Inertial navigation straightening system for coal mining machine and coal mining machine

Abstract

The invention provides an inertial navigation straightening system for a coal mining machine and the coal mining machine. The inertial navigation alignment system comprises a task machine unit and an inertial navigation unit, the task machine unit comprises a UPS (Uninterrupted Power Supply), a computer board and an intelligent power controller; the inertial navigation unit comprises a power supply board, a communication board, a resolving board and a quantizer board; the intelligent power controller is electrically connected with the external main power input end and the UPS; the computer board is connected with a first digital output port in the intelligent power controller; the power panel is connected with a second digital output port in the intelligent power controller; the computer board is electrically connected with the communication board; the resolving board is electrically connected with the communication board, the power board and the quantizer board; the power supply board is electrically connected with the communication board and the quantizer board; and the intelligent power controller is used for switching the states of the communication board, the computer board and the inertial navigation unit according to the voltage difference between the external main power supply and the UPS. The size of the inertial navigation alignment system is reduced, and the endurance time is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation, and in particular to an inertial navigation straightening system for a coal mining machine and the coal mining machine. Background Art

[0002] The inertial navigation and straightening system (INS for short) is installed in the high-pressure explosion-proof cabin or display and control explosion-proof cabin of the coal mining machine. When the coal mining machine is walking on the underground working face to mine coal, the inertial navigation and straightening system can locate and output the position information of the coal mining machine in real time, form the walking route trajectory of the coal mining machine, and automatically calculate and control the adjustment of the hydraulic support on the working face where the coal mining machine is located, so that the coal mining machine can carry out mining operations on a straight track, changing the traditional operating method that relies on manual straightening of hydraulic supports and coal mining machine walking, realizing unmanned and intelligent coal mining operations, greatly improving the safety of coal mining operations, and also greatly improving the efficiency of coal mining operations.

[0003] The underground operation adopts a three-shift rotation system. During the rotation, the working face equipment including the coal mining machine needs to be powered off for inspection and maintenance. Because the inertial navigation needs to be initially aligned before the coal mining machine navigates to determine the initial attitude, speed and position information of the coal mining machine. Only by obtaining the initial values ​​of the attitude, speed and position of the coal mining machine and calculating the attitude, speed and position information of the coal mining machine at each moment in the future based on the initial values ​​through mechanical arrangement can the initial alignment of the inertial navigation take a long time, generally more than 15 minutes. Once the inertial navigation is powered off, the coal mining machine needs to re-perform the alignment process after the power is turned on again. Therefore, the underground inertial navigation will be equipped with a UPS (Uninterruptible Power Supply) system to ensure that the inertial navigation can immediately enter the navigation state after the coal mining machine is powered off and then powered on.

[0004] Existing inertial navigation and straightening systems all adopt a design architecture that combines inertial navigation components and mission machine components. The computer board in the mission machine component controls the power on and off of the inertial navigation component. After completing the initial alignment, the carrier's attitude, speed and other information are output in real time. The mission machine receives remote control instructions from the control center as well as inertial navigation information and coal mining machine odometer information, and calculates the coal mining machine's position information and straightening parameters in real time, and sends the coal mining machine's position information and straightening parameters to the control center in real time. The mission machine is also equipped with a UPS system, which can provide uninterrupted power supply to the inertial navigation system during power outages of the coal mining machine, to ensure that after the coal mining machine is powered on again, the inertial navigation and straightening system can immediately enter the navigation state without realignment.

[0005] The inertial navigation and straightening system of the coal mining machine has high requirements for the positioning accuracy of the inertial navigation components. The high-precision inertial navigation components have high power consumption. Once the inertial navigation components are powered on, both the mission machine components and the inertial navigation components operate at full power during operation. This places high demands on the capacity and battery life of the UPS. The higher the UPS capacity and battery life, the larger the space it occupies. However, the installation space of the coal mining machine body is extremely limited. Therefore, the contradiction between the coal mining machine's requirements for miniaturization of the inertial navigation and straightening system and long battery life of the UPS is more prominent. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the present invention provides an inertial navigation straightening system for a coal mining machine and a coal mining machine.

[0007] The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0008] In a first aspect, the present invention provides an inertial navigation alignment system for a coal mining machine, comprising: a task machine unit and an inertial navigation unit; the task machine unit comprises: a UPS, a computer board and an intelligent power controller; the inertial navigation unit comprises: a power board, a communication board, a solver board and a quantizer board;

[0009] The intelligent power controller is electrically connected to the external main power input terminal and the UPS; the computer board is connected to the first digital output port OUT_D in the intelligent power controller; the power board is connected to the second digital output port OUT_C ​​in the intelligent power controller; the computer board is electrically connected to the communication board; the solver board is electrically connected to the communication board, the power board and the quantizer board; the power board is electrically connected to the communication board and the quantizer board;

[0010] The intelligent power controller is used to switch the states of the communication board, computer board and inertial navigation unit according to the voltage difference between the external main power supply and the UPS.

[0011] Optionally, the intelligent power controller is provided with: a first Schottky diode, a second Schottky diode, a buck converter chip and a main control chip;

[0012] The first Schottky diode is connected to the external main power input terminal; the second Schottky diode is connected to the UPS; the first Schottky diode and the second Schottky diode are both connected to the input terminal of the buck converter chip, and the output terminal of the buck converter chip is connected to the main control chip; the first Schottky diode and the second Schottky diode both use the SBDD2045CT chip, the buck converter chip uses the TPS5430DDAR chip, and the main control chip uses the STM32F030 chip.

[0013] Optionally, the intelligent power controller is also used to switch the power supply according to the voltage of the external main power supply and the UPS.

[0014] Optionally, the intelligent power controller switches the power supply according to the voltage of the external main power supply and the UPS, including:

[0015] When the voltage of the external main power supply is greater than the voltage of the UPS, the intelligent power controller selects the external main power supply as the power supply;

[0016] When the voltage of the UPS is greater than the voltage of the external main power supply, the intelligent power controller selects the UPS as the power supply.

[0017] Optionally, the intelligent power controller is used to set the first digital output port OUT_D high to power the computer board when the external main power supply is supplied;

[0018] When the UPS is supplying power, the first digital output port OUT_D is set low to cut off the power supply to the computer board.

[0019] Optionally, the intelligent power controller is further used to set the second digital output port OUT_C ​​high when the external main power supply is supplied so that the communication board can be powered on collaboratively;

[0020] When the UPS is supplying power, the second digital output port OUT_C ​​is set low to enable the communication board to be powered off cooperatively.

[0021] Optionally, the intelligent power controller is further used to send a low-level control instruction to the inertial navigation unit when detecting that the external main power supply is powered off; the low-level control instruction is used to control the inertial navigation unit to enter a low-power operation mode.

[0022] Optionally, the intelligent power controller is further used to send a high-level control instruction to the inertial navigation unit when detecting that the external main power supply is powered on; the high-level control instruction is used to control the inertial navigation unit to exit the low-power operation mode.

[0023] In a second aspect, an embodiment of the present invention provides a coal mining machine, on which the inertial navigation straightening system of the first aspect mentioned above is provided.

[0024] The present invention provides an inertial navigation alignment system for a coal mining machine and a coal mining machine. Among them, an inertial navigation alignment system for a coal mining machine includes: a task machine unit and an inertial navigation unit; the task machine unit includes: a UPS, a computer board and an intelligent power controller; the inertial navigation unit includes: a power board, a communication board, a solver board and a quantizer board; the intelligent power controller is electrically connected to the external main power input terminal and the UPS; the computer board is connected to the first digital output port OUT_D in the intelligent power controller; the power board is connected to the second digital output port OUT_C ​​in the intelligent power controller; the computer board is electrically connected to the communication board; the solver board is electrically connected to the communication board, the power board and the quantizer board; the power board is electrically connected to the communication board and the quantizer board; the intelligent power controller is used to switch the state of the communication board, the computer board and the inertial navigation unit according to the voltage difference between the external main power supply and the UPS. In the present invention, an intelligent power controller is adopted and the partition status of the inertial navigation unit and the mission machine unit is controlled based on the voltage difference between the external main power supply and the UPS. This avoids the problem in the prior art that when the external main power supply is cut off, the UPS is used to supply full power to the mission machine components and the inertial navigation components, which causes the inertial navigation straightening system to be too large and the UPS to have a short battery life. This achieves the goal of reducing the volume of the inertial navigation straightening system while increasing the battery life of the UPS.

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of an inertial navigation and alignment system for a coal mining machine provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the structure of an intelligent power controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0029] In order to reduce the volume of the inertial navigation and alignment system and increase the battery life of UPS2, an embodiment of the present invention provides an inertial navigation and alignment system for a coal mining machine. Figure 1 The present invention provides a schematic diagram of the structure of an inertial navigation alignment system for a coal mining machine. Figure 1 As shown, including:

[0030] The mission machine unit and the inertial navigation unit; the mission machine unit includes: UPS 2, computer board 3 and intelligent power controller 1; the inertial navigation unit includes: power board 4, communication board 6, solver board 7 and quantizer board 5;

[0031] The intelligent power controller 1 is electrically connected to the external main power input terminal and the UPS 2; the computer board 3 is connected to the first digital output port OUT_D in the intelligent power controller 1; the power board 4 is connected to the second digital output port OUT_C ​​in the intelligent power controller 1; the computer board 3 is electrically connected to the communication board 6; the solver board 7 is electrically connected to the communication board 6, the power board 4 and the quantizer board 5; the power board 4 is electrically connected to the communication board 6 and the quantizer board 5;

[0032] The intelligent power controller 1 is used to switch the states of the communication board 6, the computer board 3 and the inertial navigation unit according to the voltage difference between the external main power supply and the UPS 2.

[0033] An embodiment of the present invention provides an inertial navigation and alignment system for a coal mining machine. By adopting an intelligent power controller 1 and based on the voltage difference between an external main power supply and UPS2, the inertial navigation unit and the task machine unit are partitioned and controlled. This avoids the problem in the prior art that when the external main power supply is cut off, UPS2 is used to supply full power to the task machine components and the inertial navigation components, which causes the inertial navigation and alignment system to be too large and the battery life of UPS2 to be short. This achieves the goal of reducing the volume of the inertial navigation and alignment system while increasing the battery life of UPS2.

[0034] In addition, in the embodiment of the present invention, the power board 4 is mainly responsible for providing power support for the entire inertial navigation alignment system. The power board 4 is internally provided with a power management circuit, such as a voltage stabilizer, a filter, etc., to ensure that each part of the inertial navigation alignment system obtains a stable and appropriate voltage. The power board 4 is also used to receive power from the intelligent power controller 1 and distribute it to each subsystem or module as needed, such as the communication board 6, the solver board 7 and the quantizer board 5.

[0035] The communication board 6 is mainly used to realize data exchange between various system components. In the embodiment of the present invention, the communication board 6 can be used to transmit inertial measurement data, receive control commands or status information, and coordinate data transmission between other components.

[0036] The solver board 7 is used to process the data received from the inertial sensor to calculate the accurate position, speed and attitude information.

[0037] The quantizer board 5 is used to digitize the raw analog signals from the sensors. In the inertial navigation alignment system, sensors (such as gyroscopes and accelerometers) generate analog signals, and the quantizer board 5 is used to convert these analog signals into digital signals for further processing and analysis. This step is crucial to ensure the accuracy and reliability of the data in the subsequent processing stage.

[0038] In the prior art, when the coal mining machine is shut down and the power is switched from the main input power supply to UPS2, the task machine unit and the inertial navigation unit still operate at full power, but the power supply to them is switched. In the embodiment of the present invention, when the main power supply is switched to UPS2, some unnecessary processing units in the task machine unit or the inertial navigation unit are shut down, for example, the communication board 6 and the computer board 3 are shut down, and the inertial navigation unit enters a low power consumption state.

[0039] Specifically, in an embodiment of the present invention, when the inertial navigation unit enters a low power consumption state, the sensors in the inertial measurement unit (IMU), such as a gyroscope and an accelerometer, can be controlled to enter a low power consumption mode, or the memory, such as RAM or Flash, can be controlled to save power by reducing the refresh frequency or closing unnecessary storage areas.

[0040] In the embodiment of the present invention, the goal of the low power consumption mode is to reduce energy consumption as much as possible without affecting the basic functions of the inertial navigation and alignment system. During the power-off standby period of the coal mining machine, by controlling the inertial navigation unit to enter the low power consumption operation mode, the power consumption of the entire inertial navigation and alignment system can be significantly reduced, thereby extending the battery life of UPS2. When the external main power supply is restored, the inertial navigation unit can quickly resume normal working state from the low power consumption mode and continue to provide accurate navigation and attitude information.

[0041] Figure 2 The structure diagram of the intelligent power controller 1 provided by the embodiment of the present invention. The intelligent power controller 1 is provided with: a first Schottky diode, a second Schottky diode, a buck converter chip and a main control chip; Figure 2 As shown, the first Schottky diode and the second Schottky diode both use the SBDD2045CT chip, the buck converter chip uses the TPS5430DDAR chip, and the main control chip uses the STM32F030 chip.

[0042] The first Schottky diode is connected to the external main power input terminal (24VIN); the second Schottky diode is connected to UPS2 (BAT); the first Schottky diode and the second Schottky diode are both connected to the input terminal of the buck converter chip (TPS5430DDAR), and the output terminal of the buck converter chip (TPS5430DDAR) is connected to the main control chip (STM32F030F4P6TR).

[0043] Specifically, SBDD2045CT is a Schottky diode, which is mainly used to prevent current backflow. Specifically, two Schottky diodes (the first Schottky diode and the second Schottky diode) are connected to the external main power input and the UPS2 input respectively, and then connected to the input of the buck converter chip. This makes it possible for one of the power supplies (main power or UPS2) to not reversely supply power or interfere with the power currently in use when the other power supply is supplying power to the system.

[0044] TPS5430DDAR is a synchronous buck converter chip, and its main function is to stabilize the output voltage when the input voltage changes. In the inertial navigation alignment system of the present invention, TPS5430DDAR receives the mixed input power from the Schottky diodes (the first Schottky diode and the second Schottky diode) and converts it into a stable low-voltage DC power supply for subsequent circuits. It can ensure that the system can obtain consistent and reliable power supply regardless of whether the main power supply or UPS2 is supplying power.

[0045] STM32F030 is a microcontroller based on the ARM Cortex-M0 core, which serves as the core control unit. STM32F030 can control the power management strategy of the inertial navigation and straightening system according to the voltage difference between the external main power supply and UPS2. Specifically, STM32F030 is responsible for monitoring the power status and triggering the corresponding power switching action when necessary. In addition, STM32F030 can also control the power status of the computer board 3 and the communication board 6 through the digital output port, and send control instructions to the inertial navigation unit to adjust its working mode.

[0046] The combination of the above components ensures the normal operation of the inertial navigation and alignment system under different power supply conditions, and extends the battery life of UPS2 through effective power management and optimized power consumption, while reducing the overall size of the inertial navigation and alignment system.

[0047] Optionally, the intelligent power controller 1 is also used to switch the power supply according to the voltage of the external main power supply and the UPS 2.

[0048] Optionally, the intelligent power controller 1 switches the power supply according to the voltage of the external main power supply and the UPS 2, including:

[0049] When the voltage of the external main power supply is greater than the voltage of UPS2, the intelligent power controller 1 selects the external main power supply as the power supply;

[0050] When the voltage of UPS2 is greater than the voltage of the external main power supply, the intelligent power controller 1 selects UPS2 as the power supply.

[0051] Specifically, when the external main power voltage is lower than the voltage of UPS2, the intelligent power controller 1 automatically switches to UPS2 for power supply without delay. At this time, the intelligent power controller 1 determines that the external main power supply is interrupted, that is, the coal mining machine is powered off. When the external main power voltage is higher than the voltage of UPS2, the intelligent power controller 1 automatically switches to the external main power supply without delay. At this time, the intelligent power controller 1 determines that the external main power supply is restored, that is, the coal mining machine has been powered on again.

[0052] Optionally, the intelligent power controller 1 is used to set the first digital output port OUT_D high to power the computer board 3 when the external main power supply is supplied;

[0053] When the UPS 2 is supplying power, the first digital output port OUT_D is set low to cut off the power supply to the computer board 3 .

[0054] Optionally, the intelligent power controller 1 is further used to set the second digital output port OUT_C ​​high when the external main power supply is supplied so that the communication board 6 can be powered on in coordination;

[0055] When the UPS 2 is supplying power, the second digital output port OUT_C ​​is set to a low level, so that the communication board 6 is powered off in coordination.

[0056] Optionally, the intelligent power controller 1 is further used to send a low-level control instruction to the inertial navigation unit when detecting that the external main power supply is powered off; the low-level control instruction is used to control the inertial navigation unit to enter a low-power consumption operation mode.

[0057] It should be noted that, in the embodiment of the present invention, controlling the inertial navigation unit to enter the low power consumption operation mode may, for example, be controlling the inertial navigation unit to enter a low sampling rate state.

[0058] Optionally, the intelligent power controller 1 is further used to send a high-level control instruction to the inertial navigation unit when detecting that the external main power supply is powered on; the high-level control instruction is used to control the inertial navigation unit to exit the low power consumption operation mode.

[0059] In the embodiment of the present invention, the intelligent power controller 1 partitions and coordinates the task machine unit and the inertial navigation unit to cut off the power, thereby reducing the power consumption of the inertial navigation alignment system during the power-off standby period of the coal mining machine to the greatest extent. In addition, the present invention dynamically adjusts the sampling rate of the working mode and standby mode of the inertial navigation unit, thereby reducing the power consumption of the inertial unit during the power-off standby period of the coal mining machine while ensuring the working continuity of the inertial navigation component.

[0060] Optionally, an embodiment of the present invention further provides a coal mining machine, on which the inertial navigation straightening system in the above embodiment is provided.

[0061] The embodiment of the present invention significantly reduces the power consumption of the inertial navigation alignment system by adopting the technical solution of partition coordination and power off and dynamic sampling rate adjustment, thereby significantly reducing the size of UPS2. In application, the power consumption of the inertial navigation alignment system when UPS2 is powered is reduced from 800mA to 500mA, and the size of UPS2 is reduced from 10920mm 3 Reduced to 7020mm 3 .

[0062] It should be noted that the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention.

[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0064] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. An inertial navigation alignment system for a coal mining machine, characterized in that: include: Mission machine unit and inertial navigation unit; The mission machine unit includes: UPS, computer board and intelligent power controller; the inertial navigation unit includes: power board, communication board, solver board and quantizer board; The intelligent power controller is electrically connected to the external main power input terminal and the UPS; the computer board is connected to the first digital output port OUT_D in the intelligent power controller; the power board is connected to the second digital output port OUT_C ​​in the intelligent power controller; the computer board is electrically connected to the communication board; the solver board is electrically connected to the communication board, the power board and the quantizer board; the power board is electrically connected to the communication board and the quantizer board; The intelligent power controller is used to switch the states of the communication board, the computer board and the inertial navigation unit according to the voltage difference between the external main power supply and the UPS.

2. The inertial navigation alignment system for a coal mining machine according to claim 1, characterized in that: The intelligent power controller is provided with: a first Schottky diode, a second Schottky diode, a buck converter chip and a main control chip; The first Schottky diode is connected to the external main power input terminal; the second Schottky diode is connected to the UPS; the first Schottky diode and the second Schottky diode are both connected to the input terminal of the buck converter chip, and the output terminal of the buck converter chip is connected to the main control chip; the first Schottky diode and the second Schottky diode both use SBDD2045CT chip, the buck converter chip uses TPS5430DDAR chip, and the main control chip uses STM32F030 chip.

3. The inertial navigation alignment system for a coal mining machine according to claim 1, characterized in that: The intelligent power controller is also used to switch the power supply according to the voltage level of the external main power supply and the UPS.

4. The inertial navigation alignment system for a coal mining machine according to claim 3, characterized in that: The intelligent power controller switches the power supply according to the voltage of the external main power supply and the UPS, including: When the voltage of the external main power supply is greater than the voltage of the UPS, the intelligent power controller selects the external main power supply as the power supply; When the voltage of the UPS is greater than the voltage of the external main power supply, the intelligent power controller selects the UPS as the power supply.

5. The inertial navigation alignment system for a coal mining machine according to claim 1, characterized in that: The intelligent power controller is used to set the first digital output port OUT_D high to power the computer board when the external main power supply is supplied; When the UPS is supplying power, the first digital output port OUT_D is set low to cut off power to the computer board.

6. The inertial navigation alignment system for a coal mining machine according to claim 1, characterized in that: The intelligent power controller is also used to set the second digital output port OUT_C ​​high when the external main power supply is supplied so that the communication board can be powered on in coordination; When the UPS is supplying power, the second digital output port OUT_C ​​is set to a low level so that the communication boards are powered off in a coordinated manner.

7. The inertial navigation alignment system for a coal mining machine according to claim 1, characterized in that: The intelligent power controller is also used to send a low-level control instruction to the inertial navigation unit when detecting that the external main power supply is powered off; the low-level control instruction is used to control the inertial navigation unit to enter a low-power consumption operation mode.

8. The inertial navigation alignment system for a coal mining machine according to claim 1, characterized in that: The intelligent power controller is also used to send a high-level control instruction to the inertial navigation unit when detecting that the external main power supply is powered on; the high-level control instruction is used to control the inertial navigation unit to exit the low-power consumption operation mode.

9. A coal mining machine, characterized in that: The coal mining machine is provided with an inertial navigation straightening system as described in any one of claims 1-8.

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