CN107685989B - Intelligent sensing device and method for gesture of scraper conveyor - Google Patents
Intelligent sensing device and method for gesture of scraper conveyor Download PDFInfo
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- CN107685989B CN107685989B CN201710837647.3A CN201710837647A CN107685989B CN 107685989 B CN107685989 B CN 107685989B CN 201710837647 A CN201710837647 A CN 201710837647A CN 107685989 B CN107685989 B CN 107685989B
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- 238000005452 bending Methods 0.000 claims abstract description 55
- 238000004458 analytical method Methods 0.000 claims abstract description 17
- 239000003245 coal Substances 0.000 claims abstract description 15
- 238000013178 mathematical model Methods 0.000 claims abstract description 3
- 238000006073 displacement reaction Methods 0.000 claims description 19
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- 238000005259 measurement Methods 0.000 claims 1
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- 238000005065 mining Methods 0.000 abstract description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The invention relates to the technical field of coal mining, in particular to an intelligent sensing device and method for the posture of a scraper conveyor under a coal mine. The sensing device consists of a main inertial navigation device, three-dimensional attitude sensors, a data converter and an attitude analysis host, wherein the main inertial navigation device is fixed on a scraper conveyor head, the three-dimensional attitude sensors are arranged in each section of middle groove of the scraper conveyor, the main inertial navigation device and the three-dimensional attitude sensors of all the middle grooves are connected to the data converter through a field bus, and the attitude analysis host acquires data of the main inertial navigation device and all the three-dimensional attitude sensors in real time through the data converter. And the gesture analysis host forms a three-dimensional gesture dynamic model of the scraper conveyor according to the motion mathematical model of the scraper conveyor. The invention can sense the gesture of the scraper conveyor in real time, automatically judge the horizontal bending, vertical bending and pitching degree of the scraper conveyor in the coal mining process, automatically detect the straightness of the working face, provide a basis for straightening the working face and provide powerful guarantee for the safe operation of the scraper conveyor.
Description
Technical field:
the invention relates to the technical field of underground mining of coal mines, in particular to an intelligent sensing device and method for the posture of a scraper conveyor.
The background technology is as follows:
when the underground coal seam of the coal mine is mined, the scraper conveyor is matched with the coal cutter and the bracket to realize working face coal dropping, coal loading, coal conveying, pushing and other coal mining procedures. Due to the geological conditions of the working face and the reasons of personnel operation, the scraper conveyor often generates the phenomena of vertical bending, horizontal bending or overlarge pitching angle, so that the middle connecting dumbbell and the end of the scraper conveyor are damaged, the straightness of the working face in the pushing, sliding and pulling processes is not guaranteed, and the coal mining efficiency is affected. In order to know the bending condition of the scraper conveyor in real time, solve the problem of alignment of the scraper conveyor and improve the coal mining efficiency, the invention provides an intelligent sensing device and an intelligent sensing method for the gesture of the scraper conveyor.
The invention comprises the following steps:
The invention aims to design a device and a method capable of detecting the three-dimensional posture of a scraper conveyor in space coordinates in real time, and the device and the method can detect the bending degree of the scraper conveyor in all directions in the three-dimensional space and reflect the current straightness of the scraper conveyor.
The aim of the invention is realized by the following technical scheme:
The three-dimensional attitude sensor 1 of the middle groove and the main inertial navigation 2 are arranged on the scraper conveyor, the three-dimensional attitude sensor 1 of the middle groove is fixed at the position, close to the middle of the cable frame at the mining side, of each middle groove of the scraper conveyor, the arrangement quantity is the same as the number of the middle grooves of the scraper conveyor, and the main inertial navigation 2 is fixed at the head of the scraper conveyor. The three-dimensional attitude sensor 1 is used for detecting the horizontal bending angle, the vertical bending angle and the pitching angle of a middle groove connected with the three-dimensional attitude sensor, and the main inertial navigation 2 is used for detecting the horizontal bending angle, the vertical bending angle and the pitching angle of a scraper conveyor head and taking the head as a reference for detecting the attitude of the scraper conveyor.
The three-dimensional attitude sensor 1 and the main inertial navigation 2 of the middle groove upload the detected horizontal bending angle, vertical bending angle and pitching angle to the data converter 3 through the field bus, and after the data converter 3 receives all data, the data converter carries out data coding, conversion, compression and caching, and waits for the attitude analysis host 4 to call the data. After the data packet of the data converter 3 is called by the gesture analysis host 4, real-time data analysis is performed, the horizontal bending angle, the vertical bending angle and the pitching angle of each section of middle groove are positioned by analyzing the data packet, the analyzed angle data are input into a three-dimensional gesture dynamic calculation model for gesture calculation, and finally, gesture model representation of the scraper conveyor in a three-dimensional space is formed.
The beneficial effects of the invention are mainly shown in the following steps:
The invention has reasonable design and convenient realization, can know the actual gesture of the scraper conveyor in real time, provides a basis for straightening the working face, provides powerful guarantee for the safe operation of the scraper conveyor, and can greatly improve the mining efficiency of the fully mechanized mining working face.
Description of the drawings:
the accompanying drawings, which are included to provide a further understanding of the invention, illustrate and explain the invention, and together with the description serve to explain the invention. In the drawings:
Fig. 1 is a schematic diagram of the present invention. 1a middle groove attitude sensor, 2a main inertial navigation device, 3a data converter and 4 an attitude analysis host.
Fig. 2 is an installation diagram of the middle tank posture sensor 1.
Fig. 3 is a worksurface field layout. 1a middle groove attitude sensor, 2 a main inertial navigation device, 3a data converter and 4 an attitude analysis host.
Fig. 4 is a flowchart of the calculation of the three-dimensional posture model of the blade conveyor.
The specific embodiment is as follows:
The following description of the embodiments of the present invention will be made in complete and clear by reference to the accompanying drawings, and it is apparent that the embodiments described are only some embodiments of the present invention, not all embodiments of the present invention.
As can be seen from fig. 1, an intelligent sensing device and method for the gesture of a scraper conveyor comprise a three-dimensional gesture sensor 1 with a middle groove, a main inertial navigation 2, a data converter 3 and a gesture analysis host 4. The main inertial navigation 2 is used for sensing the horizontal bending angle, the vertical bending angle and the pitching angle of the scraper conveyor head, and the three-dimensional attitude sensor 1 is used for sensing the horizontal bending angle, the vertical bending angle and the pitching angle of a middle groove connected with the main inertial navigation 2. The data converter 3, the main inertial navigation 2 and the three-dimensional attitude sensor 1 are connected through a field bus. The gesture analysis host 4 analyzes the data of the data converter 3, and forms a three-dimensional gesture dynamic model of the scraper conveyor by taking the position of the main inertial navigation as a coordinate zero point according to the motion mathematical model of the scraper conveyor and taking the head of the scraper conveyor as a reference. The gesture analysis host computer 4 can provide the gesture data of the scraper conveyor for other devices of the fully mechanized mining face, and provides a basis for straightening the scraper conveyor for the other devices.
As can be seen from fig. 2 and 3, the main inertial navigation 2 is fixed on the head of the scraper conveyor, and the three-dimensional attitude sensor 1 of the middle groove is fixed at the position of each section of middle groove of the scraper conveyor, which is close to the middle of the cable frame at the mining side. The data converter 3 and the attitude analysis host 4 are placed in a working face equipment train control room. The mid-tank three-dimensional attitude sensor 1 and the primary inertial navigation 2 are connected to a working face fieldbus and transmit data to a data converter 3 via the fieldbus. The posture analysis host 4 is connected to the data converter 3, and reads the data of the data converter 3 for analysis.
The analysis and calculation method of the three-dimensional attitude model of the scraper conveyor comprises the following steps:
1) Coordinate system determination
A three-dimensional coordinate system is established by taking main inertial navigation as a zero point, taking the direction pointing to the tail as an X axis, taking the direction facing the coal wall as a Y axis, and taking the upward direction perpendicular to the horizontal plane as a Z axis. The scraper conveyor is divided into n+1 sections of middle grooves, and the horizontal bending angle H0-Hn, the vertical bending angle F0-Fn and the pitching angle G0-Gn of each section of middle groove are measured by taking the position of a machine head as a reference. The horizontal bending angle is positive in clockwise motion in a top view, the reverse direction is negative, the vertical bending angle is positive in clockwise motion in the direction of the cable trough, and the pitch angle is positive in anticlockwise motion in the direction of the machine head.
2) And calculating the bending angle and the pitching angle of the middle groove of each section relative to the zero point.
The horizontal bending angle of the nth section middle groove relative to the machine head is as follows:
In the above formula, H is the horizontal bending angle of the middle groove of the nth section relative to the reference, and Hk is the measured value of the horizontal bending angle of the middle groove.
The vertical bending angle of the middle groove of the nth section relative to the machine head is as follows:
In the above formula, F is the vertical bending angle of the nth section middle groove relative to the reference, and Fk is the measured value of the vertical bending angle of the middle groove.
The pitch angle of the nth section middle groove relative to the machine head is as follows:
In the above formula, G is the pitch angle of the nth section middle groove relative to the reference, and Gk is the measured value of the pitch angle of the middle groove.
By determining the horizontal bending angle, the vertical bending angle and the pitch angle of each section of the middle groove relative to the reference, respectively, the angular offset of each section of the middle groove relative to the reference in three axial directions can be obtained.
3) Calculating the displacement and direction of the relative zero point of each section of middle groove
Rotation transformation matrix of nth section middle slot relative to previous section middle slot:
In the above formula, rn is a rotation matrix of the middle groove relative to the middle groove of the upper section, fn is a vertical bending angle of the middle groove, gn is a pitching angle, and Hn is a horizontal bending angle.
Rotary displacement of the nth section middle groove relative to the previous section middle groove:
In the above description, SRn is displacement after rotation of the middle groove, rn is a rotation transformation matrix, L is the length of the middle groove, fn is the vertical bending angle of the middle groove, and Hn is the horizontal bending angle.
Translational displacement of the nth section middle groove relative to the previous section middle groove:
Spn in the above is the translational displacement of the middle groove, L is the length of the middle groove, fn-1 is the vertical bending angle of the middle groove at the upper section, and Hn-1 is the horizontal bending angle of the middle groove at the upper section.
Spatial displacement of the nth section middle groove relative to the previous section middle groove:
Sn＝SRn+Spn
spatial displacement of the flight conveyor nth section middle trough relative to the reference:
in the above formula, S is the displacement of the nth section middle groove relative to the reference, and Sk is the spatial displacement of the kth section middle groove relative to the previous section.
By calculating the displacement of each section of the middle groove relative to the reference, the offset distance and the offset direction of the middle groove relative to the reference can be obtained.
4) Synthesizing the space gesture of each section of middle groove and outputting gesture model
After the angular offset, displacement offset and offset direction of each section of middle groove relative to the reference are obtained, the absolute position and the self-posture of each section of middle groove in the three-dimensional coordinate system can be obtained. And sequentially outputting the posture and position information of each section of middle groove in a determined three-dimensional coordinate system by taking the machine head as a starting point, so that a three-dimensional posture model of the scraper conveyor can be formed.
Claims (2)
1. The utility model provides a scraper conveyor gesture intelligence perception device which characterized in that:
the sensing device comprises a main inertial navigation device, a three-dimensional gesture sensor, a data converter and a gesture analysis host; the main inertial navigation device is fixed on the scraper conveyor head, each section of middle groove is provided with a three-dimensional attitude sensor, the three-dimensional attitude sensors of the main inertial navigation device and all the middle grooves are connected to a data converter through a field bus, and the attitude analysis host computer acquires the data of the main inertial navigation device and all the three-dimensional attitude sensors in real time through the data converter;
Detecting the three-dimensional gesture of the scraper conveyor head in real time by using the main inertial navigation and taking the three-dimensional gesture as a reference of a three-dimensional dynamic model of the scraper conveyor; the three-dimensional posture sensor of the middle groove detects the three-dimensional posture of each section of middle groove in real time; the gesture analysis host forms a three-dimensional gesture dynamic model of the scraper conveyor by taking the scraper conveyor head as a reference according to the motion mathematical model of the scraper conveyor, the main inertial navigation and the three-dimensional gesture sensor data of each section of middle groove.
2. The method for calculating the three-dimensional attitude dynamic model of the scraper conveyor is applied to the intelligent sensing device for the attitude of the scraper conveyor according to claim 1, and is characterized in that:
The scraper conveyor is provided with n+1 sections of middle grooves, the horizontal bending angle of each section of middle groove is measured to be H 0-Hn, the vertical bending angle of each section of middle groove is measured to be F 0-Fn, the pitching angle of each section of middle groove is measured to be G 0-Gn, the horizontal bending angle is clockwise moved to be positive and negative in a overlooking view, the vertical bending angle is clockwise moved to be positive when seen from the direction of the cable groove, and the pitching angle is counterclockwise moved to be positive when seen from the direction of the machine head;
the horizontal bending angle of the nth section middle groove relative to the machine head is as follows:
wherein H is the horizontal bending angle of the middle groove of the nth section relative to the reference, and H k is the measured value of the horizontal bending angle of the middle groove;
the vertical bending angle of the middle groove of the nth section relative to the machine head is as follows:
Wherein F is the vertical bending angle of the nth section middle groove relative to the reference, and F k is the measured value of the vertical bending angle of the middle groove;
The pitch angle of the nth section middle groove relative to the machine head is as follows:
Wherein G is the pitch angle of the nth section middle groove relative to the reference, and G k is the pitch angle measurement value of the middle groove;
the results of the formulas 1, 2 and 3 can calculate the angular deviation of a certain section of middle groove relative to the reference in the three-dimensional space;
Rotation transformation matrix of nth section middle slot relative to previous section middle slot:
in the above, R n is a rotation matrix of the middle groove relative to the middle groove of the upper section, F n is a vertical bending angle of the middle groove, G n is a pitching angle, and H n is a horizontal bending angle;
rotary displacement of the nth section middle groove relative to the previous section middle groove:
In the above description, S Rn is the displacement after the rotation of the middle groove, R n is the rotation transformation matrix, L is the length of the middle groove, F n is the vertical bending angle of the middle groove, and H n is the horizontal bending angle;
Translational displacement of the nth section middle groove relative to the previous section middle groove:
S pn in the above is the translational displacement of the middle groove, L is the length of the middle groove, F n-1 is the vertical bending angle of the middle groove at the upper section, and H n-1 is the horizontal bending angle of the middle groove at the upper section;
spatial displacement of the nth section middle groove relative to the previous section middle groove:
S n＝SRn+Spn type 7
In the above description, S n is the spatial displacement of the middle groove of the nth section of the scraper conveyor relative to the reference:
s is the displacement of the middle groove of the nth section relative to the reference, and S k is the spatial displacement of the middle groove of the kth section relative to the previous section;
The rotation state of each section of middle groove of the scraper conveyor and the position and the direction relative to the reference can be obtained by combining the formula 1, the formula 2, the formula 3 and the formula 8;
The method for calculating the three-dimensional attitude dynamic model of the scraper conveyor uses a scraper conveyor head as a reference, a main inertial navigation can determine the horizontal bending angle, the vertical bending angle and the pitching angle of the head, a three-dimensional coordinate system is established by taking the main inertial navigation as a zero point, the direction pointing to the tail of the scraper conveyor is taken as an X axis, the direction facing to a coal wall is taken as a Y axis, and the direction vertical to the horizontal plane is taken as a Z axis, so that the three-dimensional attitude of the scraper conveyor can be depicted, and the straightness of a working face can be reflected.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110304420A (en) * | 2018-07-02 | 2019-10-08 | 中煤张家口煤矿机械有限责任公司 | A kind of complete scraper conveying equipment remote fault analysis and assessment system |
| CN109018851B (en) * | 2018-08-13 | 2020-06-02 | 太原理工大学 | Real-time monitoring method for three-dimensional space operation attitude position of scraper conveyor |
| CN111674838B (en) * | 2020-05-20 | 2021-04-02 | 山东科技大学 | Automatic straightening device and method for scraper conveyor body based on spatial position information capture |
| CN113148547A (en) * | 2021-04-12 | 2021-07-23 | 北京龙软科技股份有限公司 | Combine and adopt working face double rope support formula to remove and patrol and examine load-bearing platform system |
| CN113148549A (en) * | 2021-05-25 | 2021-07-23 | 威世诺智能科技(青岛)有限公司 | Sensing method for collecting multivariate information based on middle groove goaf side of scraper conveyor |
| CN113772363B (en) * | 2021-08-20 | 2022-05-20 | 中国矿业大学 | Scraper conveyor pose model establishing method and system |
| CN113790075A (en) * | 2021-09-07 | 2021-12-14 | 中煤科工开采研究院有限公司 | Multi-dimensional positioning system and method for hydraulic support of working face |
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