一种井下铲运机无线遥控系统
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摘要
为了保证井下铲运机进入矿房时的作业人员安全,并且考虑到地下采矿环境复杂多变,特此设计了一种无线遥控系统。该遥控系统主要由遥控器、车载控制器构成。遥控器及车载控制器均以ARM处理器为控制核心。遥控器将作业人员的操作转换成控制指令,按照一定的通信协议,以无线的形式将控制指令发送出去。车载控制器具有遥控和本地控制2种工作模式。车载控制器工作在遥控模式时,接收遥控器发出的控制指令,并依此作业;车载控制器工作在本地控制模式时,接收车载控制手柄及按钮的命令进行作业。遥控模式可以使得作业人员远离危险环境,提高了安全性;本地控制模式可使得作业人员在铲运机上作业,兼具了灵活性。该系统具有投资小、见效快的特点,非常适合复杂多变的井下采矿作业。
In order to ensure the safety of workers when the underground scraper enters into the mining room,and considering the complicated underground mining environment,a wireless remote control system was designed.This system mainly consists of remote controller and vehicle on board controller.Both of remote controller and vehicle on board controller are based on ARM processor.The remote controller will convert the operator's operations into control command.In accordance with a certain communication protocol,the control command is wirelessly transferred out.Vehicle mounted controller has two modes of operations,remote control and local control.In the remote control mode,vehicle on board controller receives the control command transferred by the remote controller,and works; In the local control mode,vehicle on board controller receives commands from the on-board control handle and buttons,and works.The remote control mode can make the operator away from the dangerous environment with the safety improved; The local control mode allows the operator to work in the scraper with great flexibility.This system has the characteristics of low investment and quick response,and it is very suitable for complicated and changeable underground mining operations.
In order to ensure the safety of workers when the underground scraper enters into the mining room,and considering the complicated underground mining environment,a wireless remote control system was designed.This system mainly consists of remote controller and vehicle on board controller.Both of remote controller and vehicle on board controller are based on ARM processor.The remote controller will convert the operator's operations into control command.In accordance with a certain communication protocol,the control command is wirelessly transferred out.Vehicle mounted controller has two modes of operations,remote control and local control.In the remote control mode,vehicle on board controller receives the control command transferred by the remote controller,and works; In the local control mode,vehicle on board controller receives commands from the on-board control handle and buttons,and works.The remote control mode can make the operator away from the dangerous environment with the safety improved; The local control mode allows the operator to work in the scraper with great flexibility.This system has the characteristics of low investment and quick response,and it is very suitable for complicated and changeable underground mining operations.
引文
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[8]杨超.基于CAN总线的地下铲运机遥控系统的研究[J].矿山机械,2011,39(3):30-32.Yang Chao.Research on remote control system for underground scrapers based on CAN bus[J].Mining&Processing Equipment,2011,39(3):30-32.
[2]宋岩,译.Cortex-M3权威指南[M].北京:北京航空航天大学出版社,2009.Song Yan translation.Cortex-M3 Authoritative Guide[M].Beijing:Beijing University of Aeronautics and Astronautics Press,2009.
[3]蒙博宇.STM32自学笔记[M].北京:北京航空航天大学出版社,2012.Meng Boyu.STM32 Self-study Notes[M].Beijing:Beijing University of Aeronautics and Astronautics Press,2012.
[4]冯新宇.ARM Cortex-M3体系结构与编程[M].2版.北京:清华大学出版社,2017.Feng Xinyu.ARM Cortex-M3 Architecture and Programming[M].2nd Edit.Beijing:Tsinghua University Press,2017.
[5]黄志凌.一种装载机的无线遥控系统设计[J].机电工程,2011,28(2):235-242.Huang Zhiling.Design of wireless remote control system in loaders[J].Journal of Mechanical&Electrical Engineering,2011,28(2):235-242.
[6]何宏.基于单片机的工业无线遥控系统[J].化工自动化及仪表,2016(5):513-516.He Hong.Industrial remote control system based on MCU[J].Control and Instruments in Chemical Industry,2016(5):513-516.
[7]李枳.无线遥控地下铲运机的发展及液压系统的改进[J].冶金设备,2008(2):54-57.Li Zhi.Reform on hydraulic system and development of radio remote controlled LHD[J].Metallurgical Equipment,2008(2):54-57.
[8]杨超.基于CAN总线的地下铲运机遥控系统的研究[J].矿山机械,2011,39(3):30-32.Yang Chao.Research on remote control system for underground scrapers based on CAN bus[J].Mining&Processing Equipment,2011,39(3):30-32.