CN108643914B - Intelligent continuous miner system for open pit coal mine - Google Patents
Intelligent continuous miner system for open pit coal mine Download PDFInfo
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- CN108643914B CN108643914B CN201810343437.3A CN201810343437A CN108643914B CN 108643914 B CN108643914 B CN 108643914B CN 201810343437 A CN201810343437 A CN 201810343437A CN 108643914 B CN108643914 B CN 108643914B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
An intelligent opencast coal mine coal mining machine system relates to an inertial navigation system/odometer combined navigation mode applied to an intelligent opencast coal mine coal mining machine system, wherein an inertial navigation system in the system is arranged at the top of a continuous miner; the odometer is arranged on a walking part of the continuous miner; the continuous miner movement direction control mechanism is arranged on the continuous miner; the inertial navigation system, the odometer and the continuous miner movement direction control mechanism are connected with the upper computer through optical cables; the inertial navigation/mileometer combination system in the system is arranged on the coal mining machine, and the high-precision navigation positioning and orientation mode does not need any external information and is not interfered by the outside; in order to deal with the complex electromagnetic environment in a mine and the corrosion of coal powder to a signal transmission line, an optical fiber transmission technology is used in the system, information collected by a navigation system is transmitted to an upper computer, and the upper computer processes the collected information and controls a coal mining machine by using a PID control algorithm so that the coal mining machine works in a set direction.
Description
Technical Field
The invention relates to an intelligent continuous miner system for an open pit coal mine, in particular to an inertial navigation system/odometer combined navigation mode and a PID control algorithm applied to the intelligent continuous miner system for the open pit coal mine.
Background
With the development and implementation of national energy strategy in recent years, coal mining gradually develops from high yield to green mining, safe development and high-efficiency mining. The automation and intellectualization of the fully mechanized coal mining face is a key step for realizing unmanned, safe and efficient mining of a mine, and is an important component for developing a digital mine and improving the informatization and automation level of electromechanical equipment of the mine. One of the most effective solutions for realizing the intellectualization of coal mining is to realize the automation of coal mine production equipment so as to realize unmanned or less-man mining of a fully mechanized mining face of a coal mine, wherein the work information of a continuous mining machine is sensed, transmitted and processed, and the work state of the continuous mining machine is controlled according to the information, which is a key technology for realizing the intellectualization of the coal mine.
The continuous mining machine working information comprises the position and the posture of the continuous mining machine, the current popular GPS navigation positioning cannot work normally in a coal mine tunnel, and the real-time working posture of the continuous mining machine cannot be detected. This results in the failure to automate the continuous miner system. In the process of information transmission, complex electromagnetic interference and severe environment in a coal mine can cause serious interference to general bus transmission.
Disclosure of Invention
The invention provides an intelligent continuous miner system for an open pit coal mine, which aims to solve the problems. The inertial navigation/milemeter combined system is arranged on a continuous mining machine, the continuous mining machine tunnels forwards from a mine tunnel mouth, and the position, the posture and the direction of the continuous mining machine can be known immediately after the continuous mining machine reaches any position. The full-autonomous high-precision navigation positioning and orientation mode does not need any external information and is not interfered by the outside. In order to cope with the complex electromagnetic environment in a mine and the corrosion of coal powder to a signal transmission line, an optical fiber transmission technology is used in the system, and information collected by a navigation system is transmitted to an upper computer. And the upper computer processes the acquired information and controls the continuous mining machine by using a PID control algorithm so as to enable the continuous mining machine to work in a set direction.
In order to achieve the purpose of the invention, the following technical scheme is adopted for implementation.
The utility model provides an intelligent opencut coal mine is machine system of adopting even, includes and adopts the machine even, and the machine of adopting carries out coal mining operation at the coal seam working face in opencut coal mine even, its characterized in that: the system also comprises an upper computer, an optical cable, an inertial navigation system, a milemeter and a continuous mining machine movement direction control mechanism, wherein the inertial navigation system is arranged at the top of the continuous mining machine; the odometer is arranged on a walking part of the continuous miner; the continuous miner movement direction control mechanism is arranged on the continuous miner; the inertial navigation system, the odometer and the continuous mining machine movement direction control mechanism are connected with an upper computer through optical cables.
Furthermore, the upper computer is a PLC control system, the PLC control system comprises a PID controller, the PID controller inputs displacement deviation amount, and after the operation processing of a proportion link, an integral link and a differential link, a control signal is given to a continuous miner movement direction control mechanism to control the movement direction of the continuous miner.
The method for controlling the movement direction of the continuous miner by the intelligent opencast coal mine continuous miner system comprises the following steps:
the method comprises the following steps: moving the continuous miner to a mine passage opening, respectively installing a strapdown inertial navigation system and an odometer at the top and a moving part of the continuous miner, and determining initial information of the continuous miner, wherein the initial information comprises an initial position under a system coordinate system;
step two: determining initial attitude information of the continuous mining machine, namely initial values of an attitude matrix, by adopting an inertial system alignment method under a shaking base
Step three: the fiber-optic gyroscope and the accelerometer in the inertial navigation system measure the motion angular velocity and the acceleration information of the continuous mining machine in real time, and the attitude matrix is updated through time integration
Step four: measuring displacement information of the continuous miner by using an odometer arranged on a moving part of the continuous miner, and taking an average speed V in a sampling period delta T as speed information output by the odometer of the continuous miner;
step five: uploading real-time heading angle psi (T), pitch angle theta (T) and attitude matrix every time the same time delta T passes
Information is sent to an upper computer;
step six: the upper computer determines the course angle psi according to the set requirement0Angle of pitch theta0Information, solving the displacement deviation Delta S of the acquisition machine within the Delta T time;
step seven: and adopting a PID control algorithm to control the working state of the continuous miner to make the miner work forward in a set direction.
Advantageous effects
The system comprises an inertial navigation/mileometer combined system, a continuous mining machine and a control system, wherein the inertial navigation/mileometer combined system is arranged on the continuous mining machine, and the continuous mining machine tunnels forwards from a mine way mouth to reach any position and then immediately acquires the position, the posture and the direction of the continuous mining machine; the fully-autonomous high-precision navigation positioning and orientation mode does not need any external information and is not interfered by the outside; in order to deal with the complex electromagnetic environment in a mine and the corrosion of coal powder to a signal transmission line, an optical fiber transmission technology is used in the system, information collected by a navigation system is transmitted to an upper computer, and the upper computer processes the collected information and controls a continuous mining machine by using a PID control algorithm so as to enable the continuous mining machine to work in a set direction.
Drawings
FIG. 1 is a schematic view of the system installation;
FIG. 2 is a schematic diagram of the system;
FIG. 3 is a schematic diagram of PID control principle
In fig. 1: 1 is an upper computer; 2 is an inertial navigation system; 3 is a continuous miner movement direction control mechanism; 4 is a milemeter; 5 is an optical cable; 6 is a walking part of the continuous miner;
Detailed Description
The structure of the system and the single-use process of the system according to the invention are described below with reference to the accompanying drawings.
As shown in fig. 1, an intelligent opencast coal mine continuous miner system comprises a continuous miner, wherein the continuous miner performs coal mining operation on a coal seam working face of an opencast coal mine, and the system is characterized in that: the system also comprises an upper computer 1, an optical cable 5, an inertial navigation system 2, a milemeter 4 and a continuous mining machine movement direction control mechanism 3, wherein the inertial navigation system 2 is arranged at the top of the continuous mining machine; the odometer 4 is arranged on a traveling part 6 of the continuous miner; the continuous miner movement direction control mechanism 3 is arranged on the continuous miner; the inertial navigation system 2, the odometer 4 and the continuous miner movement direction control mechanism 3 are all connected with the upper computer 1 through optical cables 5.
As shown in fig. 1 or fig. 3, the upper computer 1 is a PLC control system, the PLC control system includes a PID controller, and the PID controller inputs displacement deviation amount, and controls a signal to control the movement direction of the continuous miner to the continuous miner movement direction control mechanism 3 after the operation processing of a proportional element, an integral element and a differential element.
As shown in fig. 2, the one-time use process of the intelligent opencast coal mine continuous miner system comprises the following steps:
the method comprises the following steps: the invention relates to an intelligent continuous miner system for an open coal mine based on an inertial navigation system and a PID control algorithm, wherein in order to determine the position relation between a continuous miner and a working face coal seam top bottom plate, a continuous miner positioning coordinate system and a working face coal seam database coordinate system use the same coordinate system, namely a system coordinate system is established by taking a mining starting point as an origin.
Step two: determining initial attitude information of the continuous mining machine, namely initial values of an attitude matrix, by adopting an inertial system alignment method under a shaking base
Step three: after the inertial navigation system measures the coordinates of the continuous miner under the continuous miner coordinate system, the coordinates under the continuous miner coordinate system are converted into the coordinates under the system coordinate system, and the process can be divided into three times of basic rotation which is not interchangeable in sequence:
the first rotation is to rotate OXnYnZnAround ZnAxial rotation by angle psi, OXnYnZnRotated to OX1Y1Z1Here, this change can be expressed as:
the second rotation is to rotate OX1Y1Z1Around x1Rotation of the shaft by angle theta, OX1Y1Z1Rotated to OX2Y2Z2Here, the transformation relationship at this time can be expressed as:
the third rotation is to rotate OX2Y2Z2Around y2Rotated by an angle phi at which OX2Y2Z2Rotated to OXbYbZbHere, this transformation relation may be expressed as:
the coordinate transformation matrix from the navigation coordinate system to the body coordinate system is:
due to the fact that
Are all orthogonal matrices, therefore
Also an orthogonal matrix.
Step four: the odometer can send out digital pulse signals with 90-degree phase difference between the A path and the B path when the continuous miner moves; the moving part advances A by 90 DEG in the normal rotation and advances B by 90 DEG in the reverse rotation. The number of pulses is proportional to the displacement; the system firstly discriminates the phase of two paths of pulses output by the odometer and judges whether the pulses rotate forwards or reversely; then, the positive rotation is added and the negative rotation is subtracted. The displacement increment can be expressed as
Wherein A is the displacement of the corresponding movement of the continuous miner when the moving part moves and rotates by 1 degree; z is the resolution (number of pulses/revolution) of the odometer; m0The pulse number output by the internal mileage recorder; kDAnd outputting the frequency multiplication coefficient of the pulse for the odometer.
The odometer measures and locates in the coordinate system OX of the continuous miner within a sampling period delta TbYbZbTrue displacement of S0Taking the average speed of the speedometer within the time delta T as V (T) as the output speed of the odometer, wherein
Step five: uploading real-time heading angle psi (T), pitch angle theta (T) and attitude matrix every time the same time delta T passes
And speed information V measured by the odometer is transmitted to the upper computer;
step six: the upper computer measures the odometer positioned at the moving part in real time according to the real-time posture information and the speed information and measures the coordinate system OX of the continuous mining machinebYbZbConverting displacement increment of lower unit time internal acquisition machine into system coordinate OXnYnZnGet the result
The actual continuous mining machine has a given displacement within delta T under a system coordinate system
Within Δ T, the deviation of the continuous miner displacement is
Step seven: the upper computer adopts a PID control algorithm, takes the deviation amount of displacement Delta S (t) as input, outputs u (t) as a control mechanism of the motion direction of the continuous miner,
wherein, KpIs a proportionality coefficient, TiAs an integral coefficient, TdIs a differential coefficient.
The working posture of the continuous mining machine is adjusted by a control mechanism for controlling the movement direction of the continuous mining machine, so that the continuous mining machine works according to the set direction and track.
Because of the complicated electromagnetic environment in the coal mine and the corrosion influence of the pulverized coal on the communication line, the system uses the optical fiber with strong corrosion resistance and strong anti-electromagnetic interference capability as the communication transmission line between the inertial navigation system and the upper computer.
Claims (2)
1. An intelligent continuous miner system for an opencast coal mine is used for controlling the movement direction of a continuous miner during operation on a coal seam working surface of the opencast coal mine, and is characterized in that the method for controlling the movement direction of the continuous miner by the system comprises the following steps:
the method comprises the following steps: moving the continuous miner to a mine tunnel port, respectively installing a strapdown inertial navigation system and a mileometer at the top and a moving part of the continuous miner, and determining initial information of the continuous miner, including an initial position under a system coordinate system;
step two: determining initial attitude information of the continuous mining machine, namely initial values of an attitude matrix, by adopting an inertial system alignment method under a shaking base
Step three: the fiber-optic gyroscope and the accelerometer in the inertial navigation system measure the motion angular velocity and acceleration information of the continuous mining machine in real time, and the attitude matrix is updated through time integration
Step four: measuring displacement information of the continuous miner by using an odometer arranged on a moving part of the continuous miner, and taking an average speed V in a sampling period delta T as speed information output by the odometer of the continuous miner;
step five: uploading real-time heading angle psi (T), pitch angle theta (T) and attitude matrix every time the same time delta T passes
Information is sent to an upper computer;
step six: the upper computer makes a heading angle psi according to the set requirement0Angle of pitch theta0Information, solving the displacement deviation Delta S of the acquisition machine within the Delta T time;
step seven: and adopting a PID control algorithm to control the working state of the continuous miner to make the miner work forward in a set direction.
2. The intelligent opencast coal mine continuous miner system of claim 1, wherein: the upper computer is a PLC control system, the PLC control system comprises a PID controller, the PID controller inputs displacement deviation amount, and after operation processing of a proportion link, an integral link and a differential link, a control signal is given to a continuous miner movement direction control mechanism to control the movement direction of the continuous miner.
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| 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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| AU2016101951A4 (en) * | 2015-08-04 | 2016-12-15 | Commonwealth Scientific And Industrial Research Organisation | Navigation of mining machines |
| CN205426176U (en) * | 2015-12-01 | 2016-08-03 | 中国矿业大学 | Coal -winning machine positioner that inertial navigation and laser scanning fuse |
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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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