CN109469484B - Automatic coal mining method based on upper computer planning - Google Patents
Automatic coal mining method based on upper computer planning Download PDFInfo
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- CN109469484B CN109469484B CN201811307415.8A CN201811307415A CN109469484B CN 109469484 B CN109469484 B CN 109469484B CN 201811307415 A CN201811307415 A CN 201811307415A CN 109469484 B CN109469484 B CN 109469484B
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- 238000005065 mining Methods 0.000 title claims abstract description 121
- 239000003245 coal Substances 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims abstract description 6
- 238000005520 cutting process Methods 0.000 claims description 35
- 230000008569 process Effects 0.000 claims description 10
- 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
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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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
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- 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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Abstract
The invention discloses an automatic coal mining method based on upper computer planning, which comprises the steps of , obtaining the conditions of a working face top plate and a working face bottom plate by an upper computer through a working face three-dimensional detection system, obtaining coordinates of a coal mining machine in a working face three-dimensional space through a coal mining machine accurate positioning system to accurately position a current working propulsion shape, generating current and lower cutter working face top plate and bottom plate change curves according to a working face three-dimensional detection result and the working face propulsion shape, correcting and confirming the planning curves, generating the heights of upper and lower rollers of the coal mining machine and coal mining machine speed parameters according to the planning curves, remotely adjusting the heights of the upper and lower rollers of the coal mining machine and the coal mining machine speed through a remote control interface, executing detection instructions, and dynamically adjusting the lower instructions according to an execution result to realize closed-loop control.
Description
Technical Field
The invention relates to an automatic coal mining method under a coal mine, in particular to an automatic coal mining method based on upper computer planning.
Background
Coal mining has already gone through several stages of blasting mining, general mining and comprehensive mining, is in the automatic mining stage at present, and is advancing to the intelligent mining stage. In the automatic mining process, the automation of the coal mining machine is the core of the whole control technology, and the automation level of the coal mining machine represents the whole level of the automatic mining.
At present, in an automatic coal mining working face, automatic coal mining of a coal mining machine is mainly based on memory cutting, and the memory cutting is divided into two steps, namely, step 1, a coal mining machine is manually operated to demonstrate a cutter, the coal mining machine records cutting parameters in the process of demonstrating the cutter, and the step 2, the coal mining machine automatically adjusts the height of a roller according to the memorized cutting parameters to keep the roller consistent with that of a demonstration cutter , so that automatic coal cutting is realized, although the essence of the memory cutting is not changed on imported coal mining machines or domestic high-end coal mining machines, the cutting parameters memorized by the coal mining machine can be modified and edited through a crossheading end station of the coal mining machine (called advanced memory cutting), and the automatic coal cutting is realized by the coal mining machine through autonomous adjustment according to the prestored cutting parameters.
From the realization principle of the memory cutting, the cutting parameters of the coal mining machine in the memory cutting process are determined by the demonstration cutter, however, the change of the working face top and bottom plate in the subsequent cutting process cannot be predicted manually in the demonstration cutter process. In fact, the memory cutting is established on the assumption that the conditions of the top and bottom plates of the working surface are unchanged or slightly changed, and when the conditions of the top and bottom plates of the working surface of the demonstration cutter and the subsequent cutters are changed greatly, the adaptability of the memory cutting is poor, and the manual demonstration cutter needs to be frequently carried out or cannot be used at all.
Disclosure of Invention
The invention aims to provide automatic coal mining methods based on upper computer planning.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to an automatic coal mining method based on upper computer planning, which comprises a working face three-dimensional detection system, a coal mining machine accurate positioning system, an upper computer and a coal mining machine supporting a remote control function; the method comprises the following steps:
, the upper computer acquires the conditions of a top plate and a bottom plate of the working surface through the three-dimensional detection system of the working surface;
secondly, the upper computer acquires coordinates of the coal mining machine in a three-dimensional space of a working surface through a coal mining machine accurate positioning system to accurately position the current working propulsion shape;
thirdly, the upper computer generates the change curves of the top plate and the bottom plate of the working surface of the current cutter and the lower cutter according to the three-dimensional detection result of the working surface and the propelling shape of the working surface;
fourthly, correcting and confirming the planning curve by an operator;
fifthly, the upper computer acquires the position of the coal mining machine on the working surface through a precise positioning system of the coal mining machine, and generates the height of an upper roller and a lower roller of the coal mining machine and the speed parameter of the coal mining machine according to a planning curve;
sixthly, remotely adjusting the heights of the upper and lower coal mining drums and the speed of the coal mining machine by the upper computer through a remote control interface;
seventhly, detecting the instruction execution condition by the upper computer, and dynamically adjusting the lower instruction according to the execution result to realize closed-loop control;
eighthly, the upper computer sends the height information of the upper roller and the lower roller of the coal mining machine and the position information of the upper roller and the lower roller on the conveyor to a working surface three-dimensional detection system for dynamic correction;
the ninth step, the fifth step and the seventh step are circulated, and planned coal mining and cutting of complete cutters are realized;
and step ten, circulating steps to step ninth, and realizing planning coal mining and cutting of the whole working face.
The working face three-dimensional detection system consists of detection sensors arranged on a working face and two roadways, a monitoring main station arranged on a gateway and used for signal acquisition and a computer arranged on the ground and used for signal analysis and processing; the working face three-dimensional detection system is used for detecting the fluctuation, the flexure and the structure condition of a top plate and a bottom plate of an area to be mined in front of a working face in real time to generate a working face three-dimensional digital model.
The accurate positioning system of the coal mining machine is an inertial navigation module arranged on the machine body of the coal mining machine, the inertial navigation module monitors the azimuth, speed and acceleration data of the coal mining machine in real time in the moving process of the coal mining machine, and the walking track of the coal mining machine on the working surface is measured and calculated by combining with a coal mining machine encoder.
The upper computer is used for visually displaying the working face three-dimensional digital model and the coal mining machine walking track, generating a coal mining machine planning cutting curve of the lower cutters according to the working face three-dimensional digital model and the coal mining machine walking track, providing a visual editing interface for an operator to modify the cutting curve, and controlling the coal mining machine to automatically run according to the cutting curve.
The advantages of the invention are embodied in the following aspects:
1. the method has strong adaptability to geological conditions, and the planning curve generated by the upper computer is dynamically updated along with the advance of the working surface due to the adoption of a working surface three-dimensional real-time detection means, so that the latest top and bottom plate change conditions of the working surface can be reflected in time.
2. The requirement on the automation level of the coal mining machine is low, the upper computer is adopted for planning cutting, the complex control logic is borne by the upper computer, and the role of the coal mining machine in the system only exists as execution mechanisms, so that the coal mining machine can receive the instruction sent by the upper computer and feed back the execution result.
3. The control process is visible: the upper computer is provided with a display and a human-computer interaction interface, the upper computer can display the planning curve, the control parameters of the coal mining machine, the execution process and the result of the coal mining machine and the like in a graphical mode, an operator can modify the planning curve in the graphical mode, the modified effect is immediately displayed on the display interface, and the visualization of the whole automation process is realized.
Drawings
FIG. 1 is a block flow diagram of the present invention.
FIG. 2 is a schematic diagram of the composition of an automatic coal mining system based on upper computer planning.
Fig. 3 is a schematic diagram of a planned coal cutting process of the face of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1-3, the automatic coal mining method based on upper computer planning according to the present invention includes a working face three-dimensional detection system, a precise positioning system of a coal mining machine, an upper computer, and a coal mining machine supporting remote control function (for example, an ac hauled coal mining machine of MG300/720-AWD3 model manufactured by shanghai mining equipment ltd); the method comprises the following steps:
, the upper computer acquires the conditions of a top plate and a bottom plate of the working surface through the three-dimensional detection system of the working surface;
secondly, the upper computer acquires coordinates of the coal mining machine in a three-dimensional space of a working surface through a coal mining machine accurate positioning system to accurately position the current working propulsion shape;
thirdly, the upper computer generates the change curves (planning curves) of the top plate and the bottom plate of the working surface of the current cutter and the lower cutter according to the three-dimensional detection result of the working surface and the propelling shape of the working surface;
fourthly, correcting and confirming the planning curve by an operator; namely, the operator confirms the key parameters of the planning curve, identifies and processes abnormal conditions, and ensures the normal operation of the system;
fifthly, the upper computer acquires the position of the coal mining machine on the working surface through a precise positioning system of the coal mining machine, and generates the height of an upper roller and a lower roller of the coal mining machine and the speed parameter of the coal mining machine according to a planning curve;
sixthly, remotely adjusting the heights of the upper and lower coal mining drums and the speed of the coal mining machine by the upper computer through a remote control interface;
seventhly, detecting the instruction execution condition by the upper computer, and dynamically adjusting the lower instruction according to the execution result to realize closed-loop control;
eighthly, the upper computer sends the height information of the upper roller and the lower roller of the coal mining machine and the position information of the upper roller and the lower roller on the conveyor to a working surface three-dimensional detection system for dynamic correction;
the ninth step, the fifth step and the seventh step are circulated, and planned coal mining and cutting of complete cutters are realized;
and step ten, circulating steps to step ninth, and realizing planning coal mining and cutting of the whole working face.
The working face three-dimensional detection system consists of detection sensors arranged on a working face and two roadways, a monitoring main station arranged on a gateway and used for signal acquisition and a computer arranged on the ground and used for signal analysis and processing; the working face three-dimensional detection system is used for detecting the fluctuation, the flexure and the structure condition of a top plate and a bottom plate of an area to be mined in front of a working face in real time to generate a working face three-dimensional digital model.
The accurate positioning system of the coal mining machine is an inertial navigation module arranged on the machine body of the coal mining machine, the inertial navigation module monitors the azimuth, speed and acceleration data of the coal mining machine in real time in the moving process of the coal mining machine, and the walking track of the coal mining machine on the working surface is measured and calculated by combining with a coal mining machine encoder.
The upper computer is used for visually displaying the working face three-dimensional digital model and the coal mining machine walking track, generating a coal mining machine planning cutting curve of the lower cutters according to the working face three-dimensional digital model and the coal mining machine walking track, providing a visual editing interface for an operator to modify the cutting curve, and controlling the coal mining machine to automatically run according to the cutting curve.
Noun explanations in the method of the invention
1. And (4) planning a curve, namely connecting the upper and lower rollers with cutting points of a top plate and a bottom plate of a working surface during the cutting process of the lower cutter by the coal mining machine, and mainly generating the height of the rollers of the coal mining machine.
2. An upper computer: the calculation installed in the underground crossheading centralized control center and the automation control software running on the computer are collectively called.
3. Working face three-dimensional detection system: the system for detecting the top plate and bottom plate information of the stope face in real time by the technologies of trough waves, earthquakes and the like can detect the fluctuation, the flexure, the structure and the like of the top plate and the bottom plate of the stope face and form a three-dimensional digital model.
4. Working face advancing shape-the curved shape of the working face in the advancing direction, is able to reflect the total advancing amount of the working face per stents.
5. Accurate positioning system of coal mining machine: the method can be used for positioning the absolute coordinates of the coal mining machine in the three-dimensional space of the working face, and is mainly used for measuring the propelling shape of the working face.
Claims (4)
- The automatic coal mining method based on upper computer planning comprises a working face three-dimensional detection system, a coal mining machine accurate positioning system, an upper computer and a coal mining machine supporting a remote control function, and is characterized by comprising the following steps of:, the upper computer acquires the conditions of a top plate and a bottom plate of the working surface through the three-dimensional detection system of the working surface;secondly, the upper computer acquires coordinates of the coal mining machine in a three-dimensional space of a working surface through a coal mining machine accurate positioning system to accurately position the current working surface propelling shape;thirdly, the upper computer generates the change curves of the top plate and the bottom plate of the working surface of the current cutter and the lower cutter according to the three-dimensional detection result of the working surface and the propelling shape of the working surface;fourthly, correcting and confirming the planning curve by an operator;fifthly, the upper computer acquires the position of the coal mining machine on the working surface through a precise positioning system of the coal mining machine, and generates the height of an upper roller and a lower roller of the coal mining machine and the speed parameter of the coal mining machine according to a planning curve;sixthly, remotely adjusting the heights of the upper roller and the lower roller of the coal mining machine and the speed of the coal mining machine by the upper computer through a remote control interface;seventhly, detecting the instruction execution condition by the upper computer, and dynamically adjusting the lower instruction according to the execution result to realize closed-loop control;eighthly, the upper computer sends the height information of the upper roller and the lower roller of the coal mining machine and the position information of the upper roller and the lower roller on the conveyor to a working surface three-dimensional detection system for dynamic correction;the ninth step, the fifth step and the seventh step are circulated, and planned coal mining and cutting of complete cutters are realized;and step ten, circulating steps to step ninth, and realizing planning coal mining and cutting of the whole working face.
- 2. The automatic coal mining method based on upper computer planning according to claim 1, characterized in that: the working face three-dimensional detection system consists of detection sensors arranged on a working face and two roadways, a monitoring main station arranged on a gateway and used for signal acquisition and a computer arranged on the ground and used for signal analysis and processing; the working face three-dimensional detection system is used for detecting the fluctuation, the flexure and the structure condition of a top plate and a bottom plate of an area to be mined in front of a working face in real time to generate a working face three-dimensional digital model.
- 3. The automated coal mining method based on upper computer planning according to claim 1 or 2, characterized in that: the accurate positioning system of the coal mining machine is an inertial navigation module arranged on the machine body of the coal mining machine, the inertial navigation module monitors the azimuth, speed and acceleration data of the coal mining machine in real time in the moving process of the coal mining machine, and the walking track of the coal mining machine on the working surface is measured and calculated by combining with a coal mining machine encoder.
- 4. The automatic coal mining method based on the upper computer programming according to claim 1 or 2 is characterized in that the upper computer is used for visually displaying the working face three-dimensional digital model and the coal mining machine walking track, generating a coal mining machine planned cutting curve of a lower cutter according to the working face three-dimensional digital model and the coal mining machine walking track, providing a visual editing interface for an operator to modify the cutting curve, and controlling the coal mining machine to automatically operate according to the cutting curve.
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| 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 |
| CN118114844B (en) * | 2024-04-23 | 2024-08-20 | 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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