AU2017363908A1 - Method for controlling attitude of longwall mining shearer based on coal-seam geographic information system - Google Patents
Method for controlling attitude of longwall mining shearer based on coal-seam geographic information system Download PDFInfo
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- 238000005065 mining Methods 0.000 title claims abstract description 118
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000003245 coal Substances 0.000 claims abstract description 114
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 claims description 6
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- 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
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- 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
- E21C35/08—Guiding the machine
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Abstract
Disclosed is a coal mining machine attitude control method based on a coal seam geographic information system. The method comprises: establishing an association model between a cutter undercut adjustment amount of a lower drum (4) of a coal mining machine and a roll angle variation amount in attitude information of the coal mining machine (3); establishing a coal seam geographic information system for a working face to obtain a curve of a coal seam roof (1) and a curve of a coal seam floor (2) in an advancing direction of the coal mining machine; and locating slope-change points on the coal seam floor curve to achieve segmental linearization of the coal seam floor curve. By employing a coal mining machine positioning technique integrated with geological environment information to obtain real-time position and attitude information of a coal mining machine, and utilizing an association model between a cutter undercut adjustment amount of a lower drum of a coal mining machine and a roll angle variation amount in attitude information of the coal mining machine, the present invention obtains, by means of computation, an undercut adjustment amount of the lower drum of the coal mining machine to control the attitude of the coal mining machine. The method of the present invention effectively combines attitude control of a coal mining machine and dip angle identification of a coal seam, such that a roll angle of an attitude of the coal mining machine remains consistent with the dip angle of the coal seam.
Description
invention obtains, by means of computation, an undercut adjustment amount of the lower drum of the coal mining machine to control the attitude of the coal mining machine. The method of the present invention effectively combines attitude control of a coal mining machine and dip angle identification of a coal seam, such that a roll angle of an attitude of the coal mining machine remains consistent with the dip angle of the coal seam.
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Description
METHOD FOR CONTROLLING ATTITUDE OF LONGWALL
MINING SHEARER BASED ON COAL-SEAM GEOGRAPHIC
INFORMATION SYSTEM
Technical Field
The present invention relates to a method for controlling height adjustment of a drum of a longwall mining shearer and controlling an attitude of the longwall mining shearer, and belongs to the technical field of automatic control of coal-mining equipment.
Technical Background
A method for automatically controlling height adjustment of a drum of a longwall mining shearer based on a memory cutting technology is a common method for controlling height adjustment for current automated fully-mechanized mining face. A principle of the method is: according to a coal seam condition of a working face, a driver of a longwall mining shearer operates the longwall mining shearer to make an initial cut. A control system stores information such as a travel position and corresponding cutting height in a computer, and subsequently, the cutting height at a specific travel position is automatically adjusted by the computer according to working parameters stored in a memory. If the coal seam condition, particularly, an inclination angle of a coal seam, changes significantly, the driver of the longwall mining shearer is required to perform a manual operation to readjust the height, and the adjusted working parameters are automatically stored and used as parameters for height adjustment of the drum for a next cut. It is simple to implement the memory cutting method, but there is a special requirement
Description on the geological condition. The memory cutting method is only applicable to a flat working face, and cannot be desirably applied to a working face with a changing inclination angle of a coal seam. A root cause why memory cutting cannot be applied to a working face with a changing inclination angle of a coal seam is that a roll attitude angle of the longwall mining shearer is inconsistent with the inclination angle of the coal seam.
Chinese Patent No. ZL 201310353737.7 discloses a technology for absolutely positioning a longwall mining shearer by integrating geological environment information. By means of the technology, not only a position and an attitude of a longwall mining shearer can be measured, but also a coal-seam geographic information system (GIS) for a working face is used to combine geographic information, geological information, environmental information, and attitude, speed, and position information of a longwall mining shearer in a same time-space system, thereby implementing precise positioning of the longwall mining shearer with coal seam geological and environmental information.
Summary of Invention
Objective of the present invention: To overcome the inadequacy that memory cutting cannot be used in a working face with a changing inclination angle of a coal seam, the present invention provides a method for automatically controlling an attitude of a longwall mining shearer based on a coal-seam geographic information system, so as to keep a roll attitude angle of the longwall mining shearer and an inclination angle of a coal seam consistent.
To achieve the foregoing objective, the following technical solution
Description is adopted in the present invention: a method for controlling an attitude of a longwall mining shearer based on a coal-seam geographic information system, where the method includes the following steps:
1) establishing, according to technical parameters of and a matching relationship among a longwall mining shearer for a fully-mechanized longwall face, a hydraulic support, and a scraper conveyor, a correlation model, between an adjustment amount for a dinting depth of a lower cutting drum of the longwall mining shearer and a variation amount for a roll attitude angle of the longwall mining shearer, that is, Δγ = arctan (Δΐι/d), where Ah is the adjustment amount for the dinting depth of the lower cutting drum of the longwall mining shearer, Δγ is the variation amount for the roll attitude angle of the longwall mining shearer, and d is an advancing distance of the working face when the longwall mining shearer makes one cut;
2) establishing a coal-seam geographic information system of the working face by using data from drilling, tunnel prospecting, and fine geophysical prospecting, where the coal-seam geographic information system of the working face includes curved surfaces of a coal seam roof and a coal seam floor, the curved surfaces of the coal seam roof and the coal seam floor are stored by using three-dimensional grids, and in a coordinate system of the coal-seam geographic information system, a mining start position on the coal seam floor is used as the coordinate origin, the X axis is along the direction of the working face, the Y axis is along an advancing direction of the working face, and the Z axis is opposite to the gravitational acceleration direction of the longwall mining shearer;
3) locating slope change points on a coal seam floor profile by using a minimal controllable adjustment amount 5h for the dinting depth of the
Description lower drum of the longwall mining shearer as a control parameter, and piecewise linearizing the coal seam floor profile, specific steps being as follows:
31) taking a cross-section along the Y axis in the coal-seam geographic information system of the working face, extracting the coal seam floor profile in the advancing direction of the working face, acquiring n data points Ab A2, ..., An from the extracted coal seam floor profile by interpolation with an interval being equal to the advancing distance d of the working face owing to one cut by the longwall mining shearer, and acquiring YZ-plane coordinates of the data points Ai to An at the same time, where a start point of the coal seam floor profile is the first data point Ab and an end point of the coal seam floor profile is the last data point An;
32) calculating, by using the first data point A! as a first slope change point of the coal seam floor profile, using the last data point An as the last slope change point of the coal seam floor profile, and using the first slope change point as a calculation reference point for a second slope change point, a slope ki2 of a connecting line between the first slope change point and a second data point A2 adjacent to the first slope change point, calculating a predicted coordinate value of a third data point A3 by making an extension line with the slope k12, if an absolute value of a difference between the predicted coordinate value and an actual value of the third data point A3 is less than 5h, proceeding by calculating a slope k23 of a connecting line between the second data point A2 and the third data point A3 adjacent to the second data point A2, calculating a predicted coordinate value of a fourth data point A4 by making an extension line with the slope k23, and so on, until an absolute value of a difference between a predicted coordinate value and an actual value of a data point is greater than or equal to 5h, using the data point as the second slope
Description change point of the coal seam floor profile, and then sequentially determining the rest slope change points on the coal seam floor profile according to the foregoing calculation method and by using a previous determined slope change point as a calculation reference point for a next slope change point; and
33) generating a piecewise linearized profile of the coal seam floor based on all the resultant slope change points on the coal seam floor profile; and
4) acquiring real-time position information and attitude information of the longwall mining shearer by using a longwall mining shearer position-locating technology integrating geological environment information, determining, according to the real-time position information of the longwall mining shearer, a straight line segment of the piecewise linearized profile of the coal seam floor on which the longwall mining shearer is located, obtaining an inclination angle a of the coal seam from an arctangent value of the slope of the straight line segment, and calculating the adjustment amount Ah = d tan (γ - a) for the dinting depth of the lower drum of the longwall mining shearer using a real-time roll attitude angle γ of the longwall mining shearer and the correlation model between the adjustment amount for the dinting depth of the lower cutting drum of the longwall mining shearer and the variation amount for the roll attitude angle of the longwall mining shearer, so as to control an attitude of the longwall mining shearer, so that the roll angle of the longwall mining shearer and the inclination angle of the coal seam are kept consistent.
Beneficial effects: In the method, attitude control of a longwall mining shearer and inclination angle identification of a coal seam are effectively combined, so that a roll attitude angle of the longwall mining
Description shearer remains consistent with an inclination angle of the coal seam. The method provides a concept of piecewise linearized representation of the coal seam, reduces a data storage amount of a coal-seam geographic information system, and may further conveniently obtain inclination angle information of the coal seam. The method has a simple concept and reasonable calculation, is reliable and practical, and may effectively improve the automation degree of cutting control of a longwall mining shearer in a coal seam with a complex geological condition.
Brief Description of Drawings:
FIG. 1 is a schematic front view of cutting of a longwall mining shearer;
FIG. 2 is a schematic side view of cutting of the longwall mining shearer;
FIG. 3 is a schematic diagram of a coordinate system of a coal-seam geographic information system for a working face according to the present invention;
FIG. 4 is a schematic diagram of adjustment of a dinting depth of the longwall mining shearer;
FIG. 5 is a schematic diagram showing an attitude of the longwall mining shearer changing with the adjustment of the dinting depth;
FIG. 6 is a coal seam roof profile and a coal seam floor profile in an advancing direction of the longwall mining shearer;
FIG. 7 is a schematic algorithmic flowchart of a piecewise linearized representation for the coal seam floor profile according to the present
Description invention; and
FIG. 8 is a comparison diagram of a piecewise linearized profile and an original profile of the coal seam floor according to the present invention.
In the drawings: 1. Coal seam roof; 2, Coal seam floor; 3. Longwall mining shearer; 4. Lower drum of the longwall mining shearer; 5. Upper drum of the longwall mining shearer; and 6. Scraper conveyor.
Description of Embodiments
The present invention is further described below with reference to the accompanying drawings.
As shown in FIG. 1 and FIG. 2, a longwall mining shearer performs cutting in a coal seam. The cutting of an upper drum of the longwall mining shearer is near a coal seam roof, and the cutting of a lower drum of the longwall mining shearer is near a coal seam floor. An included angle between the coal seam floor and an advancing direction of the longwall mining shearer is an inclination angle a of the coal seam. An included angle between a body of the longwall mining shearer and the advancing direction of the longwall mining shearer is a roll angle γ of the longwall mining shearer. At a mining start position, the roll angle γ of the longwall mining shearer is kept consistent with the inclination angle aof the coal seam. However, as a working face advances subsequently, the inclination angle a of the coal seam changes. The coal seam roof will be inevitably cut if an attitude of the longwall mining shearer is not adjusted.
The present invention provides a method for controlling an attitude of a longwall mining shearer based on a coal-seam geographic
Description information system. In the method, a dinting depth of a lower cutting drum of a longwall mining shearer is adjusted to control the roll angle of the longwall mining shearer. The method includes the following steps:
1) establishing, according to technical parameters of and a matching relationship among a longwall mining shearer for a fully-mechanized longwall face, a hydraulic support, and a scraper conveyor, a correlation model between an adjustment amount for the dinting depth of the lower cutting drum of the longwall mining shearer and a variation amount for a roll attitude angle of the longwall mining shearer, that is, Δγ = arctan (Ah/d)„ where as shown in FIG. 3 and FIG. 4, Ah is the adjustment amount for the dinting depth of the lower cutting drum of the longwall mining shearer, Δγ is the variation amount for the roll attitude angle of the longwall mining shearer, and d is an advancing distance of the working face when the longwall mining shearer makes one cut;
2) establishing a coal-seam geographic information system of the working face by using data from drilling, tunnel prospecting, and fine geophysical prospecting, where as shown in FIG. 1 to FIG. 3, the coal-seam geographic information system of the working face includes curved surfaces of a coal seam roof and a coal seam floor, the curved surfaces of the coal seam roof and the coal seam floor are stored by using three-dimensional grids, and in a coordinate system of the coal-seam geographic information system, a mining start position on the coal seam floor is used as the coordinate origin, the X axis is along the direction of the working face, the Y axis is along an advancing direction of the working face, and the Z axis is opposite to the gravitational acceleration direction of the longwall mining shearer;
3) locating slope change points on a coal seam floor profile by using a minimal controllable adjustment amount 5h for the dinting depth of the
Description lower drum of the longwall mining shearer as a control parameter, and piecewise linearizing the coal seam floor profile, specific steps being as follows:
31) as shown in FIG. 3 and FIG. 6, taking a cross-section A-A along the Y axis in the coal-seam geographic information system of the working face, extracting the coal seam floor profile in the advancing direction of the working face, acquiring n data points Ab A2, ..., An from the extracted coal seam floor profile by interpolation with an interval being equal to the advancing distance d of the working face owing to one cut by the longwall mining shearer, and acquiring YZ-plane coordinates of the data points A! to An at the same time, where a start point of the coal seam floor profile is the first data point Ab and an end point of the coal seam floor profile is the last data point An;
32) as shown in FIG. 7, calculating, by using the first data point A! as a first slope change point of the coal seam floor profile, using the last data point An as the last slope change point of the coal seam floor profile, and using the first slope change point as a calculation reference point for a second slope change point, a slope ki2 of a connecting line between the first slope change point and a second data point A2 adjacent to the first slope change point, calculating a predicted coordinate value of a third data point A3 by making an extension line with the slope k12, if an absolute value of a difference between the predicted coordinate value and an actual value of the third data point A3 is less than 5h, proceeding by calculating a slope k23 of a connecting line between the second data point A2 and the third data point A3 adjacent to the second data point A2, calculating a predicted coordinate value of a fourth data point A4 by making an extension line with the slope k23, and so on, until an absolute value of a difference between a predicted coordinate value and an actual value of a data point is greater than or equal to 5h, using the data point as
Description the second slope change point of the coal seam floor profile, and then sequentially determining the rest slope change points on the coal seam floor profile according to the foregoing calculation method and by using a previous determined slope change point as a calculation reference point for a next slope change point; and
33) as shown in FIG. 8, generating a piecewise linearized profile of the coal seam floor based on all the resultant slope change points on the coal seam floor profile; and
4) acquiring real-time position information and attitude information of the longwall mining shearer by using a longwall mining shearer position-locating technology integrating geological environment information, determining, according to the real-time position information of the longwall mining shearer, a straight line segment of the piecewise linearized profile of the coal seam floor on which the longwall mining shearer is located, obtaining an inclination angle a of the coal seam from an arctangent value of the slope of the straight line segment, and calculating the adjustment amount Ah = d tan (γ - a) for the dinting depth of the lower drum of the longwall mining shearer using a real-time roll attitude angle γ of the longwall mining shearer and the correlation model between the adjustment amount for the dinting depth of the lower cutting drum of the longwall mining shearer and the variation amount for the roll attitude angle of the longwall mining shearer, so as to control an attitude of the longwall mining shearer, so that the roll angle of the longwall mining shearer and the inclination angle of the coal seam are kept consistent.
The foregoing descriptions are only preferred implementations of the present invention. It should be noted that for a person of ordinary skill in the art, several improvements and modifications may further be made
Description without departing from the principle of the present invention. These improvements and modifications should also be deemed as falling within the protection scope of the present invention.
Claims (4)
- Claims1. A method for controlling an attitude of a longwall mining shearer based on a coal-seam geographic information system, characterized in that, the method comprises following steps:1) establishing, according to technical parameters of and a matching relationship among a longwall mining shearer for a fully-mechanized longwall face, a hydraulic support, and a scraper conveyor, a correlation model between an adjustment amount for a dinting depth of a lower cutting drum of the longwall mining shearer and a variation amount for a roll attitude angle of the longwall mining shearer, that is, Δγ = arctan (Δΐι/d), wherein Ah is the adjustment amount for the dinting depth of the lower cutting drum of the longwall mining shearer, Δγ is the variation amount for the roll attitude angle of the longwall mining shearer, and d is an advancing distance of a working face when the longwall mining shearer makes one cut;
- 2) establishing a coal-seam geographic information system of the working face by using data from drilling, tunnel prospecting, and fine geophysical prospecting, wherein the coal-seam geographic information system of the working face comprises curved surfaces of a coal seam roof and a coal seam floor, the curved surfaces of the coal seam roof and the coal seam floor are stored by using three-dimensional grids, and in a coordinate system of the coal-seam geographic information system, a mining start position on the coal seam floor is used as a coordinate origin, an X axis is along a direction of the working face, a Y axis is along an advancing direction of the working face, and a Z axis is opposite to a gravitational acceleration direction of the longwall mining shearer;
- 3) locating slope change points on a coal seam floor profile by using a minimal controllable adjustment amount 5h for the dinting depth of the lower drum of the longwall mining shearer as a control parameter, and piecewise linearizing the coal seam floor profile, specific steps being as follows:31) taking a cross-section along the Y axis in the coal-seam geographicClaims information system of the working face, extracting the coal seam floor profile in the advancing direction of the working face, , acquiring n data points Ab A2, ..., An from the extracted coal seam floor profile by interpolation with an interval being equal to the advancing distance d of the working face owing to one cut by the longwall mining shearer, and acquiring YZ-plane coordinates of the data points A! to An at the same time, wherein a start point of the coal seam floor profile is the first data point Ab and an end point of the coal seam floor profile is the last data point An;32) calculating, by using the first data point A! as a first slope change point of the coal seam floor profile, using the last data point An as the last slope change point of the coal seam floor profile, and using the first slope change point as a calculation reference point for a second slope change point, a slope ki2 of a connecting line between the first slope change point and a second data point A2 adjacent to the first slope change point, calculating a predicted coordinate value of a third data point A3 by making an extension line with the slope k12, if an absolute value of a difference between the predicted coordinate value and an actual value of the third data point A3 is less than 5h, proceeding by calculating a slope k23 of a connecting line between the second data point A2 and the third data point A3 adjacent to the second data point A2, calculating a predicted coordinate value of a fourth data point A4 by making an extension line with the slope k23, and so on, until an absolute value of a difference between a predicted coordinate value and an actual value of a data point is greater than or equal to 5h, then using the data point as the second slope change point of the coal seam floor profile, and then sequentially determining the rest slope change points on the coal seam floor profile according to the foregoing calculation method and by using a previous determined slope change point as a calculation reference point for a next slope change point; and33) generating a piecewise linearized profile of the coal seam floor based on all the resultant slope change points on the coal seam floor profile; and
- 4) acquiring real-time position information and attitude information of theClaims longwall mining shearer by using a longwall mining shearer position-locating technology integrating geological environment information, determining, according to the real-time position information of the longwall mining shearer, a straight line segment of the piecewise linearized profile of the coal seam floor on which the longwall mining shearer is located, obtaining an inclination angle a of the coal seam from an arctangent value of the slope of the straight line segment, and calculating the adjustment amount Ah = d tan (γ - a) for the dinting depth of the lower drum of the longwall mining shearer using a real-time roll attitude angle γ of the longwall mining shearer and the correlation model between the adjustment amount for the dinting depth of the lower cutting drum of the longwall mining shearer and the variation amount for the roll attitude angle of the longwall mining shearer, so as to control the attitude of the longwall mining shearer, so that the roll angle of the longwall mining shearer and the inclination angle of the coal seam are kept consistent.1/5DrawingsFIG. 22/5DrawingsFIG. 43/5DrawingsFIG. 55 1 1-,-1-,-1-,-1-,-1-,-1-,-1-,-1-,-[0 500 1000 1500 2000 2500 3000 3500 4000Y/mFIG. 64/5DrawingsFIG. 75/5DrawingsFIG. 8
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061382.4A CN106761737B (en) | 2016-11-28 | 2016-11-28 | Coalcutter attitude control method based on coal seam GIS-Geographic Information System |
| CN2016110613824 | 2016-11-28 | ||
| PCT/CN2017/072428 WO2018094874A1 (en) | 2016-11-28 | 2017-01-24 | Coal mining machine attitude control method based on coal seam geographic information system |
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| Publication Number | Publication Date |
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| AU2017363908A1 true AU2017363908A1 (en) | 2018-10-11 |
| AU2017363908B2 AU2017363908B2 (en) | 2020-05-07 |
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| AU2017363908A Active AU2017363908B2 (en) | 2016-11-28 | 2017-01-24 | Method for controlling attitude of longwall mining shearer based on coal-seam geographic information system |
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| Country | Link |
|---|---|
| CN (1) | CN106761737B (en) |
| AU (1) | AU2017363908B2 (en) |
| RU (1) | RU2681007C1 (en) |
| WO (1) | WO2018094874A1 (en) |
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| CN103775080B (en) * | 2013-12-31 | 2015-09-23 | 中国矿业大学 | A kind of construction process of thin coal seam unmanned working surface coal mining machine attitude angle adjustment model |
| CN103883326B (en) * | 2014-01-28 | 2016-01-20 | 中国矿业大学 | Based on the shearer drum height adjustment method of coal seam seismic survey and Geo-informatic Tupu |
| CN104481534B (en) * | 2014-11-06 | 2016-08-17 | 中国矿业大学 | A kind of coal mining machine roller automatic height-adjusting system |
| CN105201507A (en) * | 2015-09-07 | 2015-12-30 | 神华集团有限责任公司 | Mining system and mining method for high-dipping super-high seam shortwall working face |
| CN106089203B (en) * | 2016-08-22 | 2018-04-03 | 西安科技大学 | Coal-winning machine based on virtual reality heightens long-range control method |
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2016
- 2016-11-28 CN CN201611061382.4A patent/CN106761737B/en active Active
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2017
- 2017-01-24 RU RU2018133126A patent/RU2681007C1/en active
- 2017-01-24 WO PCT/CN2017/072428 patent/WO2018094874A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018094874A1 (en) | 2018-05-31 |
| CN106761737A (en) | 2017-05-31 |
| RU2681007C1 (en) | 2019-03-01 |
| CN106761737B (en) | 2018-07-24 |
| AU2017363908B2 (en) | 2020-05-07 |
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Free format text: THE NATURE OF THE AMENDMENT IS: AMEND THE INVENTION TITLE TO READ METHOD FOR CONTROLLING ATTITUDE OF LONGWALL MINING SHEARER BASED ON COAL-SEAM GEOGRAPHIC INFORMATION SYSTEM |
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