阅读说明：本技术 一种煤矿井下用顶管救援装备控制系统及控制方法 (Control system and control method for underground pipe jacking rescue equipment of coal mine ) 是由 王新铭 王雷 王冠雄 李梁 刘佳 王宇名 朱玉芹 于 2019-10-28 设计创作，主要内容包括：本发明涉及煤矿井下灾后救援技术,一种煤矿井下用顶管救援装备控制系统,包括数据交换总线、以及分别和数据交换总线信号连接以形成数据交换的主顶控制器、机内控制器、中继控制器、监控单元和无线遥控单元,用于解决传统顶管装备应用于煤矿灾后救援领域其控制系统水土不服的问题,是煤矿井下坍塌巷道救援通道快速构建技术的重要的组成部分。本发明还提供一种煤矿井下用顶管救援装备控制方法。(The invention relates to a coal mine underground post-disaster rescue technology, in particular to a coal mine underground pipe jacking rescue equipment control system which comprises a data exchange bus, a main top controller, an internal controller, a relay controller, a monitoring unit and a wireless remote control unit, wherein the main top controller, the internal controller, the relay controller, the monitoring unit and the wireless remote control unit are respectively in signal connection with the data exchange bus to form data exchange. The invention also provides a control method of the pipe jacking rescue equipment for the underground coal mine.)

1. A control system is equipped with in colliery is push pipe rescue in pit which characterized in that: the underground coal mine pipe jacking rescue equipment is used for controlling underground coal mine pipe jacking rescue equipment arranged in a working roadway, and comprises a main jacking oil cylinder, a main jacking hydraulic pump station used for driving the main jacking oil cylinder to work, a relay ring, a relay hydraulic pump station used for driving the relay oil cylinder to work, a relay hydraulic oil cylinder used for driving the relay ring to work, a machine head, an internal hydraulic pump station used for driving the machine head to work and a deviation-correcting oil cylinder used for driving the machine head to jack in; the control system for the pipe jacking rescue equipment for the underground coal mine comprises a data exchange bus, a main top controller, an internal controller, a relay controller, a monitoring unit and a wireless remote control unit, wherein the main top controller, the internal controller, the relay controller, the monitoring unit and the wireless remote control unit are respectively in signal connection with the data exchange bus to form data exchange

The main top controller is provided with an operation panel of a monitoring unit, an environmental parameter detection unit, a main top state detection unit, a roadway motor driving unit, a main top hydraulic control unit and a cutter head speed regulation unit which are respectively in signal connection with the main top controller;

the built-in controller is provided with an environmental parameter detection unit, a built-in state detection unit, a machine head posture detection unit, a vital sign detection unit, a built-in motor driving unit and a built-in hydraulic control unit which are respectively in signal connection with the built-in controller;

the relay controller is provided with an environmental parameter detection unit, a relay motor driving unit, a relay state detection unit and a relay hydraulic control unit which are respectively connected with the relay controller through signals;

the monitoring unit comprises an operation panel and a display, the monitoring unit is used for acquiring detection data of the main top controller, the built-in controller and the relay controller, and an input signal of the operation panel is connected with the main top controller; the main top controller sends control instructions sent by the operation panel to the relay ring and the machine head to the bus, and the built-in controller and the relay controller receive corresponding instructions through the bus and then control the underground coal mine pipe jacking rescue equipment;

the wireless remote control unit consists of a signal transmitter and a signal receiver and is used for wirelessly and remotely controlling the operation of the underground pipe-jacking rescue equipment of the coal mine.

2. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the operation authority of the wireless remote control unit on the underground coal mine jacking pipe rescue equipment is higher than that of the operation panel of the monitoring unit, and the operation authority of the monitoring unit is cut off when the wireless remote control unit operates the underground coal mine jacking pipe rescue equipment.

3. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the built-in controller and/or the relay controller is provided with a lighting unit in signal connection with the built-in controller and/or the relay controller.

4. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the built-in controller is provided with a video unit in signal connection with the built-in controller.

5. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the environment parameter detection unit is provided with a plurality of environment parameter detection units which are respectively arranged in the working roadway, the interior of the machine head and the relay ring, and the environment parameter detection unit consists of a methane sensor, a carbon monoxide sensor and an oxygen sensor and is used for detecting the concentration parameters of the ambient gas in real time.

6. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the main top state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged in the main top hydraulic pump station and is used for detecting the pressure of the main top oil cylinder; the liquid level sensor is arranged on an oil tank of the main top hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from being empty due to too low liquid level; the displacement sensor is arranged in the main jacking oil cylinder and used for detecting the extending distance of the main jacking oil cylinder;

the roadway motor driving unit is arranged in a working roadway and used for controlling the starting and stopping of a main top oil pump motor and carrying out overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;

the main jacking hydraulic control unit is arranged in a working roadway and is used for controlling the stretching and contracting actions of the main jacking oil cylinder and the stretching and contracting speed regulation of the main jacking oil cylinder;

the cutter head speed regulating unit is arranged in the working roadway and used for controlling the starting and stopping of the cutter head motor, the steering of the cutter head motor and the rotating speed of the cutter head motor and feeding back the working frequency, the working voltage, the working current, the working state and the alarm information of the cutter head motor to the main top controller.

7. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the in-machine state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged on an in-machine hydraulic pump station and is used for detecting the pressure of the deviation-correcting oil cylinder; the liquid level sensor is arranged on an oil tank of the built-in hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from pumping empty due to too low temperature; the moving sensor is arranged on a deviation-correcting oil cylinder in the machine and is used for calculating the extending distance of the deviation-correcting oil cylinder;

the machine head posture detection unit consists of a double-shaft inclination angle sensor arranged in the machine head, posture data of the machine head are detected in real time, and a machine-in controller calculates the numerical value of the double-shaft inclination angle sensor to obtain the inclination angle and the rotation angle of the machine head 7;

the vital sign detection unit detects the heart rate index of a person in real time, and sends a signal to the built-in controller after the vital sign detection unit detects the physiological parameters of the person

The built-in motor driving unit is arranged in the machine head and used for controlling the starting and stopping of a motor of a built-in hydraulic pump station and carrying out overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;

the built-in hydraulic control unit is arranged in the machine head and is responsible for controlling the stretching and retracting actions of the four deviation rectifying oil cylinders.

8. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the relay motor driving unit is arranged in the relay ring and used for controlling the starting and stopping of a relay hydraulic pump station motor and performing overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;

the relay state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged in the relay hydraulic pump station and used for detecting the pressure of the relay oil cylinder, and the relay controller converts the detected pressure value into a jacking force value of the relay oil cylinder, so that the upper limit of the jacking force of the relay oil cylinder is protected; the liquid level sensor is arranged on an oil tank of the relay hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from being empty due to too low temperature; the displacement sensor is arranged on the relay oil cylinder and used for calculating the extending distance of the relay oil cylinder;

the relay hydraulic control unit is used for controlling the extension and contraction of the relay oil cylinder and controlling the extension and contraction speed regulation.

9. The underground pipe jacking rescue equipment control system for the coal mine according to claim 1, characterized in that: the data exchange bus is a CAN bus.

10. A control method of underground coal mine pipe jacking rescue equipment, which uses the underground coal mine pipe jacking rescue equipment control system as claimed in any one of claims 1-9, and is characterized in that: the method has at least one of the following parallel features:

A. an operation panel of the monitoring unit and the wireless remote control unit can both control and operate the jacking pipe rescue equipment, and after the wireless remote control unit is started, the operation panel of the monitoring unit controls the operation function to be invalid;

B. the main top controller, the built-in controller and the relay controller collect detection data of the environmental parameter detection unit in real time, when the concentration of combustible gas in the environmental air exceeds a threshold value, the roadway motor driving unit, the cutter head speed regulation unit, the built-in motor driving unit and the relay motor driving unit immediately cut off a power supply of a main loop of the motor, and simultaneously alarm and feed back a detection value to the monitoring unit; when the oxygen concentration in the ambient air is too low, alarming the monitoring unit and feeding back a detection value;

C. the main jacking controller collects data of the main jacking state detection unit in real time, and when the measured value of the main jacking state detection unit exceeds a threshold value and the pressure of the main jacking oil cylinder is too high, the main jacking controller sends a stop instruction to the main jacking oil cylinder to prevent equipment damage caused by too high jacking force; when the measured value of the main top state detection unit is lower than the threshold value, the main top controller sends a stop instruction to the main top oil cylinder to prevent a large amount of hydraulic oil from entering the main top oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump emptying is caused;

D. the relay controller collects data of the relay state detection unit in real time, and when the value measured by the relay state detection unit exceeds a threshold value and the pressure of the relay oil cylinder is too high, the relay controller sends a stop instruction to the relay oil cylinder to prevent equipment from being damaged due to too large jacking force; when the value measured by the relay state detection unit is lower than the threshold value, the relay controller sends a stop instruction to the relay oil cylinder to prevent a large amount of hydraulic oil from entering the relay oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump emptying is caused;

E. the built-in controller collects data of the built-in state detection unit in real time, and when the measured value of the built-in state detection unit exceeds a threshold value and the pressure of the deviation correction oil cylinder is too high, the relay controller sends a stop instruction to the relay oil cylinder to prevent equipment from being damaged due to too large jacking force; when the measured value of the internal state detection unit is lower than the threshold value, the internal controller sends a stop instruction to the deviation-correcting oil cylinder to prevent a large amount of hydraulic oil from entering the deviation-correcting oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump emptying is caused;

F. the built-in controller collects data of the head attitude detection unit in real time, and when the rolling angle is calculated to be overlarge after the value measured by the head attitude detection unit, the rotation of the cutter head is stopped, so that the damage of equipment in the head caused by the overlarge integral rotating angle is prevented; when the value measured by the handpiece attitude detection unit is calculated to have an overlarge inclination angle, an alarm signal is sent to the monitoring unit to remind a worker to correct the deviation;

G. the built-in controller receives information sent by the vital sign detection unit in real time, after the vital sign detection unit detects human vital signs, the information is fed back to the main top controller and the relay controller, the main top controller sends stop signals to the main top oil cylinder and the cutter head speed regulation unit, and the relay controller sends stop signals to the relay oil cylinder.

Technical Field

The invention relates to a coal mine underground post-disaster rescue technology, in particular to a safe and efficient control system for quickly constructing a pipe jacking device in a coal mine underground post-disaster rescue channel.

Background

Coal mine common disasters such as coal mine gas explosion, roof collapse and the like have the characteristics of outburst, catastrophe, destructiveness and the like, and once an accident occurs, a mine system is seriously destroyed, so that safety channel blockage, ventilation system destruction and serious oxygen deficiency can be caused, and a large number of casualties are caused. The post-disaster rescue of the collapsed roadway has urgency in time, and various influence factors such as safety, rapidness, high efficiency and the like need to be considered. At present, no case of constructing a rescue channel by applying a pipe jacking machine to a coal mine underground collapsed roadway exists at home and abroad, and the traditional pipe jacking equipment control system has a plurality of defects when being applied to the field of coal mine rescue.

Firstly, the traditional pipe jacking equipment control system does not have the functions of environmental monitoring and vital sign monitoring of rescuers, and cannot ensure the safety of rescue actions.

Secondly, due to the great difference between the traditional surrounding rock interface and the collapsed roadway environment, the transmission pipe jacking equipment control system does not have the capability of quickly identifying the abnormal working condition of the collapsed roadway under the coal mine.

Thirdly, the transmission pipe jacking equipment control system has the advantages of less data acquisition amount, low communication real-time performance and poor anti-interference capability, and cannot meet the requirements of high informatization real-time communication and robustness of the whole pipe jacking rescue equipment.

Traditional pipe jacking equipment is applied to the colliery, and its control system does not possess environment monitoring function, vital sign monitoring function, unusual operating mode recognition function, can't satisfy quick, safe, efficient rescue demand, and traditional pipe jacking equipment control system network architecture level is lower simultaneously, and data communication adopts polling type communication mode more, and transmission data volume is little, and the real-time is low, and the interference killing feature is poor, very easily breaks down.

Disclosure of Invention

In order to solve the problems, the control system for the underground coal mine pipe jacking rescue equipment provided by the invention solves the problems that the traditional pipe jacking machine cannot monitor environmental parameters in real time, cannot monitor vital signs of rescuers, cannot identify abnormal working conditions, is low in data transmission rate, poor in anti-interference capability and the like. Meanwhile, the invention also provides a control method of the underground pipe jacking rescue equipment for the coal mine.

In order to achieve the purpose, the invention adopts the technical scheme that:

a control system for underground coal mine pipe jacking rescue equipment is used for controlling the underground coal mine pipe jacking rescue equipment arranged in a working roadway, and the underground coal mine pipe jacking rescue equipment is provided with a main jacking oil cylinder, a main jacking hydraulic pump station used for driving the main jacking oil cylinder to work, a relay ring, a relay hydraulic pump station used for driving the relay oil cylinder to work, a relay hydraulic oil cylinder used for driving the relay ring to work, a machine head, an internal hydraulic pump station used for driving the machine head to work and a deviation-correcting oil cylinder used for driving the machine head to jack in; the control system for the pipe jacking rescue equipment for the underground coal mine comprises a data exchange bus, a main top controller, an internal controller, a relay controller, a monitoring unit and a wireless remote control unit, wherein the main top controller, the internal controller, the relay controller, the monitoring unit and the wireless remote control unit are respectively in signal connection with the data exchange bus to form data exchange

The main top controller is provided with an operation panel of a monitoring unit, an environmental parameter detection unit, a main top state detection unit, a roadway motor driving unit, a main top hydraulic control unit and a cutter head speed regulation unit which are respectively in signal connection with the main top controller;

the built-in controller is provided with an environmental parameter detection unit, a built-in state detection unit, a machine head posture detection unit, a vital sign detection unit, a built-in motor driving unit and a built-in hydraulic control unit which are respectively in signal connection with the built-in controller;

the relay controller is provided with an environmental parameter detection unit, a relay motor driving unit, a relay state detection unit and a relay hydraulic control unit which are respectively connected with the relay controller through signals;

the monitoring unit comprises an operation panel and a display, the monitoring unit is used for acquiring detection data of the main top controller, the built-in controller and the relay controller, and an input signal of the operation panel is connected with the main top controller; the main top controller sends control instructions sent by the operation panel to the relay ring and the machine head to the bus, and the built-in controller and the relay controller receive corresponding instructions through the bus and then control the underground coal mine pipe jacking rescue equipment;

the wireless remote control unit consists of a signal transmitter and a signal receiver and is used for wirelessly and remotely controlling the operation of the underground pipe-jacking rescue equipment of the coal mine.

Preferably, the operation right of the wireless remote control unit for the underground coal mine jacking pipe rescue equipment is higher than that of the operation panel of the monitoring unit, and the operation right of the monitoring unit is cut off when the wireless remote control unit operates the underground coal mine jacking pipe rescue equipment.

Preferably, the built-in controller and/or the relay controller has a lighting unit in signal connection therewith.

Preferably, the built-in controller has a video unit in signal connection therewith.

Preferably, the environment parameter detection unit is provided with a plurality of environment parameter detection units which are respectively arranged in the working roadway, the interior of the machine head and the relay ring, and the environment parameter detection unit consists of a methane sensor, a carbon monoxide sensor and an oxygen sensor so as to detect the concentration parameters of the ambient gas in real time.

Preferably, the main top state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged in the main top hydraulic pump station and is used for detecting the pressure of the main top oil cylinder; the liquid level sensor is arranged on an oil tank of the main top hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from being empty due to too low liquid level; the displacement sensor is arranged in the main jacking oil cylinder and used for detecting the extending distance of the main jacking oil cylinder;

the roadway motor driving unit is arranged in a working roadway and used for controlling the starting and stopping of a main top oil pump motor and carrying out overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;

the main jacking hydraulic control unit is arranged in a working roadway and is used for controlling the stretching and contracting actions of the main jacking oil cylinder and the stretching and contracting speed regulation of the main jacking oil cylinder;

the cutter head speed regulating unit is arranged in the working roadway and used for controlling the starting and stopping of the cutter head motor, the steering of the cutter head motor and the rotating speed of the cutter head motor and feeding back the working frequency, the working voltage, the working current, the working state and the alarm information of the cutter head motor to the main top controller.

Preferably, the internal state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged on the internal hydraulic pump station and is used for detecting the pressure of the deviation rectifying oil cylinder; the liquid level sensor is arranged on an oil tank of the built-in hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from pumping empty due to too low temperature; the moving sensor is arranged on a deviation-correcting oil cylinder in the machine and is used for calculating the extending distance of the deviation-correcting oil cylinder;

the machine head posture detection unit consists of a double-shaft inclination angle sensor arranged in the machine head, posture data of the machine head are detected in real time, and a machine-in controller calculates the numerical value of the double-shaft inclination angle sensor to obtain the inclination angle and the rotation angle of the machine head 7;

the vital sign detection unit detects the heart rate index of a person in real time, and sends a signal to the built-in controller after the vital sign detection unit detects the physiological parameters of the person

The built-in motor driving unit is arranged in the machine head and used for controlling the starting and stopping of a motor of a built-in hydraulic pump station and carrying out overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;

the built-in hydraulic control unit is arranged in the machine head and is responsible for controlling the stretching and retracting actions of the four deviation rectifying oil cylinders.

Preferably, the relay motor driving unit is installed in the relay ring and used for controlling the starting and stopping of the relay hydraulic pump station motor and performing overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor;

the relay state detection unit consists of a pressure sensor, a liquid level sensor and a displacement sensor, wherein the pressure sensor is arranged in the relay hydraulic pump station and used for detecting the pressure of the relay oil cylinder, and the relay controller 103 converts the detected pressure value into a jacking force value of the relay oil cylinder, so that the upper limit of the jacking force of the relay oil cylinder is protected; the liquid level sensor is arranged on an oil tank of the relay hydraulic pump station and used for detecting the oil level of the oil tank and preventing the oil pump from being empty due to too low temperature; the displacement sensor is arranged on the relay oil cylinder and used for calculating the extending distance of the relay oil cylinder;

the relay hydraulic control is used for controlling the extension and contraction of the relay oil cylinder and the extension and contraction speed regulation control.

Preferably, the data exchange bus is a CAN bus.

A control method for underground coal mine jacking pipe rescue equipment uses the underground coal mine jacking pipe rescue equipment control system, and the method has at least one of the following parallel characteristics:

A. an operation panel of the monitoring unit and the wireless remote control unit can both control and operate the jacking pipe rescue equipment, and after the wireless remote control unit is started, the operation panel of the monitoring unit controls the operation function to be invalid;

B. the main top controller, the built-in controller and the relay controller collect detection data of the environmental parameter detection unit in real time, when the concentration of combustible gas in the environmental air exceeds a threshold value, the roadway motor driving unit, the cutter head speed regulation unit, the built-in motor driving unit and the relay motor driving unit immediately cut off a power supply of a main loop of the motor, and simultaneously alarm and feed back a detection value to the monitoring unit; when the oxygen concentration in the ambient air is too low, alarming the monitoring unit and feeding back a detection value;

C. the main jacking controller collects data of the main jacking state detection unit in real time, and when the measured value of the main jacking state detection unit exceeds a threshold value and the pressure of the main jacking oil cylinder is too high, the main jacking controller sends a stop instruction to the main jacking oil cylinder to prevent equipment damage caused by too high jacking force; when the measured value of the main top state detection unit is lower than the threshold value, the main top controller sends a stop instruction to the main top oil cylinder to prevent a large amount of hydraulic oil from entering the main top oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump emptying is caused;

D. the relay controller collects data of the relay state detection unit in real time, and when the value measured by the relay state detection unit exceeds a threshold value and the pressure of the relay oil cylinder is too high, the relay controller sends a stop instruction to the relay oil cylinder to prevent equipment from being damaged due to too large jacking force; when the value measured by the relay state detection unit is lower than the threshold value, the relay controller sends a stop instruction to the relay oil cylinder to prevent a large amount of hydraulic oil from entering the relay oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump emptying is caused;

E. the built-in controller collects data of the built-in state detection unit in real time, and when the measured value of the built-in state detection unit exceeds a threshold value and the pressure of the deviation correction oil cylinder is too high, the relay controller sends a stop instruction to the relay oil cylinder to prevent equipment from being damaged due to too large jacking force; when the measured value of the internal state detection unit is lower than the threshold value, the internal controller sends a stop instruction to the deviation-correcting oil cylinder to prevent a large amount of hydraulic oil from entering the deviation-correcting oil cylinder from the hydraulic oil tank, so that the phenomenon of oil pump emptying is caused;

F. the built-in controller collects data of the head attitude detection unit in real time, and when the rolling angle is calculated to be overlarge after the value measured by the head attitude detection unit, the rotation of the cutter head is stopped, so that the damage of equipment in the head caused by the overlarge integral rotating angle is prevented; when the value measured by the handpiece attitude detection unit is calculated to have an overlarge inclination angle, an alarm signal is sent to the monitoring unit to remind a worker to correct the deviation;

G. the built-in controller receives information sent by the vital sign detection unit in real time, after the vital sign detection unit detects human vital signs, the information is fed back to the main top controller and the relay controller, the main top controller sends stop signals to the main top oil cylinder and the cutter head speed regulation unit, and the relay controller sends stop signals to the relay oil cylinder.

The beneficial effects of the invention are as follows:

the invention relates to a control system of a coal mine underground pipe jacking rescue device, which is used for solving the problem that the control system of the traditional pipe jacking device is not water-soil-friendly in the field of coal mine post-disaster rescue and is an important component of a rapid construction technology of a coal mine underground collapsed roadway rescue channel. The control system is provided with an internal pressure sensor, a cutter motor current sensor, a cutter motor rotating speed sensor, a main top pressure sensor and an oil cylinder stroke sensor, so that the rapid and accurate identification of abnormal working conditions is ensured; in order to ensure the safety of the rescue environment and rescuers, on one hand, the pipe jacking rescue equipment control system senses the environment state in real time through the environment parameter detection units arranged in the working roadway, the machine head and the relay ring, on the other hand, the vital sign information of the rescuers is monitored in real time through the vital sign detection units, and when the vital sign parameters of the rescuers are abnormal, the control system immediately informs nearby staff to go to check.

Drawings

FIG. 1 is a diagram of a control system of a pipe jacking rescue equipment for underground coal mine.

Fig. 2 is a schematic layout diagram of a pipe jacking rescue equipment environment parameter detection unit, a main jacking state detection unit, an in-machine state detection unit and a relay state detection unit.

The reference numerals include:

1-working roadway, 2-main top hydraulic pump station, 3-main top oil cylinder, 4-relay ring, 5-relay hydraulic pump station, 6-relay oil cylinder, 7-machine head, 8-machine internal hydraulic pump station, 9-deviation-rectifying oil cylinder, 10-auxiliary roadway, 11-methane sensor, 12-carbon monoxide sensor, 13-oxygen sensor, 14-pressure sensor, 15-liquid level sensor, 16-stroke sensor, 17-double-shaft inclination angle sensor and 18-cutter head;

101-main top controller, 102-built-in controller, 103-relay controller, 104-wireless remote control unit, 105-monitoring unit, 106-environmental parameter detection unit, 107-main top state detection unit, 108-roadway motor driving unit, 109-main top hydraulic control unit, 110-cutter head speed regulation unit, 111-built-in state detection unit, 112-head attitude detection unit, 113-video unit, 114-vital sign detection unit, 115-built-in motor driving unit, 116-built-in hydraulic control unit, 117-lighting unit, 118-relay motor driving unit, 119-relay state detection unit, 120-relay hydraulic control unit and 121-CAN bus.

Detailed Description

In order to make the purpose, technical solution and advantages of the present technical solution more clear, the present technical solution is further described in detail below with reference to specific embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present teachings.

As shown in fig. 1 and fig. 2, the embodiment provides a control system for a pipe jacking rescue device used in a coal mine, which is characterized by meeting the requirements of quick, safe and efficient rescue. The pipe jacking rescue equipment control system is composed of a main jacking controller 101, an internal controller 102, a relay controller 103, a monitoring unit 105, a wireless remote control unit 104, an environmental parameter detection unit 106, a main jacking state detection unit 107, a motor driving unit 8, a main jacking hydraulic control unit 109, a cutter head speed regulation unit 110, an internal state detection unit 111, a machine head posture detection unit 112, a video unit 113, a vital sign detection unit 114, an internal hydraulic control unit 116, an illumination unit 117, a relay state detection unit 119 and a relay hydraulic control unit 120, wherein the main jacking controller 101, the internal controller 102 and the relay controller 103 are the cores of the pipe jacking rescue equipment control system, and other devices are signal sending or action execution mechanisms.

The main top controller 101 is located in the working roadway, and is responsible for receiving a control instruction of an operation panel of the monitoring unit 105, and sending the control instruction to the CAN bus 121 after logical operation processing; meanwhile, the signals of the environment parameter detection unit 106 and the main top state detection unit 107 are received, and after operation processing, the data are sent to the CAN bus 121. The main roof controller 101 sends control commands to the motor drive unit 8, the main roof hydraulic control unit 109, and the cutter head speed regulating unit 110.

The monitoring unit 105 is installed in a working roadway and consists of an operation panel and an HMI display, an operator controls the pipe jacking rescue equipment through an operation panel button, and the operation state and parameters of the pipe jacking rescue equipment are monitored through reading data on the CAN bus 121 through the HMI display.

The wireless remote control unit 104 is composed of a signal transmitter and a signal receiver, the signal receiver and the main roof controller 101 are installed in the same control box, the signal transmitter is a portable and movable device, an operator can use the signal transmitter to control the jacking pipe rescue equipment, and when the operator uses the signal transmitter to control the jacking pipe rescue equipment, the operation panel cannot control the jacking pipe rescue equipment. The signal transmitter wirelessly transmits the control instruction of the operator to the signal receiver, the signal receiver transmits the received control instruction information to the CAN bus 121, and the main top controller 101, the built-in controller 102 and the relay controller 103 CAN simultaneously share the control instruction information on the CAN bus 121.

The environmental parameter detection unit 106 is composed of a methane sensor 11, a carbon monoxide sensor 12, and an oxygen sensor 13. The sensors are distributed in a working roadway, the interior of a machine head and a relay ring according to the requirements of coal mines, and detect the gas concentration parameters of the surrounding environment in real time.

The main ceiling state detection unit 107 is composed of a pressure sensor 14, a liquid level sensor 15, and a displacement sensor 16. The pressure sensor 14 is installed in the main jacking hydraulic pump station 2 and used for detecting the pressure of the main jacking cylinder 3, and the main jacking controller 101 converts the detected pressure value into the jacking force value of the main jacking cylinder 3, so that the upper limit of the main jacking force is protected. The liquid level sensor 15 is installed on an oil tank of the main top hydraulic pump station 2 and used for detecting the oil level of the oil tank and preventing the oil pump from being empty due to too low liquid level. The displacement sensor 16 is installed inside the main jacking cylinder 2 and used for detecting the extending distance of the main jacking cylinder 2, the main jacking controller 101 conducts derivation on the detected extending amount of the main jacking cylinder 2 according to time to obtain the propelling speed of the main jacking cylinder 2, and an operator can conveniently and better control jacking pipe rescue equipment.

The roadway motor driving unit 108 is installed in a working roadway and used for controlling the starting and stopping of the main top oil pump motor and carrying out overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor.

The main jacking hydraulic control unit 109 is installed in a working roadway and is responsible for controlling the stretching and contracting actions of the main jacking cylinder 2 and the regulation of the stretching and contracting speeds of the main jacking cylinder 2.

The cutter head speed regulating unit 110 is installed in a working roadway, and can control the starting and stopping of a cutter head motor, the steering of the cutter head motor and the rotating speed of the cutter head motor according to a received control signal sent by the main top controller 101. Meanwhile, the cutter head speed adjusting unit 110 transmits the operating frequency, operating voltage, operating current, operating state, and alarm information of the cutter head motor to the main roof controller 101.

The built-in controller 102 is located inside the handpiece 7, and is mainly responsible for receiving data sent by the environmental parameter detection unit 106, the built-in state detection unit 111, the handpiece attitude detection unit 112, and the vital sign detection unit 114, and sending the data to the CAN bus 121 after operation processing. Meanwhile, the built-in controller 102 sends control commands to the motor drive unit 8 and the built-in hydraulic control unit 116 to supply power to the lighting unit 117.

The internal state detection unit 111 is composed of a pressure sensor 14, a liquid level sensor 15, and a displacement sensor 16. The pressure sensor 14 is installed on the built-in hydraulic pump station 8 and used for detecting the pressure of the deviation rectifying oil cylinder 9, and the built-in controller 102 converts the detected pressure value into the jacking force value of the deviation rectifying oil cylinder 9, so that the upper limit of the jacking force of the deviation rectifying oil cylinder 9 is protected. The liquid level sensor 15 is arranged on an oil tank of the hydraulic pump station 8 in the machine and used for detecting the oil level of the oil tank and preventing the oil pump from being empty due to too low temperature. The four displacement sensors 16 are respectively installed on the four deviation-correcting oil cylinders 9 in the machine and used for calculating the extending distances of the deviation-correcting oil cylinders 9, and an operator carries out deviation-correcting control by observing the extending distances of the four deviation-correcting oil cylinders 9.

The handpiece attitude detection unit 112 is composed of a double-shaft tilt angle sensor 17 installed in the handpiece 7, detects attitude data of the handpiece 7 in real time, the built-in controller 102 calculates the numerical value of the double-shaft tilt angle sensor 17 to obtain the tilt angle and the rotation angle of the handpiece 7, and an operator uses the attitude of the handpiece 7 as a reference for deviation rectification operation.

The video unit 113 is composed of a mining explosion-proof infrared camera and a mining explosion-proof display. The infrared camera is arranged in the machine head 7 and used for collecting slag discharge pictures, laser light target pictures and transfer pictures, and the picture data transmission medium is an optical fiber. The display is installed on the working roadway monitoring unit 105 and used for displaying monitoring pictures.

The vital sign detection unit 114 detects a heart rate index of a person in real time, and sends a signal to the built-in controller 102 after the vital sign detection unit 114 detects a physiological parameter of the person.

The built-in motor driving unit 115 is installed in the machine head 7 and used for controlling the starting and stopping of the motor of the built-in hydraulic pump station 8 and carrying out overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor.

The built-in hydraulic control unit 116 is arranged in the machine head and is responsible for controlling the stretching and contracting actions of the four deviation rectifying oil cylinders 9.

The lighting unit 117 consists of a plurality of mining explosion-proof LED roadway lamps and is responsible for internal lighting of the pipe jacking rescue equipment head 7 and the relay ring 4.

The relay controller 103 is located in the relay ring 4, and is mainly responsible for receiving the data sent by the environment parameter detection unit 106 and the relay state detection unit 119, and sending the data to the CAN bus 121 after the data is subjected to the arithmetic processing. Meanwhile, the relay controller 103 sends control instructions to the motor drive unit 8 and the relay hydraulic control unit 120 to supply power to the illumination unit 117.

The relay motor driving unit 118 is installed in the relay ring 4, and is used for controlling the start and stop of the motor of the relay hydraulic pump station 5, and performing overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motor.

The relay state detection unit 119 is composed of the pressure sensor 14, the liquid level sensor 15, and the displacement sensor 16. The pressure sensor 14 is installed in the relay hydraulic pump station 5 and used for detecting the pressure of the relay cylinder 6, and the relay controller 103 converts the detected pressure value into the jacking force value of the relay cylinder 6, so that the upper limit of the jacking force of the relay cylinder 6 is protected. The liquid level sensor 15 is installed on an oil tank of the relay hydraulic pump station 5 and used for detecting the oil level of the oil tank and preventing the oil pump from being empty due to too low temperature. The displacement sensor 16 is mounted on the relay cylinder 6, and is used for calculating the extension distance of the relay cylinder 6. The relay controller 103 derives the detected extension amount of the relay oil cylinder 6 from time to obtain the propulsion speed of the relay oil cylinder 6, so that an operator can control the ejector pipe rescue equipment better.

The relay hydraulic control unit 120 is installed in the relay ring 4, and the relay hydraulic control unit 120 is responsible for controlling the extension and retraction of the relay cylinder 6 and controlling the speed regulation of the extension and retraction.

Considering that the rescue action of the underground coal mine after a disaster has certain danger, in order to ensure the safety of rescuers, on one hand, a pipe jacking rescue equipment control system senses the environmental state through an environmental parameter detection unit 106 arranged in a working roadway 1, a relay ring 4 and a machine head 7, and gives an alarm and reminds when the environmental parameters are abnormal; on the other hand, the vital sign information of the rescue workers is monitored in real time through the vital sign detection unit 114, and when the vital sign parameters of the workers are abnormal, the control system immediately informs nearby workers to go to check.

The invention provides a control method of a jacking pipe rescue device for underground coal mines, which is characterized by effectively and safely protecting important parts of the jacking pipe rescue device, assisting an operator to operate and effectively reminding the operator when indexes are abnormal.

a. The operation panel of the monitoring unit 105 and the wireless remote control unit 104 can both perform control operation on the top pipe rescue equipment, and both cannot perform control operation at the same time in consideration of the safety of equipment control. When the wireless remote control unit 104 is not turned on, the operation panel of the monitoring unit 105 allows the control operation of the ejector pipe rescue equipment; in contrast, when the wireless remote control unit 104 is turned on, the operation panel control operation function of the monitor unit 105 is disabled. Compared with a common pipe jacking tunneling machine, the wireless remote control unit 104 is added, and after the pipe jacking rescue equipment is transported to an underground accident site, a certain time is needed for wiring the monitoring unit 105 and debugging other electric units. Since the rescue time is precious, the jacking pipe rescue equipment can be quickly controlled, operated and debugged through the wireless remote control unit 104 after the wireless remote control unit 104 is added, the monitoring unit 105 and other electric units can be connected while debugging, and the installation and debugging time of the equipment is saved. In addition, when the pipe jacking rescue equipment is in a construction process, a fault occurs in the machine head 7 or the relay ring 4, and an operator wears the wireless remote control unit 104 to enter the machine head 7 or the relay ring 4 together with troubleshooting personnel, so that the fault removal efficiency is greatly improved, and the condition that the troubleshooting personnel need to communicate with the operator of the working roadway 1 remotely and inconveniently in the past is eliminated.

b. The main top controller 101, the built-in controller 102 and the relay controller 103 acquire data of a methane sensor 11 and a carbon monoxide sensor 12 of an environmental parameter detection unit 106 in real time, after calculation, the methane concentration or the carbon monoxide concentration is found to be over standard, a roadway motor driving unit 108, a cutter head speed regulating unit 110, a built-in motor driving unit 115 and a relay motor driving unit 118 immediately cut off a power supply of a main loop of a motor, and meanwhile, an HMI (human machine interface) of the monitoring unit 105 displays the methane concentration and the carbon monoxide concentration to remind an operator. The oxygen concentration is displayed in real time on the HMI of the monitoring unit 105, and if the oxygen concentration is too low, no personnel are allowed to enter the relay ring 4 or the handpiece 7.

c. The main jacking controller 101 collects data of the main jacking state detection unit 107 in real time, and after calculation, when the pressure of the main jacking oil cylinder 3 is too high, the main jacking controller 101 sends an 'extending stopping' instruction to the main jacking oil cylinder 3, so that equipment damage caused by too large jacking force is prevented; when the liquid level of the hydraulic oil tank of the main top hydraulic pump station 2 is too low, the main top controller 101 sends a 'stop extending' instruction to the main top oil cylinder 3, so that a large amount of hydraulic oil is prevented from entering the main top oil cylinder 3 from the hydraulic oil tank, and the phenomenon of oil pump emptying is caused.

d. The relay controller 103 collects data of the relay state detection unit 119 in real time, and after calculation, when the pressure of the relay oil cylinder 6 is too high, the relay controller 103 sends an instruction of 'stopping extending' to the relay oil cylinder 6, so that the equipment damage caused by too large jacking force is prevented; when the liquid level of the hydraulic oil tank of the relay hydraulic pump station 5 is too low, the relay controller 103 sends a command of 'stop extending' to the relay oil cylinder 6, so that a large amount of hydraulic oil is prevented from entering the relay oil cylinder 6 from the hydraulic oil tank, and the phenomenon of oil pump emptying is caused.

e. The built-in controller 102 collects data of the built-in state detection unit 111 in real time, and after calculation, when the pressure of the deviation rectifying oil cylinder 9 is too high, the built-in controller 102 sends a command of 'stopping extending' to the deviation rectifying oil cylinder 9, so that equipment damage caused by too large jacking force is prevented; when the liquid level of the hydraulic oil tank of the built-in hydraulic pump station 8 is too low, the built-in controller 102 sends a command of 'stopping extending' to the deviation-correcting oil cylinder 9, so that a large amount of hydraulic oil is prevented from entering the deviation-correcting oil cylinder 9 from the hydraulic oil tank, and the phenomenon of oil pump emptying is avoided.

f. The built-in controller 102 collects data of the head posture detection unit 112 in real time, and stops the rotation command of the cutter head 18 after calculation when the rolling angle is too large, so as to prevent the damage of the internal equipment of the head caused by the overlarge integral rotation angle; when the inclination angle is too large, the HMI of the monitoring unit 105 gives an alarm to remind the operator to perform the correction operation in time.

g. The built-in controller 102 receives the information sent by the vital sign detection unit 114 in real time, and immediately sends an emergency stop control command to the CAN bus 121 after detecting the vital sign of a person. After receiving the 'emergency stop' on the CAN bus 121, the main top controller 101 immediately sends a 'stop jacking' control instruction to the main top oil cylinder 3, and meanwhile, the main top controller 101 immediately sends a 'cutter head stop' control instruction to the cutter head speed regulating unit 110 to stop the rotation of the cutter head 18; after receiving the "emergency stop" on the CAN bus 121, the relay controller 103 immediately issues a control command "stop jack" to the relay cylinder 6. After the jacking pipe rescue equipment stops jacking and the cutter head stops rotating, the rescue workers immediately rescue the trapped people.

In this embodiment, the pipe jacking rescue equipment control system is composed of a main jacking controller 101, an internal controller 102, a relay controller 103, a monitoring unit 105, a wireless remote control unit 104, an environmental parameter detection unit 106, a main jacking state detection unit 107, a roadway motor drive unit 108, a main jacking hydraulic control unit 109, a cutterhead speed regulation unit 110, an internal state detection unit 111, a nose attitude detection unit 112, a video unit 113, a vital sign detection unit 114, an internal motor drive unit 115, an internal hydraulic control unit 116, an illumination unit 117, a relay motor drive unit 118, a relay state detection unit 119, and a relay hydraulic control unit 120. The main top controller 101, the built-in controller 102 and the relay controller 103 are the core of a top pipe rescue equipment control system, and other devices are signal sending or action executing mechanisms.

The main top controller 101 is located in the working roadway and is used for receiving data sent by the built-in controller 102, the relay controller 103, the environmental parameter detection unit 106, the wireless remote control unit 104 and the monitoring unit 105 and controlling the corresponding mechanisms to act according to control logic.

The built-in controller 102 is located near the head of the pipe jacking rescue equipment, and is used for receiving data sent by the environmental parameter detection unit 106 and the head attitude detection unit 112, and communicating with the main top controller 101 through the CAN bus 121, and the communication medium is an optical fiber.

The relay controller 103 is located in the relay ring of the pipe jacking rescue equipment, and is configured to receive data sent by the environmental parameter detection unit 106 and the relay motor driving unit 118, and communicate with the main top controller 101 through the CAN bus 121, where a communication medium is an optical fiber.

After the system is powered on, an operator controls the pipe jacking rescue equipment through an operation panel button of the monitoring unit 105, and the running state of the equipment is monitored through an explosion-proof HMI of the monitoring unit 105.

The roadway motor driving unit 108 is installed in the working roadway, and is used for controlling the start and stop of the stirring motor and the grouting motor of the working roadway 1 and the oil pump motor of the main top hydraulic pump station 2, and performing overload, overcurrent, electric leakage, overvoltage and undervoltage protection on the motors.

The main jack hydraulic control unit 109 is a hydraulic solenoid valve, and the main jack controller 101 drives the solenoid valve according to an instruction of an operator to control the extension and retraction of the main jack cylinder and the adjustment of the extension and retraction speed.

The cutter head speed regulating unit 110 is a variable frequency speed regulating device, and the main top controller 101 changes the power frequency through the cutter head speed regulating unit 110 according to an instruction of an operator, so as to regulate the speed of the cutter head motor.

The head attitude detection unit 112 is composed of pitch angle and roll angle sensors, and an operator monitors the head pitch angle and roll angle of the pipe jacking rescue equipment in real time through the explosion-proof HMI of the monitoring unit 105.

The wireless remote control unit 104 is composed of a transmitter and a receiver, an operator CAN issue a control command through the transmitter, and the receiver CAN receive a wireless signal sent by the transmitter and upload data to the main top controller 101, the built-in controller 102 and the relay controller 103 through the CAN bus 121.

The video unit 113 is composed of a mining explosion-proof infrared camera and a mining explosion-proof display. The infrared camera is arranged in the head of the pipe jacking rescue equipment and used for collecting slag discharge pictures, laser light target pictures and transfer pictures, and a picture data transmission medium is an optical fiber. The operator browses the monitoring screen through a display installed on the working tunnel monitoring unit 105.

A methane sensor 11, a carbon monoxide sensor 12 and an oxygen sensor 13 are arranged on each of the working roadway 1, the relay ring 4 and the machine head 7, the main roof controller 101 collects data sent by the sensors and judges whether environmental parameters at corresponding positions are abnormal or not, and an alarm is given when the environmental parameters are abnormal.

The equipment state detection unit consists of a cutter head 18 motor current sensor, a cutter head 18 motor speed sensor and a main top hydraulic pump station 2 pressure sensor. The cutterhead motor current and rotating speed sensor is installed inside the cutterhead speed regulating unit 110 and is used for detecting the motor current and the rotating speed of the cutterhead 18 respectively. The main top pressure sensor is arranged in the main top hydraulic pump station 2 and used for detecting the pressure of the main top oil cylinder 3. The specific identification process of the abnormal working condition is as follows: analyzing the motor current of the cutter head 18 detected by the cutter head motor current sensor, and judging whether the torque of the cutter head 18 is suddenly changed by the abnormal working condition identification model; analyzing data sent by a motor current sensor and a rotating speed sensor of the cutter head 18, and judging whether the cutter head 18 is locked up by an abnormal working condition identification model; and analyzing data sent by a pressure sensor of the main top hydraulic pump station 2, and judging whether the cutter head 18 meets an obstacle or not by an abnormal working condition identification model.

The foregoing is only a preferred embodiment of the present invention, and many variations in the specific embodiments and applications of the invention may be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the claims of this patent.