AU2018296041B2 - Automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source and method therefor - Google Patents
Automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source and method therefor Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 title claims abstract description 7
- 238000005520 cutting process Methods 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000010276 construction Methods 0.000 claims description 15
- 239000003245 coal Substances 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 238000005065 mining Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000005474 detonation Methods 0.000 claims description 2
- 239000011435 rock Substances 0.000 claims description 2
- 238000010606 normalization Methods 0.000 claims 1
- 238000000926 separation method Methods 0.000 claims 1
- 238000009412 basement excavation Methods 0.000 description 25
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
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- 230000000007 visual effect Effects 0.000 description 5
- 230000004927 fusion Effects 0.000 description 2
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- 238000001028 reflection method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/20—Mineral freed by means not involving slitting
- E21C27/32—Mineral freed by means not involving slitting by adjustable or non-adjustable planing means with or without loading arrangements
- E21C27/34—Machine propelled along the working face by cable or chain
-
- 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
- E21C35/10—Guiding the machine by feelers contacting the working face
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
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- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Geophysics And Detection Of Objects (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
An automatic height adjusting apparatus and method for a shearer based on advanced detection of a shearer seismic source. The apparatus comprises a shearer-side signal acquisition device, a workface-side signal acquisition device (2), and a height adjustment control module. The shearer-side signal acquisition device acquires a seismic source signal of a shearer (1), and resolves absolute orientation parameters of the shearer (1) in a mine coordinate system and geographic coordinates of upper and lower roller centers of the shearer (1). The workface-side signal acquisition device (2) acquires the seismic source signal of the shearer (1) after the same has been reflected by a wave impedance interface and resolves absolute orientation parameters of the body (2-1) in the absolute mine coordinate system. The height adjustment control module automatically adjusts, according to a received signal, the height of upper and lower rollers of the shearer (1).
Description
[0001]The present invention patent relates to the field of automated excavation equipment technologies, and specifically, to an excavator adaptive cutting control system and method.
[0002] China is a big country in terms of coal mining and consumption. Problems in tunnel or roadway excavation are confronted in coal mine construction and coal mining processes. In addition, a large number of tunnel excavation demands also exist in construction of infrastructure such as roads, railroads, tunnel projects, and hydropower projects.
[0003]In the foregoing projects, using a boom-type excavator is one of the common construction manners. The boom-type excavator, as a type of efficient excavation machinery, is widely applied to roadway and tunnel excavation. Because of poor working environments, high risks, and large limitations in manual operation, automated operation of an excavator is an inevitable trend of development.
[0004]To implement automated operation of an excavator, problems, such as accurate positioning and pose determining on the excavator in a roadway or tunnel, need to be resolved first. Currently, many documents have provided methods for detecting a pose of an excavator. However, because of complex environments in roadway excavation projects and bad working conditions of excavators, many positioning methods have some limitations. Particularly, in curved roadway construction, most of the positioning methods cannot be used. Consequently, not only conditions cannot be provided for automated control on excavators, but also diversity in roadway or tunnel designing is limited.
Technical Problem
[0005] Technical problems to be resolved by the present invention are to overcome disadvantages in the prior art, and to provide an excavation positioning system and method for curved roadway construction that can be used in either a straight-lined roadway or a curved roadway, and accurately resolve a six-degree of freedom pose parameter of an excavator in a roadway in real time, thereby resolving an accurate positioning and pose determining problem of the excavator in the roadway or a tunnel and providing a necessary condition for automated operation of the excavator.
Technical Solution
[0006] To achieve the foregoing objective, a technical solution used in the present invention is that: An excavation positioning system for curved roadway construction is provided, including: an excavation module, an intelligent total station module, a reflection plane apparatus, a communications and control module, a strapdown inertial navigation system module, a dual-axis tilt sensor module, and an excavation positioning prism module, where the communications and control module, the strapdown inertial navigation system module, the dual-axis tilt sensor module, and the positioning prism module are all disposed on the excavation module, the intelligent total station module is disposed behind the excavation module, and the reflection plane apparatus is disposed between the excavation module and the intelligent total station module;
[0007] the excavation positioning prism module includes a front positioning prism component and a rear positioning prism component that are disposed in a collinear manner; and
[0008] the reflection plane apparatus includes a controller, a walking mechanism, a rotation driving mechanism, a laser reflection plane component, a reflection plane positioning prism component, and a total station rearview prism component; the rotation driving mechanism is mounted on the walking mechanism, the reflection plane positioning prism component is disposed on the rotation driving mechanism; and the controller is disposed inside the reflection plane apparatus, and configured to control movement of the walking mechanism and the rotation driving mechanism, and store a rotation angle of the laser reflection plane relative to the walking mechanism in real time.
[0009] In a further improvement to the present invention, the reflection plane positioning prism component includes at least three 3600 prisms; and the total station rearview prism component includes two 3600 prisms symmetrically disposed with respect to the walking mechanism.
[0010]In a further improvement to the present invention, an excavation positioning method for curved roadway construction is provided, including the following steps: and
[0008] the height adjustment control module includes an embedded system III; anti-detonation processing is performed on the embedded system III, and then the embedded system III is mounted on the shearer; the embedded system III is in communicative connection with both the embedded system II and the strapdown inertial navigation module I; the embedded system III stores and processes the seismic source signal of the shearer, the seismic source signal originated from the shearer and then reflected by the wave impedance interface, the absolute pose parameter of the shearer in the mine coordinate system, and the absolute pose parameter of the body in the mine coordinate system, constructs a transverse and longitudinal wave speed model and a three-dimensional seismic section within a short distance range of the front working face, and continually updates a three-dimensional geological model of the working face for a next cutting cycle, to control an automatic height adjustment of the upper and lower rollers of the shearer, wherein after the shearer completes a cutting cycle, a hydraulic support pushes forward and advances, and a next cutting cycle is performed; a height adjustment control module extracts a top plate curve and a bottom plate curve of the three-dimensional geological model for a next working interface, and performs sampling at equal intervals to obtain a series of top plate and bottom plate elevation values (ZD1, ZD2, ZD3, ... , ZDn) and (Zdl, Zd2, Z3, ... , ZdA), and respectively compares the elevation values with corresponding elevationsZTand Zt of the central points of the upper and lower rollers of the shearer, determines and controls heights of the upper and lower rollers of the shearer, and sets a threshold 6; if ZDi-ZT< 6 , the upper roller is lowered, otherwise, the upper roller is lifted; if Zi-Zt<6, the lower roller is lifted, otherwise, the lower roller is lowered.
[0009] Specifically, the adjustment mechanism in the working face side signal collection apparatus includes a swing angle cylinder, a supporting plate, and an advancing cylinder; the three-component geophone and the pressure sensor are fixed on the supporting plate; one end of the advancing cylinder is hingedly connected to the body, and the other end is fixed to the supporting plate; one end of the swing angle cylinder is hingedly connected to the body, and the other end is hingedly connected to a side surface of the advancing cylinder; linear movement of the supporting plate is controlled through extension and compression of the advancing cylinder, and angle rotation of the supporting plate is controlled by means of the swing angle cylinder.
[0010] Specifically, two groups of swing angle cylinders and advancing cylinders are disposed to jointly complete driving of the supporting plate; an embedded system I controls extension and compression of the swing angle cylinder and the advancing cylinder, so that the three-component geophone is in close contact with the working face coal wall, and feedback adjustment is performed by means of the pressure sensor.
[0011]A method for the automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source, including the following steps:
[0012](a) a working face side signal collection apparatus is placed at the tail of a scrapper without affecting normal work of a shearer;
[0013](b) before automatic cutting of the shearer, a first cutting cycle is performed manually;
3a
[0017] In a further improvement to the present invention, in the positioning method, a combined positioning manner combining the intelligent total station module and a strapdown inertial navigation system module is used, the intelligent total station module calculates the coordinates of the excavation positioning prism module, to obtain a location parameter and a body direction angle parameter of the excavation module, and then, obtains a roll angle and a pitch angle of a body by using a dual-axis tilt sensor module, so as to obtain the six-degree of freedom pose parameter of the excavation module; and in addition, the six-degree of freedom pose parameter of the excavation module is alternatively resolved in real time by using the strapdown inertial navigation system module, and asynchronous fusion is performed on two types of positioning data, so as to perform combined positioning.
[0018] In a further improvement to the present invention, when the reflection plane apparatus needs to be disposed, the reflection plane apparatus is disposed on an outer side of the curved roadway between the excavation module and the intelligent total station module and at a position farthest from the intelligent total station module; the laser reflection plane component adjusts a rotation angle relative to a body of the reflection plane apparatus according to a location of the excavation module, so as to increase a curved roadway positioning distance during single-time station moving of the intelligent total station module as much as possible.
Advantageous Effect
[0019] Because of use of the foregoing technical solutions, compared with the prior art, the present invention has the following advantages:
[0020] The present invention can be used in either a straight-lined roadway or a curved roadway, and accurately resolve a six-degree of freedom pose parameter of an excavator in a roadway in real time, thereby resolving an accurate positioning and pose determining problem of the excavator in the roadway or a tunnel and providing a necessary condition for automated operation of the excavator.
[0021]The technical solutions of the present invention are further described below with reference to accompanying drawings:
[0022] Fig. 1 is a schematic diagram of disposition of an excavation positioning system according to the present invention;
[0023] Fig. 2 is a schematic structural diagram of a boom-type excavator according to the present invention;
[0024] Fig. 3 is a schematic three-dimensional diagram of a reflection plane apparatus according to the present invention;
[0025] Fig. 4 is a schematic diagram of a principle of a mirror reflection positioning method according to the present invention;
[0026] Fig. 5 is a schematic diagram of a farthest effective positioning distance during curved roadway construction of an excavator according to the present invention; and
[0027] Fig. 6 is a schematic diagram of impact on a system when an angle of a laser reflection plane changes according to the present invention.
[0028] In the drawings, 1:boom-type excavator; 1.1: communications and control system; 1.2:strapdown inertial navigation system module; 1.3:dual-axis tilt sensor; 1.4:excavator positioning prism; 2:reflection plane apparatus; 2.1:walking mechanism; 2.2:rotation driving apparatus; 2.3:stepping motor; 2.4:laser reflection plane; 2.5:reflection plane apparatus positioning prism; 2.6:total station rearview prism; 3:intelligent total station module; 4:roadway; 5:coal rock.
[0029]The following further describes the present invention with reference to specific embodiments.
[0030] An excavator positioning system applicable to curved roadway construction shown in Fig. 1 to Fig. 4 includes a boom-type excavator 1, a reflection plane apparatus 2, and an intelligent total station module 3. A communications and control system 1.1, a strapdown inertial navigation system module 1.2, a dual-axis tilt sensor 1.3, and two excavator positioning prisms 1.4 are disposed and mounted on the boom-type excavator 1. The strapdown inertial navigation system module 1.2 is connected to the communications and control system 1.1. The dual-axis tilt sensor 1.3 is also connected to the communications and control system 1.1. The two excavator positioning prisms 1.4 are 3600 prisms and mounted on a central line of the excavator, where one is at the front, and the other is at the rear.
[0031] The reflection plane apparatus 2 includes a walking mechanism 2.1, a rotation driving apparatus 2.2, a stepping motor 2.3, a laser reflection plane 2.4, a reflection plane apparatus positioning prism 2.5, and a total station rearview prism 2.6. The rotation driving apparatus 2.2 is mounted on a vehicle body, and is powered by the stepping motor 2.3, to actuate the laser reflection plane 2.4 to rotate. A controller is mounted inside the reflection plane apparatus 2, and can control movement of the walking mechanism 2.1 and movement of the stepping motor2.3, and store in real time a rotation angle of the laser reflection plane 2.4 relative to a body of the reflection plane apparatus 2 caused by the movement of the stepping motor 2.3. Structures of the reflection plane apparatus positioning prism 2.5 and the total station rearview prism 2.6 are the same, and are both 360 prisms. There are three reflection plane apparatus positioning prisms 2.5 that are disposed in a non-collinear manner and that are configured to position the reflection plane apparatus 2. There are two total station rearview prisms 2.6 that are configured to position the total station 3 during station moving of the total station.
[0032]When the boom-type excavator 1 works in a curved roadway, the intelligent total station module 3 can merely position the excavator within a small distance. When the intelligent total station module 3 cannot effectively position the excavator positioning prism 1.4 because of a non-visual distance reason, the reflection plane apparatus 2 is disposed at a proper location between the excavator 1 and the intelligent total station module 3. The intelligent total station module 3 positions three reflection plane apparatus positioning prisms 2.5, to obtain a six-degree of freedom pose parameter of the reflection plane apparatus 2 in a roadway 4.
[0033] Because a rotation angle of the laser reflection plane 2.4 relative to the body of the reflection plane apparatus 2 can be resolved in real time, the laser reflection plane 2.4 in the roadway 4 may be expressed by using a known plane equation. According to a mirror reflection principle, after the intelligent total station module 3 obtains by measurement and calculation coordinates of the excavator positioning prism 1.4, a symmetric point of this point with respect to the laser reflection plane 2.4, that is, actual three-dimensional coordinates of the excavator positioning prism 1.4 in the roadway 4, is obtained.
[0034] When the excavator works by a far enough distance and the excavator positioning prism 1.4 cannot be effectively positioned even by using the reflection plane apparatus 2 because of a non-visual distance, a rapid station-moving operation of the intelligent total station module 3 is needed to move the intelligent total station module 3 to a proper location between the excavator 1 and the reflection plane apparatus 2. In this case, the pose parameter of the reflection plane apparatus 2 is still known, that is, three-dimensional coordinates of a total station rearview prism component 2.6 in the roadway are known. The intelligent total station module 3 is positioned by the total station rearview prism 2.6 using a rear view method. Then, the reflection plane apparatus 2 is moved to a proper location between the boom-type excavator 1 and the intelligent total station module 3.
[0035]A combined positioning manner is used for positioning the boom-type excavator 1. The intelligent total station module 3 calculates the coordinates of two excavator positioning prisms 1.4, to obtain a location parameter and a body direction angle parameter of the excavator 1, and then, obtains a roll angle and a pitch angle of a body by using a dual-axis tilt sensor 1.3, so as to obtain the six-degree of freedom pose parameter of the excavator. In addition, the six-degree of freedom pose parameter of the excavator 1 is alternatively resolved in real time by using the strapdown inertial navigation system module 1.2. The positioning method using the intelligent total station module has high positioning precision and no accumulated error, but consumes a long time and has a poor real-time capability. However, the positioning method using the strapdown inertial navigation system has a good real-time capability, but has an accumulated error and poor long-time positioning precision. A combined positioning manner is used to perform asynchronous fusion on two types of positioning data to make use of advantages of the two positioning methods to make them compensate for each other, thereby improving positioning precision and a positioning real-time capability
[0036]When the boom-type excavator 1 excavates a roadway combined by a straight-lined roadway and a curved roadway, a common working procedure thereof includes the following:
[0037] a. The excavator 1 first works in a straight-lined roadway, in this case, effective combined positioning can be performed on the excavator without using the reflection plane apparatus 2, and when the excavator just entered a curved roadway, the reflection plane apparatus 2 is still not needed.
[0038] b. When the excavator continues excavation, the intelligent total station module cannot effectively position the excavator positioning prism 1.4 because of a non-visual distance, the reflection plane apparatus 2 needs to be disposed at a proper location in the roadway and fixed.
[0039] c. The reflection plane apparatus positioning prism 2.5 on the reflection plane apparatus 2 is positioned by using the intelligent total station module 3, to obtain a plane equation of the laser reflection plane 2.4 in the roadway 4 and update the plane equation in real time according to the movement of the stepping motor 2.3, and the excavator is effectively positioned by using a mirror reflection method, to perform six-degree of freedom combined positioning on the excavator.
[0040] d. The excavator continuously works in the curved roadway, and finally, the excavator cannot be effectively positioned by using the mirror reflection method because of a non-visual distance, so that a rapid station-moving operation of the intelligent total station module 3 is needed, and after the rapid station-moving, the excavator can still be effectively positioned by a distance without using the reflection plane apparatus 2.
[0041] e. Steps b to d are cycled, so as to perform accurate combined positioning on the excavator in real time in a whole curved roadway excavation process.
[0042] f. The excavator finishes curved roadway construction and performs straight-lined roadway construction gain, and combined positioning can be effectively performed on the excavator without using the reflection plane apparatus 2.
[0043] As shown in Fig. 5, when the reflection plane apparatus 2 needs to be disposed, the reflection plane apparatus 2 is disposed on an outer side of the curved roadway 4 between the excavator 1 and the intelligent total station module 3 and at a position farthest from the intelligent total station module. In this case, laser emitted by the intelligent total station module is tangential to an inner sidewall of the roadway, and an angle of the laser reflection plane 2.4 is adjusted to make it perpendicular to a radius of an arc of the roadway that passes through a central point of the laser reflection plane 2.4. Laser reflected by the laser reflection plane 2.4 is tangential to the inner sidewall of the roadway, so that the laser can reach a farthest positioning distance of the excavator during curved roadway construction.
[0044] As shown in Fig. 6, when a distance between the boom-type excavator 1 and the reflection plane apparatus 2 is small, and an angle of the laser reflection plane 2.4 in Fig. 5 is used, a symmetric point of the excavator with respect to the laser reflection plane is ', the excavator is in a state of being at a non-visual distance from the intelligent total station module, and cannot be effective positioned. After the angle of the laser reflection plane 2.4 is properly adjusted, a symmetric point of the excavator with respect to the laser reflection plane is 1", and in this case, the excavator can be effectively positioned. Therefore, a rotation angle of the laser reflection plane 2.4 relative to the body of the reflection plane apparatus 2 needs to be adjusted according to the location of the excavator 1, and the adjustment is accurately cutting cycle;
[0038](g) the advancing cylinder 2-7 and the swing angle cylinder 2-3 are adjusted, so that the three-component geophone 2-5 is separated from the stope, and the supporting plate 2-4 returns to an initial position; the working face side signal collection apparatus 2 is driven to travel for a set distance along a traveling direction of the shearer 1 and then stops traveling; steps (e) and (f) are repeated until construction of the three-dimensional geological model of the working face for the next cutting cycle is completed; the working face side signal collection apparatus (2) is driven to move back to the tail of the scrapper (3) and then stops moving;
[0039](h) after the shearer 1 completes the cutting process, a hydraulic support 4 pushes forward and advances, and a next cutting cycle is performed; a height adjustment control module extracts a top plate curve and a bottom plate curve of the three-dimensional geological model on the next working interface, and performs sampling at equal intervals to obtain a series of top plate and bottom plate elevation values (ZD1, ZD2, ZD3, ... , ZDn) and (Zdl,
Zd2, Zd3, ... , Zd.), and respectively compares the elevation values with corresponding elevations ZT and Zt of the central points of the upper and lower rollers of the shearer, determines and controls heights of the upper and lower rollers of the shearer, and sets a threshold 6; if ZDi-ZT<, the upper roller is lowered, otherwise, the upper roller is lifted; if
Zdi-Zt<, the lower roller is lifted, otherwise, the lower roller is lowered; and
[0040](i) steps (c) to (h) are repeated to complete automatic cutting of the stope.
[0041]The foregoing descriptions are merely preferred implementations of present invention. It should be pointed out that a person of ordinary skill in the art may further make several improvements and modifications without departing from the principle of the present invention. The improvements and modifications should also be considered to fall within the protection scope of the present invention.
[0042] Throughout the specification and the claims that follow, unless the context requires otherwise, the words "comprise" and "include" and variations such as "comprising" and "including" will be understood to imply the inclusion of a stated integer or group of integers, but not the exclusion of any other integer or group of integers.
[0043] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement of any form of suggestion that such prior art forms part of the common general knowledge.
Claims (4)
1. An automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source, for performing, during stoping, automatic height adjustment of a shearer in a three-machine coordinated mining equipment consisting essentially of the shearer, a scrapper, and a hydraulic support, comprising: a shearer side signal collection apparatus, a working face side signal collection apparatus, and a height adjustment control module;
the shearer side signal collection apparatus comprises a strapdown inertial navigation module II, a shaft encoder, a seismic source sensor, and an embedded system II; the strapdown inertial navigation module II is mounted on a shearer body for detecting an absolute pose parameter of the shearer in a mine coordinate system; the shaft encoder is mounted on a rocker arm for collecting swing angle data of the rocker arm; the seismic source sensor is fixed on the shearer body for detecting a seismic source signal of the shearer; the embedded system II is mounted on the shearer body for calculating and storing, according to the absolute pose parameter of the shearer in the mine coordinate system and the swing angle data of the rocker arm, geographical coordinates of central points of upper and lower rollers of the shearer, and storing the absolute pose parameter of the shearer in the mine coordinate system;
the working face side signal collection apparatus comprises a body, an adjustment mechanism, a strapdown inertial navigation module I, a three-component geophone, and a pressure sensor; the body is mounted on the scrapper by means of a skid shoe; the three-component geophone and the pressure sensor are mounted on the body by means of the adjustment mechanism, and whether the three-component geophone is in close contact with a working face coal wall is detected by means of the pressure sensor; the strapdown inertial navigation module I is mounted on the body for detecting an absolute pose parameter of the body in the mine coordinate system; and the three-component geophone detects a seismic source signal originated from the shearer and then reflected by a wave impedance interface; and
the height adjustment control module comprises an embedded system III; anti-detonation processing is performed on the embedded system III, and then the embedded system III is mounted on the shearer; the embedded system III is in communicative connection with both the embedded system II and the strapdown inertial navigation module I; the embedded system III stores and processes the seismic source signal of the shearer, the seismic source signal originated from the shearer and then reflected by the wave impedance interface, the absolute pose parameter of the shearer in the mine coordinate system, and the absolute pose parameter of the body in the mine coordinate system, constructs a transverse and longitudinal wave speed model and a three-dimensional seismic section within a short distance range of the front working face, and continually updates a three-dimensional geological model of the working face for a next cutting cycle, to control an automatic height adjustment of the upper and lower rollers of the shearer, wherein after the shearer completes a cutting cycle, a hydraulic support pushes forward and advances, and a next cutting cycle is performed; a height adjustment control module extracts a top plate curve and a bottom plate curve of the three-dimensional geological model for a next working interface, and performs sampling at equal intervals to obtain a series of top plate and bottom plate elevation values (ZD1, ZD2, ZD3, ... , ZDn) and
(Zdl, Zd2, Zd3, ... , Zdn), and respectively compares the elevation values with corresponding
elevations ZT and Zt of the central points of the upper and lower rollers of the shearer, determines and controls heights of the upper and lower rollers of the shearer, and sets a threshold 6 ; if ZDi - ZT 6 , the upper roller is lowered, otherwise, the upper roller is
lifted; if Zdi - Zt 6 , the lower roller is lifted, otherwise, the lower roller is lowered.
2. The automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source according to claim 1, wherein the adjustment mechanism in the working face side signal collection apparatus comprises a swing angle cylinder, a supporting plate, and an advancing cylinder; the three-component geophone and the pressure sensor are fixed on the supporting plate; one end of the advancing cylinder is hingedly connected to the body, and an other end of the advancing cylinder is fixed to the supporting plate; one end of the swing angle cylinder is hingedly connected to the body, and an other end of the swing angle cylinder is hingedly connected to a side surface of the advancing cylinder; linear movement of the supporting plate is controlled through extension and compression of the advancing cylinder, and angle rotation of the supporting plate is controlled by means of the swing angle cylinder.
3. The automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source according to claim 2, wherein two groups of swing angle cylinders and advancing cylinders are provided to drive the supporting plate jointly; an embedded system I controls extension and compression of the swing angle cylinder and the advancing cylinder, so that the three-component geophone is in close contact with the working face coal wall, and feedback adjustment is performed by means of the pressure sensor.
4. A method for an automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source, comprising the following steps:
(a) a working face side signal collection apparatus is placed at the tail of a scrapper without affecting normal work of a shearer;
(b) before automatic cutting by the shearer, a first cutting cycle is performed manually;
(c) when the shearer works, a seismic source sensor detects a seismic source signal of the shearer, a strapdown inertial navigation module II and a shaft encoder work in real time, and respectively calculate an absolute pose parameter of the shearer in a mine coordinate system and swing angle data of a rocker arm, and an embedded systemII calculates geographical coordinates of central points of upper and lower rollers of the shearer, wherein a geographical coordinate of a central point of the upper roller of the shearer is denoted as (XT,YT, ZT), and a geographical coordinate of a central point of the lower roller of the shearer is denoted as (x,, yt,
zt);
(d) the working face side signal collection apparatus travels on the scrapper to a set position and stops traveling;
(e) an angle between a supporting plate and a stope is adjusted by means of a swing angle cylinder, and a distance between the supporting plate and the stope is adjusted by means of an advancing cylinder, to implement quick arrangement of a three-component geophone on the stope; a strapdown inertial navigation module I works in real time, to calculate an absolute pose parameter of a body in the mine coordinate system;
(f) the three-component geophone is in close contact with a working face coal wall and detects a seismic source signal originated from the shearer and then reflected by a wave impedance interface; an embedded system III performs regular seismic wave processing such as signal denoising, equivalent normalization, longitudinal and transverse wave separation, speed analysis, or depth shift on the seismic source signal of the shearer and the seismic source signal originated from the shearer and then reflected by the wave impedance interface, and then constructs a transverse and longitudinal wave speed model and a three-dimensional seismic section within a short distance range of a front working face, identifies, in advance, coal rock distribution in a roller cutting depth of a next cutting cycle, and with reference to the absolute pose parameter of the shearer in the mine coordinate system and the absolute pose parameter of the body in the mine coordinate system, continually updates a three-dimensional geological model of the working face for the next cutting cycle;
(g) the advancing cylinder and the swing angle cylinder are adjusted, so that the
three-component geophone is separated from the stope, and the supporting plate returns to an
initial position; the working face side signal collection apparatus is driven to travel for a set
distance along a traveling direction of the shearer and then stops traveling; steps (e) and (f)
are repeated until construction of the three-dimensional geological model of the working face
for the next cutting cycle is completed; the working face side signal collection apparatus is
driven to move back to the tail of the scrapper and then stops moving;
(h) after the shearer completes a cutting cycle, a hydraulic support pushes forward and
advances, and a next cutting cycle is performed; a height adjustment control module extracts a
top plate curve and a bottom plate curve of the three-dimensional geological model for a next
working interface, and performs sampling at equal intervals to obtain a series of top plate and
bottom plate elevation values (ZD1, ZD2, ZD3, ... , ZDn) and (Zdl, Zd2, Zd3, ... , Zd.), and respectively compares the elevation values with corresponding elevations ZT and Zt of the
central points of the upper and lower rollers of the shearer, determines and controls heights of
the upper and lower rollers of the shearer, and sets a threshold6; if ZDi-ZTS6, the upper roller
is lowered, otherwise, the upper roller is lifted; if Zdi-ZtS6, the lower roller is lifted, otherwise,
the lower roller is lowered; and
(i) steps (c) to (h) are repeated to complete automatic cutting of the stope.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710536370.0A CN107091089B (en) | 2017-07-04 | 2017-07-04 | Automatic lifting of shearer device and method based on coalcutter focus forward probe |
| CN201710536370.0 | 2017-07-04 | ||
| PCT/CN2018/096519 WO2019007439A1 (en) | 2017-07-04 | 2018-07-20 | Automatic height adjusting apparatus and method for shearer based on advanced detection of shearer seismic source |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2018296041A1 AU2018296041A1 (en) | 2019-05-16 |
| AU2018296041B2 true AU2018296041B2 (en) | 2020-10-22 |
Family
ID=59641143
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2018296041A Ceased AU2018296041B2 (en) | 2017-07-04 | 2018-07-20 | Automatic shearer height adjustment apparatus based on advanced detection of shearer seismic source and method therefor |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN107091089B (en) |
| AU (1) | AU2018296041B2 (en) |
| GB (1) | GB2569739B (en) |
| RU (1) | RU2707218C1 (en) |
| WO (2) | WO2019007147A1 (en) |
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| CN107091089B (en) * | 2017-07-04 | 2019-01-11 | 中国矿业大学 | Automatic lifting of shearer device and method based on coalcutter focus forward probe |
| CN108180904B (en) * | 2017-12-19 | 2021-01-08 | 中国矿业大学 | Multi-inertial navigation positioning device and method for coal mining machine |
| CN109854242B (en) * | 2019-01-08 | 2020-09-11 | 浙江大学 | Chaos theory-based automatic prediction system for coal mining machine roller |
| CN109630110B (en) * | 2019-01-18 | 2020-02-18 | 天地科技股份有限公司 | Fully-mechanized coal mining face coal seam thickness self-adaptive cutting control method and electronic equipment |
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| CN112096378B (en) * | 2020-08-31 | 2022-11-15 | 中国煤炭科工集团太原研究院有限公司 | Swing control method and device for conveyor tail of continuous miner and continuous miner |
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| CN112832761B (en) * | 2020-11-12 | 2022-02-18 | 临沂矿业集团菏泽煤电有限公司 | Coal mine fully mechanized working face coal mining machine and geological model coupling system |
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| CN113818880B (en) * | 2021-10-13 | 2023-08-08 | 郑州恒达智控科技股份有限公司 | Automatic inclination adjusting device and method for coal face |
| CN113944463B (en) * | 2021-10-14 | 2024-02-27 | 西安煤矿机械有限公司 | Auxiliary supporting device of coal mining machine and using method thereof |
| CN114109386B (en) * | 2021-12-10 | 2023-09-19 | 国家能源投资集团有限责任公司 | Underground coal mining working face regulating and controlling method |
| CN114970073B (en) * | 2021-12-10 | 2024-04-02 | 太原理工大学 | Coal-winning machine virtual reality fuses positioning system based on laser radar |
| CN114412459B (en) * | 2021-12-22 | 2023-03-17 | 中国矿业大学 | Less-sensing non-teaching automatic cutting method for intelligent fully mechanized coal mining face coal mining machine |
| CN114352274B (en) * | 2022-01-12 | 2022-12-02 | 中国矿业大学 | Coal-rock interface identification method based on roller seismic source of coal mining machine |
| CN114476578B (en) * | 2022-01-18 | 2024-02-06 | 宁夏天地奔牛实业集团有限公司 | Automatic tensioning control method for scraper chain based on load following control |
| CN117569805B (en) * | 2024-01-17 | 2024-03-19 | 山西启创达矿山设备制造有限责任公司 | Adjustable rocker arm of coal mining machine and use method thereof |
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- 2017-07-04 CN CN201710536370.0A patent/CN107091089B/en active Active
-
2018
- 2018-05-09 WO PCT/CN2018/086134 patent/WO2019007147A1/en active Application Filing
- 2018-07-20 AU AU2018296041A patent/AU2018296041B2/en not_active Ceased
- 2018-07-20 RU RU2019113923A patent/RU2707218C1/en active
- 2018-07-20 GB GB1905658.9A patent/GB2569739B/en not_active Expired - Fee Related
- 2018-07-20 WO PCT/CN2018/096519 patent/WO2019007439A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| GB201905658D0 (en) | 2019-06-05 |
| WO2019007147A1 (en) | 2019-01-10 |
| GB2569739A (en) | 2019-06-26 |
| WO2019007439A1 (en) | 2019-01-10 |
| GB2569739B (en) | 2020-02-12 |
| CN107091089B (en) | 2019-01-11 |
| AU2018296041A1 (en) | 2019-05-16 |
| RU2707218C1 (en) | 2019-11-25 |
| CN107091089A (en) | 2017-08-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| DA3 | Amendments made section 104 |
Free format text: THE NATURE OF THE AMENDMENT IS: AMEND THE INVENTION TITLE TO READ AUTOMATIC SHEARER HEIGHT ADJUSTMENT APPARATUS BASED ON ADVANCED DETECTION OF SHEARER SEISMIC SOURCE AND METHOD THEREFOR |
|
| FGA | Letters patent sealed or granted (standard patent) | ||
| MK14 | Patent ceased section 143(a) (annual fees not paid) or expired |