CN106256991A - A kind of coal cutter memorized cutting and memory location combination learning method - Google Patents
A kind of coal cutter memorized cutting and memory location combination learning method Download PDFInfo
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- CN106256991A CN106256991A CN201610648610.1A CN201610648610A CN106256991A CN 106256991 A CN106256991 A CN 106256991A CN 201610648610 A CN201610648610 A CN 201610648610A CN 106256991 A CN106256991 A CN 106256991A
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- 239000003245 coal Substances 0.000 title claims abstract description 122
- 238000005520 cutting process Methods 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 20
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- 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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Abstract
The invention discloses a kind of coal cutter memorized cutting and memory location combination learning method, the method comprises the steps: that using the memory cut comprising demonstration tracking strategy that coal mining machine roller is carried out self adaptation heightens, Dual Mapping between coal mining machine roller height and wireless position is set up in the teaching cut stage, under following the tracks of cut stage analogous location, carry out coal-winning machine memory location, based on new teaching cut cycle stage adjacent coal bed, coal mining machine roller height is updated.Coal cutter memorized cutting of the present invention and memory location, dependency between wireless position data and cutting height data is carried out combination learning, wireless signal coupling is utilized to realize coal-winning machine memory location in the tracking cut stage, reduce coal mining driver in the new teaching cut stage and manually regulate the frequency of coal mining machine roller cutting height, add the practicality of coal cutter memorized cutting strategy.
Description
Technical field
The present invention relates to a kind of coal cutter memorized cutting and memory location combination learning method, belong to coal mining machine roller adaptive
Technical field should be heightened.
Background technology
Fully-mechanized mining working is one of coal production nucleus, and coal-winning machine, drag conveyor and hydraulic support are as work
Making a face mining group of planes, it carries brokenly coal, coaling and the task such as supporting, and the autonomous operation of a group of planes of therefore digging up mine is always for numerous
Chinese scholars is studied.Coal-winning machine is as the nucleus equipment of a mining group of planes, and its intelligent level directly influences a mining group of planes
Automatic operation.Although coal-winning machine has had a bigger improvement at aspects such as cutting power, tractive manner and master control systems, but coal-winning machine
The self adaptation of cylinder is heightened and is never imitated solution, becomes restriction mining group of planes automatization and the unmanned bottleneck of work surface.
It is coal-winning machine foundation work surface coal seam and rock stratum boundary situation that coal mining machine roller self adaptation heightens core, is automatically adjusted
The adjustable height of cylinder, reaches optimal coal cutting effect.At present, based on sensor Coal-Rock Interface Recognition measured directly, scholar
Done a lot of significant research, such as ray method, radar detection system, pick stress method, photoelectric sensing method, vibratory drilling method with pass more
Sensor fusion method etc..But due to coal geology structure, coal-winning machine work under bad environment, coal petrography character and coal mining route time-varying,
The comprehensive mining machinery problem to aspects such as the requirement of roof and floor and sensor stability differences, above-mentioned Direct Recognition coal-rock interface
Method is not widely used always, needs coal mining driver manually to regulate coal mining machine roller cutting height according to coal-rock detection.
Use for reference the demonstration tracking technology in robotics, use the automatic lifting of shearer system of memory cut technology, keep away
Exempt from Coal-Rock Interface Recognition technical barrier, form the coal mining machine roller automatic height-adjusting system based on memory cut.By coal mining department
Prow first completes the memory of Roller shear parameter according to coal seam height, and in 4～5 cut circulations, coal-winning machine is according to memory parameter
Carry out automatic cut.But, memory cut is Semi-automatic height technology, when coal geology is composed and deposited more complicated, cuts in memory
Actual coal seam parameter can be occurred during cutting not mate with remember coal seam parameter, need cut when coal seam height changes
When parameter is adjusted, not only increases the workload of operation driver, weaken the effect of memory cut simultaneously.
Current memory cut technology is all the feature between the angle research coal cutter memorized cutting cyclical information of the overall situation.
Coal cutter memorized cutting is teaching-tracking cut two stage, outputs wireless sensing coal-winning machine off the net in the teaching cut stage
Exact position, i.e. determines on coal-winning machine on mobile node and hydraulic support the antithesis of signal domain and spatial domain between anchor node and reflects
Penetrate relation, thus follow the tracks of the cut stage according to wireless signal between Data Matching realize coal-winning machine memory location；Simultaneously because
Between coal seam thickness information, there is local similarity, the most how to analyze adjacent cutting height information along work surface cutting coal direction and
Data relationship on coal-winning machine direction of propulsion, the most adjacent cut cyclical information time aerial data association, for reducing cut by mistake
Difference, reduces shearer drum height adjustment number of times significant.
Summary of the invention
The deficiency existed for prior art, it is an object of the present invention to provide a kind of coal cutter memorized cutting and memory location connection
Close learning method, it is possible to wireless complex resolves and cylinder cutting height is remembered again during teaching cut when solving to follow the tracks of cut
Problem, by roller height data between teaching cut are carried out combination learning with following the tracks of cut wireless position data, enhances and adopts
The availability of coal machine memory cut.
To achieve these goals, the present invention is to realize by the following technical solutions:
A kind of coal cutter memorized cutting of the present invention and memory location combination learning method, be spaced along work surface lead
Equidistance record coal-winning machine current location bottom roll cutting height, the cylinder cutting height gathered based on teaching cut and mining
Between a group of planes, wireless anchor node coordinate is demarcated by facility constraints, and the teaching cut stage sets up position and realizes mining with height mapping
Machine cylinder is heightened；The tracking cut stage, on coal-winning machine, mobile node was able to receive that similar nothing along advance of the face direction
Line signal, is associated with teaching cut stage wireless signal collection, obtains coal-winning machine by coupling between related wireless signal and remembers
Location output；After following the tracks of cut, implement the new teaching cut stage, predict gradually according to adjacent teaching cutting drum track similarity
Become coal seam height, and utilize new teaching cutting height that wireless anchor node height coordinate is modified, it is achieved new teaching cut rank
Section coal mining machine roller self adaptation is heightened, and comprises the following steps:
Step 1) utilize restriction relation between the cylinder cutting height of teaching cut collection and a mining group of planes that wireless anchor is saved
Point three-dimensional coordinate is demarcated；
Step 2) set up between coal mining machine roller cutting height and wireless position based on teaching cut and wireless sensor network
Dual Mapping relation；
Step 3) follow the tracks of the cut stage can obtain similar wireless signal to teaching cut stage analogous location, it is achieved adopt
Cut stage memory location followed the tracks of by coal machine；
Step 4) utilize adjacent teaching cylinder cutting track similarity, gradual change coal seam height is predicted, based on newly showing
Religion roller height round-off error anchor node height coordinate；
In step 1), it is right that the described cylinder cutting height utilizing teaching cut collection and restriction relation between a group of planes of digging up mine are come
Wireless anchor node three-dimensional coordinate is demarcated, particularly as follows:
1) a mining group of planes is along the reciprocal travel motion of work surface so that the wireless anchor node being deployed under hydraulic support is initially sat
Mark drift about, to coal-winning machine along work surface cut, propelling and short transverse wireless position resolve bring error；
2) displacement of hydraulic support center distance and hydraulic support advancing jack is used to carry out the horizontal seat to wireless anchor node
Mark and vertical coordinate are demarcated, and utilize the cylinder cutting height of teaching cut phase acquisition to carry out the height to wireless anchor node simultaneously
Coordinate is demarcated；
In step 2), described sets up coal mining machine roller cutting height and nothing based on teaching cut and wireless sensor network
Dual Mapping between line position, particularly as follows:
1) fully-mechanized mining working wireless signal transmits under dense multi-path environments and makes wireless signal be easily subject to interference, uses
Range error is modified by multi-dimentional scale calibration technology, resolves through wireless signal and can export the coal mining without cumulative errors in real time
Seat in the plane is put；
2) shearer haulage speed time-varying makes to carry out location of equal interval sampling, i.e. every phase along work surface lead
Deng distance record coal-winning machine current location bottom roll cutting height, set up coal mining machine roller height and nothing in the teaching cut stage
Dual Mapping between line position；
In step 3), the described cut stage of following the tracks of can obtain similar wireless communication to teaching cut stage analogous location
Number, it is achieved cut stage memory location followed the tracks of by coal-winning machine, particularly as follows:
1) the tracking cut stage is able to receive that the phase of identical sensor along advance of the face direction coal-winning machine mobile node
Like wireless signal collection, wireless signal is interfered and network topology structure change makes between tracking cut and teaching cut wireless
Signal nonlinear correlation；
2) determine association wireless signal between confidence level, follow the tracks of the cut stage without carry out wireless signal discriminating, filtering and
Resolve, associate coupling between wireless signal collection based on teaching cut with the tracking cut stage and realize coal-winning machine memory location；
In step 4), described utilizes adjacent teaching cylinder cutting track similarity, is predicted gradual change coal seam height,
Based on new teaching roller height round-off error anchor node height coordinate, particularly as follows:
1) after following the tracks of cut circulation, coal seam height change needs to carry out new teaching cut, due to coal seam thickness roll-off characteristic
Make adjacent teaching cutting track have similarity, on the basis of determining smooth contiguous space, determine gradual change by active judgement
Node is interval, is predicted new teaching cylinder cutting height；
2) coal seam height change makes hydraulic support stand height and anchor node height coordinate change, and sets up new teaching
Mapping relations between cut stage cylinder cutting height and anchor node height coordinate, repair error anchor node height coordinate
Just, the precision of teaching cut stage wireless location is improved.
A kind of coal cutter memorized cutting of the present invention and memory location combination learning method, including following step: (1)
The displacement using hydraulic support center distance and hydraulic support advancing jack comes the abscissa to wireless anchor node and vertical coordinate
Carry out demarcating and (demarcate abscissa and the vertical coordinate then coal-winning machine that exactly value of center distance and position is assigned to wireless anchor node
Cylinder cutting height amplitude gives the height coordinate of wireless anchor node), the cylinder cut simultaneously utilizing teaching cut phase acquisition is high
Spend the height coordinate to wireless anchor node to demarcate；(2) (carry out equal along work surface lead every equal distance
Location interval is sampled) record coal-winning machine current location bottom roll cutting height, setting up in the teaching cut stage (is exactly a coal mining
Seat in the plane is equipped with a cylinder cutting height) Dual Mapping relation between coal mining machine roller cylinder cutting height and wireless position；(3) exist
The tracking cut stage can receive corresponding wireless signal with teaching cut stage same position mobile wireless anchor node, by dividing
Analysis (it is exactly not over the resolving that wireless signal is found range-positioned, but directly by the most same group of wireless biography of comparison
The signal amplitude of sensor positions, and referred to as remembers location) dependency of wireless signal, it is achieved follow the tracks of cut stage coal-winning machine
Memory location；(4) when coal-winning machine demonstration tracking cut, when new teaching cutting height error is more than threshold value, old teaching is cut
The cylinder cutting height of jog section memory is updated (renewal is exactly assignment, belongs to the same meaning with demarcating), arranges simultaneously
Also to be updated at the hydraulic support height of node coordinate that casts anchor；Adjacent teaching cut circulation height track is utilized to have similar
Property, on the basis of determining smooth contiguous space, by actively judging that the forecast error of gradual change node determines its interval comprised
(method that this prediction has much routines, such as HMM etc., for existing method, here is omitted), to new teaching cylinder
Cutting height is predicted (for existing method, here is omitted), and sets up new teaching cut stage cylinder cutting height
And the mapping relations between wireless anchor node height coordinate (are through the cut that the height of the wireless anchor node to change changes
Height value is updated assignment the most again), thus wireless anchor node height coordinate is carried out error correction.
The present invention uses the memory cut comprising teaching-tracking strategy that coal mining machine roller is carried out self adaptation and heightens, and is showing
The religion cut stage sets up Dual Mapping between coal mining machine roller height and wireless position, carries out under following the tracks of cut stage analogous location
Coal-winning machine memory location, is updated coal mining machine roller height based on new teaching cut cycle stage adjacent coal bed.The present invention
Coal cutter memorized cutting and memory location, carry out combination learning by dependency between wireless position data and cutting height data,
The tracking cut stage utilizes wireless signal coupling to realize coal-winning machine memory location, reduces coal mining driver's hands in the new teaching cut stage
The frequency of dynamic regulation coal mining machine roller cutting height, adds the practicality of coal cutter memorized cutting strategy.
Accompanying drawing explanation
Fig. 1 is coal cutter memorized cutting and memory location combination learning schematic diagram；
Fig. 2 is coal-winning machine, drag conveyor, hydraulic support " three machines " linkage figure；
Fig. 3 is that cut stage memory location figure followed the tracks of by coal-winning machine；
Fig. 4 is coal-winning machine new teaching cut stage cylinder cutting height renewal figure.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with
Detailed description of the invention, is expanded on further the present invention.
The present embodiment heightens technology for coal-winning machine self adaptation, mainly by coal cutter memorized cutting technology, tracking cut note
Recall location and new teaching cylinder cutting height update method composition.
Specifically comprising the following steps that of the inventive method
A kind of coal cutter memorized cutting and memory location combination learning method, be spaced equidistance along work surface lead
Record coal-winning machine current location bottom roll cutting height, sets between cylinder cutting height based on teaching cut collection and a mining group of planes
Wireless anchor node coordinate is demarcated by standby constraint, and the teaching cut stage sets up position and realizes coal mining machine roller tune with height mapping
High；The tracking cut stage is able to receive that similar wireless signal at mobile node along the coal-winning machine of advance of the face direction, with
Teaching cut stage wireless signal collection is associated, and obtains coal-winning machine memory location output by coupling between related wireless signal；
The new teaching cut stage is implemented after following the tracks of cut, high according to adjacent teaching cutting drum track similarity prediction gradual change coal seam
Degree, and utilize new teaching cutting height that wireless anchor node height coordinate is modified, it is achieved new teaching cut stage coal-winning machine
Cylinder self adaptation is heightened, and specifically includes following steps:
(1) restriction relation between the cylinder cutting height of teaching cut collection and a mining group of planes is utilized to come wireless anchor node three
Dimension coordinate is demarcated；
(2) antithesis between coal mining machine roller cutting height and wireless position is set up based on teaching cut and wireless sensor network
Mapping relations；
(3) the tracking cut stage can obtain similar wireless signal to teaching cut stage analogous location, it is achieved mines
Cut stage memory location followed the tracks of by machine；
(4) utilize adjacent teaching cylinder cutting track similarity, gradual change coal seam height is predicted, rolls based on new teaching
Cylinder height correction error anchor node height coordinate.
In (1), restriction relation between the cylinder cutting height of teaching cut collection and a mining group of planes is utilized to come wireless anchor
Nodes Three-dimensional coordinate is demarcated, particularly as follows:
1) a mining group of planes is along the reciprocal travel motion of work surface so that the wireless anchor node being deployed under hydraulic support is initially sat
Mark drift about, to coal-winning machine along work surface cut, propelling and short transverse wireless position resolve bring error；
2) displacement of hydraulic support center distance and hydraulic support advancing jack is used to carry out the horizontal seat to wireless anchor node
Mark and vertical coordinate are demarcated, and utilize the cylinder cutting height of teaching cut phase acquisition to carry out the height to wireless anchor node simultaneously
Coordinate is demarcated；
In (2), set up coal mining machine roller cutting height and wireless position based on teaching cut and wireless sensor network
Between Dual Mapping, particularly as follows:
1) fully-mechanized mining working wireless signal transmits under dense multi-path environments and makes wireless signal be easily subject to interference, uses
Range error is modified by multi-dimentional scale calibration technology, resolves through wireless signal and can export the coal mining without cumulative errors in real time
Seat in the plane is put；
2) shearer haulage speed time-varying makes to carry out location of equal interval sampling, i.e. every phase along work surface lead
Deng distance record coal-winning machine current location bottom roll cutting height, set up coal mining machine roller height and nothing in the teaching cut stage
Dual Mapping between line position；
In (3), the tracking cut stage can obtain similar wireless signal to teaching cut stage analogous location, it is achieved
Cut stage memory location followed the tracks of by coal-winning machine, particularly as follows:
1) the tracking cut stage is able to receive that the phase of identical sensor along advance of the face direction coal-winning machine mobile node
Like wireless signal collection, wireless signal is interfered and network topology structure change makes between tracking cut and teaching cut wireless
Signal nonlinear correlation；
2) determine association wireless signal between confidence level, follow the tracks of the cut stage without carry out wireless signal discriminating, filtering and
Resolve, associate coupling between wireless signal collection based on teaching cut with the tracking cut stage and realize coal-winning machine memory location；
In (4), utilize adjacent teaching cylinder cutting track similarity, gradual change coal seam height is predicted, based on newly
Teaching roller height round-off error anchor node height coordinate, particularly as follows:
1) after following the tracks of cut circulation, coal seam height change needs to carry out new teaching cut, due to coal seam thickness roll-off characteristic
Make adjacent teaching cutting track have similarity, on the basis of determining smooth contiguous space, determine gradual change by active judgement
Node is interval, is predicted new teaching cylinder cutting height；
2) coal seam height change makes hydraulic support stand height and anchor node height coordinate change, and sets up new teaching
Mapping relations between cut stage cylinder cutting height and anchor node height coordinate, repair error anchor node height coordinate
Just, the precision of teaching cut stage wireless location is improved.
The present invention is by memory cut and memory location combination learning, carrying out coal mining machine roller self adaptation and heighten.Work as coal
Layer thickness changes when needing to be adjusted cutting height, updates all of teaching cut information, not only increases operation department
The workload of machine, weakens the effect of memory cut simultaneously.But for the spatial characteristics of coal seam, coal in addition to tomography
Layer is composed to deposit and highly can be there is consecutive variations, how effectively to analyze its great deal of related information contained, and finds memory parameter
Correlated characteristic between information, reducing the operation of new teaching cut needs the cutter number of manual operation, thus follows the tracks of new teaching cut coal seam
Height.Meanwhile, the high precision position carrying out coal-winning machine in the teaching cut stage solves, and excavates tracking cut stage wireless communication
Number and teaching cut stage wireless signal between data dependence, it is achieved follow the tracks of cut stage coal-winning machine memory location.The present invention adopts
Coal machine memory cut and memory location, carry out combination learning by dependency between wireless position data and cutting height data, make
The tracking cut stage does not relies on the resolving of wireless signal complexity and carries out coal-winning machine memory location, reduces in the new teaching cut stage and adopts
Coal driver manually regulates the frequency of coal mining machine roller cutting height, adds the practicality of coal cutter memorized cutting strategy.
In FIG, memory cut technology is used to carry out coal mining machine roller cutting height Automatic adjusument, on teaching cut rank
Section is based on waiting space interval sampling to set up wireless position and cutting height corresponding relation, and coal mining driver carries out coal mining machine roller height
Regulation.Follow the tracks of the cut stage, owing to coal-winning machine is to carry out reciprocal cut along work surface long and narrow space to move, follow the tracks of cut rank
Section can receive similar wireless signal to teaching cut stage analogous location mobile node, by analyzing wireless signal dependency
It is tracked cut stage coal-winning machine memory location.When coal mining driver is through many secondary trackings cut, the storage of teaching cut stage
Cylinder cutting height can not reflect coal seam thickness well, needs again to remember coal-winning machine cutting height.In new teaching
The cut stage, when coal seam thickness change need cutting height is adjusted time, update all of teaching cut dot information,
Not only increase the workload of coal mining driver, and weaken the effect of coal cutter memorized cutting.For coal seam spatial characteristics
For, do not consider tomography coal seam thickness gradual change, analyze adjacent cutting height information and pushing away along work surface cutting coal direction and coal-winning machine
Enter data relationship on direction, the most adjacent teaching cutting height information time aerial data association, reduce shearer drum height adjustment
Number of times.
In fig. 2, Triangle Coal end beveled feed is cut in the many employings of fully-mechanized mining working feed mode, and coal-winning machine carries along scraper plate
Machine bending section is cut sth. askew feed cut rib, cuts deep hydraulic support when cutting sth. askew one and drag conveyor bending section pushes away directly, coal-winning machine
Adjustment left and right cutting drum returns back and cuts Triangle Coal until left end head, and coal-winning machine adjusts roller height again to accelerate to return incision
Rear cut rib.At normal cut rib, hydraulic support is the basis automatically exploited of mining with machine automatization, and hydraulic pressure to be realized props up
Frame moves frame automatically, and coal-winning machine traffic direction and position are key parameters, and hydraulic support rises frame, fall frame, pushing and sliding and moves the works such as frame
Make rule and be all based on coal-winning machine direction and position carries out formulating.When coal-winning machine two-way cut rib moves to a certain position,
On the basis of the hydraulic support corresponding to its center, the action of adjacent hydraulic support with this hydraulic support as reference, according to
With in machine automation model, program set in advance carries out orderly action, coal-winning machine real time position and hauling speed determine support
Can the stylized movements and the concrete action that perform be timely completed.Based on coal-winning machine traffic direction and position, hydraulic control system obtains and adopts
The numbering of coal machine fuselage center position hydraulic support, sends the control instruction of correspondence to the multiple stage hydraulic support that it is adjacent.
In figure 3, coal cutter memorized cutting principle is divided into teaching and follows the tracks of cut, and coal mining driver is in teaching cut rib mistake
Cheng Zhong, record coal-winning machine is along coal mining machine roller cutting height under work surface lead diverse location, coal winning machine position and rolling
Cylinder height stores in a computer, owing to fully-mechanized mining working length, traction power and conveying power make shearer haulage speed
Time-varying, uses constant duration sampling that taught point can be caused the most corresponding with memory point, therefore carries out waiting space interval sampling the most every
Every equal distance record coal mining machine roller cutting height；In cutting course followed the tracks of by coal-winning machine, according to the edge when teaching cut
Coal mining machine roller cutting height under diverse location on fully-mechanized mining working direction, is automatically adjusted coal mining machine roller high by programme-control
Degree, changes once condition of coal seam occurrence, and coal mining driver manually regulates cylinder cutting height according to actual coal seam thickness；?
After multiple tracking cuts circulate, need to re-start teaching cut owing to coal seam thickness changes.
In wireless sensor network positions, analyzing fully-mechanized mining working mining group of planes operation characteristic is that wireless sense network builds
Basis, anchor node and mobile node are separately mounted under hydraulic support beam and coal-winning machine on, determine fully-mechanized mining working geometry
Structure is long narrow topological structure；Simultaneously as make to be deployed on hydraulic support when coal-winning machine is along work surface cut rib
Anchor node initial coordinate is drifted about, thus resolves to wireless location and bring error, utilizes the cylinder that the teaching cut stage obtains
Wireless anchor node height coordinate is demarcated by cutting height, in conjunction with restriction relation i.e. hydraulic support center distance between a mining group of planes
With advancing jack displacement, wireless anchor node abscissa and vertical coordinate are demarcated.
Fully-mechanized mining working dense multi-path environments makes wireless signal be easily subject to interference and reduce positioning precision, simultaneously because
The propelling of mining group of planes motion and work surface makes wireless signal constantly convert in sighting distance with nlos environment, needs hydraulic pressure
On support, on anchor node and coal-winning machine, between mobile node, wireless signal carries out nlos environment discriminating, and uses multi-dimentional scale to calibrate
Range error is modified by technology, it is achieved in teaching cut stage coal-winning machine wireless location；Owing to coal-winning machine has reciprocal cutting
The characteristic cut, following the tracks of the cut stage at coal-winning machine can be to the number of the wireless signal received Yu teaching cut stage wireless signal
According to being associated, thus in the teaching cut stage without wireless signal being carried out complicated resolving, utilize data between wireless signal
Join to realize coal-winning machine memory location, reduce coal-winning machine wireless location resolving amount.
In the diagram, when coal-winning machine demonstration tracking cut, when new teaching cutting height error needs to show old more than threshold value
The cutting height of religion cut stage memory is updated, and is simultaneously arranged at the hydraulic support height of node coordinate that casts anchor and also to carry out more
Newly.Owing to adjacent teaching cut circulation height track has similarity, according to old teaching cutting height information, adjacent sky is described
Between gradual change coal seam Changing Pattern, determine the smooth contiguous space of new teaching cutting track based on old teaching cutting height, by master
Move and judge that the forecast error of gradual change node is to determine its interval comprised.Meanwhile, in new teaching cut stage coal seam height change
Coal-winning machine cutting height is changed, and cutting height change makes hydraulic support stand height change, thus changes
Wireless anchor node height coordinate, error anchor node height is sat by the cylinder cutting height utilizing new teaching cut stage forecast to obtain
Mark is updated, and improves the precision of new teaching cut stage wireless location.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The technology of the industry
Personnel, it should be appreciated that the present invention is not restricted to the described embodiments, simply illustrating this described in above-described embodiment and description
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and
Equivalent defines.
Claims (1)
1. coal cutter memorized cutting and a memory location combination learning method, is characterized in that: be spaced along work surface lead
Equidistance record coal-winning machine current location bottom roll cutting height, the cylinder cutting height gathered based on teaching cut and mining
Between a group of planes, wireless anchor node coordinate is demarcated by facility constraints, and the teaching cut stage sets up position and realizes mining with height mapping
Machine cylinder is heightened；The tracking cut stage, on coal-winning machine, mobile node was able to receive that similar nothing along advance of the face direction
Line signal, is associated with teaching cut stage wireless signal collection, obtains coal-winning machine by coupling between related wireless signal and remembers
Location output；After following the tracks of cut, implement the new teaching cut stage, predict gradually according to adjacent teaching cutting drum track similarity
Become coal seam height, and utilize new teaching cutting height that wireless anchor node height coordinate is modified, it is achieved new teaching cut rank
Section coal mining machine roller self adaptation is heightened, and comprises the following steps:
Step 1) utilize restriction relation between the cylinder cutting height of teaching cut collection and a mining group of planes to come wireless anchor node three
Dimension coordinate is demarcated；
Step 2) set up antithesis between coal mining machine roller cutting height and wireless position based on teaching cut and wireless sensor network
Mapping relations；
Step 3) follow the tracks of the cut stage can obtain similar wireless signal to teaching cut stage analogous location, it is achieved coal-winning machine
Follow the tracks of cut stage memory location；
Step 4) utilize adjacent teaching cylinder cutting track similarity, gradual change coal seam height is predicted, rolls based on new teaching
Cylinder height correction error anchor node height coordinate；
In step 1), between the described cylinder cutting height utilizing teaching cut collection and a mining group of planes, restriction relation is come wireless
Anchor node three-dimensional coordinate is demarcated, particularly as follows:
1) a mining group of planes is along the reciprocal travel motion of work surface so that the wireless anchor node initial coordinate being deployed under hydraulic support is sent out
Raw drift, resolves along the wireless position of work surface cut, propelling and short transverse to coal-winning machine and brings error；
2) use the displacement of hydraulic support center distance and hydraulic support advancing jack come the abscissa to wireless anchor node and
Vertical coordinate is demarcated, and utilizes the cylinder cutting height of teaching cut phase acquisition to carry out the height coordinate to wireless anchor node simultaneously
Demarcate；
In step 2), described sets up coal mining machine roller cutting height and wireless position based on teaching cut and wireless sensor network
Put a Dual Mapping, particularly as follows:
1) fully-mechanized mining working wireless signal transmits under dense multi-path environments and makes wireless signal be easily subject to interference, uses multidimensional
Range error is modified by yardstick calibration technology, resolves through wireless signal and can export the coal mining seat in the plane without cumulative errors in real time
Put；
2) shearer haulage speed time-varying makes to carry out location of equal interval sampling, i.e. every equal along work surface lead
Distance record coal-winning machine current location bottom roll cutting height, sets up coal mining machine roller height and wireless position in the teaching cut stage
Put a Dual Mapping；
In step 3), the described cut stage of following the tracks of can obtain similar wireless signal to teaching cut stage analogous location,
Realize coal-winning machine and follow the tracks of cut stage memory location, particularly as follows:
1) the tracking cut stage is able to receive that the similar nothing of identical sensor along advance of the face direction coal-winning machine mobile node
Line signal collection, wireless signal is interfered and network topology structure change makes to follow the tracks of wireless signal between cut and teaching cut
Nonlinear correlation；
2) confidence level between association wireless signal is determined, in the tracking cut stage without carrying out wireless signal discriminating, filtering and resolve,
Associate coupling between wireless signal collection based on teaching cut with the tracking cut stage and realize coal-winning machine memory location；
In step 4), described utilizes adjacent teaching cylinder cutting track similarity, is predicted gradual change coal seam height, based on
New teaching roller height round-off error anchor node height coordinate, particularly as follows:
1) after following the tracks of cut circulation, coal seam height change needs to carry out new teaching cut, owing to coal seam thickness roll-off characteristic makes
Adjacent teaching cutting track has similarity, determines gradual change node by active judgement on the basis of determining smooth contiguous space
Interval, is predicted new teaching cylinder cutting height；
2) coal seam height change makes hydraulic support stand height and anchor node height coordinate change, and sets up new teaching cut
Mapping relations between stage cylinder cutting height and anchor node height coordinate, are modified error anchor node height coordinate, carry
The precision of high teaching cut stage wireless location.
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| CN113882857A (en) * | 2020-07-03 | 2022-01-04 | 郑州煤机智能工作面科技有限公司 | Coal cutter differentiation memory coal cutting method and system |
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