CN107120115A - A kind of adaptive cutting control system of development machine and method - Google Patents
A kind of adaptive cutting control system of development machine and method Download PDFInfo
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- CN107120115A CN107120115A CN201710462517.6A CN201710462517A CN107120115A CN 107120115 A CN107120115 A CN 107120115A CN 201710462517 A CN201710462517 A CN 201710462517A CN 107120115 A CN107120115 A CN 107120115A
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- cut
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
Abstract
The invention discloses a kind of adaptive cutting control system of development machine, including cut state monitoring module, cut data processing module and cut status control module；The cut state detection module includes acoustic frequency sensor, infrared thermography, cutting motor current sensor and oil cylinder working-pressure sensor, and the acoustic frequency sensor is arranged on the cutting arm of development machine；The infrared thermography is arranged on the cutting arm of development machine, its alignment lenses cutterhead；The cutting motor current sensor is arranged on inside the cutting arm of development machine, is installed together with cutting motor；The oil cylinder working-pressure sensor be arranged on development machine lifting hydraulic cylinder with and rotating hydraulic cylinder on；Above-mentioned control system can accurately detect the hardness just in coal petrography cutting in real time, and according to the hauling speed and cutting speed of coal petrography hardness On-line Control cutterhead, cutterhead has been given play to optimal Cutting Performance.
Description
Technical field
Patent of the present invention is related to excavation work automatic control technology field, and in particular to a kind of adaptive cut control of development machine
System and method processed.
Background technology
In the recent energy development planning of country, coal accounting is expected 64% from 2015 in the energy resource structure of China
It is reduced to 42% in 2035.With being continuously increased for energy resource consumption total amount, underground coal exploitation is still branch within some time
Support the inevitable choice of China's economic society sustainable development.
But, because work condition environment is severe and the reliability and automatization level of digging equipment are low, coal production is at present still
Belong to high risk industries.For fully mechanized workface, have that Reliability of Mechanical System is low, automatization level is low, labor strength is big,
The outstanding problems such as degree of danger height.Especially alternate heading, is mingled with dirt band etc. compared with hard rock, and cutterhead is in cut to harder
During rock, it may appear that the phenomenon such as cut electric current increases suddenly, body vibration aggravation, cutterhead serious wear, serious reduction machinery
The reliability of system.
At present, there is the control method that adaptive cut is carried out using the hauling speed of regulation cutterhead in development machine,
But, due to the strong jamming and big vibration of development machine so that the system accurate can not must carry out adaptive cut.If only adjusted
Hauling speed, can make the proportioning of cutting speed and hauling speed go wrong, and cause coal petrography thickness of cutting to reduce, and dust concentration increases
Greatly, specific energy of cutting increases.Therefore, in order to improve the operating efficiency of cutting head of roadheader, improve cutterhead Cutting Performance and pick
Enter machine automatization level, it is necessary to design the adaptive cut scheme of more superior cutterhead.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art there is provided a kind of lossless inspection of Novel steel wire rope
Device and detection method are surveyed, the hardness just in coal petrography cutting can be accurately detected in real time, and according to coal petrography hardness On-line Control
The hauling speed and cutting speed of cutterhead, make cutterhead give play to optimal Cutting Performance.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：A kind of adaptive cutting control system of development machine, bag
Include cut state monitoring module, cut data processing module and cut status control module；The cut state detection module bag
Include acoustic frequency sensor, infrared thermography, cutting motor current sensor and oil cylinder working-pressure sensor, the acoustic frequency sensor peace
On the cutting arm of development machine；The infrared thermography is arranged on the cutting arm of development machine, its alignment lenses cutterhead；
The cutting motor current sensor is arranged on inside the cutting arm of development machine, is installed together with cutting motor；The oil cylinder
Pressure sensor be arranged on development machine lifting hydraulic cylinder with and rotating hydraulic cylinder on；It can provide and regard in real time for administrative staff
The information such as frequency detection and sound, vibrations, is easy to the scheduling and management at digging scene.
The embeded processor of the data processing module obtains the information of cut state detection module in real time, after filtering
After the data processings such as denoising, feature extraction, coal petrography hardness is calculated, optimal cut cut parameter is then selected, and will most preferably cut
Cut cut parameter and be sent to cut status control module；The parameter selection mode of automation greatly improves production efficiency, and is
Administrative staff provide detailed reference information.
The PLC processor of the cut status control module is currently cut according to optimal cut kinematic parameter with what is measured in real time
Kinematic parameter is cut, the motion state to development machine carries out closed-loop control, speed governing processing is carried out to cutting motor by frequency converter, led to
Cross proportioning valve and realize that the speed governing to cutting arm lifting hydraulic cylinder or rotating hydraulic cylinder is handled.The energy-conservation and high reliability of frequency converter are special
Point improves the benefit ratio of headwork, is more beneficial for the quick recovery of investment.
Further improved as the present invention, the cut status control module also includes remote handle interactive interface；Institute
State on the reducer output shaft in cutting arm equipped with dress encoder, be respectively provided with the lifting hydraulic cylinder and rotating hydraulic cylinder in
Displacement sensor.Above-mentioned remote interaction interface is generally located in ground level control room, while being arranged at excavation work import
With development end rear, real-time reference information can be provided for different people person；By cut state, cutterhead movement position, prediction
The information such as coal petrography hardness are sent to man-machine interface, carry out remote monitoring and are adjusted with manual intervention.
Further improved as the present invention, the data processing module also includes different coal petrography hardness optimal cuts and moved
Parameter database；The coal petrography hardness optimal cut motion parameter data storehouse provides dynamic parameter for excavation operation and supported, Ke Yiman
The driving requirement of sufficient different rock-layers, according to the hauling speed and cutting speed of coal petrography hardness On-line Control cutterhead, improves pick
Enter efficiency.
It is further improved as the present invention, comprise the following steps：
A. cut state monitoring module gathers the signals such as audio frequency, temperature field, cutting motor electric current and oil cylinder working-pressure of development machine, and
It is transferred to cut data processing module；
B. the signal in step a is filtered after the processing such as denoising, feature extraction by cut data processing module successively, then is passed through
Fuzzy neural reasoning algorithm calculates the hardness for treating coal petrography cutting；Then according to different coal petrography hardness in optimal cut kinematic parameter
Database selects optimal cut kinematic parameter, and optimal cut kinematic parameter is sent into cut status control module；
C. cut status control module is according to optimal cut kinematic parameter and the current cut kinematic parameter measured in real time, to pick
The motion state for entering the cutterhead of machine carries out closed-loop control, cutterhead is reached optimal cut kinematic parameter；
D. cut data processing module and cut state monitoring module can be in communication with each other with remote human-machine interface simultaneously, and in real time
The information such as cut state, cutterhead movement position, forecasting coal rock hardness degree are sent to man-machine interface；
E. repeat step a to step c, realizes the adaptive cut control of development machine.
It is used as further improved, the different coal petrography hardness optimal cut motion parameter datas in the step b of the invention
The foundation in storehouse needs to carry out substantial amounts of experimental study in early stage, with cutting dust concentration, specific energy of cutting, pick wear rate and work
Make the indexs such as the ratio between efficiency, cut lump coal rate for target component, revolution cut experiment is carried out to the serial coal petrography of different hardness, used
Multi-objective particle calculates cut kinematic parameter optimal under every kind of coal petrography hardness, finally sets up different coal petrography hardness
Optimal cut motion parameter data storehouse；When carrying out different hardness series coal petrography revolution cut experiment, the described cut shape of configuration
Each sensor of state monitoring modular, the data obtained can provide data supporting for the training of described fuzzy neural inference system.
Due to the utilization of above-mentioned technical proposal, the present invention has following advantages compared with prior art：
Cut state is monitored on-line using the method for Multi-sensor Fusion, designed by many experiments, train fuzzy god
Through inference system, can Accurate Prediction just in the coal petrography hardness of cut, precision is higher, good reliability, uses embedded system pair
Sensor signal carries out data processing, feature extraction, and speed is fast, real-time is good.
The hauling speed and cutting speed of cutterhead can be controlled in real time according to coal petrography hardness, cutterhead has been given play to most preferably
Cutting Performance, improve operating efficiency, the abrasion of reduction pick, to improve cut lump coal rate, reduction specific energy of cutting, reduction dust dense
Degree；The adaptive cut of cutterhead is realized, the automatization level of development machine is improved.
Brief description of the drawings
Technical solution of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is each part mounting arrangements schematic diagram of control system of the present invention；
Fig. 2 is control system control flow schematic diagram of the present invention；
Fig. 3 is coal petrography hardness optimal cut motion parameter data storehouse operational process schematic diagram of the present invention.
Wherein：1st, cutterhead；2nd, encoder；3rd, acoustic frequency sensor；4th, cutting arm；5th, infrared thermography；6th, cut electricity
Electromechanical flow sensor；7th, oil cylinder working-pressure sensor；8th, inbuilt displacement sensor；9th, cut data processing module；10th, vibration isolator；
11st, boom-type roadheader main body；12nd, cut status control module.
Embodiment
With reference to specific embodiment, the present invention is described in further detail.
The adaptive cutting control system of development machine as shown in Figure 1, including boom-type roadheader main body 1, cut state prison
Module, cut data processing module 9 and cut status control module 12 are surveyed, cutterhead can be controlled in real time according to coal petrography hardness
Hauling speed and cutting speed, make cutterhead give play to optimal Cutting Performance, improve operating efficiency, the abrasion of reduction pick, carry
High cut lump coal rate, reduction specific energy of cutting, reduction dust concentration；The adaptive cut of cutterhead is realized, development machine is improved
Automatization level.
Cut state monitoring module includes acoustic frequency sensor 3, infrared thermography 5, cutting motor current sensor 6, oil
Cylinder pressure transducer 8；Acoustic frequency sensor 3 is arranged on cutting arm 4, for gathering the cut audio frequency of cutterhead 1；Infrared thermography
5 are arranged on cutting arm 4, alignment lenses cutterhead 1, left and right each one, for gathering cut temperature field；
Cutting motor current sensor 6 is arranged on inside cutting arm 4, is installed together with cutting motor, for detecting cut electricity
The electric current of machine；Oil cylinder working-pressure sensor 8 is arranged on inside hydraulic cylinder, and lifting hydraulic cylinder respectively installs one with rotating hydraulic cylinder, is used
In detection hydraulic cylinder force.Cut data processing module 9 and cut status control module 12 include embedded system and PLC systems
System, cut data processing module 9 and cut status control module 12 are by the integrated installation of vibration isolator 5 the one of development machine main body 1
Side, for information gathering, communication and control etc..
As shown in Figure 2 and Figure 3, each sensor of cut state monitoring module and cut data processing module 9 and cut state control
Embedded system connection in molding block 12, each sensor information is obtained by embedded system, after filtering denoising, feature in real time
After the data processings such as extraction, coal petrography hardness is speculated by fuzzy neural inference system, transported according to different coal petrography hardness optimal cuts
Dynamic parameter database selects optimal cut kinematic parameter, and optimal cut kinematic parameter is sent into PLC systems by embedded system
System.
In order to measure the rotating speed of cutterhead 1 and the swing speed of cutting arm 4 in real time, motor-reducer output shaft in cutting arm 4
Upper installation encoder 11, respectively installs an inbuilt displacement sensor 10 in lifting hydraulic cylinder and rotating hydraulic cylinder, and by being embedded in
Formula system obtains sensor information, sends to PLC system.
PLC system is according to optimal cut kinematic parameter and the current cut kinematic parameter measured in real time, to the fortune of cutterhead 1
Dynamic state carries out closed-loop control, and using frequency converter to cutting motor speed governing, use ratio valve is to cutting arm lifting hydraulic cylinder or returns
Turn hydraulic cylinder speed governing, cutterhead 1 is reached optimal cut kinematic parameter.On the other hand, embedded system and man-machine interface phase
Mutual communication, is sent to man-machine interface by information such as cut state, cutterhead movement position, forecasting coal rock hardness degree, is remotely supervised
Control is adjusted with manual intervention.
The foundation in different coal petrography hardness optimal cut motion parameter data storehouses needs to carry out substantial amounts of experimental study in early stage,
Join by target of the index such as the ratio between cutting dust concentration, specific energy of cutting, pick wear rate and operating efficiency, cut lump coal rate
Number, carries out revolution cut experiment to the serial coal petrography of different hardness, calculates every kind of coal petrography using multi-objective particle hard
Optimal cut kinematic parameter under degree, finally sets up different coal petrography hardness optimal cut motion parameter data storehouses.It is above-mentioned in progress
During different hardness series coal petrography revolution cut experiment, the described each sensor of cut state monitoring module of configuration, the data obtained can
Training for described fuzzy neural inference system provides data supporting.
It the above is only the concrete application example of the present invention, protection scope of the present invention be not limited in any way.It is all to use
Technical scheme formed by equivalent transformation or equivalent replacement, all falls within rights protection scope of the present invention.
Claims (5)
1. a kind of adaptive cutting control system of development machine, it is characterised in that：At cut state monitoring module, cut data
Manage module and cut status control module；The cut state detection module includes acoustic frequency sensor, infrared thermography, cut
Motor current sensor and oil cylinder working-pressure sensor, the acoustic frequency sensor are arranged on the cutting arm of development machine；It is described infrared
Thermal imaging system is arranged on the cutting arm of development machine, its alignment lenses cutterhead；The cutting motor current sensor is arranged on
Inside the cutting arm of development machine, it is installed together with cutting motor；The oil cylinder working-pressure sensor is arranged on the lifting of development machine
Hydraulic cylinder with and rotating hydraulic cylinder on；
The embeded processor of the data processing module obtains the information of cut state detection module in real time, goes after filtering
Make an uproar, after the data processing such as feature extraction, calculate coal petrography hardness, then select optimal cut cut parameter, and by optimal cut
Cut parameter is sent to cut status control module；
The PLC processor of the cut status control module is transported according to optimal cut kinematic parameter and the current cut measured in real time
Dynamic parameter, the motion state to development machine carries out closed-loop control, and speed governing processing is carried out to cutting motor by frequency converter, by than
Example valve realizes that the speed governing to cutting arm lifting hydraulic cylinder or rotating hydraulic cylinder is handled.
2. the adaptive cutting control system of development machine according to claim 1, it is characterised in that：The cut state control
Module also includes remote handle interactive interface；Equipped with dress encoder, the lifting on reducer output shaft in the cutting arm
Inbuilt displacement sensor is respectively installed in hydraulic cylinder and rotating hydraulic cylinder.
3. the adaptive cutting control system of development machine according to claim 1, it is characterised in that：The data processing module
Also include different coal petrography hardness optimal cut motion parameter data storehouses.
4. a kind of adaptive cutting control method of development machine, it is characterised in that comprise the following steps：
A. cut state monitoring module gathers the signals such as audio frequency, temperature field, cutting motor electric current and oil cylinder working-pressure of development machine, and
It is transferred to cut data processing module；
B. the signal in step a is filtered after the processing such as denoising, feature extraction by cut data processing module successively, then is passed through
Fuzzy neural reasoning algorithm calculates the hardness for treating coal petrography cutting；Then according to different coal petrography hardness in optimal cut kinematic parameter
Database selects optimal cut kinematic parameter, and optimal cut kinematic parameter is sent into cut status control module；
C. cut status control module is according to optimal cut kinematic parameter and the current cut kinematic parameter measured in real time, to pick
The motion state for entering the cutterhead of machine carries out closed-loop control, cutterhead is reached optimal cut kinematic parameter；
D. cut data processing module and cut state monitoring module can be in communication with each other with remote human-machine interface simultaneously, and in real time
The information such as cut state, cutterhead movement position, forecasting coal rock hardness degree are sent to man-machine interface；
E. repeat step a to step c, realizes the adaptive cut control of development machine.
5. the adaptive cutting control system of development machine according to claim 4, it is characterised in that：In the step b not
Foundation with coal petrography hardness optimal cut motion parameter data storehouse needs to carry out substantial amounts of experimental study in early stage, with cutting dust
The index such as the ratio between concentration, specific energy of cutting, pick wear rate and operating efficiency, cut lump coal rate is target component, hard to difference
The serial coal petrography of degree carries out revolution cut experiment, and optimal under every kind of coal petrography hardness cut is calculated using multi-objective particle
Kinematic parameter is cut, different coal petrography hardness optimal cut motion parameter data storehouses are finally set up；Carrying out above-mentioned different hardness series
When coal petrography turns round cut experiment, the described each sensor of cut state monitoring module of configuration, the data obtained can obscure for described
The training of neural inference system provides data supporting.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107725050A (en) * | 2017-11-27 | 2018-02-23 | 宁夏广天夏电子科技有限公司 | Coal-winning machine video analysis control system |
| CN108798664A (en) * | 2018-05-08 | 2018-11-13 | 中国煤炭科工集团太原研究院有限公司 | A kind of opencut end side exploitation continuous miner |
| CN109812267A (en) * | 2019-03-29 | 2019-05-28 | 无锡华瀚能源装备科技有限公司 | A kind of development machine perceives intelligent cutting control system and control method more |
| CN110259477A (en) * | 2019-07-10 | 2019-09-20 | 山东裕隆矿业集团有限公司唐阳煤矿 | A kind of Intelligent robot development machine |
| CN110821509A (en) * | 2019-12-11 | 2020-02-21 | 辽宁工程技术大学 | Independently supplementary cut tunnelling analogue test device of excitation formula |
| CN111472799A (en) * | 2020-04-03 | 2020-07-31 | 山东科技大学 | Distributed longitudinal shaft type heading machine function efficiency monitoring and energy-saving operation control system |
| CN111911180A (en) * | 2020-08-06 | 2020-11-10 | 黑龙江科技大学 | Cutting mechanism of boom-type heading machine and control system thereof |
| CN112901195A (en) * | 2021-01-21 | 2021-06-04 | 中国矿业大学 | Automatic section forming control system and method for cantilever longitudinal shaft type heading machine |
| CN113062736A (en) * | 2021-03-29 | 2021-07-02 | 中国矿业大学 | Heading machine self-adaptive cutting system and method based on machine vision |
| CN113446002A (en) * | 2021-07-08 | 2021-09-28 | 中国煤炭科工集团太原研究院有限公司 | Control method, control device and control system of cutting arm of tunneling and anchoring all-in-one machine |
| CN113931649A (en) * | 2021-09-26 | 2022-01-14 | 中国矿业大学 | Position and posture adjusting and controlling method for roadway heading machine |
| CN114135281A (en) * | 2021-11-12 | 2022-03-04 | 黑龙江科技大学 | Arm type heading machine working mechanism and cutting state description device and description method thereof |
| CN114737976A (en) * | 2022-04-21 | 2022-07-12 | 中南大学 | Advanced self-imaging self-identification cantilever type tunneling mining robot |
| CN115628930A (en) * | 2022-12-16 | 2023-01-20 | 太原理工大学 | Method for predicting underground cutting working condition of heading machine based on RBF neural network |
| CN116427923A (en) * | 2023-06-13 | 2023-07-14 | 三一重型装备有限公司 | Self-adaptive cutting method, system, heading machine, electronic equipment, medium and chip |
| CN114135281B (en) * | 2021-11-12 | 2024-04-26 | 黑龙江科技大学 | Arm-type heading machine working mechanism and cutting state description device and method thereof |
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| CN107725050A (en) * | 2017-11-27 | 2018-02-23 | 宁夏广天夏电子科技有限公司 | Coal-winning machine video analysis control system |
| CN108798664A (en) * | 2018-05-08 | 2018-11-13 | 中国煤炭科工集团太原研究院有限公司 | A kind of opencut end side exploitation continuous miner |
| CN109812267B (en) * | 2019-03-29 | 2023-11-21 | 无锡华瀚能源装备科技有限公司 | Multi-perception intelligent cutting control system and control method for heading machine |
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| CN110821509A (en) * | 2019-12-11 | 2020-02-21 | 辽宁工程技术大学 | Independently supplementary cut tunnelling analogue test device of excitation formula |
| CN111472799A (en) * | 2020-04-03 | 2020-07-31 | 山东科技大学 | Distributed longitudinal shaft type heading machine function efficiency monitoring and energy-saving operation control system |
| CN111472799B (en) * | 2020-04-03 | 2021-06-15 | 山东科技大学 | Distributed longitudinal shaft type heading machine function efficiency monitoring and energy-saving operation control system |
| CN111911180A (en) * | 2020-08-06 | 2020-11-10 | 黑龙江科技大学 | Cutting mechanism of boom-type heading machine and control system thereof |
| CN112901195A (en) * | 2021-01-21 | 2021-06-04 | 中国矿业大学 | Automatic section forming control system and method for cantilever longitudinal shaft type heading machine |
| CN113062736A (en) * | 2021-03-29 | 2021-07-02 | 中国矿业大学 | Heading machine self-adaptive cutting system and method based on machine vision |
| CN113446002A (en) * | 2021-07-08 | 2021-09-28 | 中国煤炭科工集团太原研究院有限公司 | Control method, control device and control system of cutting arm of tunneling and anchoring all-in-one machine |
| CN113931649B (en) * | 2021-09-26 | 2023-09-26 | 中国矿业大学 | Position and posture regulating and controlling method of tunnel boring machine |
| CN113931649A (en) * | 2021-09-26 | 2022-01-14 | 中国矿业大学 | Position and posture adjusting and controlling method for roadway heading machine |
| CN114135281A (en) * | 2021-11-12 | 2022-03-04 | 黑龙江科技大学 | Arm type heading machine working mechanism and cutting state description device and description method thereof |
| CN114135281B (en) * | 2021-11-12 | 2024-04-26 | 黑龙江科技大学 | Arm-type heading machine working mechanism and cutting state description device and method thereof |
| CN114737976A (en) * | 2022-04-21 | 2022-07-12 | 中南大学 | Advanced self-imaging self-identification cantilever type tunneling mining robot |
| CN114737976B (en) * | 2022-04-21 | 2023-03-14 | 中南大学 | Advanced self-imaging self-identification cantilever type tunneling mining robot |
| CN115628930A (en) * | 2022-12-16 | 2023-01-20 | 太原理工大学 | Method for predicting underground cutting working condition of heading machine based on RBF neural network |
| CN115628930B (en) * | 2022-12-16 | 2023-03-10 | 太原理工大学 | Method for predicting underground cutting working condition of heading machine based on RBF neural network |
| CN116427923A (en) * | 2023-06-13 | 2023-07-14 | 三一重型装备有限公司 | Self-adaptive cutting method, system, heading machine, electronic equipment, medium and chip |
| CN116427923B (en) * | 2023-06-13 | 2023-09-05 | 三一重型装备有限公司 | Self-adaptive cutting method, system, heading machine, electronic equipment, medium and chip |
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