support carrier, and when the distance between the operator and the unit support carrier is smaller than a preset threshold value, the onboard controller generates an early warning instruction with too small distance.
8. The intelligent control system for a cell-stand truck of claim 1, further comprising an on-board camera and a display, the on-board camera mounted on the body of the cell-stand truck, the on-board camera connected to the on-board controller via an on-board switch for collecting image information of scene around the cell-stand truck.
9. An intelligent control method for a unit bracket carrier is characterized by comprising the following steps:
step one, mode switching: after power-on, switching a control mode of the unit bracket carrier to a remote control mode;
step two, speed adjustment: the gear adjusting switch is shifted, and the traveling speed of the unit bracket carrier is set to be the target traveling speed;
step three, observing scene information: observing scene information around the unit bracket carrier through a display, and confirming that no operation personnel and no other equipment obstacles exist around the unit bracket carrier;
step four, configuring security rights: simultaneously pressing a left walking safety switch and a right walking safety switch, activating walking safety rights, enabling the unit bracket carrier to operably walk within a preset safe and effective duration, and activating the walking rights again by pressing the left walking safety switch and the right walking safety switch again after the unit bracket carrier exceeds the safe and effective duration;
step five, controlling the crawler belt to walk: the method comprises the steps of stirring a walking mode of the crawler control handle control unit support carrier to walk within the effective duration of the safety authority, wherein the walking mode comprises forward walking, rightward turning, leftward turning and backward walking;
step six, controlling the crawler belt to stop: returning the left crawler control handle and the right crawler control handle to the middle position, and stopping the crawler of the unit bracket carrier;
step seven, controlling a fork arm mechanism: operating a fork arm mechanism handle to operate, carrying the target material, repeating the second to sixth steps, and completing an operation procedure after carrying to a designated place;
step eight, finishing the operation: and (3) turning the fork arm mechanism to one side, retracting to be flush with the machine body, extinguishing the engine of the unit bracket carrier and disconnecting the power supply.
10. The intelligent control method for a unit bracket carrier according to claim 9, wherein the unit bracket carrier walks in the following manner:
walking forward: when the left crawler control handle and the right crawler control handle simultaneously move forward, the control unit bracket carrier walks forward;
turning right: when the left crawler control handle moves forwards and the right crawler control handle does not move or moves backwards, the control unit supports the carrier to turn rightwards;
turning left: when the right crawler control handle moves forwards and the left crawler control handle does not move or moves backwards, the control unit supports the carrier to turn leftwards;
walk backwards: when the left crawler control handle and the right crawler control handle simultaneously move backwards, the control unit support carrier walks backwards.
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