CN106401585A - Memory coal cutting control method based on cooperative control over coal cutter and supports - Google Patents

Memory coal cutting control method based on cooperative control over coal cutter and supports Download PDF

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Publication number
CN106401585A
CN106401585A CN201610818609.9A CN201610818609A CN106401585A CN 106401585 A CN106401585 A CN 106401585A CN 201610818609 A CN201610818609 A CN 201610818609A CN 106401585 A CN106401585 A CN 106401585A
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CN
China
Prior art keywords
coal
control
memory
winning machine
support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610818609.9A
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Chinese (zh)
Inventor
范京道
张良
徐建军
黄曾华
刘清
李重重
李沛轩
张科学
李悬
马骋
宋昊壕
宋焘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Tiandi Marco Electro Hydraulic Control System Co Ltd
Huangling Mining Group Co Ltd
Original Assignee
Beijing Tiandi Marco Electro Hydraulic Control System Co Ltd
Huangling Mining Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Tiandi Marco Electro Hydraulic Control System Co Ltd, Huangling Mining Group Co Ltd filed Critical Beijing Tiandi Marco Electro Hydraulic Control System Co Ltd
Priority to CN201610818609.9A priority Critical patent/CN106401585A/en
Publication of CN106401585A publication Critical patent/CN106401585A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Miscellaneous items relating to machines for slitting or completely freeing the mineral from the seam
    • E21C35/24Remote control specially adapted for machines for slitting or completely freeing the mineral
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12Control, e.g. using remote control
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/16Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/26Hydraulic or pneumatic control

Abstract

The invention provides a memory coal cutting control method based on cooperative control over a coal cutter and supports. The memory coal cutting control method is achieved mainly through a hydraulic support electrohydraulic control system, a coal cutter control system and an intelligent cooperative control system. Coal cutter operating state sensors are mounted on the coal cutter and the hydraulic supports, so that judgment on the operating state of the coal cutter and communication are achieved. The scope, where the one or more hydraulic supports are located, of a working face is selected by the intelligent cooperative control system according to the coal mining process to serve as a corresponding rack cooperation point. By combining the operating direction and the cutter following stage of the coal cutter in the coal mining process, corresponding stage memories are obtained through division by the intelligent cooperative control system according to memory coal cutting of the coal cutter, the operating state of the coal cutter and the action states of the supports are judged on the rack cooperation point, and the cooperative control process of the coal cutter and the supports is achieved. The memory coal cutting control method based on cooperative control over the coal cutter and the supports has good adaptability and a good actual promotion effect; and the operating efficiency of the coal cutter and the cutter following efficiency of the supports can be combined through the intelligent system, and thus the working face mining efficiency is improved. By adoption of the memory coal cutting control method, the probability of collision between the coal cutter and the acting supports can be lowered, and the safety of equipment sub-systems in cooperative work is improved.

Description

A kind of memory coal cutting control method based on coal-winning machine and support Collaborative Control
Technical field
The present invention relates to a kind of memory coal cutting control method based on coal-winning machine and support Collaborative Control, more particularly, to a kind of According to coal winning technology, setting frame works in coordination with point and memory coal cutting stage, works in coordination with point in different frames and the memory coal cutting stage is carried out Control, and then adjust the cooperative control method of coal-winning machine and hydraulic support.
Background technology
At present coal mining is used mostly electrical haulage formula coal-winning machine, possesses the automation function of memory cut, that is, by mining Machine driver operation coal-winning machine manually carries out the workflow that a circulation mines knife of as demonstrating along working face coal seam and (or is benchmark Knife), the data that coal-winning machine control system passes through analyzing and processing demonstration knife forms coal-winning machine cutting track, and records and deposit in coal-winning machine In reservoir, provide foundation for the automatic cut of coal-winning machine.Full face hydraulic support is followed during coal-winning machine memory coal cutting and is adopted Coal machine runs and is automatically controlled, and that is, in fully-mechanized mining working, hydraulic support can require to carry out automatically according to related coal winning technology Action is not required to manually to participate in;As hydraulic support is moved the actions such as frame, automatic pushing and sliding automatically.Due to fully-mechanized mining working Geological environment is complicated, and different geological environments needs different coal-winning machine techniques, support amount of action, hydraulic system stability etc. Series of problems, needs coal-winning machine collaborative hydraulic bracket control system work in memory coal cutting control process, how to find one The autocontrol method planting hydraulic bracket system with coal-winning machine memory coal cutting systematic collaboration is current fully-mechanized mining working full face The key technical problem solving is badly in need of in continuous and automatic exploitation.
In the prior art, CN201210265864 discloses a kind of coal-winning machine automatic cutting control system and automatic cut Control method, the control system being adopted includes controller, data storage, coal-winning machine condition detector and control main frame; Coal-winning machine condition detector includes walk displacement detecting unit, the angle detection unit one detecting right rocking arm pendulum angle, inspection The angle detection unit two surveying working face inclination angle, the angle detection unit three detecting left rocking arm pendulum angle and detection coal-winning machine are faced upward Adopt or bow and adopt the angle detection unit four of angle, oil cylinder is heightened on a left side and oil cylinder is heightened by controller control in the right side;Its control method Including step:(1) learn and remember the cutting track of current institute working seam;(2) automatic coal cutting is completed according to memory track, and Real-time adjustment remembers track;(3) repeat step two, until complete the full extraction process of current institute working seam.System of the present invention Circuit is simple, reasonable in design and control method is easy for system, using effect is good, enables the automatic cut of coal-winning machine and controls.Enable The automatic cut of coal-winning machine controls.But its be only capable of the speed of the fixing rocking arm cutting track of learning and memory and coal-winning machine it is impossible to according to Working surface hydraulic support carries out carrying out joint intervention control to coal-winning machine with machine effect.System customization degree is high, lacks interim Memory range divides it is impossible to meet the complicated technology production process with machine region for the Triangle Coal.
CN201510020533 discloses a kind of face end Triangle Coal region work based on key point with the machine stage Make face hydraulic support autocontrol method, in face end Triangle Coal region, some passes are arranged for base unit with hydraulic support Key point, by the time difference of described key point and coal winning technology by whole with machine course of action be divided into different with machine rank Section;Each bracket controller receives the location status information of coal-winning machine, when judging that coal-winning machine reaches a certain key point, in conjunction with hydraulic pressure The conventional action of support judge hydraulic support with the machine stage, thus control hydraulic support automatically carry out corresponding with the machine stage with Motor-driven work.The present invention according to coal winning technology it needs to be determined that and key point is set, can adapt to adopt in various fully-mechanized mining working differences Coal technological requirement, has good adaptability, is conducive to popularization and application;Will be entirely with machine action control mistake by arranging key point Journey is divided into several stages, and in each stage hydraulic support action clear and definite, bracket controller software is realized simple.But it is only Full face coal winning technology process medium-height trestle control method is described, uncombined coal-winning machine memory coal cutting carries out collaborative control System, automated production limited efficacy.
CN201410226816 discloses a kind of fully-mechanized mining working with machine video switching at runtime monitoring system, including for adopting The coal machine position detecting device of detection is put in coal seat in the plane;For gathering the camera chain of coal-winning machine working condition video;For passing The wireless ethernet signal sending and receiving apparatus of defeated camera system video signal;For processing position detection means detection information With the control system controlling coal-winning machine and video camera;The invention has the beneficial effects as follows adopting laser ranging and wireless transmitting system, Coal-winning machine is realized with real-time precise control.But it is only described to coal winning machine position and status information detection, does not illustrate knot Close which kind of method of above- mentioned information realizes real-time precise control to coal-winning machine.
Content of the invention
For lifting working face automated mining degree and production efficiency, improve the safety of the mutual collaborative work of equipment subsystem Property, the present invention proposes a kind of memory coal cutting control method based on coal-winning machine and support Collaborative Control, has ensured fully-mechanized mining working Safe and efficient automated mining.
A kind of memory coal cutting control method based on coal-winning machine and support Collaborative Control, its related system mainly includes work Face hydraulic support electrohydraulic control system, coal-winning machine control system, intelligent coordinated control system three parts composition.
The present invention is based on coal-winning machine control system and hydraulic bracket control system information exchange basis, and intelligent coordinated control is System is used for working face automated mining using automatic system control method, and its execution equipment includes coal-winning machine machine and its controls system System, hydraulic support, bracket controller and its control system.Coal-winning machine control system and intelligent coordinated control system are passed through special logical News line is transmitted coal-winning machine running status.Support electrohydraulic control system and intelligent coordinated control system are deployed in same main frame In, two systems share hydraulic support sensing data and coal-winning machine running status sensing data.Intelligent coordinated control system can be by Coal-winning machine memory coal cutting is divided into corresponding stage memory, passes through coal-winning machine control system and hydraulic bracket control system pair respectively Coal-winning machine and support carry out action control.
Coal-winning machine running status sensor is separately mounted on coal-winning machine fuselage and hydraulic support column, wherein coal-winning machine machine The dispensing device of coal-winning machine running status sensor is installed with it, a coal-winning machine fortune is installed wherein on each hydraulic support column The reception device of row state sensor.When coal-winning machine is mined according to coal winning technology automatic running, the transmission on coal-winning machine fuselage Device sends the infrared signal having scope to limit, and the reception device on the hydraulic support column in this range of transmission receives this After signal, these information are reported and submitted to bracket controller, bracket controller judges the running status of coal-winning machine according to these information.
According to coal winning technology determine and arrange frame work in coordination with point, frame work in coordination with point with hydraulic support as base unit, that is, according to The one or more hydraulic support in-scopes chosen according to coal winning technology on working face work in coordination with point as a corresponding frame.Knot , in working face difference traffic direction with the machine stage, coal-winning machine is remembered coal cutting by intelligent coordinated system to close coal-winning machine in coal winning technology Be divided into the memory of corresponding stage, coal-winning machine running status and support judged with machine operating state, complete coal-winning machine and Support Collaborative Control process.
Brief description
Accompanying drawing 1 is that the memory coal cutting control system based on coal-winning machine and support Collaborative Control of the present invention connects sketch.
Accompanying drawing 2 is the crucial memory coal cutting stage of the present invention and frame works in coordination with point layout drawing.
Specific embodiment
Specific implementation step is:
1. determine and arrange frame according to coal winning technology and work in coordination with point parameter;
2. coal-winning machine control system, electrohydraulic control system, intelligent coordinated system are started;
3. start coal-winning machine, start to carry out coal work by related coal winning technology;
4. start hydraulic bracket control system working face automatically with machine function;
5. intelligence system system is assisted to coal-winning machine and support according to coal-winning machine control system, hydraulic bracket control system With controlling, next stage running status control instruction is sent to coal-winning machine according to zones of different support state.
With reference to specific embodiment to illustrate frame work in coordination with a little mode is set and controlled:
Referring to accompanying drawing 2 it is assumed that coal winning technology can be divided into 22 stages, taking up coal cutting as a example, the 2nd, 3,5,6,7, 8th, 11 stages setting frame works in coordination with point, and frame related to the present invention works in coordination with point and intelligent coordinated system basis for estimation is as follows:
Point is worked in coordination with stage 2:Here works in coordination with point, and small size face end support execution moves frame process automatically, and intelligent coordinated system is sentenced Power-off liquid control system medium and small sizes face end support region 1~N scope inner support stroke value is all less than R1When, send out to coal-winning machine Send and continue executing with the memory coal cutting instruction of the 3rd stage;Otherwise, coal-winning machine suspends memory cut, waits face end support action to complete.
Point is worked in coordination with stage 3:Here works in coordination with point, and small size face end support executes pushing and sliding process, and intelligent coordinated system judges electricity Liquid control system medium and small sizes face end support region 1~N scope inner support stroke value is all greater than R2When, send to coal-winning machine and continue Continuous the 4th stage of execution memory coal cutting instruction;Otherwise, coal-winning machine suspends memory cut, waits face end support action to complete.
Point is worked in coordination with stage 5:Here works in coordination with point, moves in the range of frame with machine and up bending section inner support supplements and moves frame mistake Journey, intelligent coordinated system judges that in electrohydraulic control system, this scope inner support stroke value is all less than R1When, send to coal-winning machine Continue executing with the memory coal cutting instruction of the 6th stage;Otherwise, coal-winning machine suspends memory cut, waits this scope inner support action to complete.
Point is worked in coordination with stage 6:Here works in coordination with point, clear float coal process, and intelligent coordinated system judges whether clear float coal stage knot Bundle, sends to coal-winning machine and continues executing with the memory coal cutting instruction of the 7th stage;Otherwise, coal-winning machine repeats clear float coal memory stage.
Point is worked in coordination with stage 7:Here works in coordination with point, up bending section forming process, and intelligent coordinated system judges electrichydraulic control In system, all whether action completes bending section scope inner support, if completing, sending to coal-winning machine and continuing executing with the 8th stage note Recall coal cutting instruction;Otherwise, coal-winning machine suspends memory cut, waits bending section scope inner support action to complete.
Point is worked in coordination with stage 8:Here works in coordination with point, up bending section to large size end range inner support pushing and sliding process, intelligence Cooperative system judges that in electrohydraulic control system, bending section scope inner support stroke value is all greater than R2, if it is satisfied, to coal-winning machine Transmission continues executing with the memory coal cutting instruction of the 9th stage;Otherwise, coal-winning machine suspends memory cut, waits this scope inner support action Complete.
Point is worked in coordination with stage 11:Here works in coordination with point, and with machine technique handoff procedure, intelligent coordinated system judges electrichydraulic control system Up in system whether complete with machine technique, if completed, to coal-winning machine send continue executing with the 12nd the stage memory coal cutting instruction;No Then, coal-winning machine suspends memory cut, waits associated supports action to complete.
Taking descending coal cutting as a example, frame is set in the 13rd, 14,16,17,18,19,22 stages and works in coordination with point, with phase of the present invention The frame closed works in coordination with point and intelligent coordinated system basis for estimation is as follows:
Point is worked in coordination with stage 13:Here works in coordination with point, and the execution of large size face end support moves frame process automatically, and intelligent coordinated system is sentenced In power-off liquid control system large size face end support region be No. M to large size termination frame scope inner support stroke value all less than R1 When, send to coal-winning machine and continue executing with the memory coal cutting instruction of the 14th stage;Otherwise, coal-winning machine suspends memory cut, waits termination Support action completes.
Point is worked in coordination with stage 14:Here works in coordination with point, and large size face end support executes pushing and sliding process, and intelligent coordinated system judges electricity In liquid control system large size face end support region be No. M to large size termination frame scope inner support stroke value all greater than R2When, to Coal-winning machine sends and continues executing with the memory coal cutting instruction of the 15th stage;Otherwise, coal-winning machine suspends memory cut, waits face end support to move Complete.
Point is worked in coordination with stage 16:Here works in coordination with point, moves in the range of frame with machine and descending bending section inner support supplements and moves frame mistake Journey, intelligent coordinated system judges that in electrohydraulic control system, this scope inner support stroke value is all less than R1When, send to coal-winning machine Continue executing with the memory coal cutting instruction of the 17th stage;Otherwise, coal-winning machine suspends memory cut, waits this scope inner support action complete Become.
Point is worked in coordination with stage 17:Here works in coordination with point, clear float coal process, and intelligent coordinated system judges whether clear float coal stage knot Bundle, sends to coal-winning machine and continues executing with the memory coal cutting instruction of the 18th stage;Otherwise, coal-winning machine repeats clear float coal memory rank Section.
Point is worked in coordination with stage 18:Here works in coordination with point, descending bending section forming process, and intelligent coordinated system judges electrichydraulic control In system, all whether action completes bending section scope inner support, if completing, sending to coal-winning machine and continuing executing with for the 19th stage Memory coal cutting instruction;Otherwise, coal-winning machine suspends memory cut, waits bending section scope inner support action to complete.
Point is worked in coordination with stage 19:Here works in coordination with point, and descending bending section is to small size end range inner support pushing and sliding process, intelligence Cooperative system judges that in electrohydraulic control system, bending section scope inner support stroke value is all greater than R2, if it is satisfied, to coal-winning machine Transmission continues executing with the memory coal cutting instruction of the 20th stage;Otherwise, coal-winning machine suspends memory cut, waits this scope inner support action Complete.
Point is worked in coordination with stage 22:Here works in coordination with point, and with machine technique handoff procedure, intelligent coordinated system judges electrichydraulic control system Descending in system whether complete with machine technique, if completed, to coal-winning machine send continue executing with the 1st the stage memory coal cutting instruction;No Then, coal-winning machine suspends memory cut, waits associated supports action to complete.
The above, patent preferably specific embodiment only of the present invention, but the protection domain of patent of the present invention is not It is confined to this, any those familiar with the art, in the technical scope of patent diselosesll of the present invention, can readily occur in Change or replacement, all should cover within the protection domain of patent of the present invention.

Claims (4)

1. a kind of memory coal cutting control method based on coal-winning machine and support Collaborative Control it is characterised in that:By working face liquid Pressure support electrohydraulic control system, coal-winning machine control system and intelligent coordinated control system collaborative work are realized.
2. as claimed in claim 1 intelligent coordinated control system it is characterised in that:Determine according to coal winning technology and arrange certain The frame of amount works in coordination with point, for judging current fully mechanized mining state, generates corresponding control instruction Collaborative Control coal-winning machine and hydraulic support.
3. as claimed in claim 1 intelligent coordinated control system it is characterised in that:In coal-winning machine difference traffic direction with machine In the stage, coal-winning machine memory coal cutting is divided into corresponding memory stage, to coal-winning machine running status and support with machine operating state Judged, completed coal-winning machine and support Collaborative Control process.
4. frame as claimed in claim 2 work in coordination with point it is characterised in that:With hydraulic support as base unit, it is according to coal mining The scope that on the working face that technique is chosen, one or more hydraulic supports are located.
CN201610818609.9A 2016-09-13 2016-09-13 Memory coal cutting control method based on cooperative control over coal cutter and supports Pending CN106401585A (en)

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CN108468543A (en) * 2018-03-09 2018-08-31 北京天地玛珂电液控制系统有限公司 The cooperative control method and system of fully-mechanized mining working and two lane equipment

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CN108468543A (en) * 2018-03-09 2018-08-31 北京天地玛珂电液控制系统有限公司 The cooperative control method and system of fully-mechanized mining working and two lane equipment

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Application publication date: 20170215