CN114371694B - Control method and device for crawler-type coal mine excavating equipment - Google Patents
Control method and device for crawler-type coal mine excavating equipment Download PDFInfo
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- CN114371694B CN114371694B CN202111459957.9A CN202111459957A CN114371694B CN 114371694 B CN114371694 B CN 114371694B CN 202111459957 A CN202111459957 A CN 202111459957A CN 114371694 B CN114371694 B CN 114371694B
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- 239000003245 coal Substances 0.000 title claims abstract description 139
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 181
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 238000005065 mining Methods 0.000 claims description 114
- 238000002955 isolation Methods 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001151 other effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
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- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The application provides a control method and a device for crawler-type coal mine excavating equipment, wherein the method comprises the following steps: the method comprises the steps of obtaining a to-be-turned direction of coal mine crawler-type excavating equipment, obtaining a to-be-traveling direction of the coal mine crawler-type excavating equipment, controlling a first driving mechanism in a first electric traction system to drive a first crawler-type travelling mechanism on the same side with the to-be-turned direction to move towards the to-be-traveling direction, controlling a second driving mechanism in a second electric traction system to drive a second crawler-type travelling mechanism on the opposite side with the to-be-turned direction to move towards the to-be-traveling direction, and enabling the movement distance of the second crawler-type travelling mechanism to be greater than the movement distance of the first crawler-type travelling mechanism, so that the traveling and the turning of the coal mine crawler-type excavating equipment are controlled based on the first electric traction system and the second electric traction system, the quick maneuverability of the coal mine crawler-type excavating equipment is enhanced, and the coal mine crawler-type excavating equipment can accurately travel according to the to-be-traveling direction and the to-be-turned direction.
Description
Technical Field
The application relates to the technical field of coal mine excavating equipment, in particular to a control method and a device of crawler-type coal mine excavating equipment.
Background
At present, a traction system of large-scale coal mine mining equipment is generally a hydraulic traction system, the whole traction system consists of a manual hydraulic valve, a hydraulic motor, a speed reducer and a crawler-type travelling mechanism, and the manual hydraulic valve is divided into a left hydraulic valve and a right hydraulic valve, so that independent control of two crawlers of the traction system can be realized, and the steering of the mining equipment is controlled. In the related art, the related hydraulic traction system has low operation efficiency and low reaction speed, so the development of the existing power electronics and motor speed regulation technology cannot be satisfied.
Disclosure of Invention
Other effects of the above alternative will be described below in connection with specific embodiments.
The application provides a control method and a device for crawler-type coal mine excavating equipment.
An embodiment of the application provides a control method of crawler-type coal mine excavating equipment, which comprises the following steps: acquiring a direction to be turned of the crawler-type coal mine excavating equipment; acquiring a to-be-travelling direction of the crawler-type coal mine mining equipment from a control device for controlling the advancing and retreating of the crawler-type coal mine mining equipment; controlling a first driving mechanism in a first electric traction system to drive a first crawler-type travelling mechanism on the same side with the direction to be turned to move towards the direction to be traveled; and controlling a second driving mechanism in a second electric traction system to drive a second crawler-type travelling mechanism at the opposite side of the direction to be turned to move towards the direction to be traveled, wherein the movement distance of the second crawler-type travelling mechanism is longer than that of the first crawler-type travelling mechanism.
In one embodiment of the present application, the first electric traction system further includes a first traction control handle, the controlling the first driving mechanism in the first electric traction system to drive the first crawler-type running mechanism on the same side as the direction to be steered to move toward the direction to be traveled includes: the first traction control handle is controlled to be positioned at a first position, wherein the first position is a position obtained by moving a first distance from a middle position to the direction to be traveled, and a first output signal corresponding to the first traction control handle in the first position is obtained; determining a first enabling signal and a first frequency signal corresponding to the driving of the first driving mechanism according to the first output signal; and under the condition that the first enabling signal and the first frequency signal are not zero, transmitting the first enabling signal and the first frequency signal to the first driving mechanism so that the driving mechanism operates based on the first enabling signal and the first frequency signal, and further driving the first crawler-type travelling mechanism on the same side with the to-be-steered direction to move towards the to-be-travelled direction.
In one embodiment of the application, the first electric traction system further comprises: the first traction control handle isolation grid connected with the first traction control handle, the first enabling signal and the first frequency signal of the first driving mechanism are determined according to the first output signal, and the first traction control handle isolation grid comprises: converting the first output signal through the first traction control handle isolation grating to obtain a first signal identifiable by a controller; and determining a first enabling signal and a first frequency signal of the first driving mechanism according to the first signal.
In one embodiment of the present application, the second electric traction system further includes a second traction control handle, the controlling the second driving mechanism in the second electric traction system to drive the second crawler-type traveling mechanism on the opposite side to the direction to be steered to move toward the direction to be traveled includes: controlling the second traction control handle to be at a second position, wherein the second position is a position obtained by moving a second distance from a middle position to the to-be-moved direction, and obtaining a second output signal corresponding to the second traction control handle in the second position, and the second distance is larger than the first distance; determining a second enabling signal and a second frequency signal corresponding to the driving of the second driving mechanism according to the second output signal; and under the condition that the second enabling signal and the second frequency signal are not zero, transmitting the second enabling signal and the second frequency signal to the second driving mechanism so that the driving mechanism operates based on the second enabling signal and the second frequency signal, and further driving a second crawler-type travelling mechanism at the opposite side of the direction to be turned to move towards the direction to be traveled.
In one embodiment of the application, the second electric traction system further comprises: the second traction control handle isolation grid connected with the second traction control handle, the second enabling signal and the second frequency signal of the second driving mechanism are determined according to the second output signal, and the second traction control handle isolation grid comprises: converting the second output signal through the second traction control handle isolation grating to obtain a second signal identifiable by the controller; and determining a second enabling signal and a second frequency signal of the second driving mechanism according to the second signal.
The application provides a control method of coal mine crawler type mining equipment, which comprises the steps of obtaining the direction to be turned of the coal mine crawler type mining equipment, obtaining the direction to be conducted by the coal mine crawler type mining equipment, controlling a first driving mechanism in a first electric traction system to drive a first crawler type travelling mechanism on the same side with the direction to be turned to move towards the direction to be conducted, controlling a second driving mechanism in a second electric traction system to drive a second crawler type travelling mechanism on the opposite side with the direction to be turned to move towards the direction to be conducted, and enabling the movement distance of the second crawler type travelling mechanism to be larger than that of the first crawler type travelling mechanism.
Another embodiment of the present application provides a control device for crawler-type coal mine extraction equipment, the device comprising: the acquisition module is used for acquiring the direction to be turned of the crawler-type coal mine excavating equipment; the first control module is used for acquiring the direction to be traveled of the crawler-type coal mine mining equipment from a control device for controlling the advancing and retreating of the crawler-type coal mine mining equipment; the second control module is used for controlling a first driving mechanism in the first electric traction system to drive a first crawler-type travelling mechanism on the same side with the direction to be turned to move towards the direction to be traveled; and the third control module is used for controlling a second driving mechanism in the driving of the second electric traction system to drive a second crawler-type travelling mechanism at the opposite side of the direction to be turned to move towards the direction to be traveled, wherein the movement distance of the second crawler-type travelling mechanism is longer than that of the first crawler-type travelling mechanism.
In one embodiment of the application, the first electric traction system further comprises a first traction control handle, the second control module comprising: the first acquisition module is used for controlling the first traction control handle to be in a first position, wherein the first position is a position obtained by moving a first distance from a middle position to the direction to be traveled, and a first output signal corresponding to the first traction control handle in the first position is acquired; the first determining module is used for determining that the first driving mechanism drives a corresponding first enabling signal and a first frequency signal according to the first output signal; the first driving unit transmits the first enabling signal and the first frequency signal to the first driving mechanism under the condition that the first enabling signal and the first frequency signal are not zero, so that the driving mechanism operates based on the first enabling signal and the first frequency signal, and further drives the first crawler-type travelling mechanism on the same side with the to-be-steered direction to move towards the to-be-moved direction.
In one embodiment of the application, the first electric traction system further comprises: the first traction control handle isolation grid is connected with the first traction control handle, and the first determining unit is specifically used for: converting the first output signal through the first traction control handle isolation grating to obtain a first signal identifiable by a controller; and determining a first enabling signal and a first frequency signal of the first driving mechanism according to the first signal.
In one embodiment of the application, the second electric traction system further comprises a second traction control handle, the third control module comprising: the second acquisition unit is used for controlling the second traction control handle to be in a second position, wherein the second position is a position obtained by moving a second distance from the middle position to the direction to be traveled, and acquiring a second output signal corresponding to the second traction control handle in the second position, and the second distance is larger than the first distance; a second determining unit, configured to determine, according to the second output signal, a second enable signal and a second frequency signal corresponding to the second driving mechanism; and the second driving unit is used for transmitting the second enabling signal and the second frequency signal to the second driving mechanism under the condition that the second enabling signal and the second frequency signal are not zero, so that the driving mechanism operates based on the second enabling signal and the second frequency signal, and further drives the second crawler-type travelling mechanism at the opposite side of the direction to be turned to move towards the direction to be travelled.
In one embodiment of the application, the second electric traction system further comprises: the second traction control handle isolation grid is connected with the second traction control handle, and the second determining unit is specifically used for: converting the second output signal through the second traction control handle isolation grating to obtain a second signal identifiable by the controller; and determining a second enabling signal and a second frequency signal of the second driving mechanism according to the second signal.
The application provides a control device of coal mine crawler type mining equipment, which is used for acquiring the direction to be turned of the coal mine crawler type mining equipment, acquiring the direction to be conducted by the coal mine crawler type mining equipment, controlling a first driving mechanism in a first electric traction system to drive a first crawler type travelling mechanism on the same side with the direction to be turned to move towards the direction to be conducted, controlling a second driving mechanism in a second electric traction system to drive a second crawler type travelling mechanism on the opposite side with the direction to be turned to move towards the direction to be conducted, and controlling the movement distance of the second crawler type travelling mechanism to be larger than the movement distance of the first crawler type travelling mechanism.
In another aspect, the present application provides a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the method for controlling the crawler-type coal mine extraction equipment disclosed in the embodiment of the present application.
In another aspect, the present application provides a computer program product, which when executed by an instruction processor in the computer program product, implements the method for controlling the crawler-type coal mine mining equipment in the embodiment of the present application.
Other effects of the above alternative will be described below in connection with specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present application and are not to be construed as limiting the application. Wherein:
FIG. 1 is a flow diagram of a method of controlling a coal mine crawler type mining apparatus in accordance with one embodiment of the present application.
FIG. 2 is an exemplary diagram of an electrical traction system composition of a coal mine crawler type mining equipment in accordance with one embodiment of the present application.
FIG. 3 is a flow chart of a method of controlling a coal mine crawler type mining apparatus in accordance with another embodiment of the present application.
Fig. 4 is a flow chart of a method of controlling coal mine crawler type mining equipment in accordance with another embodiment of the present application.
FIG. 5 is a flow chart of an electric traction in-situ steering of coal mine crawler type mining equipment in accordance with one embodiment of the present application.
Fig. 6 is a schematic structural view of a control device of a crawler type coal mining apparatus according to an embodiment of the present application.
Fig. 7 is a schematic structural view of a control device of crawler type mining equipment for coal mine according to another embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a control method and a control device of crawler-type coal mine mining equipment according to the embodiment of the application with reference to the accompanying drawings.
FIG. 1 is a flow diagram of a method of controlling a coal mine crawler type mining apparatus in accordance with one embodiment of the present application. It should be noted that, the execution main body of the control method of the coal mine crawler type mining device provided in this embodiment is a control device of the coal mine crawler type mining device, where the control device of the coal mine crawler type mining device may be implemented in a software and/or hardware manner, and the control device of the coal mine crawler type mining device may be configured in the coal mine crawler type mining device, or may be configured in an electronic device that communicates with the coal mine crawler type mining device, where the electronic device may include, but is not limited to, a terminal device, and the embodiment is not specifically limited to the electronic device. In this embodiment, the control device of the crawler-type coal mining apparatus is disposed in the crawler-type coal mining apparatus.
As shown in fig. 1, the control method of the crawler-type coal mine excavating equipment can comprise the following steps:
and step 101, acquiring the direction to be turned of the crawler-type mining equipment of the coal mine.
In some embodiments, in the process that the coal mine crawler type mining equipment runs in the long and narrow coal mine roadway, under the condition that the coal mine crawler type mining equipment needs to be turned is detected, the to-be-turned direction of the coal mine crawler type mining equipment can be obtained, so that the coal mine crawler type mining equipment is controlled to be turned, and the coal mine crawler type mining equipment is enabled to be turned safely and reliably.
Wherein the direction to be steered may be controlled by hardware on the coal mine crawler type mining equipment, such as a control handle, but is not limited thereto, and the embodiment is not particularly limited thereto.
The direction to be turned may include a left turn direction and a right turn direction.
Step 102, acquiring the to-be-travelling direction of the crawler-type coal mine mining equipment from a control device for controlling the advancing and retreating of the crawler-type coal mine mining equipment.
In some embodiments, during the running of the coal mine crawler type mining equipment in the long and narrow coal mine roadway, the running of the coal mine crawler type mining equipment can be accurately controlled by acquiring the running direction of the coal mine crawler type mining equipment from a control device for the running and the backing of the coal mine crawler type mining equipment.
Wherein the direction of travel may be controlled by hardware on the coal mine crawler type mining equipment, such as a control handle, but is not limited thereto, and the embodiment is not particularly limited thereto.
Step 103, controlling a first driving mechanism in the first electric traction system to drive a first crawler-type travelling mechanism on the same side with the direction to be turned to move towards the direction to be travelling.
In some embodiments, the first electric traction system may include, but is not limited to, a traction control handle, a traction handle isolation grid, a traction system master controller, a traction motor drive, traction motors and reducers, and a crawler running gear.
The first driving mechanism may include a traction motor and a decelerator connected to an output shaft of the traction motor.
The direction to be traveled may include a forward direction and a backward direction.
And 104, controlling a second driving mechanism in a second electric traction system to drive a second crawler-type travelling mechanism at the opposite side of the direction to be turned to move towards the direction to be traveled, wherein the movement distance of the second crawler-type travelling mechanism is longer than that of the first crawler-type travelling mechanism.
In some embodiments, the second electric traction system may also include, but is not limited to, a traction control handle, a traction handle isolation grid, a traction system master controller, a traction motor drive, traction motors and reducers, and a crawler running gear.
The second driving mechanism may include a traction motor and a decelerator connected to an output shaft of the traction motor.
In some embodiments, the first electric traction system may be a left electric traction system of the crawler-type coal mining device, the second electric traction system may be a right electric traction system of the crawler-type coal mining device, and the first crawler-type traveling mechanism is a left crawler-type traveling mechanism and the second crawler-type traveling mechanism is a right crawler-type traveling mechanism. Specifically, the left crawler-type travelling mechanism of the crawler-type mining equipment of the coal mine can be moved towards the direction to be traveled by controlling a traction motor of which the left driving mechanism in the left electric traction system is connected with an output shaft of the traction motor, and the right crawler-type travelling mechanism of the crawler-type mining equipment of the coal mine can be moved towards the direction to be traveled by controlling the traction motor of which the right driving mechanism in the right electric traction system is connected with an output shaft of the traction motor. Wherein, the movement distance of the right crawler-type travelling mechanism is longer than that of the left crawler-type travelling mechanism.
In other embodiments, where the direction to be steered is a right turn direction, the first electric traction system may be a right-side electric traction system of the coal mine crawler mining equipment, the first crawler running gear being a right crawler running gear; the second electric traction system can be a left electric traction system of the crawler-type coal mine excavating equipment, and the second crawler-type travelling mechanism is a left crawler-type travelling mechanism. Specifically, the left crawler-type travelling mechanism of the crawler-type mining equipment of the coal mine can be moved towards the direction to be traveled by controlling a traction motor of which the left driving mechanism in the left electric traction system is connected with an output shaft of the traction motor, and the right crawler-type travelling mechanism of the crawler-type mining equipment of the coal mine can be moved towards the direction to be traveled by controlling the traction motor of which the right driving mechanism in the right electric traction system is connected with an output shaft of the traction motor. Wherein, the motion distance of the left crawler-type running mechanism is longer than that of the right crawler-type running mechanism.
The application provides a control method of coal mine crawler type mining equipment, which comprises the steps of obtaining the direction to be turned of the coal mine crawler type mining equipment, obtaining the direction to be conducted by the coal mine crawler type mining equipment, controlling a first driving mechanism in a first electric traction system to drive a first crawler type travelling mechanism on the same side with the direction to be turned to move towards the direction to be conducted, controlling a second driving mechanism in a second electric traction system to drive a second crawler type travelling mechanism on the opposite side with the direction to be turned to move towards the direction to be conducted, and enabling the movement distance of the second crawler type travelling mechanism to be larger than that of the first crawler type travelling mechanism.
Based on the embodiment, the application also provides an example diagram of an electric traction system composition diagram of the crawler-type mining equipment for the coal mine, as shown in fig. 2, the electric traction system comprises left and right traction control handles (S1, S2), left and right traction handle isolation grids (G1, G2), a traction system main controller (V1), left and right traction motor drivers (B1, B2), left and right traction motors and reducers (M1, M2), left and right and crawler-type travelling mechanisms (W1, W2), the electric traction systems on the left and right sides are independently operated, and travel of the left and right and crawler-type travelling mechanisms is controlled based on a travel direction to be traveled and a steering direction to be steered, which are acquired by the electric traction systems on the left and right sides, so that steering control of the crawler-type mining equipment for the coal mine is realized.
Fig. 3 is a schematic flow chart of a control method of a crawler-type coal mining apparatus according to another embodiment of the present application, wherein it should be noted that the first electric traction system in this embodiment further includes a first traction control handle.
As shown in fig. 3, may include:
step 301, acquiring a direction to be turned of crawler-type mining equipment of a coal mine.
Step 302, acquiring the to-be-travelling direction of the crawler-type coal mining equipment from a control device for controlling the advancing and retreating of the crawler-type coal mining equipment.
It should be noted that, regarding the specific implementation of steps 301 to 302, reference may be made to the related description in the above embodiments.
Step 303, controlling the first traction control handle to be at a first position, wherein the first position is a position obtained by moving a first distance from the middle position to the direction to be traveled, and acquiring a first output signal corresponding to the first traction control handle when the first traction control handle is at the first position.
In some embodiments, the first traction control handle may be a left traction control handle in the event that the direction to be steered is a left turn direction. In other embodiments, the first traction control handle may be a right traction control handle in the event that the direction to be steered is a right turn direction.
Under the condition that the first traction control handle is currently in the middle position, if the to-be-advanced direction is forward, the first traction control handle can be controlled to start from the middle position and move a first distance in the forward direction, so that a first position where the first traction control handle is currently located is obtained, and a first output signal corresponding to the first traction control handle in the forward first position is obtained. In other embodiments, if the direction of travel is backward, the first traction control handle may be controlled to move a first distance in the backward direction, so as to obtain a first position where the first traction control handle is currently located, and obtain a first output signal corresponding to the first position where the first traction control handle is backward.
Step 304, determining that the first driving mechanism drives the corresponding first enabling signal and the first frequency signal according to the first output signal.
In some embodiments, to improve the system's anti-jamming capability, the first electric traction system further comprises: and a first traction control handle isolation barrier connected to the first traction control handle. Specifically, according to the first output signal, an exemplary embodiment of the first enabling signal and the first frequency signal of the first driving mechanism is determined, the first output signal is converted through the first traction control handle isolation gate to obtain a first signal identifiable by the controller, and according to the first signal, the first enabling signal and the first frequency signal of the first driving mechanism are determined.
Specifically, the first output signal may be input to the first traction control handle isolation barrier, converted to a voltage signal or a current signal recognizable by the controller, and based on the voltage signal or the current signal, determined a first enable signal and a first frequency signal of the first driving mechanism.
The controller may be, but is not limited to, a programmable logic controller (Programmable Logic Controller, PLC).
In step 305, when the first enabling signal and the first frequency signal are both different from zero, the first enabling signal and the first frequency signal are transmitted to the first driving mechanism, so that the driving mechanism operates based on the first enabling signal and the first frequency signal, and further drives the first crawler-type travelling mechanism on the same side as the direction to be turned to move towards the direction to be traveled.
In some embodiments, when the first enabling signal and the first frequency signal are not zero, it may be determined that the first traction control handle is not at the middle position and moves towards the direction to be traveled at this time, and then the traction motor in the first driving mechanism is controlled to work so as to control the first driving mechanism to drive the first crawler-type travelling mechanism to move towards the direction to be traveled.
Step 306, controlling a second driving mechanism in the second electric traction system to drive a second crawler-type travelling mechanism at the opposite side of the direction to be turned to move towards the direction to be travelling.
The movement distance of the second crawler-type travelling mechanism is greater than that of the first crawler-type travelling mechanism.
The application provides a control method of coal mine crawler type mining equipment, which comprises the steps of obtaining the direction to be turned of the coal mine crawler type mining equipment, obtaining the direction to be traveled of the coal mine crawler type mining equipment from a control device for advancing and retreating the coal mine crawler type mining equipment, driving a corresponding first enabling signal and a first frequency signal by a first driving mechanism determined according to a current first output signal of a first traction control handle, driving and controlling a first crawler type running mechanism on the same side as the direction to be turned to move in the direction to be traveled, and controlling a second driving mechanism in a second electric traction system to drive a second crawler type running mechanism on the opposite side to the direction to be turned to move in the direction to be traveled, so that the steering of the coal mine crawler type mining equipment is realized by operating the traction control handle based on the electric traction system in the process of controlling the coal mine crawler type mining equipment, and the steering efficiency of the coal mine crawler type mining equipment is improved.
Fig. 4 is a schematic flow chart of a method of controlling coal mine crawler type mining equipment according to another embodiment of the present application, wherein the second electric traction system further includes a second traction control handle.
As shown in fig. 4, may include:
step 401, obtaining a direction to be turned of the crawler-type mining equipment of the coal mine.
Step 402, obtaining the to-be-travelling direction of the crawler-type coal mining equipment from a control device for controlling the advancing and retreating of the crawler-type coal mining equipment.
Step 403, controlling a first driving mechanism in the first electric traction system to drive a first crawler-type travelling mechanism on the same side with the direction to be turned to move towards the direction to be travelling.
It should be noted that, regarding the specific implementation manner of steps 401 to 403, reference may be made to the related description in the above embodiments.
And step 404, controlling the second traction control handle to be at a second position, wherein the second position is a position obtained by moving a second distance from the middle position to the direction to be traveled, and obtaining a second output signal corresponding to the second traction control handle when the second traction control handle is at the second position, and the second distance is larger than the first distance.
In some embodiments, the second traction control handle may be a left traction control handle in the event that the direction to be steered is a left turn direction. In other embodiments, the second traction control handle may be a right traction control handle in the event that the direction to be steered is a right turn direction.
Under the condition that the second traction control handle is currently in the middle position, if the to-be-advanced direction is forward, the second traction control handle can be controlled to move a second distance from the middle position in the forward direction, so that a second position where the second traction control handle is currently located is obtained, and a second output signal corresponding to the first traction control handle in the forward second position is obtained. In other embodiments, if the direction of travel is backward, the second traction control handle may be controlled to move a second distance in the backward direction, so as to obtain a second position where the second traction control handle is currently located, and obtain a second output signal corresponding to the second position where the second traction control handle is backward. Wherein the second distance is greater than the first distance.
Step 405, determining, according to the second output signal, a second enable signal and a second frequency signal corresponding to the second driving mechanism.
In some embodiments, to increase the tamper resistance of the system, the stability of the system is increased, the second electric traction system further comprises: and a second traction control handle isolation barrier connected to the second traction control handle. Specifically, according to the second output signal, an exemplary embodiment of determining the second enable signal and the second frequency signal of the second driving mechanism may be that the second output signal is converted by the second traction control handle isolation gate to obtain a second signal identifiable by the controller, and determining the second enable signal and the second frequency signal of the second driving mechanism according to the second signal.
Specifically, the second output signal may be input to the second traction control handle isolation grating, converted to a voltage signal or a current signal recognizable by the controller, and based on the voltage signal or the current signal, determined a second enable signal and a second frequency signal of the second driving mechanism.
In step 406, if the second enabling signal and the second frequency signal are both different from zero, the second enabling signal and the second frequency signal are transmitted to the second driving mechanism, so that the driving mechanism operates based on the second enabling signal and the second frequency signal, and further drives the second crawler-type travelling mechanism at the opposite side to the direction to be turned to operate towards the direction to be traveled.
In some embodiments, when the second enabling signal and the second frequency signal are not zero, it may be determined that the second traction control handle is not at the middle position and moves towards the direction to be traveled at this time, and then the traction motor in the second driving mechanism is controlled to work so as to control the second driving mechanism to drive the second crawler-type travelling mechanism to move towards the direction to be traveled.
The application provides a control method of coal mine crawler type mining equipment, which comprises the steps of obtaining the to-be-turned direction of the coal mine crawler type mining equipment, obtaining the to-be-turned direction of the coal mine crawler type mining equipment from a control device for advancing and retreating the coal mine crawler type mining equipment, controlling a first driving mechanism in a first electric traction system to drive a first crawler type travelling mechanism on the same side with the to-be-turned direction to move towards the to-be-turned direction, driving a second driving mechanism determined according to a current second output signal of a second traction control handle to correspondingly drive a second enabling signal and a second frequency signal, and driving a second driving mechanism in the second electric traction system to drive a second crawler type travelling mechanism on the opposite side with the to-be-turned direction to move towards the to-be-turned direction, so that the steering of the coal mine crawler type mining equipment is realized through operation of the traction control handle based on the electric traction system in the process of controlling the coal mine crawler type mining equipment, and the steering efficiency of the coal mine crawler type mining equipment is improved.
In order to make the present application clearly understood by those skilled in the art, the first traction system and the second traction system, which are respectively the left and right traction systems, are taken as examples, and the control method of the crawler-type coal mine mining apparatus of this embodiment is exemplarily described with reference to fig. 5. Specifically, in the running process of the coal mine crawler type mining equipment, whether the coal mine crawler type mining equipment turns or not can be determined, if so, the turning direction is further judged, the advancing direction of the coal mine crawler type mining equipment is judged according to the judging result, and the advancing direction of the coal mine crawler type mining equipment is determined according to the advancing direction and the turning direction. Among other things, it is to be understood that the steering of the coal mine crawler mining equipment may include forward and left-side steering, reverse and left-side steering, forward and right-side steering, reverse and right-side steering. The following description will be given by way of example to the process of controlling the crawler-type mining equipment for running in the corresponding running direction:
when the crawler-type mining equipment of the coal mine needs to advance and turn to the left side, the left traction control handle S1 and the right traction control handle S1 can be controlledThe control handle S2 is not in the middle position, and simultaneously controls the left traction control handle S1 and the right traction control handle S2 to run in the advancing direction of the equipment, and the first output signal S output when in the first position L And a second output signal S output when in a second position R Satisfying the requirement of (1),
at this time, a first output signal S is output when the left traction control handle is at the first position L A second output signal S output when the right traction control handle is at the second position R After corresponding left and right isolation gate processing, outputting a signal V with identifiable V1 L 、V R V sampled according to V1 L And V R Performs a corresponding logical decision AND operation to output an operation enable signal I for controlling the traction drive L 、I R Frequency signal F L 、F R The logic judgment and operation mode may be:
V K ＝α×(S K -S M )
F K ＝I K ×βV K
since neither the left traction control handle S1 nor the right traction control handle S2 is in the neutral position and moves in the forward direction, the right-side enabling signal I is calculated by V1 L /I R =1, frequency signal F L /F R Are not 0 and F R >F L V1 will I R 、F R 、F L 、F R The left and right traction motor drivers B1, B2, B1 and B2 are respectively transmitted to start to operate, thereby driving the left and right traction motors and the reducers M1 and M2 to operate, and the left and right travelling mechanisms W1 and W2 will operate in the same direction, thereby, in the whole steering process, due to F R >F L Therefore, the running speed of W2 is greater thanThe running speed of W1, thereby determining the forward running distance L of W2 R Forward travel distance L greater than W1 L So as to realize the whole advancing and left steering of the crawler-type mining equipment of the coal mine.
Wherein L is left, R is right, M is median, K is L/R/M, S M The output signal corresponding to the traction control handle when the traction control handle is in the middle position is delta as the handle middle position correction coefficient, and alpha and beta are constants.
As another possible implementation manner, when the crawler-type coal mining equipment needs to retreat and the left side turns, the left side traction control handle S1 and the right side traction control handle S2 are controlled to move towards the retreating direction of the equipment, and the first output signal S output when in the first position is caused L And a second output signal S output when in a second position R Satisfying type (2)
At this time, the reverse running distance L of W2 during the entire steering R Back-off operation distance L greater than W1 L The whole coal mine crawler type excavating equipment is retreated and turned to the left side.
As another possible implementation manner, when the crawler-type coal mining equipment advances and turns to the right, the left traction control handle S1 and the right traction control handle S2 are controlled to move towards the advancing direction of the equipment, and the first output signal S output when in the first position is caused L And a second output signal S output when in a second position R Satisfying the requirement (3),
at this time, the forward travel distance L of W1 during the whole steering L Forward travel distance L greater than W2 R The whole advancing and steering to the right of the crawler-type mining equipment for the coal mine is realized.
As another possibilityWhen the crawler-type mining equipment of the coal mine is retreated and the right side is turned, the left traction control handle S1 and the right traction control handle S2 are controlled to move towards the retreating direction of the equipment, and the first output signal S output when the crawler-type mining equipment is in the first position is controlled L And a second output signal S output when in a second position R Satisfying the requirement (4),
at this time, the backward running distance L of W1 during the whole steering R Back-off operation distance L greater than W2 L The whole coal mine crawler type excavating equipment is retreated and turned to the right side.
It can be understood that when the crawler-type mining equipment for the coal mine advances and turns left or retreats and turns left, the direction to be turned is the left turning direction, the first crawler-type travelling mechanism on the same side with the left turning direction is a left travelling mechanism W1, the second crawler-type travelling mechanism on the opposite side is a right travelling mechanism W2, and the running distance of the right travelling mechanism W2 is greater than the running distance W1 of the left travelling mechanism.
When the crawler-type mining equipment for the coal mine advances and turns to the right or retreats and turns to the right, the direction to be turned is the right turning direction, the first crawler-type travelling mechanism on the same side as the right turning direction is a right-side travelling mechanism W2, the second crawler-type travelling mechanism on the opposite side is a left-side travelling mechanism W1, and the running distance W1 of the left-side travelling mechanism is larger than the running distance W2 of the right-side travelling mechanism.
Corresponding to the control method of the coal mine crawler type mining equipment provided by the above embodiments, an embodiment of the present application further provides a control device of the coal mine crawler type mining equipment, and since the control device of the coal mine crawler type mining equipment provided by the embodiment of the present application corresponds to the control method of the coal mine crawler type mining equipment provided by the above embodiments, implementation of the control method of the coal mine crawler type mining equipment is also applicable to the control device of the coal mine crawler type mining equipment provided by the embodiment, and will not be described in detail in the embodiment.
Fig. 6 is a schematic structural view of a control device of a crawler type coal mining apparatus according to an embodiment of the present application.
As shown in fig. 6, the control device 600 of the crawler-type coal mining equipment comprises an acquisition module 601, a first control module 602, a second control module 603 and a third control module 604. Wherein:
the acquisition module 601 is used for acquiring the direction to be turned of the crawler-type coal mine excavating equipment.
A first control module 602 for acquiring a direction of travel to be of the coal mine crawler type mining equipment from a control device controlling the forward and backward movement of the coal mine crawler type mining equipment.
The second control module 603 is configured to control the first driving mechanism in the first electric traction system to drive the first crawler running mechanism on the same side with the direction to be turned to move towards the direction to be traveled.
And a third control module 604, configured to control a second driving mechanism in the second electric traction system to drive a second crawler running mechanism on the opposite side to the direction to be steered to move towards the direction to be traveled, where a movement distance of the second crawler running mechanism is greater than a movement distance of the first crawler running mechanism.
In one embodiment of the present application, as shown in FIG. 7, the first electric traction system further includes a first traction control handle, a second control module 603, comprising:
the first obtaining module 6031 is configured to control the first traction control handle to be at a first position, where the first position is a position obtained by moving a first distance from a middle position to a direction to be traveled, and obtain a first output signal corresponding to the first traction control handle when the first traction control handle is at the first position;
a first determining module 6032, configured to determine, according to the first output signal, a first enable signal and a first frequency signal corresponding to the first driving mechanism;
the first driving unit 6033 is configured to transmit the first enable signal and the first frequency signal to the first driving mechanism when the first enable signal and the first frequency signal are not zero, so that the driving mechanism operates based on the first enable signal and the first frequency signal, and further drive the first crawler running mechanism on the same side as the direction to be turned to move towards the direction to be traveled.
In one embodiment of the application, the first electric traction system further comprises: a first traction control handle isolation barrier connected to the first traction control handle, a first determining unit 6032 specifically configured to: converting the first output signal through a first traction control handle isolation grating to obtain a first signal identifiable by the controller; a first enable signal and a first frequency signal of the first driving mechanism are determined according to the first signal.
In one embodiment of the present application, as shown in FIG. 7, the second electric traction system further includes a second traction control handle, a third control module 604, comprising:
and a second acquisition unit 6041 configured to control the second traction control handle to be at a second position, where the second position is a position obtained by moving a second distance from the middle position to the direction to be traveled, and acquire a second output signal corresponding to the second traction control handle when the second traction control handle is at the second position, where the second distance is greater than the first distance.
The second determining unit 6042 is configured to determine, according to the second output signal, a second enable signal and a second frequency signal corresponding to the second driving mechanism.
And the second driving unit 6043 is configured to transmit the second enabling signal and the second frequency signal to the second driving mechanism when the second enabling signal and the second frequency signal are both different from zero, so that the driving mechanism operates based on the second enabling signal and the second frequency signal, and further drives the second crawler-type travelling mechanism opposite to the direction to be turned to move towards the direction to be traveled.
In one embodiment of the application, the second electric traction system further comprises: a second traction control handle isolation barrier connected to the second traction control handle, a second determining unit 6042 specifically configured to: converting the second output signal through a second traction control handle isolation grating to obtain a second signal identifiable by the controller; and determining a second enabling signal and a second frequency signal of the second driving mechanism according to the second signal.
The application provides a control device of coal mine crawler type mining equipment, which is used for acquiring the direction to be turned of the coal mine crawler type mining equipment, acquiring the direction to be conducted by the coal mine crawler type mining equipment, controlling a first driving mechanism in a first electric traction system to drive a first crawler type travelling mechanism on the same side with the direction to be turned to move towards the direction to be conducted, controlling a second driving mechanism in a second electric traction system to drive a second crawler type travelling mechanism on the opposite side with the direction to be turned to move towards the direction to be conducted, and controlling the movement distance of the second crawler type travelling mechanism to be larger than the movement distance of the first crawler type travelling mechanism.
According to an embodiment of the present application, there is also provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the control method of the crawler-type coal mine mining apparatus disclosed in the embodiment of the present application.
The application also provides a computer program product, and the control method of the crawler-type coal mine mining equipment is realized when an instruction processor in the computer program product executes the computer program product.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (2)
1. The control method of the crawler-type coal mine excavating equipment is characterized by being applied to the driving process of a long and narrow tunnel of a coal mine, and comprises the following steps:
acquiring a direction to be turned of the crawler-type coal mine excavating equipment;
acquiring a to-be-travelling direction of the crawler-type coal mine mining equipment from a control device for controlling the advancing and retreating of the crawler-type coal mine mining equipment;
the method comprises the steps of controlling a first traction control handle in a first electric traction system to be at a first position and a first output signal corresponding to the first position, converting the first output signal through a first traction control handle isolation grating to obtain a first signal identifiable by a controller, determining a first driving mechanism in the first electric traction system to drive a corresponding first enabling signal and a first frequency signal according to the first signal, and transmitting the first enabling signal and the first frequency signal to the first driving mechanism under the condition that the first enabling signal and the first frequency signal are not zero, so that the driving mechanism operates based on the first enabling signal and the first frequency signal to drive a first crawler-type travelling mechanism on the same side as the direction to be steered to move in the direction to be travelled, wherein the first traction control handle is connected with the first traction control handle isolation grating;
And controlling a second traction control handle in a second electric traction system to be at a second position and a second output signal corresponding to the second position, converting the second output signal through a second traction control handle isolation grating to obtain a second signal identifiable by a controller, determining a second driving mechanism in the second electric traction system to drive a corresponding second enabling signal and a second frequency signal according to the second signal, transmitting the second enabling signal and the second frequency signal to the second driving mechanism when the second enabling signal and the second frequency signal are not zero, enabling the driving mechanism to move based on the second enabling signal and the second frequency signal, and further driving a second crawler-type running mechanism on the opposite side of the direction to be steered to move towards the direction to be travelled, wherein the movement distance of the second crawler-type running mechanism is larger than the movement distance of the first crawler-type running mechanism, the second traction control handle is connected with the second traction control handle isolation grating, the second enabling signal and the second frequency signal is the first starting point, the second distance is the movement distance to be travelled towards the direction from the first starting point, and the second distance to be travelled from the second starting point, and the second distance is the movement distance to the direction to be travelled from the second starting point.
2. A control device for crawler-type mining equipment for a coal mine, which is applied to the running process of a long and narrow roadway of the coal mine, and comprises:
the acquisition module is used for acquiring the direction to be turned of the crawler-type coal mine excavating equipment;
the first control module is used for acquiring the direction to be traveled of the crawler-type coal mine mining equipment from a control device for controlling the advancing and retreating of the crawler-type coal mine mining equipment;
the second control module is used for controlling a first traction control handle in a first electric traction system to be at a first position and a first output signal corresponding to the first position, converting the first output signal through a first traction control handle isolation grid to obtain a first signal identifiable by a controller, determining a first driving mechanism in the first electric traction system to drive a corresponding first enabling signal and a first frequency signal according to the first signal, and transmitting the first enabling signal and the first frequency signal to the first driving mechanism under the condition that the first enabling signal and the first frequency signal are not zero so that the driving mechanism operates based on the first enabling signal and the first frequency signal to drive a first crawler-type travelling mechanism on the same side with the direction to be turned to move towards the direction to be travelled, wherein the first traction control handle is in isolated connection with the first traction control handle;
A third control module, configured to control a second traction control handle in a second electric traction system to be at a second position and a second output signal corresponding to the second position, convert the second output signal through a second traction control handle isolation gate to obtain a second signal identifiable by a controller, determine a second enabling signal and a second frequency signal corresponding to a second driving mechanism in the second electric traction system according to the second signal, and transmit the second enabling signal and the second frequency signal to the second driving mechanism when the second enabling signal and the second frequency signal are not zero, the driving mechanism is enabled to operate based on the second enabling signal and the second frequency signal, and further the second crawler-type travelling mechanism on the opposite side of the direction to be turned is driven to move towards the direction to be travelled, wherein the movement distance of the second crawler-type travelling mechanism is larger than that of the first crawler-type travelling mechanism, the second traction control handle is connected with the second traction control handle isolation grid, the first position is a position obtained by moving a first distance from a middle position to the direction to be travelled, the second position is a position obtained by moving a second distance from the middle position to the direction to be travelled, and the second distance is larger than the first distance.
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