CN109469484A - Automation coal-mining method based on host computer planning - Google Patents
Automation coal-mining method based on host computer planning Download PDFInfo
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- CN109469484A CN109469484A CN201811307415.8A CN201811307415A CN109469484A CN 109469484 A CN109469484 A CN 109469484A CN 201811307415 A CN201811307415 A CN 201811307415A CN 109469484 A CN109469484 A CN 109469484A
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- 238000005065 mining Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000003245 coal Substances 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000008569 process Effects 0.000 claims abstract description 6
- 230000008859 change Effects 0.000 claims abstract description 5
- 238000012800 visualization Methods 0.000 claims abstract description 5
- 238000011897 real-time detection Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000012790 confirmation Methods 0.000 abstract description 2
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Classifications
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- 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
-
- 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
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses it is a kind of based on host computer planning automation coal-mining method, one, host computer by working face three-dimensional detection system obtain face roof, bottom plate situation；Two, coordinate of the coalcutter in working face three-dimensional space is obtained by coalcutter Precise Position System to carry out being accurately positioned work at present propulsion shape；Three, current and next knife face roof, bottom plate change curve are generated according to working face three-dimensional detection result and advance of the face shape；Four, curve amendment, confirmation are planned；Five, coalcutter up-down roller height and coal shearer speed parameter are generated according to planning curve；Six, pass through remote control interface remote adjustment coal mining up-down roller height and coal shearer speed；Seven, detection instruction executes, and carries out dynamic adjustment to next instruction according to implementing result, realizes closed-loop control.The invention has the advantages that operator, by patterned way amending plans curve, modified effect is immediately rendered on display interface, the visualization of entire automation process is realized.
Description
Technical field
The present invention relates to underground coal mines to automate coal-mining method, mines more particularly, to the automation planned based on host computer
Method.
Background technique
Coal mining have been subjected to big gun adopt, it is general adopt, fully mechanized mining several stages, be currently in the automated mining stage, to
The Intelligentized mining stage strides forward.During automated mining, coalcutter automation is the core of entire control technology, it may be said that
The level representation integral level of automated mining of coalcutter automation.
Automatic coal face at present, it is essentially all based on memory cut that coalcutter automation, which is mined, and memory is cut
Cut in two steps: step 1: carrying out demonstration knife by manually manipulating coalcutter, and coalcutter records cutting parameter during demonstration knife,
Referred to as learn the stage；Step 2: coalcutter keeps and demonstrates according to the cutting parameter adjust automatically roller height of memory knife one
It causes, realizes automatic coal cutting.Although coalcutter crossheading can be passed through on some import coalcutters or domestic some high-end coalcutters
End station is modified and is edited (referred to as advanced memory cut) to the cutting parameter that coalcutter is remembered, but the sheet of the memory cut
Matter does not change, and is all to be carried out realizing automatic coal cutting from main regulation by pre-stored cutting parameter by coalcutter.
From the realization principle of memory cut can be seen that memory cut during the cutting parameter of coalcutter be by demonstration knife
It determines, however, can not manually predict the variation on working face top, bottom plate in subsequent cutting course again during demonstrating knife.
In fact, memory cut be built upon that working face top, bottom plate condition be constant or the hypothesis that varies less on, when working face condition
When variation is complicated and demonstration knife is changed greatly with the working face top of subsequent knife, bottom plate situation, the adaptability of memory cut will
It is deteriorated, needs continually to carry out knife of manually demonstrating, or be not available at all.
Summary of the invention
It is an object of that present invention to provide a kind of automation coal-mining methods based on host computer planning.
To achieve the above object, the present invention takes following technical proposals:
Automation coal-mining method of the present invention based on host computer planning, including working face three-dimensional detection system, coalcutter essence
True positioning system, host computer, the coalcutter for supporting remote control function；It carries out as steps described below:
The first step, host computer obtain face roof, bottom plate situation by working face three-dimensional detection system；
Second step, host computer obtain coordinate of the coalcutter in working face three-dimensional space by coalcutter Precise Position System and carry out
It is accurately positioned work at present and promotes shape；
Third step, host computer generate current and next knife working face according to working face three-dimensional detection result and advance of the face shape
Top plate and bottom plate change curve；
4th step, operator are modified planning curve, confirm；
5th step, host computer obtain position of the coalcutter on working face by coalcutter Precise Position System, bent according to planning
Line generates the upper and lower roller height of coalcutter and coal shearer speed parameter；
6th step, host computer pass through the upper and lower roller height of remote control interface remote adjustment coal mining and coal shearer speed；
7th step, upper computer detection condition execution instruction carry out dynamic adjustment to next instruction according to implementing result, realize closed loop
Control；
The upper and lower roller height of coalcutter and the location information on transporter are sent working face three-dimensional by 8th step, host computer
Detection system carries out dynamic corrections；
9th step, the 5th the-the seven step of step of circulation, realize the planning coal mining cutting to a complete knife；
Tenth step, circulation nine step of the first step-the, realize the planning coal mining cutting to entire working face.
The working face three-dimensional detection system is by being mounted on the detection sensor of working face and two lanes, being mounted on the use of crossheading
It is formed on the ground for the computer of signal analysis and processing in the master station of signal acquisition and installation；Working face three-dimensional detection
System is used to carry out real-time detection to the fluctuating of the top plate and bottom plate in exploiting field domain, fold, construction situation to working face front, generates
Working face three-dimensional digital model.
The coalcutter Precise Position System is the inertial navigation module being mounted on coalcutter fuselage, the inertial navigation
Module is in coalcutter motion process, the orientation of real-time monitoring coalcutter, rate, acceleration information, by with coal machine encoder
It combines, calculates run trace of the coalcutter on working face.
The host computer is used to carry out visualization display to working face three-dimensional digital model, coalcutter run trace, according to
The working face three-dimensional digital model and coalcutter run trace generate the coalcutter planning cutting resistance curves of next knife, are operator
Member provides visual edit interface to modify cutting resistance curves, and controls coalcutter by the cutting resistance curves automatic running.
Advantage of the present invention embodies in the following areas:
1, adaptable to geological conditions: due to using working face three-dimensional real-time detection means, host computer planning generated
Curve is the propulsion with working face and dynamic updates, therefore can reflect the newest top of working face, bottom plate variation feelings in time
Condition, compared with existing memory cut, planning cutting solves data memory one after the completion of once learning existing for memory cut
At constant problem.
2, coalcutter automatization level is required lower: plans cutting, complicated control logic due to using host computer
It is undertaken by host computer, the role of coalcutter in systems is only used as an executing agency to exist, and can receive host computer transmission
Instruct simultaneously execution result back.
3, control process is visual: host computer is provided with display and man-machine interactive interface, host computer can will planning curve,
The control parameter of coalcutter, the implementation procedure of coalcutter and result etc. show that operator can lead in a manner of patterned
Patterned mode amending plans curve is crossed, modified effect is immediately rendered on display interface, and realization entirely automated
The visualization of journey.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Fig. 2 is that the present invention is based on the automation coal mining system composition schematic diagrams of host computer planning.
Fig. 3 is the planning coal mining cutting course schematic diagram of working face of the present invention.
Specific embodiment
It elaborates with reference to the accompanying drawing to the embodiment of the present invention, the present embodiment before being with technical solution of the present invention
It puts and is implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to down
State embodiment.
As shown in Figure 1-3, the automation coal-mining method of the present invention based on host computer planning, including working face three-dimensional are visited
Examining system, host computer, supports the coalcutter of remote control function (such as by world science and technology Shanghai digging at coalcutter Precise Position System
The MG300/720-AWD3 type alternating current traction coalcutter that is produced from Equipment Limited)；It carries out as steps described below:
The first step, host computer obtain face roof, bottom plate situation by working face three-dimensional detection system；
Second step, host computer obtain coordinate of the coalcutter in working face three-dimensional space by coalcutter Precise Position System and carry out
It is accurately positioned work at present and promotes shape；
Third step, host computer generate current and next knife working face according to working face three-dimensional detection result and advance of the face shape
Top plate and bottom plate change curve (planning curve)；
4th step, operator are modified planning curve, confirm；I.e. operator carries out the key parameter of planning curve
Confirmation, identifies abnormal conditions, is handled, and safeguards system operates normally；
5th step, host computer obtain position of the coalcutter on working face by coalcutter Precise Position System, bent according to planning
Line generates the upper and lower roller height of coalcutter and coal shearer speed parameter；
6th step, host computer pass through the upper and lower roller height of remote control interface remote adjustment coal mining and coal shearer speed；
7th step, upper computer detection condition execution instruction carry out dynamic adjustment to next instruction according to implementing result, realize closed loop
Control；
The upper and lower roller height of coalcutter and the location information on transporter are sent working face three-dimensional by 8th step, host computer
Detection system carries out dynamic corrections；
9th step, the 5th the-the seven step of step of circulation, realize the planning coal mining cutting to a complete knife；
Tenth step, circulation nine step of the first step-the, realize the planning coal mining cutting to entire working face.
The working face three-dimensional detection system is by being mounted on the detection sensor of working face and two lanes, being mounted on the use of crossheading
It is formed on the ground for the computer of signal analysis and processing in the master station of signal acquisition and installation；Working face three-dimensional detection
System is used to carry out real-time detection to the fluctuating of the top plate and bottom plate in exploiting field domain, fold, construction situation to working face front, generates
Working face three-dimensional digital model.
The coalcutter Precise Position System is the inertial navigation module being mounted on coalcutter fuselage, the inertial navigation
Module is in coalcutter motion process, the orientation of real-time monitoring coalcutter, rate, acceleration information, by with coal machine encoder
It combines, calculates run trace of the coalcutter on working face.
The host computer is used to carry out visualization display to working face three-dimensional digital model, coalcutter run trace, according to
The working face three-dimensional digital model and coalcutter run trace generate the coalcutter planning cutting resistance curves of next knife, are operator
Member provides visual edit interface to modify cutting resistance curves, and controls coalcutter by the cutting resistance curves automatic running.
Explanation of nouns in the method for the present invention
1, plan curve: coalcutter is in next knife cutting course, the company of upper and lower roller and face roof, bottom plate cut point
Line is mainly used for generating coal mining machine roller height.
2, host computer: automation control of the calculating with operation on that computer being mounted in downhole crossheading centralized control center
The general designation of software.
3, working face three-dimensional detection system: the top plate and bottom plate to stope realized by technologies such as slot wave, earthquakes
The system that information carries out real-time detection, the fluctuating of working face roof and floor, fold, construction etc. can be detected and form three dimensions
Word model.
4, advance of the face shape: curved shape of the working face on direction of propulsion, be able to reflect out working face each
The overall push-in stroke of bracket.
5, coalcutter Precise Position System: absolute coordinate of the coalcutter in working face three-dimensional space can be determined
Position is mainly used for measuring advance of the face shape.
Claims (4)
1. a kind of automation coal-mining method based on host computer planning, including working face three-dimensional detection system, coalcutter are accurately fixed
Position system, host computer, the coalcutter for supporting remote control function；It is characterized by: carrying out as steps described below:
The first step, host computer obtain face roof, bottom plate situation by working face three-dimensional detection system；
Second step, host computer obtain coordinate of the coalcutter in working face three-dimensional space by coalcutter Precise Position System and carry out
It is accurately positioned work at present and promotes shape；
Third step, host computer generate current and next knife working face according to working face three-dimensional detection result and advance of the face shape
Top plate and bottom plate change curve；
4th step, operator are modified planning curve, confirm；
5th step, host computer obtain position of the coalcutter on working face by coalcutter Precise Position System, bent according to planning
Line generates the upper and lower roller height of coalcutter and coal shearer speed parameter；
6th step, host computer pass through the upper and lower roller height of remote control interface remote adjustment coal mining and coal shearer speed；
7th step, upper computer detection condition execution instruction carry out dynamic adjustment to next instruction according to implementing result, realize closed loop
Control；
The upper and lower roller height of coalcutter and the location information on transporter are sent working face three-dimensional by 8th step, host computer
Detection system carries out dynamic corrections；
9th step, the 5th the-the seven step of step of circulation, realize the planning coal mining cutting to a complete knife；
Tenth step, circulation nine step of the first step-the, realize the planning coal mining cutting to entire working face.
2. the automation coal-mining method according to claim 1 based on host computer planning, it is characterised in that: the working face three
Detection system is tieed up by being mounted on the detection sensor of working face and two lanes, being mounted on the master station for signal acquisition of crossheading
It is formed on the ground for the computer of signal analysis and processing with installation；Working face three-dimensional detection system is used for in front of working face
The fluctuating of top plate and bottom plate to exploiting field domain, fold, construction situation carry out real-time detection, generate working face three-dimensional digital model.
3. the automation coal-mining method according to claim 1 or claim 2 based on host computer planning, it is characterised in that: the coal mining
Machine Precise Position System is the inertial navigation module being mounted on coalcutter fuselage, and the inertial navigation module is moved with coalcutter
In the process, the orientation, rate of real-time monitoring coalcutter, acceleration information calculate coal mining by combining with coal machine encoder
Run trace of the machine on working face.
4. the automation coal-mining method according to claim 1 or claim 2 based on host computer planning, it is characterised in that: described upper
Machine is used to carry out visualization display to working face three-dimensional digital model, coalcutter run trace, according to three dimension of working face
Word model and coalcutter run trace generate the coalcutter planning cutting resistance curves of next knife, provide visual edit for operator
Interface controls coalcutter by the cutting resistance curves automatic running to modify cutting resistance curves.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110107295A (en) * | 2019-04-11 | 2019-08-09 | 中国矿业大学 | A kind of manless working face's paths planning method based on working face high-precision navigation model |
| CN111997610A (en) * | 2020-09-03 | 2020-11-27 | 陕西陕煤黄陵矿业有限公司 | Mining height control method and control system of coal mining machine based on big data |
| CN112412453A (en) * | 2019-08-21 | 2021-02-26 | 玛珂系统分析和开发有限公司 | Method and device for controlling an automated longwall face |
| CN113160404A (en) * | 2021-04-23 | 2021-07-23 | 陕西陕煤黄陵矿业有限公司 | Method, system, equipment and storage medium for planning cutting curve of coal mining machine |
| CN113685180A (en) * | 2021-08-18 | 2021-11-23 | 太原向明智控科技有限公司 | Coal mining machine mining and cutting curve correction measurement method |
| CN113818880A (en) * | 2021-10-13 | 2021-12-21 | 郑州煤机液压电控有限公司 | Automatic coal face inclination adjusting device and method |
| CN113882856A (en) * | 2020-07-03 | 2022-01-04 | 郑州煤机智能工作面科技有限公司 | Coal cutter memory coal cutting method and system |
| CN114320291A (en) * | 2022-01-05 | 2022-04-12 | 山东能源重装集团中矿采煤机制造有限公司 | Automatic leveling method for coal mining machine |
| CN114662259A (en) * | 2020-12-07 | 2022-06-24 | 北斗天地股份有限公司 | Coal mining machine three-dimensional positioning method and system based on high-precision inertial navigation |
| CN118114844A (en) * | 2024-04-23 | 2024-05-31 | 西安华创马科智能控制系统有限公司 | Cutting track planning method and device for coal mining machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110107295B (en) * | 2019-04-11 | 2020-04-17 | 中国矿业大学 | Unmanned coal mining path planning method based on working face high-precision navigation model |
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| CN112412453A (en) * | 2019-08-21 | 2021-02-26 | 玛珂系统分析和开发有限公司 | Method and device for controlling an automated longwall face |
| CN113882856A (en) * | 2020-07-03 | 2022-01-04 | 郑州煤机智能工作面科技有限公司 | Coal cutter memory coal cutting method and system |
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| CN114662259A (en) * | 2020-12-07 | 2022-06-24 | 北斗天地股份有限公司 | Coal mining machine three-dimensional positioning method and system based on high-precision inertial navigation |
| CN113160404B (en) * | 2021-04-23 | 2024-04-23 | 陕西陕煤黄陵矿业有限公司 | Coal cutter cutting curve planning method, system, equipment and storage medium |
| CN113160404A (en) * | 2021-04-23 | 2021-07-23 | 陕西陕煤黄陵矿业有限公司 | Method, system, equipment and storage medium for planning cutting curve of coal mining machine |
| CN113685180A (en) * | 2021-08-18 | 2021-11-23 | 太原向明智控科技有限公司 | Coal mining machine mining and cutting curve correction measurement method |
| CN113818880A (en) * | 2021-10-13 | 2021-12-21 | 郑州煤机液压电控有限公司 | Automatic coal face inclination adjusting device and method |
| CN113818880B (en) * | 2021-10-13 | 2023-08-08 | 郑州恒达智控科技股份有限公司 | Automatic inclination adjusting device and method for coal face |
| CN114320291A (en) * | 2022-01-05 | 2022-04-12 | 山东能源重装集团中矿采煤机制造有限公司 | Automatic leveling method for coal mining machine |
| CN118114844A (en) * | 2024-04-23 | 2024-05-31 | 西安华创马科智能控制系统有限公司 | Cutting track planning method and device for coal mining machine |
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Effective date of registration: 20201125 Address after: 450016 No. ninth, 167 Avenue, Zhengzhou Economic Development Zone, Henan, China Patentee after: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Patentee after: ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Address before: 450016 No. ninth, 167 Avenue, Zhengzhou Economic Development Zone, Henan, China Patentee before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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Effective date of registration: 20220727 Address after: 450016 No. 167, 9th Street, Zhengzhou area (Economic Development Zone), Henan pilot Free Trade Zone, Zhengzhou City, Henan Province Patentee after: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Address before: No.167, 9th Street, Zhengzhou Economic Development Zone, Henan Province, 450016 Patentee before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Patentee before: ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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Address after: No.167, 9th Street, Zhengzhou Economic and Technological Development Zone, Henan Province, 450016 Patentee after: Zhengzhou Hengda Intelligent Control Technology Co.,Ltd. Address before: 450016 No. 167, 9th Street, Zhengzhou area (Economic Development Zone), Henan pilot Free Trade Zone, Zhengzhou City, Henan Province Patentee before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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