A remote-controlled electro-hydraulic control system for hydraulic supports

Abstract

The present invention discloses a remote-controlled electro-hydraulic control system for hydraulic supports, which relates to the field of hydraulic support control. The system includes a shearer position transmitting device, multiple hydraulic supports and at least one support remote controller. Each hydraulic support includes a support controller sealed on the hydraulic support and an independently arranged multi-functional emergency stop switch device. An emergency stop switch is arranged on the multi-functional emergency stop switch device, and the multi-functional emergency stop switch device is wirelessly communicatively connected to the shearer position transmitting device; a keyboard for human-computer interaction is arranged on the support remote controller, and the support remote controller is wirelessly communicatively connected to each multi-functional emergency stop switch device. Therefore, the support controller of the present invention is protected from moisture to affect its performance and service life, and the emergency stop switch, keyboard, etc. ensure performance, thus ensuring the real-time performance, stability and reliability of the entire system.

Description

Technical Field

[0001] The present invention relates to the technical field of electro-hydraulic control systems for hydraulic supports in fully mechanized coal mining faces, and particularly to a remote-controlled electro-hydraulic control system for hydraulic supports. Background Art

[0002] The electro-hydraulic control system for hydraulic supports in fully mechanized coal mining faces is a key technology for automatic control in fully mechanized coal mining faces. Especially for the electro-hydraulic control system for hydraulic supports used in fully mechanized coal mining faces, generally there are 100 - 200 hydraulic supports in a working face. A set of support control units are installed on each hydraulic support. The support control unit consists of a support controller and sensors, etc. The support controllers are interconnected through cable connectors. Existing support controllers are all equipped with an operation keyboard, an emergency stop button, a display, an indicator light, a buzzer, a driver, etc.

[0003] During the production process of the working face, a large amount of dust is generated when the shearer cuts coal. During coal cutting, the shearer and the hydraulic supports will continuously spray dust suppression. A large amount of dust and water mist are deposited on the operation keyboard of the support controller, affecting the operation of workers. In order to facilitate operation and carry out standardized operations, workers will use a high-pressure water gun to wash the operation keyboard of the support controller. Therefore, the keyboards of the support controllers used in underground working faces often get damp, and even the support controllers may get water in them. It is often necessary to replace the operation keyboard of the support controller underground, or even replace the entire support controller, increasing the maintenance amount of the support controllers in the working face. The reliability of the electro-hydraulic control system for hydraulic supports cannot meet the normal production requirements of the working face.

[0004] At the same time, since each unit is equipped with an operation keyboard and an operation can only be done after cutting one knife of coal, the operation keyboard cannot be used at all during the automated operation following the shearer. The utilization rate of the operation keyboard is not high, and at the same time, it also greatly increases the system usage cost.

[0005] In addition, the automatic control of hydraulic supports mainly relies on the position information of the shearer. The position information of the shearer is obtained by installing an infrared transmitter on the shearer and an infrared receiver on each hydraulic support. The infrared transmitter emits infrared signals, and the infrared receiver on the hydraulic support receives the infrared signals, and then reports them to the signal converter at the end of the working face through the support controller. Through calculation on the signal converter, the position of the shearer is obtained, and then it is sent to the entire working face. The electro-hydraulic control system for hydraulic supports in the working face automatically controls the actions of the hydraulic supports based on the position information of the shearer and according to the coal mining process, realizing automatic movement of the hydraulic supports, automatic pushing of the scraper conveyor, etc. However, in the actual application process, due to the influence of the dust in the working face, the infrared receiver is often contaminated with dust, and even the infrared receiver may get water in it, resulting in unstable operation or even non-operation of the infrared receiver, making the position calculated by the signal converter discontinuous and often jumping, resulting in unreliable automated function following the shearer of the hydraulic supports.

[0006] All of the above factors directly affect the reliability and stability of the electro-hydraulic control system of hydraulic supports, increase the maintenance cost of the electro-hydraulic control system of hydraulic supports, and directly affect the use effect of the automation following the shearer of the electro-hydraulic control system of hydraulic supports. Summary of the Invention

[0007] In view of the above deficiencies, the technical problem to be solved by the present invention is: to provide a remote control type electro-hydraulic control system for hydraulic supports, which separates movable components such as the operation keyboard and emergency stop and locking switch on the support controller, avoids the support controller from getting damp, improves the reliability of the support controller, and adopts a wireless communication ranging method for the position identification of the shearer, improves the stability and reliability of the shearer position detection, and further reduces the cost of the entire system.

[0008] To solve the above technical problems, the technical solution of the present invention is:

[0009] A remote control type electro-hydraulic control system for hydraulic supports, including a shearer position transmitting device and multiple hydraulic supports. Each of the hydraulic supports includes a support controller and a multi-functional emergency stop switch device which are electrically connected. The support controller is sealed on the hydraulic support, and the multi-functional emergency stop switch device is independently arranged; an emergency stop switch for emergency stop and locking is arranged on the multi-functional emergency stop switch device; the system further includes at least one support remote controller, a keyboard for human-computer interaction is arranged on the support remote controller, and the support remote controller is wirelessly communicatively connected to each of the multi-functional emergency stop switch devices; the support remote controller transmits data to the multi-functional emergency stop switch device that establishes a wireless connection with it, and the multi-functional emergency stop switch device then transmits the data to the corresponding support controller. The support controller controls the hydraulic support where it is located or transmits the data to the support controller of the hydraulic support selected by the support remote controller according to the data; the shearer position transmitting device is wirelessly communicatively connected to each of the multi-functional emergency stop switch devices; the shearer position transmitting device determines the multi-functional emergency stop switch device with the closest distance through a wireless ranging method, establishes a wireless communication connection with the multi-functional emergency stop switch device, takes the support code of the hydraulic support where the multi-functional emergency stop switch device is located as a position signal, the position signal is transmitted to the multi-functional emergency stop switch device through wireless communication, and the multi-functional emergency stop switch device then transmits it to the corresponding support controller, and the support controller then transmits it to the support controllers of each of the hydraulic supports.

[0010] Preferably, each of the support controllers is sealed by a full potting method.

[0011] Preferably, the multifunctional emergency stop switch device includes a first wireless communication module and a first wired communication module; the multifunctional emergency stop switch device performs wireless communication and data transmission with the support remote controller through the first wireless communication module;

[0012] The multifunctional emergency stop switch device is electrically connected to the second wired communication module of the support controller through the first wired communication module for data transmission.

[0013] Preferably, the multifunctional emergency stop switch device is electrically connected to the support controller through a 4-core cable, and the 4-core cable includes a power line, a power feeder, a ground wire, and a first CAN bus; both the first wired communication module and the second wired communication module are CAN bus communication modules, and the first CAN bus is electrically connected to the first wired communication module and the second wired communication module.

[0014] Preferably, the support controllers of two adjacent hydraulic supports are electrically connected through a 4-core cable, and the 4-core cable includes a power line, a ground wire, a second CAN bus, and a one-way communication line; the one-way communication line is used for communication and data transmission between two adjacent hydraulic supports; the second CAN bus is CAN_BUS, and the CAN_BUS lines of all support controllers are connected together to achieve point-to-point data transmission.

[0015] Preferably, the support remote controller includes a second wireless communication module, and the second wireless communication module is used for wireless communication and data transmission with the first wireless communication module.

[0016] Preferably, the coal shearer position transmitting device includes a third wireless communication module and a distance calculation unit, and the third wireless communication module is used for wireless communication and data transmission with the first wireless communication module; the distance calculation unit measures the distance by using the wireless ranging function.

[0017] Preferably, the wireless communication is UWB wireless communication or Zigbee wireless communication.

[0018] Preferably, the multifunctional emergency stop switch device includes a power supply module, an emergency stop and locking module, and a display module. The power supply module is electrically connected to the drive module of the corresponding support controller through a power supply feeder line; the emergency stop and locking module includes the emergency stop switch. When the emergency stop switch operates, the power supply feeder line loses power, causing the drive module to lose power and the hydraulic support to stop operating. The multifunctional emergency stop switch device generates an emergency stop signal or a locking signal, and transmits it to the support controller through the first CAN bus. The support controller performs an emergency stop or locking, or the support controller transmits an emergency stop signal to the support controllers of each hydraulic support through the second CAN bus; the display module is used to display the states of the system.

[0019] Preferably, the multifunctional emergency stop switch device further includes an audible and visual alarm module. The audible and visual alarm module includes a multi-color indicator light and a buzzer. The multi-color indicator light is arranged around the emergency stop switch.

[0020] After adopting the above technical solutions, the beneficial effects of the present invention are as follows:

[0021] Since the remote control type electro-hydraulic control system of the hydraulic support of the present invention includes a shearer position transmitting device, multiple hydraulic supports, and at least one support remote controller. Each hydraulic support includes a support controller sealed on the hydraulic support and an independently provided multifunctional emergency stop switch device. The multifunctional emergency stop switch device is provided with an emergency stop switch for emergency stop and locking, and the multifunctional emergency stop switch device is wirelessly communicatively connected to the shearer position transmitting device; the support remote controller is provided with a keyboard for human-machine interaction, and the support remote controller is wirelessly communicatively connected to each multifunctional emergency stop switch device. As can be seen from the above, the support controller sealed is protected from moisture, which affects its performance and service life. In the prior art, movable components such as the keyboard and emergency stop switch provided on the support controller are separately arranged on the multifunctional emergency stop switch device or the support remote controller, so that the keyboard, emergency stop switch, etc. will not accumulate dust or be affected by moisture, thus affecting their performance and service life.

[0022] During use, the data input by the support remote controller through the keyboard is transmitted wirelessly to the multifunctional emergency stop switch device, and then the multifunctional emergency stop switch device transmits it to the support controller electrically connected to it. The support controller controls the hydraulic support where it is located according to the data, or transmits the data to each hydraulic support on the working face to realize the control of the entire system. Similarly, the emergency stop signal or locking signal generated by the multifunctional emergency stop switch device can be transmitted to the support controller where it is located or all the support controllers on the working face, so as to realize the emergency stop or locking control of the entire system.

[0023] Since each support controller is sealed in a fully potted manner, the support controller is protected from moisture and dust deposition, which affects its performance and service life.

[0024] Since the multi-functional emergency stop switch device is electrically connected to the support controller through a 4-core cable, the 4-core cable includes a power line, a power feeder, a ground wire, and a first CAN bus; both the first wired communication module and the second wired communication module are CAN bus communication modules, and the first CAN bus is electrically connected to the first wired communication module and the second wired communication module to reliably transmit data using the CAN bus.

[0025] Since the support controllers of adjacent two hydraulic supports are electrically connected through a 4-core cable, the 4-core cable includes a power line, a ground wire, a second CAN bus, and a one-way communication line. The one-way communication line is used for point-to-point communication between adjacent two hydraulic supports, and the second CAN bus is CAN_BUS. The CAN_BUS lines of all support controllers are overlapped together to achieve point-to-point data transmission; the internal control of each hydraulic support is realized through the 4-core cable, further improving the stability and reliability of the system.

[0026] Since the wireless communication is UWB wireless communication or Zigbee wireless communication, the control of the entire system is realized using wireless communication.

[0027] Since the multi-functional emergency stop switch device further includes an audible and visual alarm module, the audible and visual alarm module includes a multi-color indicator light and a buzzer. The multi-color indicator light is arranged around the emergency stop switch in a ring shape; the audible and visual signals of the multi-functional emergency stop switch device are used to give a warning to the entire system.

[0028] In summary, compared with the prior art, the remote control type electro-hydraulic control system of hydraulic supports of the present invention solves the technical problem that the stability and reliability of the entire system are affected due to the moisture of the support controller in the prior art; by removing the keyboard on the support controller and replacing it with the keyboard on the support remote control, the number of keyboards is reduced, the input cost is lowered, and the support remote control held by the operator improves the use environment, enhances the reliability and service life of the keyboard, and is also convenient for operating at the place where the movement of the support can be observed, improving the convenience of operation of the electro-hydraulic control system of the support; at the same time, the independently arranged multi-functional emergency stop switch device can be installed at a suitable position according to requirements, improving the applicability of the system and the safety performance of the working face; the position of the shearer is located by using a wireless communication method, improving the adaptability of the shearer position detection system to the harsh production environment, reducing the remote transmission time of position information and the reliability problem of transmission, and improving the reporting efficiency and response time of the shearer position. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic block diagram of the remote control type electro-hydraulic control system of hydraulic supports of the present invention;

[0030] Figure 2 is a schematic diagram of the multi-functional emergency stop switch device in the present invention;

[0031] Figure 3 It is another perspective schematic diagram of the multifunctional emergency stop switch device in the present invention;

[0032] Figure 4 It is a schematic diagram of the principle of UWB wireless ranging;

[0033] Figure 5 It is a schematic diagram of the principle of ZigBee wireless ranging;

[0034] In the figure: 1 - Bracket controller, 2 - Multifunctional emergency stop switch device, 20 - Emergency stop switch, 200 - Mushroom head button, 21 - Red LED light, 23 - CAN bus communication module, 24 - First wireless communication module, 25 - Display screen, 26 - Buzzer, 3 - Bracket remote controller, 4 - Shearer position transmitting device, 5 - Coupler, 6 - Power supply box, 7 - 4 - core connector. Specific implementation manners

[0035] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and 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.

[0036] Embodiment 1:

[0037] As Figures 1 to 4 Collectively shown, a remote - controlled electro - hydraulic control system for hydraulic supports includes multiple hydraulic supports, a shearer position transmitting device 4, a coupler 5, and a power supply box 6. Each hydraulic support includes a bracket controller 1 and a multifunctional emergency stop switch device 2 that are electrically connected. The bracket controller 1 is sealed on the hydraulic support, and the multifunctional emergency stop switch device 2 is independently arranged.

[0038] Among them, the power supply box 6 supplies power to the bracket controller 1, the multifunctional emergency stop switch device 2, and the coupler 5; the coupler 5 is used to isolate different power groups and can realize communication between bracket controllers 1.

[0039] Among them, an emergency stop switch 20 for emergency stop and locking is provided on the multifunctional emergency stop switch device.

[0040] The system further includes at least one bracket remote controller 3. A keyboard for human - machine interaction is provided on the bracket remote controller 3. The bracket remote controller 3 is wirelessly communicatively connected to each multifunctional emergency stop switch device. The bracket remote controller 3 transmits data to the multifunctional emergency stop switch device 2 that establishes a wireless connection with it, and the multifunctional emergency stop switch device 2 then transmits the data to the corresponding bracket controller 1. The bracket controller 1 controls the hydraulic support where it is located or transmits data to the bracket controller 1 of the hydraulic support selected by the bracket remote controller 3 according to the data.

[0041] The coal shearer position transmitter 4 and each multi-functional emergency stop switch device 2 are both connected by wireless communication; the coal shearer position transmitter 4 determines the multi-functional emergency stop switch device 2 with the shortest distance through wireless ranging, and establishes a wireless communication connection with this multi-functional emergency stop switch device 2, taking the support code of the hydraulic support where this multi-functional emergency stop switch device 2 is located as the position signal. This position signal is transmitted to this multi-functional emergency stop switch device 2 through wireless communication, and then this multi-functional emergency stop switch device 2 transmits it to the corresponding support controller 1, and the support controller 1 then transmits it to the support controllers 1 of each hydraulic support.

[0042] As Figure 1 As shown, when the remote control type electro-hydraulic control system of the hydraulic support of the present invention is in use, the support remote controller 3 establishes a wireless communication connection with a certain multi-functional emergency stop switch device 2. In this example, the support remote controller 3 uses the wireless ranging function to determine the multi-functional emergency stop switch device 2 with the shortest distance to it and establishes a wireless communication connection with it. Similarly, the coal shearer position transmitter 4 establishes a wireless communication connection with a certain multi-functional emergency stop switch device 2. In this example, it establishes a wireless communication connection with the multi-functional emergency stop switch device 2 with the shortest distance. Then, the operator operates the keyboard on the support remote controller 3 to input control data or parameters, function settings and other data of the hydraulic supports on the working face. The data is transmitted to the corresponding support controller 1 to realize the control of the hydraulic supports. After the coal shearer position transmitter 4 determines the position signal, the position signal is transmitted to the support controllers 1 of each hydraulic support on the working face to realize coal mining control. When in use, the emergency stop signal and locking signal generated by the multi-functional emergency stop switch device 2 are transmitted to the hydraulic supports on the working face to realize locking and emergency stop control. It can be seen that all the hydraulic supports on the working face can be controlled by using this system. Also, because the support remote controller 3 and the multi-functional emergency stop switch device 2 used in the invention will not get damp, the data transmission of the whole system is more real-time, stable and reliable, and further makes the control of all the hydraulic supports on the working face more stable and reliable.

[0043] The support remote controller 3 includes a battery for power supply, a keyboard and a second wireless communication module. The keyboard is used for human-computer interaction, and the second wireless communication module is used for wireless communication and data transmission with the first wireless communication module 24 (of the multi-functional emergency stop switch device). A control unit can be arranged inside the support controller 1. This control unit is electrically connected to the battery, the keyboard and the second wireless communication module respectively. The control unit is used to identify the key pressing action, and has a built-in wireless ranging function in the control unit to control the second wireless communication module to establish a wireless communication connection with the first wireless communication module 24 for data transmission. The control unit is but not limited to a single-chip microcomputer. Since the electrical connections between the single-chip microcomputer and the second wireless communication module and the keyboard are all prior arts, they will not be described in detail here.

[0044] In this example, each support remote controller 3 has a fixed ID number built in, and the support remote controller 3 is identified by the ID number. Through the wireless ranging function, the support remote controller 3 automatically scans and identifies the multi-functional emergency stop switch device 2 of the nearest hydraulic support, and automatically establishes a wireless communication connection with it to transmit data.

[0045] As Figure 2 and Figure 3 shown, the multi-functional emergency stop switch device 2 includes a first wireless communication module 24 and a first wired communication module; the multi-functional emergency stop switch device 2 performs wireless communication and data transmission with the support remote controller 3 through the first wireless communication module 24, and is electrically connected to the second wired communication module of the support controller through the first wired communication module to transmit data.

[0046] As Figure 2 shown, the multi-functional emergency stop switch device 2 is electrically connected to the support controller of the hydraulic support where it is located through a 4-core cable. 4-core connectors 7 are provided on both the support controller 1 and the multi-functional emergency stop switch device 2. The 4-core cable includes a power line, a power feeder, a ground wire, and a first CAN bus; both the first wired communication module and the second wired communication module are CAN bus communication modules 23, and the first CAN bus is electrically connected to the first wired communication module and the second wired communication module.

[0047] The multi-functional emergency stop switch device 2 includes a power supply module, an emergency stop and locking module, and a display module. Among them, the power supply module is electrically connected to the drive module of the support controller where it is located through the power feeder; the emergency stop and locking module includes an emergency stop switch 20. When the emergency stop switch 20 operates, the power feeder loses power, causing the drive module of the support controller to power off, so that the hydraulic support where it is located stops operating to achieve the purpose of emergency stop. At the same time, the multi-functional emergency stop switch device 2 generates an emergency stop signal, and the emergency stop signal is transmitted to the support controller of the hydraulic support where it is located through the first CAN bus. The support controller performs an emergency stop and transmits the emergency stop signal to each hydraulic support on the working face through the second CAN bus, so that all hydraulic supports stop operating and enter the emergency stop state. When the emergency stop switch 20 operates and enters the locked state, the multi-functional emergency stop switch device 2 generates a locking signal, and the locking signal is transmitted to the support controller of the hydraulic support where it is located through the first CAN bus, and the hydraulic support enters the locked state.

[0048] As Figure 2 and Figure 3As shown, in this example, the emergency stop switch 20 is a red mushroom head button 200. The mushroom head button 200 is a switch with a self-locking function. Pressing the switch directly is for emergency stop, and rotating it 90° is for locking. When the switch is rotated to 90°, it is for locking control, causing the 12V power feeder to lose power, making the driving circuit module of the support controller de-energized, stopping the actions of the hydraulic support where it is located. At the same time, the multifunctional emergency stop switch device 2 will also send a locking signal to the support controller through the first CAN bus, making the support controller 1 of the hydraulic support where it is located in a locked state.

[0049] As Figure 2 shown, the display module of the multifunctional emergency stop switch device 2 is used to display the various states of the system. The display module includes a display screen 25. When the multifunctional emergency stop switch device 2 establishes a wireless communication connection with the support remote control 3, its display screen 25 can be used to display the number of the hydraulic support where it is located, display the data input by the support controller through the keyboard, display the control parameters of the hydraulic support where it is located, display the sensor data, display the emergency stop or locking state, etc.; that is, the display screen 25 of the multifunctional emergency stop switch device 2 is used as the display screen of the entire system, so that there is no need to set a display screen on the support remote control 3, optimizing the structure and making reasonable use. A control unit can be set in the multifunctional emergency stop switch device 2. The control unit is but not limited to a single-chip microcomputer. This single-chip microcomputer is electrically connected to each module respectively to control the operation of each module. And the single-chip microcomputer controlling the operation of each module is prior art and will not be described in detail here.

[0050] As Figure 2 and Figure 3 shown, the multifunctional emergency stop switch device 2 also includes an audible and visual alarm module. The audible and visual alarm module includes a multicolor indicator light and a buzzer 26. The multicolor indicator light includes a red LED light 21 and a yellow LED light arranged around the emergency stop switch 20. After the emergency stop switch 20 operates, the red LED light 21 lights up. In this example, the red indicator lights 10 and the yellow LED lights around the emergency stop switch 20. When the emergency stop switch 20 operates and enters the emergency stop state, the red LED light is lit. The multifunctional emergency stop switch device 2 can also cut off the power feeding line between the emergency stop switch 20 and the support controller through a relay. After entering the locked state, the yellow indicator light is lit at this time.

[0051] In this example, each support controller is sealed in a fully potted manner, and all movable parts on each hydraulic support can be arranged on the support remote control 3; thereby improving the reliability of the electro-hydraulic control system of the hydraulic support.

[0052] As Figure 1As shown, the support controllers 1 of two adjacent hydraulic supports are electrically connected through a 4-core cable. The 4-core cable includes a power line, a ground line, a second CAN bus, and a one-way communication line. The one-way communication line is used for point-to-point communication between two adjacent hydraulic supports. The second CAN bus is CAN_BUS. The CAN_BUS lines of all support controllers 1 are connected together to achieve point-to-point data transmission. This structure is a wired connection.

[0053] After the support remote controller 3 establishes a wireless communication connection with the near multi-functional emergency stop switch device 2, when operating the support remote controller 3 to control the hydraulic support, the hydraulic support to be controlled should be selected first, such as the left adjacent hydraulic support or the right adjacent hydraulic support. Then the support remote controller 3 transmits the control data to the multi-functional emergency stop switch device 2 connected to it. The multi-functional emergency stop switch device 2 transmits the control data to the support controller 1 of the hydraulic support where it is located. After the support controller 1 analyzes the control data, through the one-way communication line leading to the adjacent support, in this example, the one-way communication line is the LIN bus (serial communication bus), the control data is transmitted to the support controller of the selected hydraulic support. When the controlled hydraulic support is selected, the hydraulic support enters the controlled state. The support controller 1 of this hydraulic support transmits the control data to the multi-functional emergency stop switch device 2 of the hydraulic support where it is located, and displays the status, warning prompts, etc. through the display screen 25 of the multi-functional emergency stop switch device 2. At the same time, the multi-functional emergency stop switch device 2 controls the red indicator light 21 to flash as a warning, and the buzzer 26 emits a beep.

[0054] LIN bus communication is a low-cost serial communication technology, which is widely used in the automotive industry and is relatively mature. Applying this technology to the control between adjacent supports of the support, its control circuit is simple and reliable.

[0055] As Figure 1 shown, the shearer position transmitting device 4 includes a power supply for power supply, a third wireless communication module, and a distance calculation unit. The third wireless communication module is used for wireless communication and data transmission with the first wireless communication module 24; the distance calculation unit is used for measuring the distance using the wireless ranging function.

[0056] It should be particularly noted that: in this embodiment, UWB wireless communication is adopted, and the first wireless communication module, the second wireless communication module, and the third wireless communication module are all UWB wireless communication modules.

[0057] UWB is a wireless carrier communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data. It operates in the frequency band of 3.1 GHz to 10.6 GHz, and the typical frequency bandwidth is 500 MHz or 1 GHz. Therefore, it can obtain precise time with sub-nanometer accuracy. Compared with traditional narrowband systems, UWB ultra-wideband systems have the advantages of strong penetration, low power consumption, good anti-multipath effect, high security, low system complexity, and can provide precise positioning accuracy. Therefore, ultra-wideband technology can be applied to the positioning, tracking, and navigation of stationary or moving objects and people indoors, and can provide very precise positioning accuracy. The system positioning accuracy is as high as 15 cm in three dimensions. Generally, the width of hydraulic supports is 150 cm - 240 cm. Therefore, this wireless ranging accuracy can meet the positioning requirements of the shearer in the working face.

[0058] The UWB wireless ranging principle is as Figure 4 shown. The TOF ranging method belongs to two-way ranging technology. It mainly measures the distance between nodes by using the flight time of signals between two asynchronous transceivers. Because in the line-of-sight environment, based on the TOF ranging method, it is linearly related to the distance, so the result will be more accurate. Denote the time between sending the data packet by the sender and receiving the response as Ttot, and the time interval between the receiver receiving the data packet and sending the response as Ttat. Then the one-way flight time Ttof of the data packet in the air can be calculated as:

[0059] Ttof = (Ttot - Ttat) / 2

[0060] According to Ttof and the electromagnetic wave propagation speed, the distance between two points can be calculated. C is the speed of light:

[0061] D = C × Ttof.

[0062] As Figures 1 to 4 shown, the remote control type support electro-hydraulic control system of this embodiment includes a support controller 1, a multi-functional emergency stop switch device 2, a support remote controller 3, a shearer position transmitting device 4, a coupler 5, and a power supply box 6. A CAN bus is used to connect each support controller 1 and the multi-functional emergency stop switch device 2. Wireless UWB is used for data communication between the multi-functional emergency stop switch device 2, the support remote controller 3, and the shearer position transmitting device 4. The support controllers 1 are interconnected through a 4-core connector. The support controller 1 and the multi-functional emergency stop switch device 2 are connected through a 4-core connector 15, forming a wired + wireless communication network system for the entire hydraulic support electro-hydraulic control system. The wired communication uses a single-line CAN bus + serial bus, and the wireless communication uses UWB. The wired communication is responsible for realizing the internal functions of the support electro-hydraulic control system, and the wireless communication is responsible for realizing external functions such as external interaction and obtaining shearer position information.

[0063] In the working face, there are multiple hydraulic supports used to support the space field of the coal mining face. The support controller 1 is installed on the hydraulic support in the working face and is used to control the actions of the hydraulic support. Each support controller 1 has 4 CAN buses. One of them is used for the interaction between the support controller itself and external information. This CAN bus is connected to the multi-functional emergency stop switch device 2 to receive the keyboard commands sent by the remote control and the shearer position information reported by the shearer position transmitter 4. The other 2 serial buses use LIN buses to communicate with the adjacent support controllers on the left and right. These two buses are mainly used for the transmission of support action control commands. The last one is also a CAN bus, called CAN_BUS. All the CAN buses of the support controllers in the whole working face are connected to this line. Therefore, remote point-to-point data communication within the whole working face can be achieved, and information can be published in the form of broadcast. For example, the shearer position information is reported in this way. This bus is mainly used for data reporting in the working face. The support controller has 26 functions, that is, it can drive 26 solenoid valves simultaneously to control the reciprocating movements of 13 cylinders of the hydraulic support.

[0064] Compared with the prior art, this embodiment has the following advantages:

[0065] The adopted UWB wireless communication method has excellent performance such as high anti-interference and high penetration, and has high reliability in the coal mine working face. This embodiment uses UWB ranging technology to realize the automatic connection, data communication and support safety locking of the support remote control, improving the operation convenience and adaptability of the electro-hydraulic control system of the hydraulic support. By using UWB ranging technology, the automatic discrimination and on-site detection and reporting of the shearer position are realized, improving the real-time performance, stability and reliability of the shearer position detection system.

[0066] The vulnerable keyboard parts and the movable emergency stop locking switch on the support controller are cut off point-to-point, so that the support control construction period can adopt full potting measures, improving the reliability of the support controller. After the keyboard is moved from the support controller to the support remote control, the working face is operated with the support remote control. The number of keyboards is reduced from an average of 150 to 4, saving 97% of the operation keyboard quantity. The equipment investment cost in the working face is reduced.

[0067] Embodiment 2:

[0068] As Figure 5 shown, this embodiment is basically the same as Embodiment 1, the difference is that:

[0069] The wireless communication adopts ZigBee wireless communication technology, that is, the first wireless communication module, the second wireless communication module and the third wireless communication module are all ZigBee wireless communication modules, and ZigBee wireless communication is used for wireless ranging.

[0070] Zigbee is a low-rate, low-power, short-distance (10 - 75m), low-latency wireless communication technology operating in the 2.4GHz frequency band at 250kb / s. The ranging principle of Zigbee is as follows Figure 5 As shown, the ranging technology based on RSSI measures the distance between nodes by utilizing the principle that radio signals attenuate regularly with the increase of distance. The relationship between the received signal strength RSSI and the transmission distance d is as follows:

[0071] RSSI = -(10 × n × lgd + A)

[0072] d = 10^((abs(RSSI) - A) / (10*n))

[0073] In the formula, n represents the signal propagation constant, also called the propagation coefficient; d represents the distance from the sender; A represents the signal strength at a distance of 1m from the sender. The ranging accuracy is greatly affected by the actual values of n and A. A is an empirical parameter that can be obtained by measuring the RSSI value at a distance of 1m from the sender. n is a parameter used to describe the decrease of signal strength with the increase of distance, and the value of n depends on the specific environment. To obtain the optimal value of n, all reference nodes can be placed first, and then different n_index values can be tried to find the n value most suitable for this specific environment.

[0074] The above are the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent improvements to a remote control type electro-hydraulic control system for hydraulic supports, etc., made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A remote-controlled electro-hydraulic control system for hydraulic supports, comprising a shearer position transmitting device and multiple hydraulic supports, characterized in that , Each of the hydraulic supports includes a support controller and a multi-functional emergency stop switch device that are electrically connected. The support controller is sealed on the hydraulic support, and the multi-functional emergency stop switch device is independently arranged; An emergency stop switch for emergency stop and locking is provided on the multi-functional emergency stop switch device; The system further includes at least one support remote controller. A keyboard for human-computer interaction is provided on the support remote controller. The support remote controller is wirelessly communicatively connected to each of the multi-functional emergency stop switch devices; The support remote controller transmits data to the multi-functional emergency stop switch device that has established a wireless connection with it. The multi-functional emergency stop switch device then transmits the data to the corresponding support controller. The support controller controls the hydraulic support where it is located according to the data or transmits the data to the support controller of the hydraulic support selected by the support remote controller; The coal shearer position transmitting device is wirelessly communicatively connected to each of the multi-functional emergency stop switch devices; The coal shearer position transmitting device determines the multi-functional emergency stop switch device that is the closest in distance through wireless ranging, establishes a wireless communication connection with this multi-functional emergency stop switch device, takes the support code of the hydraulic support where this multi-functional emergency stop switch device is located as a position signal. This position signal is transmitted to this multi-functional emergency stop switch device through wireless communication, and this multi-functional emergency stop switch device then transmits it to the corresponding support controller, and the support controller then transmits it to the support controllers of each of the hydraulic supports; The multi-functional emergency stop switch device includes an audible and visual alarm module. The audible and visual alarm module includes a multi-color indicator light and a buzzer. The multi-color indicator light is arranged around the emergency stop switch; Each of the support controllers is sealed in a fully potted manner.

2. The electro-hydraulic control system of the remote-controlled hydraulic support according to claim 1, characterized in that, The multi-functional emergency stop switch device includes a first wireless communication module and a first wired communication module; The multi-functional emergency stop switch device wirelessly communicates and transmits data with the support remote controller through the first wireless communication module; The multi-functional emergency stop switch device is electrically connected to the second wired communication module of the support controller through the first wired communication module to transmit data.

3. The electro-hydraulic control system of the remote-controlled hydraulic support according to claim 2, characterized in that, The multi-functional emergency stop switch device is electrically connected to the support controller through a 4-core cable. This 4-core cable includes a power line, a power feeder line, a ground line, and a first CAN bus; Both the first wired communication module and the second wired communication module are CAN bus communication modules. The first CAN bus is electrically connected to the first wired communication module and the second wired communication module.

4. The electro-hydraulic control system of the remote-controlled hydraulic support according to claim 3, wherein The support controllers of two adjacent hydraulic supports are electrically connected through a 4-core cable. This 4-core cable includes a power line, a ground line, a second CAN bus, and a one-way communication line; The one-way communication line is used for communication and data transmission between two adjacent hydraulic supports; The second CAN bus is CAN_BUS. The CAN_BUS lines of all the support controllers are lapped together to achieve point-to-point data transmission.

5. The electro-hydraulic control system of the remote-controlled hydraulic support according to claim 2, characterized in that, The support remote controller includes a second wireless communication module. The second wireless communication module is used for wireless communication and data transmission with the first wireless communication module.

6. The electro-hydraulic control system of the remote-controlled hydraulic support according to claim 2, characterized in that, The coal shearer position transmitting device includes a third wireless communication module and a distance calculation unit. The third wireless communication module is used for wireless communication with the first wireless communication module to transmit data. The distance calculation unit measures the distance by using the wireless ranging function.

7. The electro-hydraulic control system of the remote-controlled hydraulic support according to claim 2, 5 or 6, characterized in that, The wireless communication is UWB wireless communication or Zigbee wireless communication.

8. The electro-hydraulic control system of the remotely controlled hydraulic support according to claim 4, characterized in that, The multi-functional emergency stop switch device includes a power supply module, an emergency stop locking module, and a display module. The power supply module is electrically connected to the drive module of the corresponding support controller through a power supply feeder. The emergency stop locking module includes the emergency stop switch. When the emergency stop switch operates, the power supply feeder loses power, causing the drive module to power off and the hydraulic support to stop operating. The multi-functional emergency stop switch device generates an emergency stop signal or a locking signal and transmits it to the support controller through the first CAN bus. The support controller performs an emergency stop or locking, or the support controller transmits an emergency stop signal to the support controllers of each of the hydraulic supports through the second CAN bus. The display module is used to display the various states of the system.

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