CN104481534B - A kind of coal mining machine roller automatic height-adjusting system - Google Patents
A kind of coal mining machine roller automatic height-adjusting system Download PDFInfo
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- CN104481534B CN104481534B CN201410621038.0A CN201410621038A CN104481534B CN 104481534 B CN104481534 B CN 104481534B CN 201410621038 A CN201410621038 A CN 201410621038A CN 104481534 B CN104481534 B CN 104481534B
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- 239000003245 coal Substances 0.000 title claims abstract description 72
- 238000005065 mining Methods 0.000 title claims abstract description 52
- 238000013178 mathematical model Methods 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims abstract description 20
- 238000012732 spatial analysis Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 14
- 230000033228 biological regulation Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 239000000523 sample Substances 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002247 constant time method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 230000005251 gamma ray Effects 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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- General Life Sciences & Earth Sciences (AREA)
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- Drilling And Exploitation, And Mining Machines And Methods (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of coal mining machine roller automatic height-adjusting system, coal-winning machine position under work surface geographic coordinate system and attitude is determined by positioning and orientation device and return airway tip position calibrating installation, heighten control core processor and merged in work surface three-dimensional geological mathematical model according to coal-winning machine coordinate, according to coal-winning machine present position, three-dimensional spatial analysis is carried out in work surface three-dimensional geological mathematical model, draw cut coal seam thickness and the change thereof of coal-winning machine present position, in conjunction with the addressing context parameter including the dirt band of coal seam, Real-time and Dynamic adjusts coal-winning machine cutting height.The present invention provides a kind of coal mining machine roller automatic height-adjusting system, it is possible to realize the automatic adjustment height of coal mining machine roller.
Description
Technical field
The present invention relates to a kind of coal mining machine roller automatic height-adjusting system, belong to coal mining equipment technology.
Background technology
Coal mining machine roller automatic adjustment height technology is the core technology of coal-winning machine automatic control system.Realize coal-winning machine at present automatic
The method heightened mainly has two kinds: (1) coal mining machine roller based on Coal-Rock Interface Recognition automatic adjustment height；(2) based on memory
The coal mining machine roller automatic adjustment height of cut.Coal mining machine roller automatic adjustment height operation principle based on Coal-Rock Interface Recognition is for using
A kind of method automatically identifies the medium of coal mining machine roller institute cut and is coal or rock and carries out mining height of coal mining machine control.Coal petrography
Automatically know method for distinguishing and have natural Gamma ray probe technique, radar detection system, stress pick method, infrared detecting method, wattful power
Rate monitoring method, vibration detection method, sound detection method, dust detection method etc..Owing to coal petrography attribute is changeable, sensor stabilization
Property difference etc. reason cause this heighten method be difficult to work surface use.Memory cut method is that current coal mining machine roller is adjusted automatically
High mainstream technology, is widely used on coal-winning machine.The principle of memory cut is: by coal-winning machine driver according to
Work surface coal seam conditions operation coal-winning machine first cuts a cutter, and the information such as travel position and corresponding cutting height are deposited by control system
Entering computer, the running parameter later remembered according to memorizer by computer at the cutting height of a certain travel position is automatic
Adjust, if coal seam conditions generation large change, then by coal-winning machine driver's manual operation to being highly finely adjusted, and automatically
Remember adjusted running parameter, the parameter heightened as next knife roller.Memory cut method realizes simple, but for
Geological conditions has certain requirement, and is not automatic adjustment height truly, belongs to Semi-automatic height.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of coal mining machine roller automatic adjustment height
System, it is achieved the automatic adjustment height of coal mining machine roller.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A kind of coal mining machine roller automatic height-adjusting system, including positioning and orientation device, return airway tip position calibrating installation,
Work surface three-dimensional geological mathematical model data base and heighten control core processor, wherein:
Described positioning and orientation device, utilizes inertial navigation element and the combination of Walk Part of Shearer shaft encoder, to survey in real time
Measure coal-winning machine position under coal-winning machine carrier coordinate system and attitude, and through Coordinate Conversion by under coal-winning machine carrier coordinate system
Coordinate Conversion be the coordinate under geographic coordinate system, it is achieved the determination of coal-winning machine position under geographic coordinate system and attitude；
Described return airway tip position calibrating installation, stationary positioned label in work surface two ends tunnel, tunnel, when
When coal-winning machine moves to face end, by location label correction coal-winning machine drift of positioning and orientation device in exploitation process
Shift error, location label coordinate under geographic coordinate system is clear and definite；
Described work surface three-dimensional geological mathematical model data base, utilizes work surface exploratory shaft sinking data, lane to visit data and fine thing
Visit data construction work face three-dimensional geological mathematical model in advance, and this work surface three-dimensional geological mathematical model is stored as data
Storehouse, contains face roof coordinate under geographic coordinate system, floor undulation under geographic coordinate system in this data base
Coordinate, utilize automatic adjustment height that the data in data base are coal mining machine roller to provide reference；
Described heighten control core processor, positioning and orientation device and return airway tip position calibrating installation are exported
Measurement data, blends with work surface three-dimensional geological mathematical model, it is thus achieved that the cut coal seam thickness of coal-winning machine present position and
Its change, and the geological environment parameter including the dirt band of coal seam, comprehensive income parameter output coal mining machine roller height
Regulation parameter, Real-time and Dynamic regulation coal-winning machine cutting height；
Determine that coal-winning machine is at work surface geographical coordinate by positioning and orientation device and return airway tip position calibrating installation
Position under Xi and attitude, heighten control core processor and merged at work surface dimensionally prime number according to coal-winning machine coordinate
In word model, according to coal-winning machine present position, in work surface three-dimensional geological mathematical model, carry out three-dimensional spatial analysis,
Go out cut coal seam thickness and the change thereof of coal-winning machine present position, in conjunction with the geological environment parameter including the dirt band of coal seam,
Real-time and Dynamic adjusts coal-winning machine cutting height.
Concrete, in return airway tip position calibrating installation, location label uses infrared tags, radio frequency (RFID)
Label, wireless communication tag or super broad band radio communication (UWB) label.
The automatic adjustment height principle heightening control core processor is:
By face roof sampled point and floor undulation sampled point, the coordinate in geographic coordinate system is designated as
(Xi D,Yi D,Zi D) and (Xj d,Yj d,Zj d), the coal-winning machine that positioning and orientation device is determined coordinate note in geographic coordinate system
For (X0,Y0,Z0), the highs and lows of coal mining machine roller coordinate in geographic coordinate system is designated as
(XM,YM,ZM) and (Xm,Ym,Zm)；
When the front roll of coal-winning machine moves between ith sample point and i+1 end face sampled point, i.e.
Xi<XM<Xi+1Time, it is judged that now coal-winning machine front roll peak Z axis coordinate ZMWith i+1 end face sampled point Z
Axial coordinate Zi+1Between size and difference: if | ZM-Zi+1|≤0.1m, then coal-winning machine front roll continues according to original height
Continuous cut；If | ZM-Zi+1| > 0.1m, then need the height of coal-winning machine front roll is adjusted, be specifically divided into two kinds of feelings
Condition: if 1. ZM-Zi+1> 0.1m, then the height of the next end face sample point coal-winning machine front roll peak of explanation will be big
In the height of top board minimum point, need to reduce the angle that rocker arm of coal mining machine is swung up；If 2. Zi+1-ZM> 0.1m, then
Illustrate that the height of next end face sample point coal-winning machine front roll peak, by the height less than top board minimum point, needs to increase
The angle that big rocker arm of coal mining machine is swung up；
When the back roll of coal-winning machine moves between jth sampled point and+1 bottom surface sampled point of jth, i.e.
Xj<Xm<Xj+1Time, it is judged that now coal-winning machine back roll minimum point Z axis coordinate ZmWith+1 bottom surface sampled point Z of jth
Axial coordinate Zj+1Between size and difference: if | Zm-Zj+1|≤0.1m, then coal-winning machine back roll continues according to original height
Continuous cut；If | Zm-Zj+1| > 0.1m, then need the height of coal-winning machine front roll is adjusted, be specifically divided into two kinds of feelings
Condition: if 1. Zm-Zj+1> 0.1m, then the height of explanation next bottom surface sample point coal-winning machine back roll minimum point will be big
In the height of base plate peak, need to increase the angle of rocker arm of coal mining machine swung downward；If 2. Zj+1-Zm> 0.1m, then
Illustrate that the height of next bottom surface sample point coal-winning machine back roll minimum point, by the height less than top board peak, needs to subtract
The angle of little rocker arm of coal mining machine swung downward.
Beneficial effect: the coal mining machine roller automatic height-adjusting system that the present invention provides, compared to prior art, can realize mining
The machine perception to manipulating object coal seam, and then coal-winning machine can be realized intricately according to coalbed coring and coal-winning machine self attitude
Automatic adjustment height under the conditions of matter, it is to avoid based on memory cut heighten technology application under the complex geological condition and limit,
The coal mining machine roller automatic height-adjusting system that the present invention provides is to realize the important foundation that fully-mechanized mining working is intelligent Yu unmanned.
Accompanying drawing explanation
Fig. 1 is the control block diagram of coal mining machine roller automatic height-adjusting system；
Fig. 2 is coal mining machine roller automatic height-adjusting system workflow diagram；
Fig. 3 is that coal mining machine roller automatic height-adjusting system work surface arranges schematic diagram；
Fig. 4 is the scheme of installation of positioning and orientation device；
Fig. 5 is automatic lifting of shearer principle schematic；
In figure: 1 is work surface, 2 is top board curve, and 3 is base plate curve, and 4 is coal-winning machine, and 5 is return airway end
Head location calibration device, 6 is tunnel, and 7 is positioning and orientation device, and 8 is work surface three-dimensional geological mathematical model data base,
9 is coal-winning machine work surface coal seam thickness, and 10 is face roof sampled point, and 11 is floor undulation sampled point.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
It is a kind of coal mining machine roller automatic height-adjusting system as shown in Figure 1 and Figure 2, suitable including positioning and orientation device, work surface
Groove end location calibration device, work surface three-dimensional geological mathematical model data base and heighten control core processor, wherein:
Described positioning and orientation device, utilizes inertial navigation element and the combination of Walk Part of Shearer shaft encoder, to survey in real time
Measure coal-winning machine position under coal-winning machine carrier coordinate system and attitude, and through Coordinate Conversion by under coal-winning machine carrier coordinate system
Coordinate Conversion be the coordinate under geographic coordinate system, it is achieved the determination of coal-winning machine position under geographic coordinate system and attitude；
Described return airway tip position calibrating installation, stationary positioned label in work surface two ends tunnel, tunnel, when
When coal-winning machine moves to face end, by location label correction coal-winning machine drift of positioning and orientation device in exploitation process
Shift error, location label coordinate under geographic coordinate system is clear and definite；Wherein, location label can use infrared tags, radio frequency
(RFID) label, wireless communication tag or super broad band radio communication (UWB) label etc.；
Described work surface three-dimensional geological mathematical model data base, utilizes work surface exploratory shaft sinking data, lane to visit data and fine thing
Visit data construction work face three-dimensional geological mathematical model in advance, and this work surface three-dimensional geological mathematical model is stored as data
Storehouse, contains face roof coordinate under geographic coordinate system, floor undulation under geographic coordinate system in this data base
Coordinate, utilize automatic adjustment height that the data in data base are coal mining machine roller to provide reference；
Described heighten control core processor, positioning and orientation device and return airway tip position calibrating installation are exported
Measurement data, blends with work surface three-dimensional geological mathematical model, it is thus achieved that the cut coal seam thickness of coal-winning machine present position and
Its change, and the geological environment parameter including the dirt band of coal seam, comprehensive income parameter output coal mining machine roller height
Regulation parameter, Real-time and Dynamic regulation coal-winning machine cutting height；
Determine that coal-winning machine is at work surface geographical coordinate by positioning and orientation device and return airway tip position calibrating installation
Position under Xi and attitude, heighten control core processor and merged at work surface dimensionally prime number according to coal-winning machine coordinate
In word model, according to coal-winning machine present position, in work surface three-dimensional geological mathematical model, carry out three-dimensional spatial analysis,
Go out cut coal seam thickness and the change thereof of coal-winning machine present position, in conjunction with the geological environment parameter including the dirt band of coal seam,
Real-time and Dynamic adjusts coal-winning machine cutting height.
Below in conjunction with example, the present invention is made further instructions.
First data are visited in collection work face exploratory shaft sinking data and lane, and use seismic wave CT method that work surface is carried out fine physical prospecting,
Utilize exploratory shaft sinking data, lane to visit data and fine state properties construction work face three-dimensional geological mathematical model, form work surface
Three-dimensional geological mathematical model data base 8.When coal-winning machine 4 moves to face end, utilize known work face geographical coordinate
The return airway tip position calibrating installation 5 that 4 UWB labels of the lower coordinate figure of system are constituted determines that coal-winning machine is in work
Coordinate figure under the geographic coordinate system of face, coal-winning machine 4 is when moving coal cutting along work surface, with tip position coordinate as initial value,
Utilize the positioning and orientation device 7 being arranged on coal-winning machine 4 body that coal-winning machine 4 is positioned.Heighten control core to process
Device read work face crossheading tip position calibrating installation 5 and the output data of positioning and orientation device 7 respectively, and according to these
Coal-winning machine is navigated to, in work surface three-dimensional geological mathematical model data base 8, do tangent line along coal-winning machine 4 direction of motion by data,
Obtain top board curve 2, base plate curve 3 and the coal-winning machine work surface coal seam thickness 9 under coal-winning machine current location.
By face roof sampled point 10 and floor undulation sampled point 11, the coordinate in work surface geographic coordinate system is designated as
(Xi D,Yi D,Zi D) and (Xj d,Yj d,Zj d), the coal-winning machine determined by positioning and orientation device is in work surface geographic coordinate system
Coordinate is designated as (X0,Y0,Z0), by the highs and lows of coal mining machine roller coordinate note in work surface geographic coordinate system
For (XM,YM,ZM) and (Xm,Ym,Zm)。
The control principle of automatic lifting of shearer is:
When the front roll of coal-winning machine moves between ith sample point and i+1 end face sampled point, i.e.
Xi<XM<Xi+1Time, it is judged that now coal-winning machine front roll peak Z axis coordinate ZMWith i+1 end face sampled point Z
Axial coordinate Zi+1Between size and difference: if | ZM-Zi+1|≤0.1m, then coal-winning machine front roll continues according to original height
Continuous cut；If | ZM-Zi+1| > 0.1m, then need the height of coal-winning machine front roll is adjusted, be specifically divided into two kinds of feelings
Condition: if 1. ZM-Zi+1> 0.1m, then the height of the next end face sample point coal-winning machine front roll peak of explanation will be big
In the height of top board minimum point, need to reduce the angle that rocker arm of coal mining machine is swung up；If 2. Zi+1-ZM> 0.1m, then
Illustrate that the height of next end face sample point coal-winning machine front roll peak, by the height less than top board minimum point, needs to increase
The angle that big rocker arm of coal mining machine is swung up.
When the back roll of coal-winning machine moves between jth sampled point and+1 bottom surface sampled point of jth, i.e.
Xj<Xm<Xj+1Time, it is judged that now coal-winning machine back roll minimum point Z axis coordinate ZmWith+1 bottom surface sampled point Z of jth
Axial coordinate Zj+1Between size and difference: if | Zm-Zj+1|≤0.1m, then coal-winning machine back roll continues according to original height
Continuous cut；If | Zm-Zj+1| > 0.1m, then need the height of coal-winning machine front roll is adjusted, be specifically divided into two kinds of feelings
Condition: if 1. Zm-Zj+1> 0.1m, then the height of explanation next bottom surface sample point coal-winning machine back roll minimum point will be big
In the height of base plate peak, need to increase the angle of rocker arm of coal mining machine swung downward；If 2. Zj+1-Zm> 0.1m, then
Illustrate that the height of next bottom surface sample point coal-winning machine back roll minimum point, by the height less than top board peak, needs to subtract
The angle of little rocker arm of coal mining machine swung downward.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also
Should be regarded as protection scope of the present invention.
Claims (5)
1. a coal mining machine roller automatic height-adjusting system, it is characterised in that: include positioning and orientation device, return airway
Tip position calibrating installation, work surface three-dimensional geological mathematical model data base and heighten control core processor, wherein:
Described positioning and orientation device, utilizes inertial navigation element and the combination of Walk Part of Shearer shaft encoder, to survey in real time
Measure coal-winning machine position under coal-winning machine carrier coordinate system and attitude, and through Coordinate Conversion by under coal-winning machine carrier coordinate system
Coordinate Conversion be the coordinate under geographic coordinate system, it is achieved the determination of coal-winning machine position under geographic coordinate system and attitude；
Described return airway tip position calibrating installation, stationary positioned label in work surface two ends tunnel, tunnel, when
When coal-winning machine moves to face end, by location label correction coal-winning machine drift of positioning and orientation device in exploitation process
Shift error, location label coordinate under geographic coordinate system is clear and definite；
Described work surface three-dimensional geological mathematical model data base, utilizes work surface exploratory shaft sinking data, lane to visit data and fine thing
Visit data construction work face three-dimensional geological mathematical model in advance, and this work surface three-dimensional geological mathematical model is stored as data
Storehouse, contains face roof coordinate under geographic coordinate system, floor undulation under geographic coordinate system in this data base
Coordinate, utilize automatic adjustment height that the data in data base are coal mining machine roller to provide reference；
Described heighten control core processor, positioning and orientation device and return airway tip position calibrating installation are exported
Measurement data, blends with work surface three-dimensional geological mathematical model, it is thus achieved that the cut coal seam thickness of coal-winning machine present position and
Its change, and the geological environment parameter including the dirt band of coal seam, comprehensive income parameter output coal mining machine roller height
Regulation parameter, Real-time and Dynamic regulation coal-winning machine cutting height；
Determine that coal-winning machine is at work surface geographical coordinate by positioning and orientation device and return airway tip position calibrating installation
Position under Xi and attitude, heighten control core processor and merged at work surface dimensionally prime number according to coal-winning machine coordinate
In word model, according to coal-winning machine present position, in work surface three-dimensional geological mathematical model, carry out three-dimensional spatial analysis,
Go out cut coal seam thickness and the change thereof of coal-winning machine present position, in conjunction with the geological environment parameter including the dirt band of coal seam,
Real-time and Dynamic adjusts coal-winning machine cutting height；
The automatic adjustment height principle heightening control core processor is:
By face roof sampled point and floor undulation sampled point, the coordinate in geographic coordinate system is designated as
(Xi D,Yi D,Zi D) and (Xj d,Yj d,Zj d), the coal-winning machine that positioning and orientation device is determined coordinate note in geographic coordinate system
For (X0,Y0,Z0), the highs and lows of coal mining machine roller coordinate in geographic coordinate system is designated as
(XM,YM,ZM) and (Xm,Ym,Zm)；
When the front roll of coal-winning machine moves between ith sample point and i+1 end face sampled point, i.e.
Xi＜ XM＜ Xi+1Time, it is judged that now coal-winning machine front roll peak Z axis coordinate ZMWith i+1 end face sampled point Z
Axial coordinate Zi+1Between size and difference: if | ZM-Zi+1|≤0.1m, then coal-winning machine front roll continues according to original height
Continuous cut；If | ZM-Zi+1| ＞ 0.1m, then need the height of coal-winning machine front roll is adjusted, be specifically divided into two kinds of feelings
Condition: if 1. ZM-Zi+1＞ 0.1m, then the height of the next end face sample point coal-winning machine front roll peak of explanation will be big
In the height of top board minimum point, need to reduce the angle that rocker arm of coal mining machine is swung up；If 2. Zi+1-ZM＞ 0.1m, then
Illustrate that the height of next end face sample point coal-winning machine front roll peak, by the height less than top board minimum point, needs to increase
The angle that big rocker arm of coal mining machine is swung up；
When the back roll of coal-winning machine moves between jth sampled point and+1 bottom surface sampled point of jth, i.e.
Xj＜ Xm＜ Xj+1Time, it is judged that now coal-winning machine back roll minimum point Z axis coordinate ZmWith+1 bottom surface sampled point Z of jth
Axial coordinate Zj+1Between size and difference: if | Zm-Zj+1|≤0.1m, then coal-winning machine back roll continues according to original height
Continuous cut；If | Zm-Zj+1| ＞ 0.1m, then need the height of coal-winning machine front roll is adjusted, be specifically divided into two kinds of feelings
Condition: if 1. Zm-Zj+1＞ 0.1m, then the height of explanation next bottom surface sample point coal-winning machine back roll minimum point will be big
In the height of base plate peak, need to increase the angle of rocker arm of coal mining machine swung downward；If 2. Zj+1-Zm＞ 0.1m, then
Illustrate that the height of next bottom surface sample point coal-winning machine back roll minimum point, by the height less than top board peak, needs to subtract
The angle of little rocker arm of coal mining machine swung downward.
Coal mining machine roller automatic height-adjusting system the most according to claim 1, it is characterised in that: at return airway
In tip position calibrating installation, location label uses infrared tags.
Coal mining machine roller automatic height-adjusting system the most according to claim 1, it is characterised in that: at return airway
In tip position calibrating installation, location label uses radio-frequency (RF) tag.
Coal mining machine roller automatic height-adjusting system the most according to claim 1, it is characterised in that: at return airway
In tip position calibrating installation, location label uses wireless communication tag.
Coal mining machine roller automatic height-adjusting system the most according to claim 1, it is characterised in that: at return airway
In tip position calibrating installation, location label uses super broad band radio communication label.
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