CN108412490A - Control method and system is turned up in a kind of coalcutter - Google Patents
Control method and system is turned up in a kind of coalcutter Download PDFInfo
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- CN108412490A CN108412490A CN201810207531.6A CN201810207531A CN108412490A CN 108412490 A CN108412490 A CN 108412490A CN 201810207531 A CN201810207531 A CN 201810207531A CN 108412490 A CN108412490 A CN 108412490A
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- 238000000034 method Methods 0.000 title claims description 38
- 239000003245 coal Substances 0.000 claims abstract description 62
- 238000011217 control strategy Methods 0.000 claims abstract description 35
- 238000005520 cutting process Methods 0.000 claims abstract description 35
- 238000005516 engineering process Methods 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims description 12
- 238000011084 recovery Methods 0.000 claims description 6
- 210000003127 knee Anatomy 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 2
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- 238000005065 mining Methods 0.000 abstract description 35
- 238000010586 diagram Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 7
- 239000011435 rock Substances 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/16—Machines slitting solely by one or more rotating saws, cutting discs, or wheels
-
- 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
-
- 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
- E21C35/08—Guiding the machine
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Abstract
The present invention proposes a kind of height-regulating control algolithm being combined with coal mining machine roller height model based on fully-mechanized mining working coal petrography roof and floor digital model and its realization technology.Wherein working face coal petrography roof and floor word model is obtained by physical detecting technology.Coal petrography roof and floor digital model is analyzed using computer technology, determination waits for working seam top plate and bottom plate curve and height track, and marks bottom plate fluctuations region and critical inflection point, to instruct coalcutter to select different height-regulating control strategies according to actual conditions.Moreover, it is unified by carrying out coalcutter mileage position with bottom plate model curve mileage position, accurate coalcutter positioning is can get, position foundation is provided for the control of follow-up cutting.After coalcutter is positioned, then coal mining machine roller height is determined using fuselage size and trigonometric function relationship, and relative coordinate system is established in current anchor point, compare the height difference of the forward and backward roller of coalcutter and roof and floor digital model curve, and then decision is carried out for control is turned up.
Description
Technical field
The present invention relates to coal digging fields, and control is turned up in particular to a kind of coalcutter for fully-mechanized mining working
Method and system processed.
Background technology
Coalcutter is the key equipment in coal fully-mechanized mining, is influenced by geological activity, coal seam thickness often with
There is larger Spatial Difference, coal mining machine roller needs the height along working face coal-rock interface constantly to adjust, maximum to obtain
Recovery ratio, and cutting rock is avoided as possible.Horizon control is exactly when shearer haulage moves, and front and back roller height can be with
Coal Seam Thickness Change adjust automatically, to obtain maximum recovery ratio and avoid cutting to top plate and bottom plate.
Country's coal industry is carrying out " mechanization is substituted, automation subtracts people " scientific and technological special activity, coalcutter tune at present
Height is from manually control mode is gradually changed to the automatic cutting control mode of coalcutter on the spot.The automatic cutting control of coalcutter
Core is that coalcutter realizes coal-rock detection identification, judges control to realize to be turned up.But present popularity or application verification
The automatic cutting control technology of coalcutter there is certain technology restriction, be in particular in：
(1) based on reliable operation, have certain resolution coal-rock detection identification sensor obtain be turned up control basis for estimation
It is the key that realize coal mining machine roller automatic adjustment height.This coal-rock interface Direct Recognition technology that is conceived to passes through a long period
Research and development, theoretical and actual achievement in research is also more, wherein with natural Gamma ray method, stress pick method, radar detection
Method and infra-red method are Typical Representative.But due to down-hole coal bed and wall rock condition complexity, transducing signal feature extraction is difficult
With it is accurate, reliably judge coal-rock detection, have no now matured product input production application.
(2) due to coal petrography identification sensor at this stage and its technology there are it is unstable, unreliable low with precision the problems such as,
Coalcutter producer and technical research personnel propose realizes that automatic control system is turned up in coalcutter based on cutting template.This coal petrography
Identification indirect method is to utilize microcomputer store-memory principle, and working face coal seam height undulating state is closed with odometer position
Join and be stored in computer, foundation is controlled as follow-up coalcutter automatic decision.The cutting template source of coalcutter memory is substantially
Can be divided into two classes, one kind be according to roller cutting height data line in the practical recovery process of coalcutter at memory cut number
According to；In addition one kind is to obtain the practical preservation data in working face coal seam using measuring techniques such as physical prospecting, microseisms.Pass through coalcutter master control
Computer combines self-operating state to the memory storage of cutting template data, realizes the automatic adjustment height of coal mining machine roller.When
When coal seam thickness or bearing angle change, there are difference with actual conditions for memory cut template, cannot meet reality
Border production needs, and needs manually manually adjust being remembered again.
Invention content
The present invention is based at least one above-mentioned technical problem, it is proposed that one kind being based on fully-mechanized mining working coal petrography roof and floor
The height-regulating control algolithm and its realization technology that digital model is combined with coal mining machine roller height model.Wherein fully-mechanized mining working
Coal petrography roof and floor digital model is obtained by physical detecting technology, as long as this technology accurately as long as can avoid since cutting template is inaccurate
Automatic Height-Adjusting error caused by really.In addition, using computer analytical technology, coal petrography roof and floor digital model curve is realized
Analysis, determination waits for working seam top plate and bottom plate height track, and marks bottom plate fluctuations region and critical inflection point, can be effective
Coalcutter is instructed to select different height-regulating control strategies according to practical condition of coal seam occurrence.Moreover, in by the way that coalcutter seat in the plane is set
Journey position carried out with coal petrography roof and floor digital model bottom plate curve mileage position it is unified, can get accurate coalcutter in work
The positioning for making face recovery process provides position positioning for the control of follow-up coalcutter cutting.Realizing coalcutter in bottom plate digitlization
After model curve positioning, then coal mining machine roller height is determined using fuselage size and simple trigonometric function relationship, by working as
Prelocalization point establishes relative coordinate system, compares between the forward and backward roller height of coalcutter and roof and floor digital model height of curve
Difference, and then control progress decision is turned up to be follow-up.
In view of this, first aspect of the present invention it is proposed control method is turned up in a kind of coalcutter, including：
According to waiting for that the geologic data of working seam determines the top plate curve and bottom plate curve with working seam；
Determine the bottom plate point of inflexion on a curve；
According to the coalcutter location data, position of the coalcutter on the bottom plate curve is obtained；
According to the position of position and the inflection point of the coalcutter on the bottom plate curve, the coalcutter is determined
Control strategy is turned up.
Wherein, according to waiting for that the geologic data of working seam determines the top plate curve with working seam and bottom plate curve
In step, geologic data can be obtained by physical detecting technology.
The step of determining bottom plate knee of curve include：Bottom plate curve is segmented according to the inclination angle of bottom plate curve, every
In a segmentation, the inclination angle of bottom plate curve is held essentially constant, and the start-stop position being each segmented is determined as inflection point.
According to the coalcutter location data, it is specific the position on the bottom plate curve the step of to obtain the coalcutter
Including：Determining coalcutter current working site is counted according to mileage, and converts coalcutter current working site to bottom plate song
Position on line.
According to the position of position and the inflection point of the coalcutter on the bottom plate curve, the coalcutter is determined
The step of control strategy is turned up specifically includes：Coalcutter front roll position and back roll position are determined, if coalcutter front roll position
It sets between back roll position that there are inflection points, then bottom plate variation control strategy is executed, if coalcutter front roll position and back roll
Inflection point is not present between position, then executes bottom plate invariance control strategy.
Wherein, bottom plate variation control strategy includes：When inflection point is between front roll and preceding running part, before individually adjusting
Roller cutting height, when inflection point is between preceding running part and rear running part, the cutting of synchronous adjustment front roll and back roll
Highly, when inflection point is between rear running part and back roll, back roll cutting height is individually adjusted.
Bottom plate invariance control strategy includes：Actual height feelings of the front and back roller with respect to fuselage in acquisition coalcutter recovery process
Condition, and it is compared judgement with the top of the forward and backward roller position of anchor point where coalcutter, bottom plate heights state, by before,
Back roll carries out control adjustment according to cutting height needed for required top, bottom plate.
On the other hand, the present invention proposes a kind of completely new coalcutter Height-Adjusting System comprising：
Roof and floor curve acquisition unit, the Seam Roof And Floor curve for obtaining working face to be exploited according to geologic data；
Inflection point determination unit, for determining bottom plate point of inflexion on a curve；
Coalcutter positioning unit, for determining operating position of the coalcutter on the bottom plate curve；
Control strategy selecting unit is turned up, for determining that the height-regulating of coalcutter is controlled according to corner position and coal winning machine position
Strategy；
Control execution unit is turned up, for carrying out height-regulating control according to selected height-regulating control strategy.
Wherein, inflection point determination unit determines inflection point according to the inclination angle of the bottom plate curve.
Control strategy selecting unit is turned up, control strategy is turned up according to corner position and coal winning machine position selection, control is turned up
Strategy specifically includes bottom plate invariant strategy and bottom plate variation strategy.
Description of the drawings
Fig. 1 shows coalcutter Height-Adjusting System schematic block diagram according to an embodiment of the invention；
Fig. 2 shows coalcutter control method flow charts according to an embodiment of the invention；
Fig. 3 shows the schematic diagram that bottom plate knee of curve determines according to an embodiment of the invention；
Fig. 4 shows the schematic diagram of positioning of the coalcutter according to an embodiment of the invention in bottom plate curve；
Fig. 5 shows that the schematic diagram controlled is turned up in coalcutter when bottom plate curve remains unchanged；
Fig. 6 shows the schematic diagram of upper inflection point and lower inflection point when the variation of bottom plate curve slope；
Fig. 7 shows that front roll height individually adjusts the height-regulating control schematic diagram in stage；
Fig. 8 shows the height-regulating control schematic diagram of fuselage inclination angle continuous adjusting stage；
Fig. 9 shows that back roll height individually adjusts the height-regulating control schematic diagram in stage；
Figure 10 shows that coal mining machine roller height executes the schematic diagram that control action is turned up；
Figure 11 is shown carries out the schematic diagram that control is turned up in coalcutter according to cutting memory template in the prior art；
Figure 12 shows the schematic diagram of the coal mining machine roller automatic adjustment height method based on coal seam DEM in the prior art.
Specific implementation mode
To better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Mode is applied the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
By using third party, different from implementing in a manner of third party described here, therefore, protection scope of the present invention is not by following
The limitation of disclosed specific embodiment.
It is first in order to better illustrate the progress and improvement of the method and the method for the present invention of the present invention compared with the existing technology
First illustrate that control method is turned up in two kinds of typical coalcutters in the prior art：
The prior art 1：Attached drawing 11 is the current relatively broad coal cutter memorized cutting technical method schematic diagram used, is passed through
Each sampled point roller height data are recorded, realize coal cutter memorized cutting template, and transport coal machine in follow-up memory cut pattern
Trade front position bottom roll height is read automatically, and is automatically adjusted after being compared with actual drum height condition.
The prior art 1 is disadvantageous in that：1, coal mining machine roller altitude information recording mode is single, cannot accurately reflect
Actual drum mining height height, causes memory cut template data itself inaccurate.2, when coal seam thickness or bearing angle
When changing, there are difference with actual conditions for memory cut template, cannot meet needs of production, need manually to carry out hand
Dynamic adjustment is remembered again.
The prior art 2：Attached drawing 12 is the coal mining machine roller automatic adjustment height side based on coal seam DEM that correlative study scholar proposes
Method.It is used as Roller shear by the Seam Roof And Floor DEM models of related geography information architecture and controls template, is used using DEM
Earth coordinates, set in conjunction with coal seat in the plane, attitude measurement technology realize roller absolute coordinate system position, realize roller cutting
The matching of height and Seam Roof And Floor DEM, and realize automatic lifting of shearer control as basis for estimation.
The prior art 2 is disadvantageous in that：1, this technology is converted by coordinate twice and realizes the absolute of roller boundary point
Coordinate setting, coordinate transform process, calculation formula are complicated.2, it when realizing roller cutting boundary point absolute fix, needs to measure
Attitude parameter in coalcutter work, including：Double-shaft tilt angle sensor, rotary encoder, angle sensor etc., also need to simultaneously
North finder is installed, could realize roller boundary point location, this localization method is to sensor measurement stability, reliability requirement
Height is not suitable for coalcutter production application.
Embodiment one
Attached drawing 1 shows that the flow chart of control method is turned up in coalcutter according to an embodiment of the invention.
As shown in Fig. 1, control method is turned up in coalcutter according to an embodiment of the invention, including：
S1：According to waiting for that the geologic data of working seam determines the top plate curve and bottom plate curve with working seam；
S2：Determine the bottom plate point of inflexion on a curve；
S3：According to the coalcutter location data, position of the coalcutter on the bottom plate curve is obtained；
S4：According to the position of position and the inflection point of the coalcutter on the bottom plate curve, the coal mining is determined
The height-regulating control strategy of machine.
According in the method for the present embodiment, control method each step during carrying out coalcutter and control is turned up is turned up in coalcutter
Rapid detailed content is as follows：
(1) coal petrography roof and floor digital model bottom plate tracing analysis stage (step S1 and S2)
Referring to attached drawing 3, coal mining machine host is obtaining this after exploiting coal petrography roof and floor digital model bottom plate curve,
It needs to analyze curve, the operation posture for determining coalcutter follow-up operation track and being likely to occur.For bottom plate curve into
Row heaving tendency is analyzed, and different fluctuating pitch regions section is segmented, and clear corner position.By to bottom plate model point
Analysis, can specify the bottom plate pitch angle of different zones, Kneetype and position.
Wherein, different fluctuating pitch regions section is segmented, Main Basiss are the inclination angle of bottom plate curve, Practical Project meter
In calculation, since roof curve can't keep the absolute consistent of inclination angle in longer one section, we can carry out approximate place
Reason can be approximately considered inclination angle to which bottom plate curve to be divided into the section at multiple and different inclination angles, in every section and be to maintain constant, example
Such as, it is believed that minor change of the inclination angle within 3 degree is smaller on coalcutter height-regulating influence, can ignore, thus by true bottom
Plate curve carries out approximate segment processing, to obtain the inflection point and corner position of bottom plate.
(2) coalcutter positioning (step S3)
Referring to attached drawing 4, odometer is set using coal seat in the plane, and combine coal petrography roof and floor digital model bottom plate to be exploited bent
Line obtains positioning of the accurate coalcutter in working face mining process, and position positioning is provided for the control of follow-up coalcutter cutting.
There are many localization methods of coalcutter, and the present invention can use any satisfaction essence in the prior art according to actual conditions
Degree requires localization method.In a preferred embodiment of the present invention, come using the mode of high accuracy gyroscope instrument and odometer
Coalcutter running position is positioned, coalcutter is obtained after working face positioning, is converted into the positioning on bottom plate, i.e.,
Position of the coalcutter on bottom plate curve can be obtained.And the length of coalcutter itself, the position of height and cutting drum, height
All it is known to the parameter according to coalcutter itself, therefore after obtaining position of the coalcutter on the curve of floor, coalcutter
Front roll position, back roll position, preceding walking portion position, rear running part position can be obtained by above-mentioned parameter, specific to count
Calculating formula, details are not described herein again.
(3) control strategy is turned up in selection
Coalcutter is subjected to height-regulating control selections in different zones, each corner position according to control strategy is turned up.For not
Control analysis is turned up in carry out coalcutter with bottom plate undulating state, and executes concerned control command.
As shown in figure 5, when coalcutter cutting course bottom plate undulation angle remains unchanged or has slight change, roller will not
Since height change occurs in the variation at fuselage inclination angle, whether coalcutter, which is turned up control and is concerned only with current roller height and meets, cuts
Template demand is cut, and roller raising is executed according to cutting template, reduces control.That is, coalcutter exploitation traveling process bottom plate is bent
When line inclination angle is constant, the constant control strategy of bottom plate is executed, the constant needs of bottom plate curve slope are all kept not in coalcutter overall length
Become, therefore in the program of actual motion, is turned by judging to whether there is in coalcutter front roll to the overall length between back roll
It puts to judge whether bottom plate curve slope changes, coalcutter is in exploiting traveling process, if it is on bottom plate curve
In real time in positioning, bottom plate point of inflexion on a curve is not present between front and back roller, that is, thinks that bottom plate inclination angle is constant, it is constant to execute bottom plate
Control strategy.
When coal machine operates in " bottom plate undulation angle change process ", that is, the stage (1) mention knee region when,
Since a successional variation has occurred in bottom plate angle, result in since roller height caused by fuselage angle change changes.
Therefore, it to ensure that coalcutter cutting meets application requirement, needs to carry out special analysis processing to this process.Execute bottom plate variation
Control strategy
6 to attached drawing 9 below in conjunction with the accompanying drawings, and the height-regulating control strategy for coalcutter in upper inflection point is illustrated.
Stage one：Front roll height individually adjusts the stage
As shown in Fig. 6, this stage since front roll enters inflection point, reaches inflection point to preceding running part and terminates.Actually hold
When row, by judging before coalcutter front roll and coalcutter between running part with the presence or absence of inflection point to determine whether the stage of being in
One.Coal machine travel distance is defined as l1, it is distance of the coal machine front roll center to preceding running part.In this stage, coal machine fuselage
Inflection point is not crossed, and fuselage inclination angle does not change, but mining height height has occurred since bottom plate rises and falls in front roll cutting region
Variation, it is therefore desirable to which height control is carried out to front roll.Back roll working condition does not change, need not adjust.
Stage two：The fuselage inclination angle continuous adjusting stage
This stage reaches inflection point since preceding running part enters inflection point, to rear running part and terminates, and travel distance is defined as l2。
The coal machine fuselage inclination angle consecutive variations in this stage, change of pitch angle amount are ∠ α, coal machine front roll (mining height), back roll (planted agent)
Control synchronizes adjustment, to meet the influence that fuselage inclination angle changes to roller height.
As shown in Figure 8：Assuming that fuselage change of pitch angle ∠ α, in conjunction with airframe structure size, it may be determined that roller height variation difference
For：Front roll mining height height increases △ C, and back roll planted agent's height reduces △ W.Therefore, it is needed in this stage high to coal machine cylinder
Degree is intervened, and when or else considering the variation of top plate mining height, front roll needs continuously to reduce cutting height △ C；Back roll needs to connect
High cutting height △ W of continuing rising.
Stage three：Back roll height individually adjusts the stage
This stage reaches inflection point since rear running part enters inflection point, to back roll and terminates, and travel distance is defined as l3.
Coal machine fuselage inclination angle has turned into ∠ α in this stage, and coal machine front roll (mining height) remains unchanged control plan according to bottom plate undulation angle
Slightly it is adjusted, and back roll (planted agent) needs to carry out reducing △ W again in this stage since △ W have been turned up in the stage two.
As shown in Figure 9：Front roll carries out height-regulating control according to opposed bottom mining height height；Back roll high uniformity reduces,
Control of floor demand can be met by being reduced to roller outer cutting bottom plate from original height.
(4) it is executed according to coal mining machine roller height and control action is turned up
Obtain the actual height situation of roller in coalcutter production process with respect to fuselage, and with coalcutter place anchor point
The top of forward and backward roller position, bottom plate heights state are compared judgement, by forward and backward roller according to needed for required top, bottom plate
Cutting height carries out control adjustment.Determine coal mining machine roller height using fuselage size and simple trigonometric function relationship, by
Current anchor point establishes relative coordinate system, compare the forward and backward roller height of coalcutter and roof and floor digital model height of curve it
Between difference, and then control be turned up carry out decision to be follow-up.
As shown in Figure 10, point A0Coordinate is [x0, y0], working face position where indicating coalcutter center；Floor undulation
In A0The tangent slope of point is α；Coal mining machine roller (since rocking arm angle value is unknown, can only be incited somebody to action with respect to fuselage center offset l '
Coal machine cylinder is approximately a fixed value with respect to center offset)；Then calculate C0Point coordinates [x '0, y '0]：
x′0=x0+lT·cosα
y′0=y0+l′·sinα
Determining C0Point abscissa value x '0Afterwards, C is utilized0、B02 abscissa principle of identity determine point B in a coordinate system0
Ordinate y "0.Determine y "0Afterwards, can obtain mining height height value by trigonometric function relationship is：
H ＇Mining height=(y "0-y′0)·cosα。。
Embodiment two
Another embodiment of the present invention provides a kind of completely new coalcutter Height-Adjusting System comprising：
Roof and floor curve acquisition unit, the Seam Roof And Floor curve for obtaining working face to be exploited according to geologic data；
Inflection point determination unit, for determining bottom plate point of inflexion on a curve；
Coalcutter positioning unit, for determining operating position of the coalcutter on the bottom plate curve；
Control strategy selecting unit is turned up, for determining that the height-regulating of coalcutter is controlled according to corner position and coal winning machine position
Strategy；
Control execution unit is turned up, for carrying out height-regulating control according to selected height-regulating control strategy.
Wherein, inflection point determination unit determines inflection point according to the inclination angle of the bottom plate curve.
Control strategy selecting unit is turned up, control strategy is turned up according to corner position and coal winning machine position selection, control is turned up
Strategy specifically includes bottom plate invariant strategy and bottom plate variation strategy.
The hardware of coalcutter Height-Adjusting System can be the control server or control host of fully-mechanized mining working, hard
Part can be the server or desktop computer of the prior art, and each unit can use independent hardware cell, or using soft
Part module is realized.For example, each unit can use independent embedded system, microcontroller, FPGA, DSP, desktop computer etc. hard
Part framework is realized, is attached by communication bus between each unit, is realized entire Height-Adjusting System.
Or Height-Adjusting System is realized using software mode, such as server in the central control system of fully-mechanized mining working
In, the function of Height-Adjusting System each unit is realized by software program, to pass through software in server in the controls
It realizes Height-Adjusting System, in coalcutter operational process, the defeated of needs is obtained by the control system of entire fully-mechanized mining working
Enter data, and the control strategy of selection is exported and gives fully-mechanized mining working control system, realizes that the height-regulating to coalcutter controls.
The steps in the embodiment of the present invention can be sequentially adjusted, combined, and deleted according to actual needs.
Unit in terminal of the embodiment of the present invention can be combined, divided, and deleted according to actual needs.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disk storages, magnetic disk storage, magnetic tape storage or can
Any other computer-readable medium for carrying or storing data.
Technical scheme of the present invention is described in detail above in association with attached drawing, the foregoing is merely the preferred embodiment of the present invention
, it is not intended to restrict the invention, for those skilled in the art, the invention may be variously modified and varied.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (10)
1. control method is turned up in a kind of coalcutter, including：
According to waiting for that the geologic data of working seam determines the top plate curve and bottom plate curve with working seam；
Determine the bottom plate point of inflexion on a curve；
According to the coalcutter location data, position of the coalcutter on the bottom plate curve is obtained；
According to the position of position and the inflection point of the coalcutter on the bottom plate curve, the height-regulating of the coalcutter is determined
Control strategy.
2. height-regulating control method according to claim 1, which is characterized in that the basis waits for the geologic data of working seam
In the step of determining the top plate curve and bottom plate curve with working seam, the geologic data is obtained by physical detecting technology
.
3. height-regulating control method according to claim 2, which is characterized in that the step of determining bottom plate knee of curve wraps
It includes：Bottom plate curve is segmented according to the inclination angle of bottom plate curve, in each segmentation, the change of pitch angle range of bottom plate curve is small
In scheduled threshold value, the start-stop position being each segmented is determined as inflection point.
4. the height-regulating control method according to one of claim 1-3, which is characterized in that described to be positioned according to the coalcutter
Data obtain the coalcutter and are specifically included in the step of position on the bottom plate curve：It is counted according to mileage and gyro
Instrument data determine coalcutter current working site, and convert coalcutter current working site to the position on bottom plate curve.
5. height-regulating control method according to claim 4, it is characterised in that：According to the coalcutter in the bottom plate curve
On position and the inflection point position, the step of height-regulating control strategy for determining the coalcutter specifically includes：It determines and mines
Machine front roll position and back roll position execute bottom if there are inflection points between coalcutter front roll position and back roll position
Plate changes control strategy, if inflection point is not present between coalcutter front roll position and back roll position, executes the constant control of bottom plate
System strategy.
6. height-regulating control method according to claim 5, it is characterised in that：The bottom plate changes control strategy：When
When inflection point is between front roll and preceding running part, individually adjust front roll cutting height, when inflection point be located at preceding running part and after
When between running part, the cutting height of synchronous adjustment front roll and back roll, after inflection point is located between running part and back roll
When, individually adjust back roll cutting height.
7. height-regulating control method according to claim 5, which is characterized in that the bottom plate invariance control strategy includes：It obtains
The actual height situation of front and back roller in coalcutter recovery process with respect to fuselage is taken, and forward and backward with anchor point where coalcutter
The top of roller position, bottom plate heights state are compared judgement, by forward and backward roller according to cutting needed for required top, bottom plate
Height carries out control adjustment.
8. a kind of coalcutter Height-Adjusting System comprising：
Roof and floor curve acquisition unit, the Seam Roof And Floor curve for obtaining working face to be exploited according to geologic data；
Inflection point determination unit, for determining bottom plate point of inflexion on a curve；
Coalcutter positioning unit, for determining operating position of the coalcutter on the bottom plate curve；
Control strategy selecting unit is turned up, for determining that the height-regulating of coalcutter controls plan according to corner position and coal winning machine position
Slightly；
Control execution unit is turned up, for carrying out height-regulating control according to selected height-regulating control strategy.
9. Height-Adjusting System according to claim 8, which is characterized in that the inflection point determination unit is according to the bottom plate
The inclination angle of curve determines inflection point.
10. Height-Adjusting System according to claim 8, which is characterized in that the height-regulating control strategy selecting unit root
Control strategy is turned up according to corner position and coal winning machine position selection, the height-regulating control strategy specifically includes bottom plate invariance control plan
Slightly and bottom plate changes control strategy.
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