CN108119140B - A kind of coalcutter driving attitude adjustment system - Google Patents
A kind of coalcutter driving attitude adjustment system Download PDFInfo
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Abstract
A kind of coalcutter driving attitude adjustment system, comprising: obtain the vibration detection module of coal seam situation and driving vibration, the laser detection module of acquisition seam inclination and the ultrasound detection module for obtaining coalcutter driving attitude；Data acquisition unit, the sensor signal obtained for acquiring the vibration detection module, laser detection module and ultrasound detection module, and the sensor signal is transmitted to industrial personal computer；Industrial personal computer has coal petrography discriminance analysis module, three-dimensional sensing module and Attitude Calculation module, PLC control unit and connect with industrial personal computer, for adjusting coalcutter driving attitude；Remote communication module is connected with the industrial personal computer, and the coalcutter driving attitude data that the coal petrography identification information and the Attitude Calculation module for the module of coal petrography discriminance analysis described in industrial personal computer to be calculated obtain are sent to remote monitoring terminal.The present invention provides more full and accurate information for the adjustment of coalcutter driving attitude, preferably to avoid coalcutter failure.
Description
Technical Field
The invention relates to the technical field of large-scale mechanical attitude adjustment, in particular to a coal mining machine tunneling attitude adjustment system.
Background
The coal mining machine is a large complex system integrating machinery, electricity and hydraulic pressure, the working environment is severe, and if a fault occurs, the whole coal mining work is interrupted, so that huge economic loss is caused. At present, the mining of thin coal seams and extremely thin coal seams mainly depends on a drum shearer, the problem of drilling tool deflection exists in the using process of the shearer, due to the fact that the operating experience of workers is limited, mine light is weak, coal dust and other special conditions exist, judgment errors and operation errors of the workers are prone to being more, the shearer cannot drill in the specified direction, the condition of over-excavation and under-excavation is prone to occurring, the shearer can also break down, and therefore a real-time tunneling posture adjusting system is needed to achieve real-time deviation rectifying adjustment on the spiral drilling tool. The existing attitude adjusting technology of the mining equipment under the mine mainly adopts a method that the coal bed inclination angle is consistent with the inclination angle or the rolling angle of the machine body of the coal mining machine to position the attitude.
The patent with the application number of CN201410022676.0 discloses a posture positioning method for a coal mining machine during a memory cutting process, as shown in fig. 1, an inclination angle of a body of the coal mining machine is obtained by reading an inclination angle sensor inside the body of the coal mining machine; the oil inlet amount of the hydraulic cylinder is calculated by reading the action time of the corresponding electromagnetic valve of the left and right heightening oil cylinders recorded in the airborne programmable controller, the inclination angle of the left and right rocker arms relative to the body of the coal mining machine is obtained through the existing geometric relation, and the posture of the coal mining machine in the cutting process can be positioned and memorized by the inclination angle of the body of the coal mining machine and the inclination angle of the left and right rocker arms relative to the body of the coal mining machine. By adopting the method, the number of the sensors is reduced, the coal mining machine does not need to acquire a plurality of data in the process of memorizing cutting, the inclination angles of the left rocker arm and the right rocker arm relative to the machine body of the coal mining machine are avoided, the inaccurate positioning caused by the damage of the inclination angle sensors due to external impact is effectively avoided, and the normal work of the coal mining machine is ensured.
The invention with the application number of CN201611061382.4 discloses a coal mining machine attitude control method based on a coal seam geographic information system, as shown in FIG. 2, the method comprises the following steps: establishing a correlation model of the adjustment quantity of the cutting bed bottom of the lower roller of the coal mining machine and the change quantity of the rolling angle in the attitude information of the coal mining machine; establishing a working face coal seam geographic information system to obtain a coal seam roof curve and a coal seam floor curve along the advancing direction of the coal mining machine; finding out a slope change point on a coal seam floor curve to realize the piecewise linearization of the coal seam floor curve; the method comprises the steps of acquiring real-time position and posture information of the coal mining machine by adopting a coal mining machine positioning technology fusing geological environment information, and calculating the adjustment quantity of the lower drum bedding of the coal mining machine by utilizing a correlation model of the adjustment quantity of the lower drum bedding of the coal mining machine and the change quantity of the rolling angle in the posture information of the coal mining machine, thereby controlling the posture of the coal mining machine. The method effectively combines the attitude control of the coal mining machine with the identification of the coal bed inclination angle, and can keep the rolling angle in the attitude of the coal mining machine consistent with the coal bed inclination angle.
In the two prior arts, the posture of the coal mining machine is controlled by monitoring the inclination angle or the roll angle of the machine body and the inclination angle condition of the coal bed (the first one is obtained by memory cutting) in the posture information of the coal mining machine, so that the coal mining machine is suitable for mines with good geological conditions and relatively flat coal beds, and for complicated and variable coal beds, the judgment is greatly dependent on the experience of drivers of the coal mining machine, so that the application of the coal mining machine is limited.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a method and a system for adjusting the tunneling posture of a coal mining machine, which have the advantages of adjusting the posture of the coal mining machine in real time, being suitable for coal seams with complex geology and the like, and can realize unmanned remote automatic control.
In order to achieve the purpose, the invention provides the following technical scheme: a coal mining machine tunneling attitude adjusting system comprises:
the device comprises a vibration detection module for obtaining coal bed conditions and tunneling vibration, a laser detection module for obtaining coal bed inclination angles and an ultrasonic detection module for obtaining the tunneling posture of a coal mining machine;
the data acquisition unit is used for acquiring sensor signals obtained by the vibration detection module, the laser detection module and the ultrasonic detection module and transmitting the sensor signals to the industrial personal computer;
the industrial personal computer is connected with the data acquisition unit, is used for receiving the signals transmitted by the data acquisition unit, and is provided with a coal rock recognition analysis module, a three-dimensional direction-distinguishing module and a posture calculation module, wherein the coal rock recognition analysis module and the three-dimensional direction-distinguishing module are connected with the posture calculation module;
the PLC control unit is connected with the industrial personal computer and is used for adjusting the tunneling attitude of the coal mining machine;
and the remote communication module is connected with the industrial personal computer and is used for sending the coal rock identification information obtained by the calculation of the coal rock identification and analysis module in the industrial personal computer and the coal mining machine tunneling attitude data obtained by the attitude calculation module to a remote monitoring terminal.
Preferably, the vibration detection module comprises a vibration sensor and a filter circuit, the vibration sensor adopts a three-axis acceleration sensor, the response frequency of the vibration sensor is larger than 50Hz, BMA250 can be selected as a main chip of the vibration sensor, the set cut-off frequency is larger than 500Hz because the main frequency of a signal when the coal mining machine operates is about 300Hz, the filter circuit adopts a low-pass filter scheme, and the LTC1569-6 chip can be selected as a low-pass filter.
Preferably, the vibration sensor is mounted on the auger stem within 50mm of the drill bit.
Preferably, the laser detection module adopts a laser transmitting and receiving device, wherein a laser transmitting probe adopts a cross laser and is fixedly arranged on a roadway roof in the tunneling direction of the coal mining machine; the laser receiving device adopts laser targets which are respectively fixed right in front of the horizontal plane of the coal mining machine body and used for receiving cross laser signals emitted by the cross laser. The laser target is made of a light sensing array, and the light sensing array is made of a plurality of light sensors to obtain the imaging position of the cross laser projection.
Preferably, the ultrasonic detection module comprises four ultrasonic sensors, two ultrasonic distance measuring sensors are respectively mounted at the front end and the rear end of the auger stem along the drilling direction by taking the drilling direction as a central axis, ultrasonic waves are respectively emitted towards the left coal wall and the right coal wall, whether the drilling direction is inclined or not is judged according to the detected distances, and the drilling direction of the auger type coal mining machine is judged according to the distances measured by the four sensors.
Preferably, the data acquisition unit adopts a multi-channel high-speed data acquisition card and can synchronously acquire signals transmitted by the vibration detection module, the laser detection module and the ultrasonic detection module.
Preferably, the coal rock identification and analysis module uses a wavelet packet decomposition-based feature extraction algorithm to realize feature extraction of the vibration signal.
Preferably, the input of the three-dimensional direction-sensing module is a vibration detection module, which is connected with the posture calculation module and can be used for detecting the stress condition of the three-dimensional space; the ultrasonic detection module can be used for detecting the displacement of the XY plane of the drill rod, and the output of the ultrasonic detection module is used as the input of the attitude calculation module; the laser detection module is used for calculating a yaw angle and a pitch angle of the coal mining machine tunneling under a roadway section coordinate system and the offset of a machine body fixing point on the roadway section.
Preferably, the attitude calculation module adopts PID control to realize the attitude control of the drilling tool, the offset of the XY plane obtained by the ultrasonic detection module and the tunneling space attitude obtained by the laser detection module are combined to be used as a feedback signal of the attitude calculation module for deviation correction, the difference value between the offset and the given drilling direction angle is input into an integral separation PID control system, and 4 electro-hydraulic servo valves in a hydraulic system are used for controlling the horizontal hydraulic cylinder and the vertical hydraulic cylinder to realize the attitude adjustment of the drilling tool.
Preferably, in the hydraulic system for deviation correction control of the drilling tool, when the control current input is zero, the slide valve in the servo valve is located in the middle, the pressure of oil cavities at two ends of the slide valve is equal, no pressure is output, and a piston rod of the hydraulic cylinder is kept still. Once the control current is not zero, the slide valve will move, so that the oil enters the hydraulic cylinder, the piston rod moves at a certain speed, and the moving direction and intensity are controlled by the current direction and intensity.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, a vibration detection module is adopted to obtain a three-dimensional vibration signal, a characteristic extraction algorithm based on wavelet packet decomposition is adopted to extract coal rock characteristic information, and a three-dimensional direction-distinguishing module is used to analyze the contact condition of a drill bit and a coal bed, so that more detailed information is provided for the adjustment of the tunneling posture of the coal mining machine, and the fault of the coal mining machine is better avoided;
2. the invention realizes the attitude adjustment of the coal mining machine by using a PID control algorithm, and adopts the attitude signals of the coal mining machine obtained by the laser detection module and the ultrasonic detection module as feedback information, so that the coal mining machine can adjust the tunneling attitude in real time.
Drawings
FIG. 1 is a schematic geometric representation of the rocker arm tilt angle of prior art 1;
FIG. 2 is a schematic side view of a shearer cutting in prior art 2;
FIG. 3 is a block diagram of a coal mining machine tunneling attitude adjustment system;
fig. 4 is a schematic diagram of PID control.
In fig. 3: the system comprises a vibration detection module 1, a laser detection module 2, an ultrasonic detection module 3, a data acquisition unit 4, an industrial personal computer 5, a coal rock identification and analysis module 5-1, a three-dimensional direction-distinguishing module 5-2, an attitude calculation module 5-3, a remote communication module 6, a remote monitoring terminal 7 and a PLC control unit 8.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 3, a system for adjusting a tunneling attitude of a coal mining machine includes:
the device comprises a vibration detection module 1 for obtaining coal bed conditions and tunneling vibration, a laser detection module 2 for obtaining coal bed inclination angles and an ultrasonic detection module 3 for obtaining the tunneling posture of a coal mining machine;
the data acquisition unit 4 is used for acquiring sensor signals obtained by the vibration detection module 1, the laser detection module 2 and the ultrasonic detection module 3, and transmitting the sensor signals to the industrial personal computer 5;
the industrial personal computer 5 is connected with the data acquisition unit 4, is used for receiving signals transmitted by the data acquisition unit 4, and is provided with a coal rock recognition analysis module 5-1, a three-dimensional direction-distinguishing module 5-2 and a posture calculation module 5-3, wherein the coal rock recognition analysis module 5-1 and the three-dimensional direction-distinguishing module 5-2 are connected with the posture calculation module 5-3;
the PLC control unit 8 is connected with the industrial personal computer 5 and used for adjusting the tunneling posture of the coal mining machine;
and the remote communication module 6 is connected with the industrial personal computer 5 and is used for sending the coal rock identification information obtained by the coal rock identification and analysis module 5-1 in the industrial personal computer 5 and the coal mining machine tunneling attitude data obtained by the attitude calculation module 5-3 to the remote monitoring terminal 7.
The vibration detection module 1 comprises a vibration sensor and a filter circuit, wherein the vibration sensor adopts a three-axis acceleration sensor, the response frequency of the vibration sensor is larger than 50Hz, a BMA250 can be selected as a main chip of the vibration sensor, the main frequency of a signal when the coal mining machine operates is about 300Hz, the set cut-off frequency is larger than 500Hz, the filter circuit adopts a low-pass filter scheme, and an LTC1569-6 chip can be selected as a low-pass filter.
The vibration sensor is arranged on the spiral drill rod and is within 50mm from the drill bit.
The laser detection module 2 adopts a laser transmitting and receiving device, wherein a laser transmitting probe adopts a cross laser and is fixedly arranged on a roadway roof in the tunneling direction of a coal mining machine; the laser receiving device adopts laser targets which are respectively fixed right in front of the horizontal plane of the coal mining machine body and used for receiving cross laser signals emitted by the cross laser. The laser target is made of a light sensing array, and the light sensing array is made of a plurality of light sensors to obtain the imaging position of the cross laser projection.
The ultrasonic detection module 3 comprises four ultrasonic sensors, two ultrasonic distance measuring sensors are respectively arranged at the front end and the rear end of the auger stem along the drilling direction by taking the drilling direction as a central axis, ultrasonic waves are respectively emitted towards the left coal wall and the right coal wall, whether the drilling direction is inclined or not is judged according to the detected distances, and the drilling direction of the auger type coal mining machine is judged according to the distances measured by the four sensors.
The data acquisition unit 4 adopts a multi-channel high-speed data acquisition card and can synchronously acquire signals transmitted by the vibration detection module, the laser detection module 2 and the ultrasonic detection module 3.
The coal rock identification and analysis module 5-1 uses a wavelet packet decomposition-based feature extraction algorithm to realize feature extraction of the vibration signal;
the input of the three-dimensional sensing module 5-2 is a vibration detection module 1 which is connected with the attitude calculation module 5-3 and can be used for detecting the stress condition of a three-dimensional space; the ultrasonic detection module 3 can be used for detecting the displacement of the XY plane of the drill rod, and the output of the displacement is used as the input of the attitude calculation module 5-3; the laser detection module 2 is used for calculating a yaw angle and a pitch angle of the coal mining machine tunneling under a roadway section coordinate system and the offset of a machine body fixing point on the roadway section.
The wavelet packet decomposition-based feature extraction algorithm comprises the following steps:
step (1), constructing a wavelet packet decomposition tree,
(wherein
），
Is shown as
Layer one
Wavelet packet decomposition coefficients of the individual nodes;
step (2), reconstructing wavelet packet decomposition coefficients, analyzing nodes on a fourth layer of wavelet packet decomposition,
by usingTo represent
And so on, extracting the signals on each frequency band,
obtain the total signal
Comprises the following steps:
assuming that the minimum frequency of the low frequency part is 0 and the minimum frequency of the high frequency part is 1, the original signal
The frequency ranges represented by the wavelet packet decomposition coefficients of the third layer are as follows in sequence: [0-1/9]、[1/9-2/9]、[2/9-3/9]、···、[8/9-1]；
Step (3) of calculating the total signal energy of each frequency bandQuantity, set
To decompose coefficients with respect to reconstructed wavelet packets
Energy of
(wherein
) By using
Representing a reconstructed signalThe amplitude of the discrete points of (1), then
The corresponding energy can be expressed as:
(2) wherein
total signal energy of the fourth layer
Can be expressed as
Constructing characteristic vectors, wherein the auger mining machine generates vibration response when cutting coal seams and rocks due to different hardness of the coal and the rocksThe energy has larger difference, so the energy of the vibration signal can be selected as an element to construct a feature vector which is used for the feature vectorIndicates that there is
Normalizing the feature vectors by
Indicate, can obtain
（5）
Wherein；
Step (5), determining tolerance ranges and characteristic values of characteristic vectors when cutting coal seams and cutting rocks by adopting a statistical method, and setting
In order to be within the tolerance range,
for characteristic values, e.g.
Within a tolerance range ofThe characteristic value is
And is and
the tolerance range can be expressed as:
wherein,
n is the test times, K is the proportionality coefficient, the value of K is generally 3 ~ 5 according to the experience,
the feature vector for the tolerance range may be expressed as:
（8）
the three-dimensional direction-identifying module 5-2 analyzes the three-dimensional stress condition of the auger stem of the coal mining machine by analyzing the three-dimensional acceleration information acquired by the three-axis acceleration sensor, and further analyzes the contact condition of the drill bit and the coal bed. The method comprises the following specific steps:
step one, the coal bed can be regarded as an anisotropic stratum, and unit vectors along the north direction, the east direction and the gravity direction are respectively usedThe unit vectors representing the normal direction, strike direction and dip of the coal seam are respectively
The unit vectors in the tangential, longitudinal and transverse directions along the axis of the coal bore are expressed by
It is shown that the three vectors can each form a corresponding spatial rectangular coordinate system,
the dots represent the position of the drill bit,
is the angle of deviation at the drill bit,in the case of the azimuth angle at the drill bit,the inclination angle of the coal seam is the inclination angle of the coal seam,
is the azimuth of the coal seam inclination. By analyzing the geometrical relationship, the coal seam deflection force law can be expressed as:
（9）
make coal seam generate inclined force
Are respectively at
And
up-projecting to obtain components of
And
wherein
In order to be effective in biasing the forces,
for effective orientation forces, i.e.:
step two, according to the transient steady-slope balance condition, namely in the formulaDefining the coal seam deflection characteristic parameter as
The characteristic parameter of the coal bed azimuth is
Then the two parameters satisfy the equation （11）
In the formula (11), the reaction mixture is,
andrespectively, as follows:
With reference to fig. 4, the attitude calculation module 5-3 adopts PID control to realize attitude control of the drilling tool, calculates the offset of the XY plane obtained by the ultrasonic detection module 3 and the tunneling space attitude obtained by the laser detection module 2 to be combined as a feedback signal of the attitude calculation module 5-3 to correct the deviation, inputs the difference between the calculated offset and the given drilling direction angle into an integral separation PID control system, and controls a horizontal hydraulic cylinder and a vertical hydraulic cylinder through 4 electro-hydraulic servo valves in a hydraulic system to realize attitude adjustment of the drilling tool.
In the hydraulic system for deviation correction control of the drilling tool, when the control current input is zero, a slide valve in a servo valve is positioned in the middle, the pressures of oil cavities at two ends of the slide valve are equal, no pressure is output, and a piston rod of a hydraulic cylinder is kept still. Once the control current is not zero, the slide valve will move, so that the oil enters the hydraulic cylinder, the piston rod moves at a certain speed, and the moving direction and intensity are controlled by the current direction and intensity.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A coal mining machine tunneling attitude adjusting system comprises:
the device comprises a vibration detection module (1) for obtaining coal bed conditions and tunneling vibration, a laser detection module (2) for obtaining coal bed inclination angles and an ultrasonic detection module (3) for obtaining the tunneling posture of a coal mining machine;
the data acquisition unit (4) is used for acquiring sensor signals obtained by the vibration detection module (1), the laser detection module (2) and the ultrasonic detection module (3) and transmitting the sensor signals to the industrial personal computer (5);
the vibration detection module (1) comprises a vibration sensor and a filter circuit, wherein the vibration sensor adopts a three-axis acceleration sensor;
the ultrasonic detection module (3) comprises four ultrasonic sensors, two ultrasonic distance measuring sensors are respectively arranged at the front end and the rear end of the auger stem along the drilling direction by taking the drilling direction as a central axis, ultrasonic waves are respectively emitted towards the left and right coal walls, whether the drilling direction is inclined or not is judged according to the detected distances, and the drilling direction of the auger type coal mining machine is judged according to the distances measured by the four sensors;
the industrial personal computer (5) is connected with the data acquisition unit (4), is used for receiving signals transmitted by the data acquisition unit (4), and is provided with a coal rock recognition analysis module (5-1), a three-dimensional direction-distinguishing module (5-2) and a posture calculation module (5-3), wherein the coal rock recognition analysis module (5-1) and the three-dimensional direction-distinguishing module (5-2) are connected with the posture calculation module (5-3);
the PLC control unit (8), the PLC control unit (8) is connected with the industrial personal computer (5) and is used for adjusting the tunneling attitude of the coal mining machine;
and the remote communication module (6) is connected with the industrial personal computer (5) and is used for sending the coal rock identification information obtained by calculation of the coal rock identification and analysis module (5-1) in the industrial personal computer (5) and the coal mining machine tunneling attitude data obtained by the attitude calculation module (5-3) to the remote monitoring terminal (7).
2. The coal mining machine tunneling attitude adjusting system according to claim 1, characterized in that: the laser detection module (2) adopts a laser transmitting and receiving device, wherein a laser transmitting probe adopts a cross laser and is fixedly arranged on a roadway top plate in the tunneling direction of the coal mining machine; the laser receiving device adopts laser targets which are respectively fixed right in front of the horizontal plane of the body of the coal mining machine and used for receiving cross laser signals emitted by the cross laser; the laser target is made of a light sensing array, and the light sensing array is made of a plurality of light sensors to obtain the imaging position of the cross laser projection.
3. The coal mining machine tunneling attitude adjusting system according to claim 1, characterized in that: the data acquisition unit (4) adopts a multi-channel high-speed data acquisition card and can synchronously acquire signals transmitted by the vibration detection module (1), the laser detection module (2) and the ultrasonic detection module (3).
4. The coal mining machine tunneling attitude adjusting system according to any one of claims 1-3, characterized in that: the coal rock identification and analysis module (5-1) comprises a characteristic extraction algorithm based on wavelet packet decomposition for realizing the characteristic extraction of the vibration signal.
5. The coal mining machine tunneling attitude adjusting system according to claim 4, characterized in that: the input of the three-dimensional sensing module is a vibration detection module (1), which is connected with the attitude calculation module and can be used for detecting the stress condition of the three-dimensional space; the ultrasonic detection module (3) can be used for detecting the displacement of the XY plane of the drill rod, and the output of the displacement is used as the input of the attitude calculation module; the laser detection module (2) is used for calculating a yaw angle and a pitch angle of the coal mining machine tunneling under a roadway section coordinate system and the offset of a machine body fixing point on the roadway section.
6. The coal mining machine tunneling attitude adjusting system according to claim 5, characterized in that: the attitude calculation module (5-3) adopts PID control to realize the attitude control of the drilling tool, the offset of the XY plane obtained by the ultrasonic detection module (3) and the tunneling space attitude obtained by the laser detection module (2) are combined to be used as a feedback signal of the attitude calculation module (5-3) for correcting, the difference between the correction data and the given drilling direction angle is input into an integral separation PID control system, and 4 electro-hydraulic servo valves in a hydraulic system are used for controlling a horizontal hydraulic cylinder and a vertical hydraulic cylinder to realize the attitude adjustment of the drilling tool.
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| CN109826626B (en) * | 2019-01-08 | 2020-10-20 | 浙江大学 | Intelligent coal mining machine cutting mode recognition system |
| CN110424964B (en) * | 2019-08-21 | 2021-05-07 | 中国矿业大学(北京) | Coal rock interface identification method |
| CN111043968B (en) * | 2019-12-24 | 2021-08-06 | 中国科学院武汉岩土力学研究所 | Rock drill detection device and rock drilling device |
| CN111457918B (en) * | 2020-05-06 | 2023-05-23 | 辽宁工程技术大学 | Continuous miner navigation and positioning system based on multi-sensor information fusion |
| CN112371641B (en) * | 2020-09-28 | 2022-03-25 | 中广核工程有限公司 | Decontamination equipment and pipeline decontamination method |
| CN112486215B (en) * | 2020-12-02 | 2022-12-02 | 北京特种机械研究所 | Measurement and control system for assisting aircraft in loading |
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| CN101629807B (en) * | 2009-08-20 | 2011-02-02 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
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| CN108119140A (en) | 2018-06-05 |
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