Underground equipment train self-moving controller system based on wireless technology

Abstract

The invention discloses an underground equipment train self-moving controller system based on a wireless technology. The underground equipment train self-moving controller system comprises an electro-hydraulic control device, a wireless signal acquisition device, a driving device, a wireless remote control system and a sound-light alarm device. The system monitors clamping, braking and pushing states of a train in real time through a wireless pressure sensor and a distance measuring sensor, and intelligent self-moving operation of the train and a track is achieved in combination with a logical algorithm. And the controller adopts Ethernet communication and can be externally connected with a mining camera, so that video signal transmission and real-time equipment monitoring are realized. The design of the wireless sensor greatly reduces the installation difficulty, improves the installation flexibility, and reduces the cable dependence and the system power consumption. The warning lamp is integrated with a wireless communication module, does not need to be additionally provided with a wireless receiving module, and has the functions of sound-light alarm and remote control. The whole self-moving process achieves full-automatic operation through logic control and real-time data feedback, manual intervention is not needed, the device adapts to the complex underground environment, and the operation efficiency and safety are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of equipment train intelligent control systems, and more specifically to an underground equipment train self-moving controller system based on wireless technology. Background Art

[0002] In coal mine production and installation, the underground working faces and transportation routes are often complex and diverse, requiring various types of transportation equipment to adapt to various transportation requirements. In actual applications, equipment trains are often equipped with large equipment such as emulsion pumping stations, liquid tanks, tool boxes, spare parts boxes, transformers, comprehensive protection, switches, etc., which move with the advancement of the working face. Generally speaking, it is difficult to achieve rapid, accurate and effective running and moving of equipment trains in coal mine production due to their excessive length and weight. The self-moving equipment train adopts advanced technology and control systems, and is very stable during operation. It can not only reduce labor intensity, reduce labor costs, and improve work efficiency, but also ensure the life safety of underground workers.

[0003] In CN107571876A, an intelligent control system for underground equipment trains is disclosed, and the system includes a controller, a solenoid valve driver, a solenoid pilot valve and an electro-hydraulic control reversing valve, an infrared wireless communication device, a remote control device, a voice alarm device, a pressure sensor, a stroke sensor, an inclination attitude sensor, a video acquisition and transmission device, etc. The controller, the driver pilot valve and the reversing valve realize the control of the equipment train; the infrared wireless communication device and the remote control device establish a wireless connection when working, and are used to remotely operate the controller to start the self-movement of the equipment train; various sensors are used to detect and report the attitude of the train control system at various stages; the voice alarm device is used to sound an alarm during the self-movement of the train; the video acquisition and transmission device refers to the output of the working instructions in the monitoring center through the monitoring host based on the feedback of the video acquisition device, and the control is carried out through the industrial Ethernet to the electro-hydraulic control system. However, each train section uses multiple sensors, and the sensors are connected to the controller through communication lines to complete the data acquisition and reporting of each stage of the equipment train, which not only greatly increases the power consumption of the controller, but also limits the installation position of the sensor. In addition, due to the length of the communication cable and the number of controller peripheral ports, there are high requirements for the number of controllers in the control system, which increases the cost of the control system. Summary of the invention

[0004] The purpose of the present invention is to provide an underground equipment train self-moving controller system and system based on wireless technology to solve the problem in the prior art that the monitoring and equipment control of the comprehensive mining working face are divided into multiple systems, the functions are dispersed, and the mobility of the centralized control warehouse is poor and cannot move with the personnel.

[0005] In order to solve the above problems, the underground equipment train self-moving controller system based on wireless technology involved in the present invention adopts the following technical solutions: A wireless technology-based underground equipment train self-moving controller system includes an Ethernet controller, a wireless signal acquisition device, a drive device, a wireless remote control system and an audible and visual alarm device, wherein: The Ethernet controller is arranged on the equipment train and is connected to a plurality of electromagnetic pilot valves through an electromagnetic valve driver to realize the self-moving action of the equipment train; The driving device is arranged on the equipment train and is used to move the push rod by providing hydraulic power, and to promote the movement of the train or the track by the telescopic action of the push rod; The wireless signal acquisition device includes two wireless pressure sensors and a distance sensor. The two wireless pressure sensors are used to detect the braking or driving state of the clamping device of the equipment train, and the distance sensor is used to monitor the distance between the train and the ground and the displacement value of the push cylinder to determine whether the equipment train has moved in place. The wireless remote control system includes a wireless remote control and an alarm light with an integrated wireless module. The alarm light receives the signal from the wireless remote control and transmits the signal to the Ethernet controller via a cable. The Ethernet controller is also used to connect mining cameras via Ethernet communication to achieve real-time monitoring of equipment trains; The sound and light alarm device is used to provide sound and light alarm prompts during the operation of the equipment train.

[0006] Preferably, the wireless remote controller is connected to the controller in the following two ways: When the wireless remote control enters the effective range of the alarm light, it automatically identifies the number of the Ethernet controller and connects to it; The operator connects to the controller by entering the Ethernet controller number.

[0007] Preferably, when the wireless remote controller exceeds the effective control range, the Ethernet controller automatically disconnects from the wireless remote controller and stops accepting any action operation instructions from the wireless remote controller.

[0008] Preferably, the Ethernet controller has a one-key self-moving function for the equipment train, and realizes the self-moving operation of the equipment train through logic algorithms and data feedback from wireless sensors, specifically including: When the train moves by itself, the pressure sensor detects the state of the clamping device and realizes the movement of the train by extending and retracting the push rod; When the track moves by itself, the pressure sensor detects the state of the clamping device and realizes the movement of the track by extending and retracting the push rod.

[0009] Preferably, the Ethernet controller is connected to an external mining camera via an Ethernet port to transmit the video signal to a video host.

[0010] Preferably, the system has the function of providing sound and light warning prompts through alarm lights during the operation of the equipment train to ensure the safety of underground operators.

[0011] The beneficial effects of the present invention are as follows: All sensors of the present invention adopt a wireless design, which greatly reduces the difficulty of sensor installation in complex underground environments. There is no need to lay a complex cable network, and installation and debugging are more convenient and quick. When replacing or maintaining sensors, since wireless sensors do not need to connect cables or disassemble complicated line connections, the system maintenance efficiency is significantly improved. Since the sensor is wirelessly bound to the wireless receiver, there is no need to connect directly to the controller, which reduces the power consumption of the controller and makes the overall energy efficiency of the system higher. The wireless design reduces the load on the controller, thereby extending the service life of the controller and further optimizing the system operating cost.

[0012] Wireless sensors do not require cables for power supply or communication. The installation location is not limited by cable length and fixed lines. They can be flexibly arranged at the optimal monitoring point to meet different working conditions. Each wireless receiver can bind up to 40 wireless sensors, which greatly reduces the number of controllers required in the system and effectively reduces the hardware cost of the overall system.

[0013] The sound and light alarm device integrates a wireless communication module, eliminating the need for additional wireless receiving modules, making the system architecture more compact and concise. While realizing the remote control function, the alarm light also assumes the sound and light alarm function, further reducing the number of equipment and layout space. The system realizes fully automatic equipment train and track self-movement operation through logical algorithms and sensor data feedback, without manual intervention, thus improving the level of automation. Through real-time sensor feedback and one-key self-movement function, the accuracy and safety of the equipment during movement are ensured, effectively avoiding safety hazards caused by improper manual operation. The Ethernet controller integrates a switch function, which can directly connect to the mining camera and transmit the real-time video signal to the ground host, realizing remote monitoring and status visualization of the equipment train, greatly improving the intelligent monitoring capability of the system. The system of the present invention can adapt to the complex and changeable working environment underground. Through the application of wireless technology, the risk of cable damage in a humid and rugged underground environment is reduced, and the stability and reliability of the system are improved.

[0014] In summary, the present invention takes wireless technology as the core, combines advanced logic control algorithms and intelligent function design, significantly improves the automation control level and operating efficiency of underground equipment trains, and has good promotion and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment: Figure 1 This is a circuit structure diagram of an underground equipment train self-movement controller system based on wireless technology according to Embodiment 1 of the present invention; Figure 2 1 is a circuit structure diagram of an underground equipment train self-moving controller system based on wireless technology according to a second embodiment of the present invention; Figure 3 It is a circuit structure diagram of an underground equipment train self-movement controller system based on wireless technology according to the third embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the technical purpose, technical solution and beneficial effects of the present invention clearer, the technical solution of the present invention is further described below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0017] The underground equipment train self-moving controller system based on wireless technology in a preferred embodiment of the present invention is as follows Figure 1 As shown, it includes an Ethernet controller, a wireless signal acquisition device, a drive device, a wireless remote control system and an audible and visual alarm device, wherein: The Ethernet controller is arranged on the equipment train and is connected to a plurality of electromagnetic pilot valves through an electromagnetic valve driver to realize the self-moving action of the equipment train; The driving device is arranged on the equipment train and is used to move the push rod by providing hydraulic power, and to promote the movement of the train or the track by the telescopic action of the push rod; The wireless signal acquisition device includes two wireless pressure sensors and a distance sensor. The two wireless pressure sensors are used to detect the braking or driving state of the clamping device of the equipment train, and the distance sensor is used to monitor the distance between the train and the ground and the displacement value of the push cylinder to determine whether the equipment train has moved in place. The wireless remote control system includes a wireless remote control and an alarm light with an integrated wireless module. The alarm light receives the signal from the wireless remote control and transmits the signal to the Ethernet controller via a cable. The Ethernet controller is also used to connect mining cameras via Ethernet communication to achieve real-time monitoring of equipment trains; The sound and light alarm device is used to provide sound and light alarm prompts during the operation of the equipment train.

[0018] The wireless remote controller is connected to the controller in the following two ways: When the wireless remote control enters the effective range of the alarm light, it automatically identifies the number of the Ethernet controller and connects to it; The operator connects to the controller by entering the Ethernet controller number.

[0019] When the wireless remote controller exceeds the effective control range, the Ethernet controller automatically disconnects from the wireless remote controller and stops accepting any action operation instructions from the wireless remote controller.

[0020] The Ethernet controller has a one-key self-moving function for the equipment train, and realizes the self-moving operation of the equipment train through logic algorithms and data feedback from wireless sensors, specifically including: When the train moves by itself, the pressure sensor detects the state of the clamping device of the equipment train and realizes the movement of the train by extending and retracting the push rod; When the track moves by itself, the pressure sensor detects the state of the clamping device of the equipment train and realizes the movement of the track by extending and retracting the push rod.

[0021] The Ethernet controller is connected to an external mining camera via an Ethernet port to transmit video signals to a video host.

[0022] The system has the function of providing sound and light warning prompts through alarm lights during the operation of the equipment train to ensure the safety of underground operators.

[0023] Specific: The Ethernet controller controls multiple electromagnetic pilot valves through the electromagnetic valve driver. Each pilot valve corresponds to a different action to realize the lifting, clamping, pushing and other self-moving actions of the train.

[0024] The wireless signal acquisition device includes a wireless pressure sensor and a distance measuring sensor. The wireless pressure sensor is used to detect whether the train clamping device is in a braking or driving state; the distance measuring sensor is used to detect the distance between the train and the ground and the displacement value of the push cylinder to ensure that the equipment train is normally lifted and pushed into place.

[0025] The drive device is connected to the electro-hydraulic control device (Ethernet controller) and completes the specific movement of the train by receiving control signals. The drive device is a push cylinder, which is provided with a push rod; The wireless remote control system consists of a wireless remote control and an alarm light with an integrated wireless module. There is no need to configure a wireless receiving module separately. After the alarm light receives the remote control signal, it transmits the signal to the controller through a cable.

[0026] The sound and light alarm device will give out sound and light alarms when the train is moving to alert passing personnel and ensure operational safety.

[0027] The Ethernet controller is connected to the mining camera through the Ethernet port to realize video signal transmission and intelligent monitoring of equipment trains.

[0028] This system uses wireless sensor technology, which significantly reduces the difficulty of installation and maintenance for underground workers. Wireless sensors do not require cables for power supply or communication, and the installation location is more flexible, especially suitable for complex underground environments. Each wireless receiver can bind up to 40 wireless sensors, greatly reducing the number of controllers required and reducing the overall system cost.

[0029] Specific working process (1) Manual control mode The operator directly controls the movement of the equipment train through the controller. The Ethernet controller drives the electro-hydraulic control device through the logic algorithm and receives the data feedback of the wireless sensor in real time, such as the pressure sensor to detect whether the clamping device is braking, the distance sensor to determine whether the train is lifting normally, etc. In addition, the alarm light will sound and light alarm when the train is moving, reminding the surrounding personnel to pay attention to safety.

[0030] (2) Wireless remote control mode The wireless remote controller can automatically bind the controller number within the effective range of the alarm light, or it can be connected by manually entering the Ethernet controller number. The operator directly controls the train movement through the remote controller. If the remote controller is out of the effective range, the controller will automatically disconnect and stop accepting action instructions, thereby ensuring the safety of the equipment.

[0031] (3) Train self-movement mode After the train self-moving mode is started with one button, the system first feedbacks the status of the train clamping device through the pressure sensor; the distance sensor detects whether the train is fixed on the track; then, the drive device releases the brake, the push rod extends and monitors the distance value in real time, pushing the train forward; after the train moves, the pressure sensor detects the status of the clamping device, the push rod retracts to complete a cycle, and the system continues to the next cycle until the train moves to the specified position.

[0032] (4) Track self-movement mode When the track self-movement mode is started, the system detects the state of the train clamping device through the pressure sensor, and the auxiliary support device is propped up to ensure that the train has no contact with the track; the drive device controls the extension and retraction of the push rod, and the distance value is fed back by the distance sensor to complete the step movement of the track. After the track self-movement is completed, the system automatically fixes the train back to the track.

[0033] Intelligent monitoring function The controller peripheral interface has an Ethernet port and an internal integrated switch, which can be connected to an external mining camera and transmit the video signal to the video host to achieve real-time monitoring and remote operation of the equipment train.

[0034] In this embodiment, the core optimization of the system is: After the wireless sensor is bound, it does not need to be connected to the controller. After the sensor is bound to the wireless receiver through the wireless signal, it is no longer directly connected to the controller, which greatly reduces the power consumption of the controller and makes the sensor layout more flexible.

[0035] The alarm light with integrated wireless module integrates the wireless communication module, which can realize remote control operation without the need for additional wireless receiving module, further simplifying the system architecture and reducing costs.

[0036] The modular design reduces maintenance costs. The controller can be replaced independently and each wireless receiver can manage up to 40 wireless sensors, making maintenance more economical and efficient.

[0037] like Figure 2 As shown in the figure, the specific process of train self-movement is as follows: Start-up process: The train self-movement process is triggered by the start command, and the system enters the self-movement control mode.

[0038] Braking device detection: The system detects whether the train clamp is in the braking state through the pressure sensor. If the braking state is not detected, the system performs the braking device operation to ensure that the train clamp is properly braked.

[0039] Auxiliary support stowage detection: The system uses the distance sensor to confirm whether the auxiliary support has been stowed. If not, the system starts the auxiliary support stowage operation.

[0040] Drive unit detection: The system detects whether the drive unit is in the clamping state through the pressure sensor. If the drive state is not detected, the system performs the drive unit operation to complete the clamping.

[0041] Push rod extension detection: The system detects whether the push rod has been extended to the right position through the distance measuring sensor. If not, the system starts the push rod extension operation.

[0042] Train movement detection: The system monitors the moving distance of the train through the distance measuring sensor to determine whether the train has completed the target step. If it has not reached the target position, the system continues to control the push rod to advance the train.

[0043] Brake release detection: The system detects whether the train brake is released through a pressure sensor. If not, the system performs a brake release operation to ensure that the clamping state can be released after the train moves.

[0044] Push rod retraction detection: The system detects whether the push rod is fully retracted through the distance sensor. If it is not fully retracted, the system starts the push rod retraction operation.

[0045] End of process: After completing the above cycle steps, the system determines whether the train has reached the target position. If it has not reached the target position, the system re-enters the cycle process and continues to execute from the brake device detection step; if it has reached the target position, the self-movement operation ends.

[0046] Through the above process, the equipment train can complete the self-moving operation efficiently and safely. The whole process is automatically completed by the controller based on the logic algorithm and data feedback from the wireless sensor, without the need for human intervention.

[0047] like Figure 2 As shown in the figure, the specific process of track self-movement is described as follows: Start-up process: The track self-movement process is triggered by the start command, and the system enters the self-movement control mode.

[0048] Braking device detection: The system detects whether the train clamp is in the braking state through the pressure sensor. If the braking state is not detected, the system performs the braking device operation to ensure that the train clamp is properly braked.

[0049] Auxiliary support propping detection: The system uses the distance sensor to confirm whether the auxiliary support has been propped up. If not, the system starts the auxiliary support propping up operation.

[0050] Drive device release detection: The system detects whether the drive device is released through the pressure sensor. If not, the system performs the drive device release operation to release the clamping device.

[0051] Push rod extension detection: The system uses the distance sensor to detect whether the push rod has been extended to the correct position. If not, the system starts the push rod extension operation until the appropriate displacement value is reached.

[0052] Brake release detection: The system detects whether the train brake is released through the pressure sensor. If not, the system performs the brake release operation.

[0053] Push rod retraction detection: The system detects whether the push rod is fully retracted through the distance sensor. If it is not fully retracted, the system starts the push rod retraction operation to ensure the completion of the single-step movement of the track.

[0054] Auxiliary support drop detection: The system uses distance sensors to confirm whether the auxiliary support has dropped. If not, the system starts the auxiliary support drop operation to ensure that the train is fixed back on the track.

[0055] Loop judgment: The system judges whether the track self-movement has completed the target displacement. If not, the system re-enters the process and starts from the brake device detection step; if it has been completed, the system ends the track self-movement operation.

[0056] End process: After the entire track self-movement operation is completed, the system exits the self-movement mode and waits for the next operation instruction.

[0057] Through the above steps, the system can realize automatic movement of the track and ensure the accuracy and safety of the operation through real-time monitoring by sensors. The entire process does not require human intervention and is completely dependent on the controller's logical algorithm and sensor data feedback.

[0058] All sensors of the present invention adopt wireless design, which greatly reduces the difficulty of sensor installation in complex underground environments. There is no need to lay complex cable networks, and installation and debugging are more convenient and quick. When replacing or maintaining sensors, since wireless sensors do not need to connect cables or dismantle complicated line connections, the system maintenance efficiency is significantly improved. Since the sensor is wirelessly bound to the wireless receiver, there is no need to connect directly to the controller, which reduces the power consumption of the controller and makes the overall energy efficiency of the system higher. The wireless design reduces the load on the controller, thereby extending the service life of the controller and further optimizing the system operating cost.

[0059] Wireless sensors do not require cables for power supply or communication. The installation location is not limited by cable length and fixed lines. They can be flexibly arranged at the optimal monitoring point to meet different working conditions. Each wireless receiver can bind up to 40 wireless sensors, which greatly reduces the number of controllers required in the system and effectively reduces the hardware cost of the overall system.

[0060] The sound and light alarm device integrates a wireless communication module, eliminating the need for additional wireless receiving modules, making the system architecture more compact and concise. While realizing the remote control function, the alarm light also assumes the sound and light alarm function, further reducing the number of equipment and layout space. The system realizes fully automatic equipment train and track self-movement operation through logical algorithms and sensor data feedback, without manual intervention, thus improving the level of automation. Through real-time sensor feedback and one-key self-movement function, the accuracy and safety of the equipment during movement are ensured, effectively avoiding safety hazards caused by improper manual operation. The Ethernet controller integrates a switch function, which can directly connect to the mining camera and transmit the real-time video signal to the ground host, realizing remote monitoring and status visualization of the equipment train, greatly improving the intelligent monitoring capability of the system. The system of the present invention can adapt to the complex and changeable working environment underground. Through the application of wireless technology, the risk of cable damage in a humid and rugged underground environment is reduced, and the stability and reliability of the system are improved.

[0061] In summary, the present invention takes wireless technology as the core, combines advanced logic control algorithms and intelligent function design, significantly improves the automation control level and operating efficiency of underground equipment trains, and has good promotion and application value.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate but not limit the technical solutions of the present invention, and any equivalent substitutions of the present invention and any modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A wireless technology-based underground equipment train self-moving controller system, characterized in that: It includes an Ethernet controller, a wireless signal acquisition device, a drive device, a wireless remote control system and an audible and visual alarm device, wherein: The Ethernet controller is arranged on the equipment train and is connected to a plurality of electromagnetic pilot valves through an electromagnetic valve driver to realize the self-moving action of the equipment train; The driving device is arranged on the equipment train and is used to move the push rod by providing hydraulic power, and to promote the movement of the train or the track by the telescopic action of the push rod; The wireless signal acquisition device includes two wireless pressure sensors and a distance sensor. The two wireless pressure sensors are used to detect the braking or driving state of the clamping device of the equipment train, and the distance sensor is used to monitor the distance between the train and the ground and the displacement value of the push cylinder to determine whether the equipment train has moved in place. The wireless remote control system includes a wireless remote control and an alarm light with an integrated wireless module. The alarm light receives the signal from the wireless remote control and transmits the signal to the Ethernet controller via a cable. The Ethernet controller is also used to connect mining cameras via Ethernet communication to achieve real-time monitoring of equipment trains; The sound and light alarm device is used to provide sound and light alarm prompts during the operation of the equipment train.

2. The underground equipment train self-moving controller system based on wireless technology according to claim 1 is characterized in that: The wireless remote controller is connected to the controller in the following two ways: One is: when the wireless remote control enters the effective range of the alarm light, it automatically recognizes the number of the Ethernet controller and then connects; Another is that the operator realizes connection with the Ethernet controller by inputting the Ethernet controller number.

3. The underground equipment train self-moving controller system based on wireless technology according to claim 1 is characterized in that: When the wireless remote controller exceeds the effective control range, the Ethernet controller automatically disconnects from the wireless remote controller and stops accepting any action operation instructions from the wireless remote controller.

4. The underground equipment train self-movement controller system based on wireless technology according to claim 1 is characterized in that: The Ethernet controller has a one-key self-moving function for the equipment train, and realizes the self-moving operation of the equipment train through logic algorithms and data feedback from wireless sensors, specifically including: When the train moves by itself, the pressure sensor detects the state of the clamping device and realizes the movement of the train by extending and retracting the push rod; When the track moves by itself, the pressure sensor detects the state of the clamping device and realizes the movement of the track by extending and retracting the push rod.

5. The underground equipment train self-movement controller system based on wireless technology according to claim 1 is characterized in that: The Ethernet controller is connected to an external mining camera via an Ethernet port to transmit video signals to a video host.

6. The underground equipment train self-movement controller system based on wireless technology according to claim 1 is characterized in that: The system has the function of providing sound and light warning prompts through alarm lights during the operation of the equipment train to ensure the safety of underground operators.

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