CN107476805A - Fully mechanized workface leting speeper automatic control system and its control method - Google Patents
Fully mechanized workface leting speeper automatic control system and its control method Download PDFInfo
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- CN107476805A CN107476805A CN201710864592.5A CN201710864592A CN107476805A CN 107476805 A CN107476805 A CN 107476805A CN 201710864592 A CN201710864592 A CN 201710864592A CN 107476805 A CN107476805 A CN 107476805A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000005641 tunneling Effects 0.000 claims description 4
- 230000002045 lasting effect Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 6
- 239000003245 coal Substances 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000009412 basement excavation Methods 0.000 abstract description 2
- 238000005065 mining Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The present invention relates to excavation work automatic control technology field, and in particular to a kind of fully mechanized workface leting speeper automatic control system and its control method；Including be arranged on well control room computer, control room warning system, on well with undershaft communication system, be fixed on driving face top plate and laser ranging director directly over datum mark, be arranged on fully-mechanized digging machine fuselage interior fully-mechanized digging machine airborne computer and, the fully-mechanized digging machine warning system that is arranged on the left of fully-mechanized digging machine operator seat, the fully-mechanized digging machine supply transformer switch being connected with fully-mechanized digging machine；The present invention can automatically determine the position of development machine, driving distance, and when driving distance exceeds maximum allowable driving distance, control system computer sends to fully-mechanized digging machine supply transformer and instructed, to realize its emergency shutdown；The present invention improves the security and operating efficiency of fully-mechanized digging machine, reduces the labor intensity of worker, coal mining enterprise is obtained bigger economic benefit.
Description
Technical field
The present invention relates to excavation work automatic control technology field, and in particular to a kind of fully mechanized workface leting speeper is controlled automatically
System and its control method processed.
Background technology
Leting speeper work of the fully-mechanized digging machine of underground coal mine in tunneling process at present, rig can only be utilized before driving starts
Regimen in front of working face is verified, determines the particular location of water body.Detection device of the fully-mechanized digging machine in tunneling process, it is only capable of using red
Outer director realizes direction-pointing function, does not possess distance measurement function, and entirely sensing process is opened loop control, it is necessary to underground work people
Member carrys out artificial judgment and controls the driving distance of development machine.This not only severely impacts the drivage efficiency of working face in the pit, and
Accuracy, the security of driving can not also be guaranteed.
The content of the invention
The detection device of the existing development machine of the present invention can not automatic decision and control development machine driving distance, there is provided it is a kind of
Integrate the fully mechanized workface leting speeper automatic control system and its control method of sensing, ranging and closed loop control function.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of fully mechanized workface leting speeper is automatic
Control system, including be arranged on well control room computer, control room warning system, on well with undershaft communication system, fixation
In the laser ranging director on driving face top plate and directly over datum mark, it is arranged on the comprehensive of fully-mechanized digging machine fuselage interior
Pick machine airborne computer, the fully-mechanized digging machine warning system being arranged on the left of fully-mechanized digging machine operator seat, the fully-mechanized digging machine being connected with fully-mechanized digging machine
Supply transformer switchs；The laser ranging director, fully-mechanized digging machine airborne computer and fully-mechanized digging machine supply transformer switch have
Standby explosion-proof and wireless communication function；Laser ranging director by well with undershaft communication system and control room computer and comprehensive pick
Machine airborne computer keeps real-time communication, and control room computer sends alarm command to control room warning system, and fully-mechanized digging machine is airborne
The alarm command that computer is sent to fully-mechanized digging machine warning system, fully-mechanized digging machine supply transformer switch receive control room computer or comprehensive
The instruction that pick machine airborne computer is sent is to cut off the power supply of fully-mechanized digging machine.
The function of fully mechanized workface leting speeper automatic control system each several part of the present invention is：
Control room computer, is responsible for collecting the real-time driving distance of fully-mechanized digging machine, and utilizes its control software, calculates fully-mechanized digging machine and exists
Real time position in tunnel, and correspondingly control instruction is sent with this, it is each that control room computer is also equipped with real-time display fully-mechanized digging machine
Item data and movement locus function.
Control room warning system, be responsible for receiving the alarm command that sends of control room computer, send different stage light,
Voice signal.
With undershaft communication system on well, it is responsible for the data transfer between control room and underground driving face on well.
Laser ranging director, it is fixed on work driving and makees on the top plate in face, be right against datum mark below（This point
Positional information determined by measurement early stage）, possess explosion-proof and wireless communication function（Powered using explosion-proof battery）.It
The main headwork for being responsible for fully-mechanized digging machine is pointed to, the driving distance of the real time measure fully-mechanized digging machine, and the data are passed in real time
It is defeated by control room computer, fully-mechanized digging machine airborne computer.
Fully-mechanized digging machine airborne computer, it is packaged in fully-mechanized digging machine fuselage interior（Reserved data input, storage and output interface-SUB
Interface）, possess explosion-proof and wireless communication function, can each item data of real-time display fully-mechanized digging machine and movement locus function, according to number
According to the change with track, corresponding alarm command is sent to fully-mechanized digging machine warning system.Fully-mechanized digging machine airborne computer by well, well
Lower communication system, real-time data transfer is carried out with control room computer（Bi-directional）.
Fully-mechanized digging machine warning system, it is installed on the left of fully-mechanized digging machine operator seat, is receiving fully-mechanized digging machine airborne computer or scheduling
After the alarm command that room computer is sent, light, the voice signal of different stage can be sent.
Fully-mechanized digging machine supply transformer switch, be responsible for control fully-mechanized digging machine startup and shutdown, when receive control room computer or
During the alarm signal that fully-mechanized digging machine airborne computer is sent, the power supply of fully-mechanized digging machine is cut off, to realize its emergency shutdown.
The control method of described fully mechanized workface leting speeper automatic control system, comprises the following steps：
First, the datum mark of tunnelling is determined, the tunneling direction of fully-mechanized digging machine is determined based on this point, is visited by leting speeper rig
The particular location of water body in front of tunnel is surveyed, obtains datum mark to the distance of water body, determines the maximum allowable driving distance of fully-mechanized digging machine
With reserved safe distance, residue can driving distance=maximum allowable driving distance-actual driving distance, to control room computer and
Fully-mechanized digging machine airborne computer inputs the data message of maximum allowable driving distance and reserved safe distance；
Then, start laser ranging director, reset；Laser ranging director determines the driving distance of fully-mechanized digging machine, and this is counted
According to by well with undershaft communication system real-time Transmission to control room computer, fully-mechanized digging machine airborne computer；
Finally, control room computer or fully-mechanized digging machine airborne computer are under the support of control software, using the data received and
Primary data is calculated, each item data and movement locus of real-time display fully-mechanized digging machine, according to the change of data and track, to scheduling
Room computer sends different alarm commands to control room warning system, and fully-mechanized digging machine airborne computer is sent out to fully-mechanized digging machine warning system
The different alarm commands gone out：
When residue can driving distance>During 10m, alarm light is green, and voiceless sound is alarmed,
Work as 5m<Residue can driving distance<During 10m, alarm light is yellow, there is batch (-type) audible alarm；
Work as 0m<Residue can driving distance<During 5m, alarm light is red, has continous way audible alarm, and provide real-time distance
Report,
When residue can driving distance≤0m when, control room computer or fully-mechanized digging machine airborne computer are to fully-mechanized digging machine supply transformer
Switch sends instruction, cuts off the power supply of fully-mechanized digging machine, to realize its emergency shutdown, warning system provides lasting red light and sound report
It is alert；Shutdown situation is confirmed by Field Force, is readjusted fully-mechanized digging machine position, is within home, then opens again
Machine.
Compared with prior art the invention has the advantages that：
Fully mechanized workface leting speeper automatic control system and its control method can automatically determine the position of development machine, driving distance,
And the target range that can be provided in real time with rig judges, and provides safe distance reading and warning information（Light harmony
Sound）, different stage alarm signal is sent when risk distance of the development machine driving distance close to or up setting.Driving distance surpasses
When going out maximum allowable driving distance, control system computer sends to fully-mechanized digging machine supply transformer and instructed, to realize that it promptly stops
Machine.
The present invention improves the security of fully-mechanized digging machine, and correspondingly improves headwork efficiency, reduces worker
Labor intensity, suitable for the headwork of various underground driving faces, coal mining enterprise is obtained bigger economic benefit, together
When promote underground coal mine automation equipment upgrading.The present invention uses modular design method, and each part of system is
Independent individual, the working face that different drivings require is applicable to, and uses transmission of wireless signals, Computer signal processing, in real time
Property is good, precision is high, noise is low, can realize accurate control, easily scalable.
Brief description of the drawings
Fig. 1 is fully mechanized workface leting speeper automatic control system structural representation.
Fig. 2 is the workflow diagram of the present invention.
Marked in figure as follows：
1- control rooms computer, 2- control rooms warning system, on 3- wells with undershaft communication system, 4- laser ranging directors, 5-
Fully-mechanized digging machine airborne computer, 6- fully-mechanized digging machine warning systems, 7- fully-mechanized digging machines supply transformer switch, 8- coal seams, 9- water, 10- benchmark
Point, L- datum marks to water body distance, the maximum allowable driving distances of L1-, the actual driving distances of L2-, L3- residues can driving distance,
L4- reserves safe distance.
Embodiment
Below in conjunction with specific embodiment, the invention will be further described.
Embodiment 1
As shown in figure 1, a kind of fully mechanized workface leting speeper automatic control system, including be arranged on well control room computer 1,
In control room warning system 2, well with undershaft communication system 3, be fixed on driving face top plate and directly over the datum mark
Laser ranging director 4, be arranged on the fully-mechanized digging machine airborne computer 5 of fully-mechanized digging machine fuselage interior, be arranged on fully-mechanized digging machine operator seat
The fully-mechanized digging machine warning system 6 in left side, the fully-mechanized digging machine supply transformer being connected with fully-mechanized digging machine switch 7；The laser ranging is pointed to
Instrument 4 and fully-mechanized digging machine airborne computer and its control software 5 are provided with explosion-proof and wireless communication function.
Before fully-mechanized digging machine is started working, the datum mark of tunnelling is determined, the driving side of fully-mechanized digging machine is determined based on this point
To（It is consistent with the design direction in tunnel）, and by the particular location of water body in front of leting speeper rig detection tunnel, and then can obtain
It is L to datum mark to the distance of water body.And the maximum allowable driving distance of fully-mechanized digging machine is determined by distance L：L1（L1=L-L4）, L4
To reserve safe distance（30~50m）.The actual driving distance of fully-mechanized digging machine（Fully-mechanized digging machine relative to datum mark distance）For
L2.L3 is that fully-mechanized digging machine residue can driving distance（Above distance, as shown in Figure 1）.When control room computer 1 and the airborne meter of fully-mechanized digging machine
After calculation machine 5 obtains above distance, fully-mechanized digging machine can start shooting and be operated.Fully-mechanized digging machine under the guide of laser ranging director 4, according to
The driving track of design is operated.The actual driving distance L2 of fully-mechanized digging machine, is supervised in real time by laser ranging director 4
Survey, and transmit the data to control room computer 1 and fully-mechanized digging machine airborne computer 5.Under the support of control software, receipts are utilized
To data and given data calculated, each item data and movement locus of real-time display fully-mechanized digging machine, according to data and track
Change, to control room and the corresponding alarm command of fully-mechanized digging machine warning system transmission.When L2 is close to L1（I.e.：L3 is close to 0）When,
Proximity sensing instruction, control room warning system 2 and fully-mechanized digging machine report are sent to control room warning system 2 and fully-mechanized digging machine warning system 6
Alert system 6 sends the light and voice signal of different stage：
Work as L3>During 10m, alarm light is green, and voiceless sound is alarmed；
Work as 5m<L3<During 10m, alarm light is yellow, there is batch (-type) audible alarm；
Work as 0m<L3<During 5m, alarm light is red, there is continous way audible alarm, and provides distance in real time and report；
When L2 equals or exceeds L1（I.e.：L3≤0m）When, the control software of control room computer 1 and fully-mechanized digging machine airborne computer 5
Instruction is sent to fully-mechanized digging machine supply transformer switch 7, cuts off the power supply of fully-mechanized digging machine, to realize its emergency shutdown, warning system is given
Go out to continue red light and audible alarm.Shutdown situation is confirmed by Field Force, readjusts fully-mechanized digging machine position（In home
Within）, can just turn back on.
Workflow diagram of the invention as shown in Figure 2, comprises the following steps：
1st, to control room computer 1 and the input data information of fully-mechanized digging machine airborne computer 5（L、L4）；
2nd, start laser ranging director 4, reset；
3rd, fully-mechanized digging machine start work；
4th, swash laser ranging director 4 and detect fully-mechanized digging machine real-time position information（L2）；
5th, data L2 sends control room computer 1 and fully-mechanized digging machine airborne computer 5 to；
6th, control software shows the real time kinematics track of fully-mechanized digging machine, sends corresponding control instruction；
7th, L3 is worked as>During 10m, alarm light is green, and voiceless sound is alarmed；
8th, 5m is worked as<L3<During 10m, alarm light is yellow, there is batch (-type) audible alarm；
9th, L3 is worked as<During 5m, alarm light is red, there is continous way audible alarm, and provides distance in real time and report；
10th, as L3≤0m, control software will switch 7 switches to fully-mechanized digging machine supply transformer and send instruction, cut off fully-mechanized digging machine
Power supply, to realize its urgent autostop, warning system provides lasting red light and audible alarm；
11st, shutdown situation is confirmed by Field Force, readjusts fully-mechanized digging machine position（Within home）, could again
Work.
Claims (2)
- A kind of 1. fully mechanized workface leting speeper automatic control system, it is characterised in that：Control room including being arranged on well calculates Machine（1）, control room warning system（2）, on well with undershaft communication system（3）, be fixed on driving face top plate and be located at base Laser ranging director directly on schedule（4）, be arranged on the fully-mechanized digging machine airborne computer of fully-mechanized digging machine fuselage interior（5）, set Fully-mechanized digging machine warning system on the left of fully-mechanized digging machine operator seat（6）, the fully-mechanized digging machine supply transformer switch that is connected with fully-mechanized digging machine （7）；The laser ranging director（4）, fully-mechanized digging machine airborne computer（5）Switched with fully-mechanized digging machine supply transformer（7）It is provided with Explosion-proof and wireless communication function；Laser ranging director（4）By on well with undershaft communication system（3）With control room computer （1）With fully-mechanized digging machine airborne computer（5）Keep real-time communication, control room computer（1）To control room warning system（2）Send report Alert instruction, fully-mechanized digging machine airborne computer（5）To fully-mechanized digging machine warning system（6）The alarm command sent, fully-mechanized digging machine supply transformer Switch（7）Receive control room computer（1）Or fully-mechanized digging machine airborne computer（5）The instruction sent is to cut off the power supply of fully-mechanized digging machine.
- A kind of 2. control method of fully mechanized workface leting speeper automatic control system as claimed in claim 1, it is characterised in that： Comprise the following steps：First, the datum mark of tunnelling is determined, the tunneling direction of fully-mechanized digging machine is determined based on this point, is visited by leting speeper rig The particular location of water body in front of tunnel is surveyed, obtains datum mark to the distance of water body, determines the maximum allowable driving distance of fully-mechanized digging machine With reserved safe distance, residue can driving distance=maximum allowable driving distance-actual driving distance, to control room computer（1） With fully-mechanized digging machine airborne computer（5）Input the data message of maximum allowable driving distance and reserved safe distance；Then, laser ranging director is started（4）, reset；Laser ranging director（4）Determine fully-mechanized digging machine actual driving away from From, and by the data by well with undershaft communication system（3）Real-time Transmission gives control room computer（1）, the airborne meter of fully-mechanized digging machine Calculation machine（5）；Finally, control room computer（1）Or fully-mechanized digging machine airborne computer（5）Under the support of control software, the number received is utilized Calculated according to given data, each item data and movement locus of real-time display fully-mechanized digging machine, according to the change of data and track, To control room computer（1）To control room warning system（2）Send different alarm commands, fully-mechanized digging machine airborne computer（5）To Fully-mechanized digging machine warning system（6）The different alarm commands sent：When residue can driving distance>During 10m, alarm light is green, and voiceless sound is alarmed,Work as 5m<Residue can driving distance<During 10m, alarm light is yellow, there is batch (-type) audible alarm；Work as 0m<Residue can driving distance<During 5m, alarm light is red, has continous way audible alarm, and provide real-time distance Report,When residue can driving distance≤0m when, control room computer（1）Or fully-mechanized digging machine airborne computer（5）Powered to fully-mechanized digging machine Transformer switch（7）Instruction is sent, cuts off the power supply of fully-mechanized digging machine, to realize its emergency shutdown, warning system provides lasting red light With audible alarm；Shutdown situation is confirmed by Field Force, is readjusted fully-mechanized digging machine position, is within home, Turn back on again.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111308955A (en) * | 2020-03-18 | 2020-06-19 | 辽宁工程技术大学 | Remote cooperative control technology and method for fully-mechanized excavation complete equipment |
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Application publication date: 20171215 |