CN108388253A - A kind of continuous milling machine quickly collimates control system - Google Patents
A kind of continuous milling machine quickly collimates control system Download PDFInfo
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- CN108388253A CN108388253A CN201810344241.6A CN201810344241A CN108388253A CN 108388253 A CN108388253 A CN 108388253A CN 201810344241 A CN201810344241 A CN 201810344241A CN 108388253 A CN108388253 A CN 108388253A
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- milling machine
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- control system
- collimates
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- 238000003801 milling Methods 0.000 title claims abstract description 92
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims abstract description 8
- 239000003245 coal Substances 0.000 claims description 24
- 239000013307 optical fiber Substances 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000005065 mining Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000003745 diagnosis Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 239000000835 fiber Substances 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of continuous milling machine quickly collimates control system, the motion track information for the continuous milling machine that continuous milling machine is measured by the gyroscope, accelerometer and odometer that are mounted thereon, information after PLC control system calculation process, the optical cable transmission in high-tension cable is combined in long-range host computer by appearance, host computer reflects high-precision continuous milling machine motion track information in real time, host computer is in real time compared the continuous milling machine movement locus fed back with set movement locus, and after the calculation process for passing through PID controller, and the continuous milling machine direction of motion is corrected in real time；This system is simple in structure, highly practical, precision is high, overcome laser alignment method in practical applications existing limitation and GPS navigation system alignment method in by drive complex work environment influenced, high-precision coalcutter motion track information is provided for technical staff, and the operative orientation of staff's amendment coalcutter can be instructed according to real-time straightness situation.
Description
Technical field
The present invention relates to a kind of continuous milling machines quickly to collimate control system, more particularly to a kind of three axis optical fibre gyro instrument, three axis
Accelerometer and the strap-down inertial navigation system of odometer combination quickly collimate control system applied to open coal mine continuous milling machine.
Background technology
Outdoor coal yard is when carrying out excacation, to ensure that construction and massif safety, national legislation require between each drive
There are certain intervals to be used to support massif.So when digging into operation, for prevent from mutually digging between tunnel wear caused by safety
Problem, therefore maximize and ensure that the straightness of every drive is the most important index for realizing safety in production.
Continuous milling machine tunnel Linearity surveying technology is broadly divided into two kinds, and conventional method generally uses laser collimator to carry out mine
Road to directly verifying.The method is to the more demanding of working environment, during coal mining, the strong shake of continuous milling machine itself and
A large amount of dust all causes tremendous influence, method of laser alignment that can only be risen in four, five meters of drive mouth laser alignment in drive
To relatively good to straight effect.Therefore there is very big limitation in conventional method in practical applications.Another method is base
It is positioned in navigation system, the method can overcome the influence of complex work environment in drive, realize continuous milling machine straight line driving.But mesh
Preceding popular GPS can not normally receive when working in drive and send signal, cause based on GPS navigation system to straight
Method existing defects.
Invention content
It is an object of the invention to overcome shortcoming in the prior art, a kind of continuous milling machine is provided and quickly collimates control system
System.The system is that the continuous milling machine being composed based on inertial navigation system and odometer quickly collimates control system, continuous milling machine from
When the starting point in working face coal seam starts to tunnel forward, measured by the inertial navigation system and odometer that are installed in continuous milling machine
The position of continuous milling machine and posture information and velocity information at this time, are transferred to slave computer by way of fiber optic communication, under
The calculation process of position machine reflects high-precision continuous milling machine movement and posture information, host computer real-time judge continuous milling machine fortune in real time
The straightness of dynamic rail mark, and the real-time control continuous milling machine direction of motion.Three axis optical fibre gyro instrument in inertial navigation system and three axis
Accelerometer directly acquires continuous milling machine in the rotational angular velocity and linear acceleration information of inertial space, passes through the side of fiber optic communication
Formula is transferred to slave computer, and the operation of slave computer computer system obtains the movement velocity of continuous milling machine, course line, posture and position letter
Breath, real-time Transmission is to host computer；Its speed of travel is measured using the odometer for being installed on track running part of continuous miner and apart from letter
Breath feeds back the speed and range information of continuous milling machine at this time by fiber optic communication mode, at the operation of slave computer to slave computer
Reason obtains the velocity information of continuous milling machine, and real-time Transmission is to host computer；Host computer passes through modified Kalman's quick filter program pair
Inertial navigation system measures the speed that movement velocity, course line, posture and location information and odometer measure and range information carries out
Fusion, to improve the precision and stability of systematic survey；Calculate that principle host computer parses the real-time position of continuous milling machine again with parallactic angle of navigating
It sets and posture information, track continuous milling machine tunneling direction is corrected in real time according to real time position and posture information, to ensure to connect
Milling machine is tunneled according to both boning out.
In order to achieve the object of the present invention, we will adopt the following technical scheme that and be practiced.
A kind of continuous milling machine quickly collimates control system, including continuous milling machine, continuous milling machine open coal mine working face of coal seam into
Row coal mining activity, it is characterised in that：Further include optical cable, host computer, Ethernet, slave computer, signal switcher and several biographies
Sensor, several described sensors and slave computer are mounted in continuous milling machine, several described sensors use bus-type
Structure connects, and the data acquisition interface of the slave computer is connect with the bus, and communication interface and the signal of slave computer are handed over
It changes planes connection, signal switcher is connect by optical cable with the Ethernet outside coal cutting roadway mouth, and Ethernet connects host computer.
Further, optical cable appearance combines in high-tension cable.
Further, the high-tension cable in coal cutting roadway subsection setup in continuous milling machine and its each section of rear continued access
On coal mining ancillary equipment vehicle, connected by high-voltage cable connector between the high-tension cable of subsection setup.
Further, collection is also held in the high-tension cable has high-voltage earthing cable and low-voltage cable, for being adopted to company
Machine provides electric power support.
Further, further include SPT-K controllers, SPT-K controllers include manual SPT-K controllers and remote control SPT-K controls
Device processed, the manual SPT-K controllers are connected by the communication interface of data connecting line and slave computer；The remote control SPT-
K controllers are write to each other by radio connection and slave computer.
Further, several described sensors include：Three axis optical fibre gyro instrument, three axis accelerometer, odometer,
In：
The three axis optical fibre gyro instrument and three axis accelerometer are installed on the top of continuous milling machine；
The odometer is installed on the running part of continuous milling machine.
Further, the three axis optical fibre gyro instrument is transmitted to slave computer around continuous milling machine coordinate system by data connecting line
The angular velocity signal of lower three reference axis；
The three axis accelerometer is transmitted to slave computer along lower three coordinates of continuous milling machine coordinate system by data connecting line
The acceleration signal of axis；
The odometer transmits continuous milling machine coordinate system bottom shifting signal by data connecting line to slave computer.
Further, the slave computer is PLC control system, and PLC control system includes PID controllers, PLC controls system
System acquisition it is described around the angular velocity signal of lower three reference axis of continuous milling machine coordinate system, along lower three reference axis of continuous milling machine coordinate system
Acceleration signal and continuous milling machine coordinate system bottom shifting signal, being converted into PLC control system through PLC control system calculation process can
After the digital quantity of identification, PLC control system is compared according to given continuous milling machine movement locus with the movement locus fed back
Compared with, and after PID controller calculation process, send control signal to continuous milling machine and control the continuous milling machine direction of motion.
Further, the host computer is the programming device of PLC control system, which is that use is mounted with configuration software
Computer, directly generate and edit on the computer screen various text applications or graphic package, can realize different programming languages
Mutual conversion between speech；Program downloads to PLC control system after being compiled, can also upload the program in PLC control system
To computer；Data can be deposited or be printed, and by network, can realize long-range programming；Configuration software also has to network and hardware
Configuration, parameter setting, monitoring and fault diagnosis functions.
Advantageous effect
A kind of continuous milling machine of the present invention quickly collimates that Control system architecture is simple, highly practical, precision is high, overcomes
Laser alignment method existing limitation in practical applications；Overcome GPS navigation system alignment method complicated work in by drive
Make the influence of environment, realizes continuous milling machine straight line driving；This application brings the advantage that measuring results are accurate, structure letter
It is single, high-precision continuous milling machine motion track information is provided for technical staff, and work can be instructed according to real-time straightness situation
Make the operative orientation that personnel correct continuous milling machine.
Description of the drawings
Fig. 1 is the structural schematic diagram of system of the present invention.
Fig. 2 is three axis optical fibre gyro instrument, three axis accelerometer and odometer scheme of installation；
Specific implementation mode
The present invention is described further with reference to the accompanying drawings and examples.
As shown in Figure 1, the structure that a kind of continuous milling machine of the present invention quickly collimates control system is as described below：
A kind of continuous milling machine quickly collimates control system, including continuous milling machine 1, working face of coal seam of the continuous milling machine 1 in open coal mine
Carry out coal mining activity, the system further include optical cable 2, host computer 3, Ethernet 4, slave computer 5, signal switcher 6 and several
Sensor 7, several described sensors 7 and slave computer 5 are mounted in continuous milling machine 1, several described sensors 7 are adopted
It is connected with bus type structure, the data acquisition interface of the slave computer 5 is connect with the bus, and the communication of slave computer 5 connects
Mouth is connect with signal switcher 6, and signal switcher 6 is connect by optical cable 2 with the Ethernet 4 outside coal cutting roadway mouth, Ethernet 4
Connect host computer 3.
Embodiment 1
As shown in Figure 1, the appearance of optical cable 2 combines in high-tension cable 8, reduce the quantity of coal cutting roadway inner cable.
Embodiment 2
As shown in Figure 1, the high-tension cable 8 in coal cutting roadway subsection setup in the every of continuous milling machine 1 and its rear continued access
On one section coal mining ancillary equipment vehicle, connected by high-voltage cable connector between the high-tension cable 8 of subsection setup.Using with auxiliary
It helps the continued access of equipment vehicle and continued access cable, reduces the accumulation of coal cutting roadway inner cable, reduce cable drum equipment.
Embodiment 3
As shown in Figure 1, also holding collection in the high-tension cable 8 has high-voltage earthing cable and low-voltage cable, for company
Milling machine provides electric power support.Communication cable, optical cable, the power cable appearance of continuous milling machine are gathered together, ancillary equipment vehicle is reduced
Use, such as bracket holder car use, reduce the generation of jam situation in tunnel.
Embodiment 4
As shown in Figure 1, the system further includes SPT-K controllers, SPT-K controllers include manual SPT-K controllers and distant
SPT-K controllers are controlled, the manual SPT-K controllers are connect by data connecting line with the communication interface of slave computer 5；It is described
Remote control SPT-K controllers communicated with the communication processor of slave computer 5 by radio connection.When breaking down,
Continuous milling machine is moved under manual or remote operation.
Embodiment 5
As shown in Fig. 2, several described sensors 7 include：Three axis optical fibre gyro instrument 7-1, three axis accelerometer 7-2,
Odometer 7-3, wherein：
The three axis optical fibre gyro instrument 7-1 and three axis accelerometer 7-2 is installed on the top of continuous milling machine 1；
The odometer 7-3 is installed on the running part of continuous milling machine 1.
Embodiment 6
As shown in the figures 1 and 2, the three axis optical fibre gyro instrument 7-1 is transmitted to slave computer 5 by data connecting line and is adopted around company
The angular velocity signal of lower three reference axis of machine coordinate system；
The three axis accelerometer 7-2 is transmitted to slave computer 5 lower three along continuous milling machine coordinate system by data connecting line
The acceleration signal of reference axis；
The odometer 7-3 transmits continuous milling machine coordinate system bottom shifting signal by data connecting line to slave computer 5.
Embodiment 7
As shown in Figure 1, the slave computer 5 is PLC control system, PLC control system includes PID controller, PLC controls
Described in system acquisition around lower three reference axis of 1 coordinate system of continuous milling machine angular velocity signal, along 1 coordinate system of continuous milling machine it is lower three seat
The 1 coordinate system bottom shifting signal of acceleration signal and continuous milling machine of parameter, PLC controls are converted into through PLC control system calculation process
After the identifiable digital quantity of system, PLC control system is according to set movement locus continuous milling machine 1 movement locus and fed back
It is compared, and after PID controller calculation process, sending control signal to continuous milling machine 1 controls 1 direction of motion of continuous milling machine.
Embodiment 8
As shown in Figure 1, the host computer 3 is the programming device of slave computer 5, which is to have installed and used configuration
The computer of software directly generates and edits on the computer screen various text applications or graphic package, can realize different volumes
Mutual conversion between Cheng Yuyan；Program downloads to PLC control system after being compiled, also can be by the program in PLC control system
Upload to computer；Program and data can be deposited or be printed, and by network, can realize long-range programming；Programming software also have pair
Network and hardware configuration, parameter setting, monitoring and fault diagnosis functions.
Claims (9)
1. a kind of continuous milling machine quickly collimates control system, including continuous milling machine, continuous milling machine is carried out in the working face of coal seam of open coal mine
Coal mining activity, it is characterised in that：Further include optical cable, host computer, Ethernet, slave computer, signal switcher and several sensings
Device, several described sensors and slave computer are mounted in continuous milling machine, several described sensors use bus-type knot
Structure connects, and the data acquisition interface of the slave computer is connect with the bus, the communication interface and signal exchange of slave computer
Machine connects, and signal switcher is connect by optical cable with the Ethernet outside coal cutting roadway mouth, and Ethernet connects host computer.
2. a kind of continuous milling machine according to claim 1 quickly collimates control system, it is characterised in that：The optical cable holds collection
In in high-tension cable.
3. a kind of continuous milling machine according to claim 2 quickly collimates control system, it is characterised in that：The high-tension cable
Subsection setup is in continuous milling machine and its each section coal mining ancillary equipment vehicle of rear continued access in coal cutting roadway, the high pressure of subsection setup
It is connected by high-voltage cable connector between cable.
4. a kind of continuous milling machine according to claim 2 or 3 quickly collimates control system, it is characterised in that：The high pressure
Also holding collection in cable has high-voltage earthing cable and low-voltage cable, for providing electric power support to continuous milling machine.
5. a kind of continuous milling machine according to claim 1 quickly collimates control system, it is characterised in that：Further include SPT-K controls
Device processed, SPT-K controllers include manual SPT-K controllers and remote control SPT-K controllers, and the manual SPT-K controllers are logical
The communication interface for crossing data connecting line and slave computer connects；The remote control SPT-K controllers are by radio connection under
Position machine is write to each other.
6. a kind of continuous milling machine according to claim 1 quickly collimates control system, it is characterised in that：Several described biographies
Sensor includes：Three axis optical fibre gyro instrument, three axis accelerometer, odometer, wherein：
The three axis optical fibre gyro instrument and three axis accelerometer are installed on the top of continuous milling machine；
The odometer is installed on the running part of continuous milling machine.
7. a kind of continuous milling machine according to claim 6 quickly collimates control system, it is characterised in that：The three axis optical fiber
Gyroscope transmits the angular velocity signal around lower three reference axis of continuous milling machine coordinate system by data connecting line to slave computer；
The three axis accelerometer is transmitted to slave computer along lower three reference axis of continuous milling machine coordinate system by data connecting line
Acceleration signal；
The odometer transmits continuous milling machine coordinate system bottom shifting signal by data connecting line to slave computer.
8. a kind of continuous milling machine according to claim 1 or 5 or 7 quickly collimates control system, it is characterised in that：Under described
Position machine is PLC control system, and PLC control system includes PID controller, PLC control system acquisition it is described around continuous milling machine coordinate
It is the angular velocity signal of lower three reference axis, along the acceleration signal and continuous milling machine coordinate of lower three reference axis of continuous milling machine coordinate system
The next shifting signal of system, after PLC control system calculation process is converted into the identifiable digital quantity of PLC control system, PLC controls system
System is compared according to set continuous milling machine movement locus with the movement locus fed back, and by PID controller operation
After reason, sends control signal to continuous milling machine and control the continuous milling machine direction of motion.
9. a kind of continuous milling machine according to claim 1 or 8 quickly collimates control system, it is characterised in that：Described is upper
Machine is to directly generate and edit on the computer screen various text applications or figure using the computer for being mounted with programming software
Program can realize the mutual conversion between different programming languages；Program downloads to PLC control system after being compiled, also can be by PLC
Program in control system uploads to computer；Program and data can be deposited or be printed, and by network, can realize long-range programming；
Programming software also has to network and hardware configuration, parameter setting, monitoring and fault diagnosis functions.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810344241.6A CN108388253A (en) | 2018-04-17 | 2018-04-17 | A kind of continuous milling machine quickly collimates control system |
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| CN201810344241.6A CN108388253A (en) | 2018-04-17 | 2018-04-17 | A kind of continuous milling machine quickly collimates control system |
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Cited By (1)
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Effective date of registration: 20200131 Address after: 017000 Inner Mongolia Autonomous Region, Erdos City, Ijinholuo Banner, Azhen, Green Garden District, No. 23 Applicant after: Ijinholuo Banner Delong Mining Co., Ltd. Applicant after: Beijing Qing Lan Qing Automation Technology Co., Ltd. Address before: 017200 Yijinhuoluo, the Inner Mongolia Autonomous Region, Ordos Tong Long Street East 23 No. Applicant before: Yijinhuoluo Reon Mechanical Engineering Co., Ltd. Applicant before: Beijing Qing Lan Qing Automation Technology Co., Ltd. |