CN108643914A - A kind of intelligence open coal mine continuous milling machine system - Google Patents
A kind of intelligence open coal mine continuous milling machine system Download PDFInfo
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- CN108643914A CN108643914A CN201810343437.3A CN201810343437A CN108643914A CN 108643914 A CN108643914 A CN 108643914A CN 201810343437 A CN201810343437 A CN 201810343437A CN 108643914 A CN108643914 A CN 108643914A
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- milling machine
- continuous milling
- coalcutter
- odometer
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- 238000003801 milling Methods 0.000 title claims abstract description 86
- 239000003245 coal Substances 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 239000013307 optical fiber Substances 0.000 claims abstract description 6
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000005065 mining Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 239000002817 coal dust Substances 0.000 abstract description 4
- 238000013459 approach Methods 0.000 abstract description 3
- 230000008054 signal transmission Effects 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
- E21C47/02—Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of intelligence open coal mine coalcutter system is related to a kind of inertial navigation system/odometer integrated navigation mode and is applied in intelligent outdoor mine coalcutter system, and the inertial navigation system in the system is installed on the top of continuous milling machine；Odometer is installed on the running part of continuous milling machine；Continuous milling machine direction of motion control mechanism is installed in continuous milling machine；Inertial navigation system, odometer and continuous milling machine direction of motion control mechanism are connect by optical cable with host computer；Inertial navigation/odometer combined system in system is mounted on coalcutter, and this high-precision navigator fix oriented approach does not need any external information, not by external disturbance；Signal transmission line is corroded for the complicated electromagnetic environment and coal dust in reply drive, optical fiber transmission technique is used in such a system, the collected information of navigation system is transferred to host computer, host computer to the information of acquisition handle and control coalcutter using pid control algorithm, it is made to work according to set direction.
Description
Technical field
The present invention relates to a kind of intelligent open coal mine continuous milling machine system, more particularly to a kind of inertial navigation system/mileages
It counts integrated navigation mode and pid control algorithm is applied in intelligent outdoor mine continuous milling machine system.
Background technology
With national energy strategy development in recent years implement, the coal mining for being gradually from high yield to lasting exploit,
Security development and high-efficiency mining development.The automation and intelligence of coal mine fully-mechanized mining working are to realize that mine is unmanned, safety is high
The committed step of exploitation, and development " digital mine " are imitated, the important of the informationization of mine dynamoelectric equipment and automatization level is improved
Component part.One of the most effective solution of intelligence for realizing coal mining is the automation for realizing production facility of coalmine,
To realize coal mine fully-mechanized mining face nobody or few people's exploitation, wherein to the perception of continuous milling machine job information, transmission, processing, and with this
To controlling for continuous milling machine working condition, this is the key technology for realizing intelligent coal mine.
Continuous milling machine job information includes position and the posture of continuous milling machine, and currently a popular GPS navigation is located in coal mine drive
In can not work normally, and the real-time working posture of continuous milling machine can not be detected.This causes the automation of continuous milling machine system can not
It realizes.Complicated electromagnetic interference and rugged environment, which can transmit general bus, in the transmission process of information, in coal mine causes
Serious interference.
Invention content
The present invention is a kind of intelligent open coal mine continuous milling machine system proposed in order to solve the above problem.Inertial navigation/inner
Journey meter combined system is mounted in continuous milling machine, and continuous milling machine is tunneled forward from drive mouth, after reaching any one position, at once
Know self-position, posture and orientation.This complete autonomous high-precision navigator fix oriented approach, does not need any external information,
Not by external disturbance.Signal transmission line is corroded for the complicated electromagnetic environment and coal dust in reply drive, in such a system
Using optical fiber transmission technique, the collected information of navigation system is transferred to host computer.Host computer to the information of acquisition at
It manages and continuous milling machine is controlled using pid control algorithm, it is made to work according to set direction.
In order to achieve the object of the present invention, we will adopt the following technical scheme that and be implemented.
A kind of intelligence open coal mine continuous milling machine system, including continuous milling machine, working face of coal seam of the continuous milling machine in open coal mine
Carry out coal mining activity, it is characterised in that：Further include host computer, optical cable, inertial navigation system, odometer and the continuous milling machine direction of motion
Control mechanism, the inertial navigation system are installed on the top of continuous milling machine；The odometer is installed on the walking of continuous milling machine
Portion；The continuous milling machine direction of motion control mechanism is set in continuous milling machine；Inertial navigation system, odometer and the Lian Cai
Machine direction of motion control mechanism is connect by optical cable with host computer.
Further, the host computer is PLC control system, and PLC control system includes PID controller, PID controls
Device input displacement departure processed gives continuous milling machine movement side after proportional component, integral element, the calculation process of differentiation element
The direction of motion of continuous milling machine is controlled to control mechanism control signal.
Utilize a kind of intelligent open coal mine continuous milling machine system control continuous milling machine direction of motion side described in claim 1
Method, it is characterised in that：This method comprises the following steps：
Step 1：Continuous milling machine is moved to drive mouth, strapdown inertial navigation system and mileage gauge are separately mounted to connect
The top and movement portion of milling machine, and determine the initial information of continuous milling machine, the initial position being included under system coordinate system；
Step 2：Under swaying base, using inertial system alignment methods, the initial state information of continuous milling machine, i.e. posture are determined
Matrix setup values
Step 3：Optical fibre gyro and accelerometer measure continuous milling machine angular velocity of satellite motion and acceleration in real time in inertial navigation system
Information is spent, attitude matrix is updated by time integral
Step 4：The displacement information of continuous milling machine is measured by the odometer mounted on continuous milling machine movement portion, and with one
The velocity information that average speed V in a sampling period Δ T is exported as continuous milling machine odometer；
Step 5：Often pass through identical time Δ T, uploads real-time course angle ψ (t), pitching angle theta (t), attitude matrixInformation is to host computer；
Step 6：Host computer is according to the course angle ψ of given requirements0, pitching angle theta0Information calculates and connects in Δ T time
Milling machine offset deviation Δ S；
Step 7：Using pid control algorithm, the working condition of continuous milling machine is controlled, makes it according to set direction
Advance work.
Advantageous effect
System of the present invention include inertial navigation/odometer combined system be mounted in continuous milling machine, continuous milling machine from
Drive mouth tunnels forward, after reaching any one position, learns self-position, posture and orientation at once；This complete autonomous height
Precision navigator fix oriented approach, does not need any external information, not by external disturbance；For the complicated electromagnetism in reply drive
Environment and coal dust corrode signal transmission line, optical fiber transmission technique are used in such a system, by the collected letter of navigation system
Breath is transferred to host computer.Host computer to the information of acquisition handle and control continuous milling machine using pid control algorithm, makes
It works according to set direction.
Description of the drawings
Fig. 1 system scheme of installation；
Fig. 2 System Working Principle schematic diagrames；
Fig. 3 PID control principle schematics
In Fig. 1：1 is host computer；2 be inertial navigation system；3 be continuous milling machine direction of motion control mechanism；4 be odometer；5
For optical cable；6 be the running part of continuous milling machine；
Specific implementation mode
Illustrate the structure of system of the present invention and the first use process of the system below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of intelligence open coal mine continuous milling machine system, including continuous milling machine, continuous milling machine is in open coal mine
Working face of coal seam carries out coal mining activity, it is characterised in that：Further include host computer 1, optical cable 5, inertial navigation system 2,4 and of odometer
Continuous milling machine direction of motion control mechanism 3, the inertial navigation system 2 are installed on the top of continuous milling machine；The odometer 4 is pacified
Running part 6 loaded on continuous milling machine；The continuous milling machine direction of motion control mechanism 3 is installed in continuous milling machine；The inertia is led
Boat system 2, odometer 4 and continuous milling machine direction of motion control mechanism 3 are connect by optical cable 5 with host computer 1.
As shown in Fig. 1 or Fig. 3, the host computer 1 is PLC control system, and PLC control system includes PID controller, institute
The PID controller input displacement departure stated is adopted after proportional component, integral element, the calculation process of differentiation element to connecting
Machine direction of motion control mechanism 3 controls the direction of motion of signal control continuous milling machine.
As shown in Fig. 2, a kind of first use process of intelligent open coal mine continuous milling machine system：
Step 1：The present invention is that a kind of intelligent open coal mine based on inertial navigation system and pid control algorithm is even adopted
Machine system, in order to determine the position relationship of continuous milling machine and working face Seam Roof And Floor, continuous milling machine location coordinate and working face coal
Layer data library coordinate system uses the same coordinate system, i.e., establishes system coordinate system as origin to exploit starting point.
Step 2：Under swaying base, using inertial system alignment methods, the initial state information of continuous milling machine, i.e. posture are determined
Matrix setup values
Step 3：After the coordinate that inertial navigation system measures that continuous milling machine is located under continuous milling machine coordinate system, continuous milling machine is sat
Coordinate under mark system is converted to the coordinate under system coordinate system, and process can be divided into the last time non-swappable basic rotation of sequence：
1, first by OXnYnZnAround ZnAxis rotates the angles ψ, OXnYnZnRotate to OX1Y1Z1Place, current variation can be expressed as：
2 and then by OX1Y1Z1Around x1Axis turns the angles θ, OX1Y1Z1Rotate to OX2Y2Z2Place, this transformation relation can be with
It is expressed as：
3, last time rotation is by OX2Y2Z2Around y2The angles φ are rotated, at this time OX2Y2Z2Rotate to OXbYbZbPlace this time becomes
The relationship of changing is represented by：
Then the coordinate conversion matrix from navigational coordinate system to body coordinate system is：
Due toAll be orthogonal matrix, they be multiplied result be also it is orthogonal, i.e.,It is also orthogonal moment
Battle array.
Step 4：Odometer can send out A, the digital pulse signal of 90 ° of B two-way phase difference when continuous milling machine vehicle moves.Fortune
The advanced B of A are 90 ° when dynamic portion rotates forward, and A is 90 ° before B ultrasound when inverted.The number of pulse relationship proportional to displacement.System is first
Phase demodulation is carried out to the two-way pulse of odometer output, judgement is to rotate forward or invert；Next carries out rotating forward addend, inverts subtrahend.
Displacement increment can be expressed as
Wherein A during exercise, often rotates the displacement moved corresponding to 1 ° for continuous milling machine movement portion；Z is the resolution of odometer
Rate (umber of pulse/turn)；M0For the umber of pulse of interior odometer output；KDThe Clock Multiplier Factor of pulse is exported for odometer.
Odometer measures in a sampling period Δ T positioned at continuous milling machine coordinate system OXbYbZbReal displacement is S0, with when
Between its average speed is V (t) in Δ T is odometer output speed, wherein
Step 5：Often pass through identical time Δ T, uploads real-time course angle ψ (t), pitching angle theta (t), attitude matrixThe velocity information V measured with odometer is to host computer；
Step 6：Host computer will in real time be measured according to real-time attitude information and velocity information positioned at the odometer in movement portion
In continuous milling machine coordinate system OXbYbZbLower unit interval inner orbit detection vehicle displacement increment is transformed into system coordinates OXnYnZnLower
Practical continuous milling machine in Δ T, set displacement is under system coordinate system
Then in Δ T, the departure of continuous milling machine displacement is
Step 7：Host computer uses pid control algorithm, is input with the departure Δ S (t) of displacement, and output u (t) is to connect
The control mechanism of the milling machine direction of motion,
Wherein, KpFor proportionality coefficient, TiFor integral coefficient, TdFor differential coefficient.
Control mechanism by controlling the continuous milling machine direction of motion is adjusted continuous milling machine operating attitude, makes it according to set
Direction and track work.
Because complicated electromagnetic environment and coal dust use resistance to corrosion to the corrosion impact of communication line, system in coal mine
By force, the strong optical fiber of anti-electromagnetic interference capability is as communications circuit between inertial navigation system and host computer.
Claims (3)
1. a kind of intelligence open coal mine continuous milling machine 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 host computer, optical cable, inertial navigation system, odometer and continuous milling machine direction of motion control
Mechanism processed, the inertial navigation system are installed on the top of continuous milling machine；The odometer is installed on the running part of continuous milling machine；
The continuous milling machine direction of motion control mechanism is set in continuous milling machine；Inertial navigation system, odometer and the continuous milling machine
Direction of motion control mechanism is connect by optical cable with host computer.
2. a kind of intelligent open coal mine continuous milling machine system according to claim 1, it is characterised in that：The host computer
For PLC control system, PLC control system includes PID controller, and the PID controller input displacement departure passes through ratio
After link, integral element, the calculation process of differentiation element, continuous milling machine is controlled to continuous milling machine direction of motion control mechanism control signal
The direction of motion.
3. continuous milling machine direction of motion method is controlled using a kind of intelligent open coal mine continuous milling machine system described in claim 1,
It is characterized in that：This method comprises the following steps：
Step 1：Coalcutter is moved to drive mouth, Strapdown Inertial Navigation System and mileage gauge are separately mounted to the top of coalcutter
Portion and movement portion, and determine the initial information of coalcutter, the initial position being included under system coordinate system；
Step 2：Under swaying base, using inertial system alignment methods, the initial state information of coalcutter, i.e. attitude matrix are determined
Initial value
Step 3：Optical fibre gyro and accelerometer measure coalcutter angular velocity of satellite motion and acceleration information in real time in inertial navigation system,
Attitude matrix is updated by time integral
Step 4：The displacement information of coalcutter is measured by the odometer mounted on coalcutter movement portion, and is adopted with one
The velocity information that average speed V in sample period Δ T is exported as coalcutter odometer；
Step 5：Often pass through identical time Δ T, uploads real-time course angle ψ (t), pitching angle theta (t), attitude matrixLetter
Cease host computer；
Step 6：Host computer is according to the course angle ψ of given requirements0, pitching angle theta0Information calculates the coalcutter in Δ T time
Offset deviation Δ S；
Step 7：Using pid control algorithm, the working condition of coalcutter is controlled, it is made to advance according to set direction
Work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810343437.3A CN108643914B (en) | 2018-04-17 | 2018-04-17 | Intelligent continuous miner system for open pit coal mine |
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| CN201810343437.3A CN108643914B (en) | 2018-04-17 | 2018-04-17 | Intelligent continuous miner system for open pit coal mine |
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| CN108643914A true CN108643914A (en) | 2018-10-12 |
| CN108643914B CN108643914B (en) | 2021-10-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540130A (en) * | 2018-10-25 | 2019-03-29 | 北京航空航天大学 | A kind of continuous milling machine inertial navigation positioning and orienting method |
| CN111412911A (en) * | 2020-04-07 | 2020-07-14 | 中国煤炭科工集团太原研究院有限公司 | Multi-sensor combined navigation system of coal mine underground continuous coal mining robot |
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Patent Citations (7)
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| US4014574A (en) * | 1975-04-10 | 1977-03-29 | Browning & Bushman | Mining machine having rectangular thrust transmitting conveyor column |
| CN102608596A (en) * | 2012-02-29 | 2012-07-25 | 北京航空航天大学 | Information fusion method for airborne inertia/Doppler radar integrated navigation system |
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Cited By (2)
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| CN109540130A (en) * | 2018-10-25 | 2019-03-29 | 北京航空航天大学 | A kind of continuous milling machine inertial navigation positioning and orienting method |
| CN111412911A (en) * | 2020-04-07 | 2020-07-14 | 中国煤炭科工集团太原研究院有限公司 | Multi-sensor combined navigation system of coal mine underground continuous coal mining robot |
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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: BEIHANG University 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: BEIHANG University |
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