Testing System and Method for the Inertial Navigation-based Working Face Straightness Control System Device

Abstract

The present invention relates to a test system and method for a working face straightness control system device based on inertial navigation. The system includes a test device, a working face straightness control system device to be tested that is bidirectionally communicatively connected to the test device, a vibration test bench, and a host computer. The working face straightness control system device to be tested is rigidly fixedly connected to the vibration test bench. The method includes setting up the test system, starting the test device through the host computer and configuring the parameters of other parts; checking the communication status between the test device and other modules through the host computer and confirming that it is good; calibrating the working face straightness control system device to be tested; starting the shearer cutting operation simulation program in the vibration test bench and the test device through the host computer and conducting tests, and checking the generation situation of the working face contour line through the host computer. The present invention can realize the functional test of the working face straightness control system device based on inertial navigation in the laboratory, saving time and effort and having good operability.

Description

Technical Field

[0001] The present invention relates to a test system and a test method for coal mine intelligent equipment, and is used for system-level testing of a working face straightness control system device based on inertial navigation. Background Art

[0002] The intelligent construction of the fully mechanized coal mining face is the key path to realizing the safe, efficient and green development of coal, and is also the only way to realize the unmanned and less manned operation of the fully mechanized coal mining face. At present, the equipment of the fully mechanized coal mining face has realized the functions of hydraulic support following the shearer and the shearer memory cutting. However, due to the unevenness of the roof and floor of the fully mechanized coal mining face and the pin ear clearance, the equipment of the fully mechanized coal mining face cannot maintain a certain straightness and advance continuously. Up to now, the working face straightness control system based on inertial navigation is the most valuable working face straightness control method that has been verified by engineering and has the most popularization value in the working face straightness control methods.

[0003] Since the performance test of the working face straightness control system device based on inertial navigation requires the coordinated cooperation of the three-machine system of the fully mechanized coal mining face to realize the system-level test, it is difficult to carry out the three-machine joint debugging underground or on the ground in the coal mine, and it takes a long time and a lot of energy, and the operability is small.

[0004] To sum up, the existing test system and method for the working face straightness control system device based on inertial navigation have great limitations and cannot meet the performance test of a large number of working face straightness control system devices based on inertial navigation. Summary of the Invention

[0005] The purpose of the present invention is to provide a test system and a test method for a working face straightness control system device based on inertial navigation, and to realize the functional test of the working face straightness control system device based on inertial navigation in the laboratory to ensure the stable and reliable operation of the system in the coal mine site.

[0006] The main technical solutions of the present invention are as follows:

[0007] A test system for a working face straightness control system device based on inertial navigation, comprising the following modules:

[0008] A test device, which is used to simulate the functions of the shearer controller and the support electro-hydraulic controller, and includes the simulation function of the communication protocol stack between the test device and the shearer controller, the simulation function of the protocol stack between the test device and the support electro-hydraulic controller, and the simulation function of the shearer cutting operation;

[0009] A to-be-tested working face straightness control system device, which is used to obtain the three-dimensional attitude data of the shearer during the cutting operation, and then measure and generate the working face contour line to provide data for the automatic straightening of the fully mechanized coal mining face;

[0010] A vibration test bench is used to simulate the vibration of a shearer during the cutting operation, providing a vibration environment for the straightness control system device of the working face to be measured.

[0011] A host computer is used to configure parameters, control start and stop, observe the operating status, communication status, and test results. Configuring parameters means configuring the parameters of the straightness control system device of the working face to be measured, the test device, and the vibration test bench. Controlling start and stop includes controlling the start and stop of the vibration test bench and the start and stop of the shearer cutting operation simulation program in the test device. Observing the operating status means observing the operating status of the straightness control system device of the working face to be measured, the test device, and the vibration test bench, including observing the ready status of the inertial measurement unit in the straightness control system of the working face to be measured during the test process. The communication status refers to the communication status between the modules in the test system. Observing the test results includes observing the generation situation of the working face contour line on the straightness control system device of the working face to be measured after the test device completes the simulation of the mining operation of one cut of coal.

[0012] The test device is bidirectionally communicatively connected to the vibration test bench, the host computer, and the straightness control system device of the working face to be measured, and the straightness control system device of the working face to be measured is rigidly fixedly connected to the vibration test bench.

[0013] The test device is provided with one or more of an RS422 interface, an RS485 interface, an RJ45 interface, and a CAN interface.

[0014] The communication protocols adopted between the test device and the straightness control system device of the working face to be measured include Modbus485, Modbus TCP / IP, Ethernet / IP, CAN, and UDP communication protocols.

[0015] The parameters of the straightness control system device of the working face to be measured, the test device, and the vibration test bench may include communication interface parameters, vibration parameters, working face parameters, and also include the network and communication parameters of the straightness control system device of the working face to be measured itself, the length of the simulated working face, geographical coordinates, the number of working face supports, the support width, the maximum stroke of the support pushing jack, and the maximum difference in adjacent support pushing.

[0016] A test method for a straightness control system device of a working face based on inertial navigation includes the following steps:

[0017] S1: Build a test system for the straightness control system device of the working face based on inertial navigation described in claim 1, 2, 3, or 4.

[0018] S2: Start the test device through the host computer, run the communication protocol stacks of the shearer controller and the support electro-hydraulic controller in the test device, and configure the parameters of the straightness control system device of the working face to be measured, the vibration test bench, and the test device;

[0019] S3: Check through the host computer whether the communication status between the straightness control system device of the working face to be measured, the vibration test bench, and the host computer and the test device is good. If there is a situation where normal communication cannot be established, return to step S2 and reconfigure the parameters related to the communication between each module;

[0020] S4: When the communication status between the test device and each module is good, view the ready status of the inertial sensor in the straightness control system device of the working face to be measured through the host computer, and wait for the inertial sensor in the straightness control system device of the working face to be measured to complete calibration.

[0021] S5: Start the vibration test bench and the shearer cutting operation simulation program in the test device through the host computer to start the test. Among them, the vibration test bench simulates the vibration characteristics during the shearer cutting operation, provides a vibration environment for the test device to the straightness control system device of the working face to be measured, and the test device simulates the actual working face mining process of the shearer and outputs real-time data of the position, speed, running direction, boom cutting height, and start / stop status of the shearer to the straightness control system device of the working face to be measured;

[0022] S6: When the test device completes the simulation of the mining operation of one cut of coal, view the generation situation of the working face contour line in the straightness control system device of the working face to be measured and the communication status between the straightness control system device of the working face to be measured and the simulated shearer controller and the simulated support electro-hydraulic controller through the host computer to realize the performance test and communication test of the straightness control system device of the working face to be measured.

[0023] In step S2, the parameters that need to be configured for the straightness control system device of the working face to be measured may include communication interface parameters, working face parameters, and support electro-hydraulic controller communication interface parameters; the parameters that need to be configured for the vibration test bench include vibration simulation parameters; the parameters that need to be configured for the test device include communication interface parameters and shearer simulation operation parameters.

[0024] In step S4, check through the host computer whether the straightness control system device of the working face to be measured has completed calibration. If calibration cannot be completed after more than 15 minutes, return to step S2 and reconfigure the interface parameters of the straightness control system device of the working face to be measured and the geographical coordinate parameters in the working face parameters; if the straightness control system device of the working face to be measured has completed calibration, continue to execute the subsequent steps.

[0025] In step S6, if the working face contour line is successfully generated, performance tests need to be carried out in multiple cycles. If the working face contour line is not normally generated, return to step S2, and according to the host computer log file, find the reason why the contour line is not normally generated, and modify the relevant configuration parameters according to the reason.

[0026] The beneficial effects of the present invention are:

[0027] The present invention proposes a brand-new test system and test method for the working face straightness control system device, which can effectively verify the communication status between the working face straightness control system device, the shearer controller, and the support electro-hydraulic controller, and view the generation of the working face contour line, realize communication testing and performance testing, and improve the convenience and accuracy of the working face straightness control system device in laboratory testing.

[0028] The test system and test method of the present invention can realize system-level testing without the need for the coordinated cooperation of the three machines in the fully-mechanized mining face, reduce the test difficulty, have good operability, high test efficiency, and contribute to the realization of large-scale testing of the working face straightness control system device based on inertial navigation. Brief Description of the Drawings

[0029] Figure 1 It is a composition diagram of the test system for the working face straightness control system device based on inertial navigation of the present invention;

[0030] Figure 2 It is a flowchart of the test method for the working face straightness control system device based on inertial navigation of the present invention;

[0031] Figure 3 It is a principle block diagram of the working face straightness control system device based on inertial navigation of the present invention. Detailed Embodiments

[0032] As Figure 1 、 2 、3 shows, the present invention discloses a test system for a working face straightness control system device based on inertial navigation, including the following modules:

[0033] 1. The test device is composed of a microcontroller unit, communication unit 1, communication unit 2, communication unit 3, and a shearer cutting operation simulation unit. As Figure 3As shown in the figure. The microcontroller unit uses an ARM architecture microprocessor unit to implement functions such as communication and data processing of the test device; Communication Unit 1 is used to simulate the communication protocol stack simulation programs of the shearer controller and the support electro-hydraulic controller, to implement the data communication function between the test device and the straightness control system device of the working face to be measured, and to output data such as the real-time position, speed, running direction, rocker arm cutting height, and traction state of the shearer to the straightness control system device of the working face to be measured during the test; Communication Unit 2 is used to implement the data communication between the test device and the vibration test bench; Communication Unit 3 is used to implement the data communication between the test device and the host computer.

[0034] 2. The straightness control system device of the working face to be measured is used to obtain the three-dimensional attitude data during the cutting operation of the shearer, and then measure and generate the working face contour line.

[0035] 3. The vibration test bench is used to simulate the vibration of the shearer during the cutting operation and provide a vibration environment for the straightness control system device of the working face to be measured;

[0036] 4. The host computer is used to configure parameters, control start and stop, and also used to observe the operating state, communication state and test results. The so-called configuration of parameters refers to configuring the parameters of the straightness control system device of the working face to be measured, the test device, the host computer and the vibration test bench. The so-called control of start and stop includes controlling the start and stop of the vibration test bench and controlling the start and stop of the shearer cutting operation simulation program in the test device. The so-called observation of the operating state refers to observing the operating states of the straightness control system device of the working face to be measured, the test device and the vibration test bench, including observing the ready state of the straightness control system device of the working face to be measured during the test; The so-called communication state refers to the communication state between modules in the test system, such as the communication situation between the straightness control system device of the working face to be measured and the shearer controller and the support electro-hydraulic controller; The so-called observation of the test results includes observing the generation situation of the working face contour line on the straightness control system device of the working face to be measured after the test device completes the simulation of the mining operation of one cut of coal.

[0037] The test device is bidirectionally communicatively connected to the vibration test bench, the host computer and the straightness control system device of the working face to be measured and performs data interaction. The straightness control system device of the working face to be measured is rigidly fixedly connected to the vibration test bench. Each module is connected to a power supply.

[0038] The host computer has human-computer interaction capabilities, and the operator executes the entire test process through the host computer. The host computer can be an industrial control computer, a PC, an industrial tablet computer, or a touch all-in-one computer.

[0039] The test device is provided with one or more of RS485 interfaces, RJ45 interfaces and CAN interfaces, and is used for communicating with the straightness control system device of the working surface to be measured, the vibration test bench and the upper computer. Among them, the test device communicates with the straightness control system device of the working surface to be measured through the RJ45 interface or the RS485 interface, communicates with the vibration test bench through the RJ45 interface or the RS485 interface or the CAN interface, and communicates with the upper computer through the RJ45 interface.

[0040] The communication protocols adopted between the test device and the straightness control system device of the working surface to be measured include but are not limited to Modbus 485, Modbus TCP / IP, Ethernet / IP, and UDP communication protocols. The communication protocols adopted between the test device and the vibration test bench are Modbus 485, Modbus TCP / IP, and CAN communication protocols. The communication protocol adopted between the test device and the upper computer is the UDP communication protocol.

[0041] The parameters configured by the upper computer for the straightness control system device of the working surface to be measured include communication interface parameters, geographical coordinates, working surface length, working surface support data, working surface mining method, etc.

[0042] The parameters configured by the upper computer for the test device include communication interface parameters with each functional module in the system, the running speed, boom height, running distance, etc. of the shearer in the shearer cutting operation simulation unit, and the start-stop control parameters of the shearer cutting operation simulation program.

[0043] The parameters configured by the upper computer for the vibration test bench include parameters such as frequency range, acceleration / speed / displacement value, left and right slope values, etc.

[0044] The parameters related to the upper computer configured by the upper computer mainly include the upper computer communication interface parameters (such as the upper computer network interface parameters), and such parameters are used for the communication between the upper computer and the test device.

[0045] The parameters of the straightness control system device of the working surface to be measured include communication interface parameters, working surface parameters, and application parameters. Among them, the communication interface parameters include the network interface parameters for the device itself to access the network and the network cable interface parameters of the test device; the working surface parameters include working surface related parameters such as working surface mining mode, working surface length, number of working surface supports, support width, and working surface geographical coordinate information; the application parameters include parameters such as the maximum stroke of the support pushing jack and the maximum difference in pushing between adjacent supports.

[0046] The parameters of the test device include communication interface parameters and shearer cutting operation parameters. Among them, the communication interface parameters include the network interface parameters for the test device itself to access the network, the network interface parameters of the straightness control system device of the working face to be tested, the interface parameters of the vibration test bench, and the interface parameters of the upper computer. The shearer cutting operation parameters include parameters such as the running speed of the shearer, the length of the working face where the shearer operates, and the number of end cutting operation processes of the shearer.

[0047] The parameters of the vibration test bench include communication interface parameters and vibration-related parameters

[0048] The present invention also discloses a test method for a straightness control system device of a working face based on inertial navigation, aiming to complete the performance test and communication test of the straightness control system device of the working face in the laboratory, including the following steps:

[0049] S1: Build the test system of the straightness control system device of the working face based on inertial navigation of the present invention, and connect power supplies to each module in the system so that data interaction can be carried out among the devices in the test system.

[0050] S2: Configure the network interface parameters of the upper computer, and start the test device through the upper computer, enable the communication protocol stacks of the shearer controller and the support electro-hydraulic controller in the test device, and configure the parameters of the straightness control system device of the working face to be tested, the vibration test bench, and the test device;

[0051] S3: Check through the upper computer whether the communication status between the straightness control system device of the working face to be tested, the vibration test bench, and the upper computer and the test device is good. If there is a situation where normal communication cannot be carried out, return to step S2 to reconfigure the communication parameters among the modules;

[0052] S4: When the communication status between the test device and each module is good, check the ready status of the inertial sensor components in the straightness control system device of the working face to be tested in real time through the upper computer, and wait for the inertial sensors in the straightness control system device of the working face to be tested to complete calibration.

[0053] S5: Start the vibration test bench and the shearer cutting operation simulation program in the test device through the upper computer to start the test. Among them, the vibration test bench simulates the vibration characteristics during the shearer cutting operation process, provides a vibration environment for the test device to the straightness control system device of the working face to be tested, and the test device simulates the actual working face mining process of the shearer and outputs real-time data such as the position, speed, running direction, rocker arm cutting height, and start-stop state of the shearer to the straightness control system device of the working face to be tested.

[0054] The test device also simulates the communication protocol stack of the support electro-hydraulic controller to achieve two-way communication between the support electro-hydraulic controller and the device for the straightness control system of the working face to be measured, and further obtains the working face profile data and the automatic straightening data of the working face generated by the device for the straightness control system of the working face to be measured.

[0055] S6: After the test device completes the simulation of the coal mining operation for one cut, check the generation of the working face profile line in the device for the straightness control system of the working face to be measured through the host computer to implement the performance test of the device for the straightness control system of the working face to be measured. If the working face profile line is successfully generated, the performance test needs to be carried out multiple times in a loop. If the working face profile line is not normally generated, return to step S2, and according to the host computer log file, find out the reason why the profile line is not normally generated, and modify the relevant configuration parameters according to the reason.

[0056] The parameters of the device for the straightness control system of the working face to be measured that need to be configured include communication interface parameters, working face parameters, and support electro-hydraulic controller communication interface parameters; the parameters of the vibration test bench that need to be configured include vibration simulation parameters; the parameters of the test device that need to be configured include communication interface parameters and shearer simulation operation parameters.

[0057] In step S4, check through the host computer 4 whether the device for the straightness control system of the working face to be measured has completed calibration. If calibration cannot be completed after more than 15 minutes, return to step S2 to reconfigure the parameters between the devices of the system; if the device for the straightness control system of the working face to be measured has completed calibration, continue to execute the subsequent steps.

[0058] In step S6, if the working face profile line is successfully generated, the performance test needs to be carried out multiple times in a loop. If the working face profile line is not normally generated, return to step S2, and according to the host computer log file, find out the reason why the profile line is not normally generated, and modify the corresponding parameters of the configuration system according to the reason.

Claims

1. A test system for a straightness control system device of a working face based on inertial navigation, characterized in that It includes the following modules: A test device, which is used to simulate the functions of a shearer controller and a support electro-hydraulic controller. The functions of the shearer controller include a shearer controller communication protocol stack and a shearer cutting operation simulation program, and the functions of the support electro-hydraulic controller include a support electro-hydraulic controller communication protocol stack; A control system device for the straightness of the working face to be tested, which is used to obtain three-dimensional attitude data during the shearer cutting operation, and then measure and generate a working face contour line to provide straightening data for the automatic straightening of the working face; A vibration test bench, which is used to simulate the vibration of the shearer during the cutting operation and provide a vibration environment for the control system device for the straightness of the working face to be tested; A host computer, which is used to configure parameters, control start and stop, observe the operating state, communication state and test results. Configuring parameters means configuring the parameters of the host computer, the control system device for the straightness of the working face to be tested, the test device and the vibration test bench. Controlling start and stop includes controlling the start and stop of the vibration test bench and controlling the start and stop of the shearer cutting operation simulation program in the test device. Observing the operating state means observing the operating states of the control system device for the straightness of the working face to be tested, the test device and the vibration test bench, including observing the ready state of the inertial navigation sensor in the control system device for the straightness of the working face to be tested during the test process. The communication state means the communication state between the modules in the test system. Observing the test results includes observing the generation situation of the working face contour line on the control system device for the straightness of the working face to be tested after the test device completes the simulation of the mining operation of one coal cut; The test device is bidirectionally communicatively connected to the vibration test bench, the host computer and the control system device for the straightness of the working face to be tested, and the control system device for the straightness of the working face to be tested is rigidly fixedly connected to the vibration test bench; 2. The test system of the inertial navigation-based working face straightness control system device according to claim 1, characterized in that: The test device is provided with one or more of an RS422 interface, an RS485 interface, an RJ45 interface and a CAN interface; 3. The test system for the inertial navigation-based working face straightness control system device according to claim 1 or 2, characterized in that: The communication protocol adopted between the test device and the control system device for the straightness of the working face to be tested includes Modbus 485, Modbus TCP / IP, Ethernet / IP, UDP and CAN communication protocols; 4. The test system of the inertial navigation-based working face straightness control system device according to claim 1, 2 or 3, characterized in that: The parameters of the control system device for the straightness of the working face to be tested, the test device, the host computer and the vibration test bench include communication interface parameters, vibration parameters, working face parameters, and also include the network and communication parameters of the control system device for the straightness of the working face to be tested itself, the length of the simulated working face, geographical coordinates, the number of working face supports, the support width, the maximum stroke of the support push jack and the maximum difference between adjacent support pushes; 5. A testing method for a straightness control system device of a working face based on inertial navigation, characterized in that It includes the following steps: S1: Build a test system for the control system device for the straightness of the working face based on inertial navigation described in claim 1, 2, 3 or 4; S2: Start the test device through the host computer, run the shearer controller communication protocol stack and the support electro-hydraulic controller communication protocol stack in the test device, and configure the parameters of the control system device for the straightness of the working face to be tested, the vibration test bench and the test device; S3: Check, via the host computer, whether the communication status between the straightness control system device of the working face to be measured, the vibration test bench, and the host computer and the test device is good. If there is a situation where normal communication cannot be established, return to step S2 and reconfigure the parameters related to the communication between the modules. S4: When the communication status between the test device and each module is good, view, via the host computer, the ready status of the inertial sensor device in the straightness control system device of the working face to be measured, and wait for the inertial sensor device in the straightness control system device of the working face to be measured to complete calibration. S5: Start, via the host computer, the vibration test bench and the shearer cutting operation simulation program in the test device to start the test. Among them, the vibration test bench simulates the vibration characteristics during the shearer cutting operation, provides a vibration environment for the test device to the straightness control system device of the working face to be measured, and the test device simulates the actual working face mining process of the shearer and outputs real-time data of the position, speed, running direction, boom cutting height, and start / stop status of the shearer to the straightness control system device of the working face to be measured. S6: When the test device completes the simulation of the mining operation of one cut of coal, view, via the host computer, the generation situation of the working face contour line in the straightness control system device of the working face to be measured to achieve the performance test of the straightness control system device of the working face to be measured.

6. The test method of the working face straightness control system device based on inertial navigation according to claim 5, characterized in that: In step S2, the parameters that need to be configured for the straightness control system device of the working face to be measured include communication interface parameters, working face parameters, and support electro-hydraulic controller communication interface parameters; the parameters that need to be configured for the vibration test bench include vibration simulation parameters; the parameters that need to be configured for the test device include communication interface parameters and shearer simulation operation parameters.

7. The testing method of the working face straightness control system device based on inertial navigation according to claim 6, characterized in that: In step S4, check, via the host computer, whether the inertial sensor device in the straightness control system device of the working face to be measured has completed calibration. If calibration cannot be completed after more than 15 minutes, return to step S2 and reconfigure the interface parameters of the straightness control system device of the working face to be measured and the geographical coordinate parameters in the working face parameters; if the inertial sensor device in the straightness control system device of the working face to be measured has completed calibration, continue to execute the subsequent steps.

8. The testing method of the inertial navigation-based working face straightness control system device according to claim 5, 6 or 7, characterized in that: In step S6, if the working face contour line is successfully generated, when the first cut of the working face contour line is generated, performance testing needs to continue and be carried out in multiple cycles. If the working face contour line is not normally generated, return to step S2, and according to the host computer log file, find the reason why the contour line is not normally generated and modify the relevant configuration parameters according to the reason.

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