• 论文
主办单位:煤炭科学研究总院有限公司、中国煤炭学会学术期刊工作委员会
煤矿用自动化钻机远程控制系统的研制
  • Title

    Development of remote control system for automatic drilling rig used in coal mine

  • 作者

    董洪波姚宁平王天龙马斌彭光宇

  • Author

    DONG Hongbo;YAO Ningping;WANG Tianlong;MA Bin;PENG Guangyu

  • 单位

    中煤科工西安研究院(集团)有限公司

  • Organization
    CCTEG Xi’an Research Institute (Group) Co., Ltd.
  • 摘要

    针对钻机在复杂施工环境下所面临的劳动强度大以及安全风险高等问题,采用电子电路技术、测量传感技术、远程控制技术、视频监测技术以及大数据技术,研制出一套适用于煤矿自动化钻机的远程监控系统。该系统以ZDY4500LFK型煤矿用钻机为主体,实现了视距内控制、井下集控以及地面远程监控3种控制模式,并构建了云端自动化钻机管控平台。具体而言,视距内监控模式通过遥控器、控制器及配套传感器,实现了对井下视觉范围内钻机的精确操作;井下集控模式则集成了集控舱、隔爆兼本安型计算机、本安显示器、隔爆兼本安型交换机、本安摄像头以及本安操控箱等设备,实现了对井下危险钻场的钻机远距离安全监控;地面监控模式则通过地面操控台、地面服务器、显示器、交换机以及AI智能分析盒子等设备,为自动化钻机的地面远程监控提供了有力支持。此外,云端自动化钻机管控平台则主要用于自动化钻机群运行状态和施工状态的数据统计与分析。研制的远程控制系统应用于ZDY4500LFK、ZDY6500LDK型钻机,并实现了视距内遥控、井下集控以及地面远距离控制等多种控制方式的稳定运行。现场试验和测试研究结果表明:(1)钻机视距内遥控系统遥控器按键丰富、控制器具有CAN、RS485等丰富的接口,手机升级便捷方便,可广泛应用于钻机电控化升级和改造。(2)远程集中控制系统可以实现10 km距离的远程控制,控制响应时间小于200 ms。视频、参数采集数据响应及时无卡滞,可以满足井下钻机远程监控的需求。(3)地面远程监控系统可以实现地面钻机远程监控并具有AI识别功能,可实现人员闯入预警和停机功能。(4)自动化钻机管控平台经过功能、压力、并行、访问测试,功能正常,响应及时,系统无崩溃,可用于自动化钻机数据和工况的统计分析。该控制系统的应用在保证钻孔施工安全的同时也为煤矿钻机实现少人化、智能化、信息化提供了借鉴。

  • Abstract

    In response to the problems of high labor intensity and great safety risk of drilling rig under the complex construction environment, a set of remote monitoring system for automatic drilling rig of coal mine was developed using the electronic circuit, measurement sensing, remote control, video monitoring and big data technologies. The system, based on ZDY4500LFK coal mine drilling rig, has implemented the three control modes: in-line-of-sight control, underground centralized control and ground remote monitoring. Besides, a cloud automatic drilling rig management and control platform was established. Specifically, the in-line-of-sight monitoring is used to realize the accurate operation of drilling rig in the downhole visual range by means of telecontroller, controller and supporting sensors. The underground centralized control mode has the centralized control cabin, flameproof and intrinsically safe computer, intrinsically safe display, flameproof and intrinsically safe switch, intrinsically safe camera and intrinsically safe control box integrated to realize the remote monitoring of drilling rigin underground dangerous drilling field. The ground monitoring mode provides strong support to the ground remote monitoring of automatic drilling rig with the ground control console, ground server, display, switch, AI intelligent analysis box, etc.. In addition, the cloud automated rig management and control platform is mainly used for the data statistics and analysis of the operation and construction status of the automatic drilling rig group. The remote control system developed is applicable to the drilling rigs such as ZDY4500LFK and ZDY6500LDK for the stable operation in various control modes, including in-line-of-sight control, underground centralized control and ground remote monitoring. The results of field test and testing show that: (1) The in-line-of-sight control system has the telecontroller equipped with abundant buttons, the controller designed with rich interfaces such as CAN and RS485, capable of being rapidly and conveniently upgraded by mobile phone. Hence, it can be widely used in the electronic control upgrade and transformation of the drilling rig. (2) The remote centralized control system can achieve the remote control at a distance of 10km, with the control response time less than 200 ms. In particular, the video and parameter acquisition data respond in time without delay, which could meet the needs of remote monitoring of underground drilling rigs. (3) The ground remote monitoring system could realize the remote monitoring of the ground drilling rig and has the AI identification function, which could realize the early warning of personnel intrusion and shutdown. (4) The automatic drilling rig management and control platform has been tested by function, pressure, parallel and access, with normal function, timely response and no system crash. Thus, it can be used for the statistical analysis of data and working conditions of the automatic drilling rig. Generally, the application of the control system not only ensures the safety of drilling construction, but also provides a reference for the realization of less human, intelligence and informatization of coal mine drilling rig.

  • 关键词

    自动化钻机遥控远程控制地面监控集控煤矿

  • KeyWords

    automatic drilling rig;telecontrol;remote control;ground monitoring;centralized control;coal mine

  • 基金项目(Foundation)
    国家重点研发计划项目(2022YFB4703601),天地科技股份有限公司科技创新创业资金专项项目(2022-3-TD-KJHZ004)
  • DOI
  • 引用格式
    董洪波,姚宁平,王天龙,等. 煤矿用自动化钻机远程控制系统的研制[J]. 煤田地质与勘探,2024,52(5):151−159. DOI: 10.12363/issn.1001-1986.23.09.0592
  • Citation
    DONG Hongbo,YAO Ningping,WANG Tianlong,et al. Development of remote control system for automatic drilling rig used in coal mine[J]. Coal Geology & Exploration,2024,52(5):151−159. DOI: 10.12363/issn.1001-1986.23.09.0592
  • 相关文章
  • 图表

    Table1

    井下集控系统参数
    名称 型号 防爆类型 主要参数
    矿用隔爆兼本安型计算机 KJD127 隔爆兼本安型 输入电压AC127 V,Intel i7处理器,8 GB内存,1 TB硬盘,
    具有CAN、RS485、以太网光口、电口等接口,配置Windows10操作系统
    矿用隔爆兼本安型刻录机 LJY127 隔爆兼本安型 输入电压AC127 V,采用单模单纤通信,8 TB储存空间
    矿用隔爆兼本安型交换机 KJJ127 隔爆兼本安型 AC127 V供电,功率≤10 W,具备2个光口,3个电口,最大传输距离≤20 km
    矿用本安型摄像仪 KBA12 本安型 摄像仪具有500万像素,可4倍调距;具有入侵、越界声光报警、
    高灵敏度监听对讲、远程控制和自动补光功能
    矿用本安型显示屏 XH12 本安型 防护等级 IP54,显示器配置视频接口、航插电源口、RJ45接口,
    信号传输方式为光纤信号传输,传输速率为6 Gbit/s,最大传输距离为10 m
    矿用本安型操控箱 CXH-12 本安型 操控箱可集成8个比例手柄、7个电位器、10个按键、30个摇头开关、
    1个急停开关、3个LED灯。额定工作电压为DC12 V,最大工作电流≤250 mA
    矿用隔爆兼本安型控制器 KXJ127 隔爆兼本安型 具有控制指令及信号采集、逻辑运算与决策输出、电磁开关阀及比例阀驱动输出
    功能。包含本安CAN、RS485、以太网、模拟量及开关量输入接口,
    设计有丰富的输出接口
    矿用本安型键盘 FHJ12 本安型 具有语音通信功能,使用距离0~10 m。额定电压DC12 V,工作电流≤280 mA
    矿用本安型无线鼠标 FHS1.5W 本安型 采用电池供电,无线信号收发,采用锁频防跳频技术, USB接收器

    Table2

    钻机管控平台测试
    测试项目 测试内容 测试结果
    系统功能测试 登录界面、监控界面、系统管理、施工管理功能测试 界面运行正常
    压力测试 数据库进行19 h不间断读写,间隔时间200 ms,读写数据
    35万余条
    请求吞吐量64次/s
    并行测试 千兆局域网环境下,400人同时并发送20个请求,共8 000条,
    19 h不间断测试
    数据库没有崩溃情况
    接口访问测试 使用内网、外网测试8 000个请求被处理完成所花费时间 内网、外网响应时间分别为20、39 ms
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