CN104763430B - The centering method and system of opencast mining equipment - Google Patents
The centering method and system of opencast mining equipment Download PDFInfo
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- CN104763430B CN104763430B CN201510142783.1A CN201510142783A CN104763430B CN 104763430 B CN104763430 B CN 104763430B CN 201510142783 A CN201510142783 A CN 201510142783A CN 104763430 B CN104763430 B CN 104763430B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a kind of centering method of opencast mining equipment, comprise the following steps：Obtain upstream equipment, the real time position of upstream device to be centred；Real time position according to the upstream equipment, the upstream device sets the upstream equipment and runs to the destination path of the upstream device, and the rotating speed of target of the upstream equipment motor is calculated according to the destination path；Closed-loop control is carried out to the actual speed of the upstream equipment motor according to the rotating speed of target, until the upstream equipment and the upstream device are without position deviation.The centering method is according to upstream equipment and the real time position deviation of upstream device, the centering route of upstream equipment to upstream device is planned and controlled, realize the automatic centering of upstream equipment and upstream device, the centering time of relevant device during opencast mining is substantially reduced, efficiency is adopted in the stripping that improve opencut.On this basis, the invention also discloses a kind of center support system of opencast mining equipment.
Description
Technical field
The present invention relates to ore mining technical field, the more particularly to a kind of centering method and system of opencast mining equipment.
Background technology
It is increasingly extensive that application of the technology in opencut stripping is adopted is adopted in semicontinuous stripping.
The semicontinuous device adopted of shelling generally includes excavator, automatic moving type disintegrating machine, face belt machine etc..
During field operation, the trend of material is：The raw coal of excavation is put into automatic moving type disintegrating machine by excavator by power shovel
Hopper, automatic moving type disintegrating machine crushes raw coal, it is broken after material deliver to face belt by the discharge arm of disintegrating machine
Boxcar recovering hopper on machine, is sent to end side belt in the presence of face belt machine.In this flow, upstream equipment
And the material switching between upstream device (such as excavator and automatic moving type disintegrating machine) can be realized smoothly, on condition that discharging point will essence
Really, that is to say, that, it is necessary to the splicing portion centering in the blanking portion and automatic moving type disintegrating machine of excavator, usually requires that the deviation of transit point
Value is in below 10cm.
In addition, in practice of Mining, it is easy to occur that automatic moving type disintegrating machine is apart from each other with boxcar, automatic moving type disintegrating machine
Broken material directly cannot be delivered to boxcar, now need elevating conveyor to realize that transition, i.e. automatic moving type disintegrating machine first will be broken
Broken material is delivered to elevating conveyor, then material is delivered into boxcar by elevating conveyor.Obviously, transferred to realize material, automatic moving type
It is also required to carry out centering between disintegrating machine and elevating conveyor this two mobile devices.
At present, in opencast mining, the blanking portion of upstream equipment is usual with the centering mode in the splicing portion of upstream device
Using artificial operation.Here, upstream equipment and upstream device are directed to for the trend of material, excavator and disintegrating machine it
Between, excavator is upstream equipment, and disintegrating machine is upstream device, and between disintegrating machine and elevating conveyor, disintegrating machine is then upstream equipment,
Elevating conveyor is upstream device.
Because excavator, disintegrating machine and elevating conveyor generally are crawler-type engineering equipment, its is bulky, in course changing control
Driver operation dead angle is more, and very flexible is controlled manually, so, each centering is required for operating personnel's multi-pass operation real
It is existing, up to more than ten minutes average time.Further, since strip mining is adopted with stripping carry out, often after several subjobs of excavator just
Need to move to next stripping sampling site, cause the short period (such as half an hour) to be accomplished by carrying out a centering, be i.e. centering frequency is high, and
Artificial centering is wasted time and energy again, causes stripping to adopt whole efficiency very low.
In view of this, how to improve opencut stripping adopt middle relevant device to medium velocity, improve stripping and adopt efficiency, be this area
The current technical issues that need to address of technical staff.
The content of the invention
The purpose of the present invention is the centering method and center support system, the method and system for providing a kind of opencast mining equipment
Can improve opencut stripping when adopting relevant device to medium velocity and effect so that efficiency is adopted in the stripping for improving opencut.
In order to solve the above technical problems, the present invention provides a kind of centering method of opencast mining equipment, including following step
Suddenly：
Obtain upstream equipment, the real time position of upstream device to be centred；
Real time position according to the upstream equipment, the upstream device sets the upstream equipment and runs to the downstream
The destination path of equipment, and the rotating speed of target of the upstream equipment motor is calculated according to the destination path；
Closed-loop control is carried out to the actual speed of the upstream equipment motor according to the rotating speed of target, until the upstream
Equipment and the upstream device are without position deviation.
Alternatively, the real time position of the upstream equipment, the upstream device is obtained by RTK-GPS position measuring systems
Geodetic coordinates in space.
Alternatively, that the geodetic coordinates in space of the upstream equipment, the upstream device real time position is converted into plane is straight
Angular coordinate；
The destination path is set as straight by the upstream equipment plane rectangular coordinates point and the upstream device plane
The circular arc of angular coordinate point；The tangential direction that the initial instantaneous velocity direction of the upstream equipment centering is the circular arc is set, and according to
This calculates the theoretical steering radius of the upstream equipment；
Set the upstream equipment to run to the target average speed of the upstream device, and determine institute with reference to the circular arc
State the target angular velocity of upstream equipment；
The upstream equipment motor is calculated according to target diversion radius, the target average speed and the target angular velocity
Rotating speed of target, wherein, the target diversion radius be the theoretical steering radius.
Alternatively, when minimum turning radius of the theoretical steering radius less than the upstream equipment, described in selection most
Small turning radius is used as the target diversion radius.
Alternatively, before centering, if the upstream device is in mobile status, the upstream equipment is driven with the downstream
Equipment after stopping to the upstream device, centering is carried out further according to the destination path with the equidirectional operation of speed.
The present invention also provides a kind of center support system of opencast mining equipment, including：
Data acquisition module, for the real-time monitoring upstream equipment to be centred, the real time position of the upstream device；
Data analysis module, the real time position according to the upstream equipment, the upstream device sets the upstream equipment
Run to the destination path of the upstream device, and the rotating speed of target of the upstream equipment motor is calculated according to the destination path；
Data transmission module, the driving for the rotating speed of target of the upstream equipment motor to be sent to the upstream equipment
Performing module；
The driving performing module carries out closed loop according to the rotating speed of target to the actual speed of the upstream equipment motor
Control, until the real time position zero deflection of the upstream equipment and the upstream device.
Alternatively, the data acquisition module is RTK-GPS position measuring systems.
Alternatively, the data analysis module includes：
Coordinate Conversion submodule, for the RTK-GPS position measuring systems are obtained the upstream equipment, it is described under
The geodetic coordinates in space of trip equipment real time position is converted to plane rectangular coordinates；
Path set submodule, the destination path for the upstream equipment to be run to the upstream device be set to through
The circular arc of the upstream equipment plane rectangular coordinates point and the upstream device plane rectangular coordinates point is crossed, and the upstream is set
The initial instantaneous velocity direction of equipment centering is the tangential direction of the circular arc；
Speed calculating sub module, calculates the theoretical steering radius of the upstream equipment；Set the upstream equipment run to
The target average speed of the upstream device, and the target angular velocity of the upstream equipment is determined with reference to the circular arc；Always according to
Target diversion radius, the target average speed and the target angular velocity calculate the rotating speed of target of the upstream equipment motor,
Wherein, the target diversion radius is the theoretical steering radius.
Alternatively, the speed calculating sub module also includes comparison module, and the minimum that it is preset with the upstream equipment turns
To radius, when the target diversion radius is less than the minimum turning radius, the minimum turning radius is chosen as described
Target diversion radius.
Alternatively, the center support system also includes upstream device condition judgment module, when it is judged at the upstream device
In mobile status, the driving performing module of the upstream equipment is output control signals to, it is driven the upstream equipment and institute
The same speed of upstream device, equidirectional operation are stated, after stopping to the upstream device, further according to the rotating speed of target to the upstream
The actual speed of equipment motor carries out closed-loop control.
The centering method and system of the opencast mining equipment that the present invention is provided, correlation sets when can realize that opencut stripping is adopted
Standby quick centring.Specifically, in this programme, according to the real time position of upstream equipment and upstream device to be centred, in setting
Trip equipment is run to the destination path of upstream device, and destination path calculates the rotating speed of target of upstream equipment motor accordingly, with this
Rotating speed of target is that specified rotating speed carries out closed-loop control to the actual speed of upstream equipment, until upstream equipment and upstream device are without position
Put deviation；So according to upstream equipment and the real time position of upstream device, the centering path of upstream equipment has been planned and to middling speed
Degree, and be adjusted in real time, the automatic centering of upstream equipment and upstream device is realized, grasped than artificial centering in the prior art
Make, the centering time of relevant device during opencast mining is substantially reduced, so as to efficiency is adopted in the stripping that improve opencut.
Brief description of the drawings
Fig. 1 is a kind of FB(flow block) of specific embodiment of opencast mining equipment centering method provided by the present invention；
Fig. 2 is the principle schematic of destination path setting in Fig. 1；
Fig. 3 is a kind of structured flowchart of specific embodiment of opencast mining equipment center support system provided by the present invention.
Specific embodiment
Core of the invention is the centering method and center support system, the method and system for providing a kind of opencast mining equipment
Can improve opencut stripping when adopting relevant device to medium velocity and effect so that efficiency is adopted in the stripping for improving opencut.
In the actual job of opencast mining, the trend of material is：On excavator → disintegrating machine → face belt machine
Boxcar；In practice, if the distance between disintegrating machine and face belt machine farther out when, it is necessary to pass through elevating conveyor transition, now
The trend of material is：Boxcar on excavator → disintegrating machine → elevating conveyor → face belt machine.
In transport process, for realize material smooth switching, it is necessary to adjacent upstream equipment and upstream device centering can,
Such as, when the raw coal of excavation is transported to the hopper of disintegrating machine by excavator, often because both have a certain distance, it is necessary to realize
The centering of excavator and disintegrating machine.Hereafter with regard to opencast mining in, how to realize the centering of upstream equipment and upstream device is carried out
Describe in detail.
It is pointed out that " upstream equipment " and " upstream device " is directed to for the trend of material in text, such as,
Between excavator and disintegrating machine, excavator is upstream equipment, and disintegrating machine is upstream device；Between disintegrating machine and elevating conveyor, break
Broken machine is then upstream equipment, and elevating conveyor is upstream device.
In order that those skilled in the art more fully understands technical scheme, it is below in conjunction with the accompanying drawings and specific real
The present invention is described in further detail to apply example.
Succinct for ease of understanding and describing, centering method, center support system below in conjunction with opencast mining equipment are said
Bright, beneficial effect is not repeated to discuss.
Refer to Fig. 1 and Fig. 3, Fig. 1 is a kind of specific embodiment party of opencast mining equipment centering method provided by the present invention
The FB(flow block) of formula；Fig. 3 is a kind of structural frames of specific embodiment of opencast mining equipment center support system provided by the present invention
Figure.
In the specific embodiment, the centering method of opencast mining equipment comprises the following steps：
S11, acquisition upstream equipment to be centred, the real time position of upstream device；
S12, the upstream equipment is set according to the real time position of the upstream equipment, the upstream device run to described
The destination path of upstream device, and the rotating speed of target of the upstream equipment motor is calculated according to the destination path；
As shown in Figure 3, in the implementation method, the center support system of opencast mining equipment includes data acquisition module 100,
Real time position for monitoring upstream equipment to be centred, upstream device.
The center support system also include data analysis module 200, the data analysis module 200 can according to upstream equipment,
The real time position setting upstream equipment of upstream device is run to the destination path of upstream device, and is calculated according to the destination path
The rotating speed of target of upstream equipment motor.
It should be noted that due to the trend of material in opencast mining, it is actual to avoid the unnecessary movement of winning apparatus
During operation, downstream equipment is moved generally to make upstream equipment.
It may also be noted that because the mobile device of opencast mining is generally crawler-type engineering equipment, mobile device two
The movement of side crawler belt by both sides motor control, so being actually the control to its both sides motor to the control of mobile device rotating speed.
In specific scheme, can be obtained by RTK-GPS (Real-Time Kinematic-GPS) position measuring system
Take upstream equipment, the geodetic coordinates in space of upstream device real time position.
That is, the data acquisition module 100 can be set to RTK-GPS position measuring systems.
Specifically, RTK-GPS position measuring systems include base station, rover station and radio data transmission apparatus；Wirelessly
Data communication is can to carry out the guarantee of real time dynamic measurement.
In practice, positional accuracy control point higher is taken as base station, in the base station, one receiver is set；Due to
In mining process, upstream equipment and upstream device can be moved, so upstream equipment and upstream device are distinguished as rover station
One receiver is set.
During measurement, the receiver of base station carries out Continuous Observation to satellite, and the receiver of rover station is receiving satellite-signal
While, the observation data of base station, the original of the computer of rover station according to relative positioning are received by radio transmission facility
Reason calculates the three-dimensional coordinate and certainty of measurement of rover station in real time.
It is pointed out that base station is arranged in certain coverage of survey area, the survey area can select according to actual conditions
Take；After coverage of survey area is more than certain area, need to consider the amendment of various parameters, such as earth curvature half in survey calculation
The influence in footpath etc., therefore, in actual applications, can by reduce rover station can receive meter turn station signal maximum distance come
Ensure the precision of measurement.
The three-dimensional coordinate of upstream equipment, upstream device based on the acquisition of RTK-GPS position measuring systems is actual for space is big
Ground coordinate (longitude, latitude, geodetic height), for ease of follow-up calculating, in addition it is also necessary to which geodetic coordinates in space system is converted into space right-angle
Coordinate system, and it is further converted into plane right-angle coordinate.
In specific scheme, the data analysis module 200 includes Coordinate Conversion submodule 201, and it will can be based on
Upstream equipment that RTK-GPS position measuring systems are obtained, that the geodetic coordinates in space of upstream device real time position is converted to plane is straight
Angular coordinate.
During practical operation, upstream equipment, the plane rectangular coordinates of upstream device position deviation can be calculated, according to the position
Deviation comes sets target path.
Measured calculating, upstream equipment, upstream device position deviation plane rectangular coordinates it is specific as follows：
Xx=-sin (L0)×(X-X0)+cos(L0)×(Y-Y0)；
Yy=-sin (B0)×cos(L0)×(X-X0)-sin(B0)×sin(L0)×(Y-Y0)+cos(B0)×(Z-Z0)；
Zz=cos (B0)×cos(L0)×(X-X0)+cos(B0)×sin(L0)×(Y-Y0)+sin(B0)×(Z-Z0)；
Wherein：
B0、L0--- the latitude of upstream equipment real time position, longitude；
X0、Y0、Z0--- the rectangular space coordinate X values of upstream equipment real time position, Y value, Z values；
The rectangular space coordinate X values of X, Y, Z --- upstream device real time position, Y value, Z values.
The data analysis module 200 also includes that path sets submodule 202, and the path sets submodule 202 and can calculate
Go out the position deviation of upstream equipment and upstream device under plane right-angle coordinate, and setting upstream equipment is run to downstream accordingly
The destination path of equipment.
Incorporated by reference to Fig. 2, Fig. 2 is the principle schematic of destination path setting in Fig. 1.
As shown in Figure 2, be easy, upstream equipment position is set to the origin O of X-Y plane coordinate system, then it is above-mentioned
The plane coordinate value of position deviation is the position of upstream device, is represented with A in figure；That is, being now to setting by O points
Reach the path of A points.
Certainly, in practice it is oppositely arranged can also, will upstream device position be set to the original of X-Y plane coordinate system
Point, then the plane coordinate value of position deviation is the position of upstream equipment.
Several can be whether there is by O points, the straight line of A points or curve, in other words, can be by any of which bar straight line or song
Line reaches the path of A points as O points.
In view of specific actual conditions, upstream equipment is most readily achieved according to circular motion, so in the concrete scheme, if
The fixed circular arc by O points, A points is destination path.
It is pointed out that it is more convenient come sets target path using the position deviation of upstream equipment, upstream device, and
Beneficial to the calculating of succeeding target rotating speed.Certainly, in practice, directly with upstream equipment, the flat square of upstream device real time position
It is also feasible that coordinate comes sets target path, and concrete principle is similar to, and repeats no more.
After circular arc operation of the upstream equipment according to destination path i.e. by O points to A points is determined, you can according to the target road
Footpath calculates the rotating speed of target of upstream equipment motor.
In specific scheme, the convenience and the convenience of practical operation calculated for control can set upstream equipment first in
The instantaneous velocity direction of beginning is the tangential direction of above-mentioned circular arc.
The data analysis module 200 also includes speed calculating sub module 203, and the module can be according to the destination path for setting
And the initial instantaneous velocity telegoniometer of upstream equipment centering calculates the rotating speed of target of upstream equipment motor.
The Computing Principle of the rotating speed of target of upstream equipment motor is described below in detail.
Without loss of generality, in the principle schematic of Fig. 2, X-direction will be set to by the radius of circle direction of O points, by
Geometrical relationship shown in Fig. 2 can draw：
Thus, it is possible to the X-axis coordinate for obtaining center of circle C points is:
So as to the theoretical steering radius r of upstream equipment isUsing the theoretical steering radius as target diversion half
Footpath is subsequently calculated
Generally, upstream equipment is generally caterpillar, and for caterpillar, its turning radius has minimum value.
On the basis of such scheme, also compare theoretical steering radius less than upstream equipment minimum turning radius when, choosing
Minimum turning radius is taken subsequently to be calculated as target diversion radius.
Correspondingly, the speed calculating sub module 203 also includes comparison module, its minimum steering for being preset with upstream equipment
Radius, when the theoretical steering radius is less than the minimum turning radius, chooses minimum turning radius as target diversion half
Footpath is subsequently calculated.
Specifically, the minimum turning radius of upstream equipment can be obtained according to the limit steering principle theoretical calculation of endless-track vehicle
Arrive, i.e., according to turning radius more than in the case of track center square 1/2, the power demand of both sides crawler belt determines minimum to turn to half
Footpath；Wherein, the power demand of both sides crawler belt can be calculated by following formula：
Wherein, G is kerb weight, and v is average speed when turning to, and f is ground deformation resistance coefficient, and L is grounded for crawler belt
Length, B is track center square, umaxFor vehicle seat radius is turn resistance-coefficient when 0~B/2 is turned to, ρ is relative steering partly
Footpath.
In practice, equipment vendors can provide the minimum turning radius r of related caterpillarmin, now can directly will be preceding
State the minimum turning radius r that the theoretical steering radius being calculated is provided with manufacturerminRow compares.
For the upstream equipment of caterpillar, both sides crawler belt is motor-driven by both sides, therefore, control electricity
The rotating speed of machine is the speed of controllable both sides crawler belt.
According to linear velocity formulaAnd combine comprehensive gearratio i0, upstream equipment both sides motor can be obtained
Rotating speed of target computing formula is as follows：
Wherein it is possible to be set as upstream equipment with upstream device relative distance the target average speed v of upstream equipment
Monotonically increasing function, is easy, specifically could be arranged to quadratic function (leveling off to the slope of stop phase to reduce), i.e.,Wherein a is constant, can be determined by actual debugging.
Meanwhile, can be drawn by the integral and calculating of the target average speed, reach mesh by destination path of above-mentioned circular arc
It is the time of punctuate, as follows：
ByDraw
Certainly, in actual applications, also dependent on needs, target average speed is set as upstream equipment and upstream device
The other types function of relative distance.
Wherein, the determination of target angular velocity ω can be determined by calculating the arc length of above-mentioned circular arc, according to Fig. 2, upstream equipment,
The plan range of upstream device real time position is
When foregoing theoretical steering radius r is more than minimum turning radius rminWhen, choose theoretical steering radius r and turn as target
To radius, now, the corresponding angle of foregoing circular arc is：
When foregoing theoretical steering radius r is less than minimum turning radius rminWhen, choose minimum turning radius rminAs target
Turning radius, now, the corresponding angle of foregoing circular arc is：
It is possible thereby to determine the target angular velocity ω of the upstream equipment, it is as follows：
When foregoing theoretical steering radius r is more than minimum turning radius rminWhen, choose theoretical steering radius r and turn as target
To radius, now, target angular velocity ω is obtained by circular arc angle divided by the time, and specific computing formula is as follows：
When foregoing theoretical steering radius r is less than minimum turning radius rminWhen, choose minimum turning radius rminAs target
Turning radius, now, the computing formula of target angular velocity ω is as follows：
Target average speed according to foregoing determinationTarget angular velocity ω, target diversion radius and track center square B,
And combine aforementioned formula (1) and (2), you can and obtain to realize the rotating speed of target of centering upstream equipment motor, it is specific as follows：
When foregoing theoretical steering radius r is more than minimum turning radius rminWhen：
When foregoing theoretical steering radius r is less than minimum turning radius rminWhen,
In specific scheme, data analysis module 200 can be WinCC systems, and the setting and calculating of each part mentioned above can
Realized with by the VBS sentences of the system.
S13, closed-loop control is carried out to the actual speed of the upstream equipment motor according to the rotating speed of target, until described
Upstream equipment and the upstream device are without position deviation.
The center support system also includes data transmission module 300, and the module can be by the upstream equipment motor of foregoing acquisition
Rotating speed of target is sent to the driving performing module 400 of upstream equipment, the driving performing module 400 according to receive rotating speed of target,
Actual speed to upstream equipment motor by the way of closed-loop control is controlled, until the reality of upstream equipment and upstream device
When position zero deflection, so as to smoothly realize the material switching between upstream equipment and upstream device.
In specific scheme, the data transmission module 300 can be set to PLC system, foregoing WinCC systems and the PLC
Can realize contacting by TCP/IP communication interfaces between system.
Specifically, PLC system can be held the driving that rotating speed of target is sent to upstream equipment by Profibus DP networks
Row module 400.
It is pointed out that objective factor during due to centering etc., without position deviation between upstream equipment and upstream device,
Its implication allows certain error in addition to including complete zero deflection, also, e.g., can allow ± 5% error etc..
In practice, it is possible that when needing centering, upstream device still in mobile status, now, if according to above-mentioned side
Formula realizes the centering of upstream equipment and upstream device, and deviation necessarily occurs, if redesigning upstream equipment to upstream device
Operating path, then need the specific situation of movement according to upstream device to determine, can so cause that actual control is calculated very numerous
It is multiple.
To solve problems, further, before step in implementing foregoing pair, judge that upstream device is in mobile status
When, drive upstream equipment to make it with upstream device with the equidirectional operation of speed, after stopping to upstream device, further according to the mesh of setting
Mark path carries out centering.
Correspondingly, the center support system also includes upstream device condition judgment module, is moved when it judges that upstream device is in
Dynamic state, then output control signals to the driving performing module 400 of upstream equipment, makes it drive upstream equipment same with upstream device
Speed, equidirectional operation, after stopping to upstream device, close further according to rotating speed of target to the actual speed of upstream equipment motor
Ring is controlled.
As above, the centering method and system of the opencast mining equipment that the present invention is provided, set according to upstream equipment and downstream
Standby real time position, has planned the centering path of upstream equipment and to medium velocity, and is adjusted in real time, realizes upstream equipment
With the automatic centering of upstream device, than artificial centering operation in the prior art, phase during opencast mining is substantially reduced
The centering time of pass equipment, so as to efficiency is adopted in the stripping that improve opencut.
The centering method and system to a kind of opencast mining equipment provided by the present invention have carried out detailed Jie above
Continue.Specific case used herein is set forth to principle of the invention and implementation method, and the explanation of above example is only
It is to be used to help understand the method for the present invention and its core concept.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these improve and repair
Decorations are also fallen into the protection domain of the claims in the present invention.
Claims (10)
1. the centering method of opencast mining equipment, it is characterised in that comprise the following steps：
Obtain upstream equipment, the real time position of upstream device to be centred；
Real time position according to the upstream equipment, the upstream device sets the upstream equipment and runs to the upstream device
Destination path, and the rotating speed of target of the upstream equipment motor is calculated according to the destination path；
Closed-loop control is carried out to the actual speed of the upstream equipment motor according to the rotating speed of target, until the upstream equipment
With the upstream device without position deviation；
Wherein, the upstream equipment and the upstream device move towards definition according to material.
2. centering method according to claim 1, it is characterised in that obtain described by RTK-GPS position measuring systems
The geodetic coordinates in space of upstream equipment, the real time position of the upstream device.
3. centering method according to claim 2, it is characterised in that the upstream equipment, the upstream device is real-time
The geodetic coordinates in space of position is converted to plane rectangular coordinates；
The destination path is set as being sat by the upstream equipment plane rectangular coordinates point and the upstream device flat square
The circular arc of punctuate；The initial instantaneous velocity direction of the upstream equipment centering is set and is the tangential direction of the circular arc, and count accordingly
Calculate the theoretical steering radius of the upstream equipment；
Set the upstream equipment to run to the target average speed of the upstream device, and determine on described with reference to the circular arc
The target angular velocity of trip equipment；
The mesh of the upstream equipment motor is calculated according to target diversion radius, the target average speed and the target angular velocity
Mark rotating speed, wherein, the target diversion radius is the theoretical steering radius.
4. centering method according to claim 3, it is characterised in that when the theoretical steering radius sets less than the upstream
During standby minimum turning radius, the minimum turning radius is chosen as the target diversion radius.
5. the centering method according to any one of Claims 1-4, it is characterised in that before centering, if at the upstream device
In mobile status, then drive the upstream equipment with the upstream device with the equidirectional operation of speed, stop to the upstream device
After only, centering is carried out further according to the destination path.
6. the center support system of opencast mining equipment, it is characterised in that including：
Data acquisition module, the real time position for monitoring upstream equipment to be centred, upstream device；
Data analysis module, the real time position according to the upstream equipment, the upstream device sets the upstream equipment operation
To the destination path of the upstream device, and the rotating speed of target of the upstream equipment motor is calculated according to the destination path；
Data transmission module, the driving for the rotating speed of target of the upstream equipment motor to be sent to the upstream equipment is performed
Module；
The driving performing module carries out closed-loop control according to the rotating speed of target to the actual speed of the upstream equipment motor,
Up to the upstream equipment and the real time position zero deflection of the upstream device；
Wherein, the upstream equipment and the upstream device move towards definition according to material.
7. center support system according to claim 6, it is characterised in that the data acquisition module is that RTK-GPS positions are surveyed
Amount system.
8. center support system according to claim 7, it is characterised in that the data analysis module includes：
Coordinate Conversion submodule, sets for the upstream equipment that obtains the RTK-GPS position measuring systems, the downstream
The geodetic coordinates in space of standby real time position is converted to plane rectangular coordinates；
Path sets submodule, and the destination path for the upstream equipment to be run to the upstream device is arranged via institute
The circular arc of upstream equipment plane rectangular coordinates point and the upstream device plane rectangular coordinates point is stated, and the upstream equipment is set
The initial instantaneous velocity direction of centering is the tangential direction of the circular arc；
Speed calculating sub module, calculates the theoretical steering radius of the upstream equipment；The upstream equipment is set to run to described
The target average speed of upstream device, and the target angular velocity of the upstream equipment is determined with reference to the circular arc；Always according to target
Turning radius, the target average speed and the target angular velocity calculate the rotating speed of target of the upstream equipment motor, wherein,
The target diversion radius is the theoretical steering radius.
9. center support system according to claim 8, it is characterised in that the speed calculating sub module also includes comparing mould
Block, its minimum turning radius for being preset with the upstream equipment, when the target diversion radius is less than the minimum turning radius
When, the minimum turning radius is chosen as the target diversion radius.
10. the center support system according to claim any one of 6-9, it is characterised in that the center support system also includes downstream
Equipment state judge module, when it judges that the upstream device is in mobile status, outputs control signals to the upstream equipment
Driving performing module, it is driven described upstream equipment and the same speed of the upstream device, equidirectional operation, to the downstream
After equipment stops, closed-loop control is carried out to the actual speed of the upstream equipment motor further according to the rotating speed of target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510142783.1A CN104763430B (en) | 2015-03-27 | 2015-03-27 | The centering method and system of opencast mining equipment |
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| CN102193501A (en) * | 2011-03-05 | 2011-09-21 | 中国船舶重工集团公司第七一二研究所 | Variable structure digital controller for optimizing rotational characteristics of large-size mining excavator |
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