CN109630109A - Development machine planning walking path method, apparatus and development machine traveling control system - Google Patents
Development machine planning walking path method, apparatus and development machine traveling control system Download PDFInfo
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- CN109630109A CN109630109A CN201811401414.XA CN201811401414A CN109630109A CN 109630109 A CN109630109 A CN 109630109A CN 201811401414 A CN201811401414 A CN 201811401414A CN 109630109 A CN109630109 A CN 109630109A
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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
The present disclosure provides a kind of development machine planning walking path method, apparatus and development machine traveling control systems, initially set up threedimensional model of the driving face tunnel under earth coordinates；According to the own dimensions data of development machine, the threedimensional model of development machine is established；The spatial positional information of development machine is obtained, coordinate of the development machine under earth coordinates is calculated；Obtain the azimuth of development machine；The azimuth of coordinate and development machine based on development machine under earth coordinates combines the threedimensional model of development machine with the threedimensional model in driving face tunnel, simulates the walking path of development machine in real time；According to the offset of the development machine walking path simulated and the development machine walking path of setting, the direction of travel and speed of development machine are adjusted.The present invention can automatically control development machine according to the walking path automatically walk planned.
Description
Technical field
This disclosure relates to coal mine machinery field, and in particular to a kind of development machine planning walking path method, apparatus and driving
Machine traveling control system.
Background technique
The walking path of coal mine development machine mainly has the forward direction driving of crawler travel, retreats and receive coal, the adjustment of left and right pose
Equal multiple degrees of freedoms spatial movement.
Coal mine development machine, which generallys use, at present manually tunnels by operation handle on development machine or by remote control control
Machine is walked, and development machine walking, which fully relies on, manually to be controlled, and cannot achieve development machine automatically walk in tunnel.
In conclusion fully relying on artificial range estimation field control, Bu Nengshi with development machine walking path for coal mine at present
Existing development machine the problem of automatically walk, still lacks effective solution scheme in tunnel.
Summary of the invention
Artificial range estimation field control is fully relied on development machine walking path for current coal mine, development machine is can not achieve and exists
In tunnel the problem of automatically walk, present disclose provides a kind of development machine planning walking path method, apparatus and development machine to walk
Control system can automatically control development machine according to the walking path automatically walk planned.
Technical solution used by the disclosure is:
A kind of development machine planning walking path method, method includes the following steps:
Establish threedimensional model of the driving face tunnel under earth coordinates；
According to the own dimensions data of development machine, the threedimensional model of development machine is established；
The spatial positional information of development machine is obtained, coordinate of the development machine under earth coordinates is calculated；
Obtain the azimuth of development machine；
The azimuth of coordinate and development machine based on development machine under earth coordinates, by the threedimensional model of development machine and pick
Threedimensional model into roadway workface combines, and simulates the walking path of development machine in real time；
According to the offset of the development machine walking path simulated and the development machine walking path of setting, development machine is adjusted
Direction of travel and speed.
Further, the method for building up of threedimensional model of the driving face tunnel under earth coordinates are as follows:
Attribute database and spatial database are established, the borehole data, 3D seismic data and object of driving face are obtained
Data are visited, and are stored into attribute database；Obtain the geographical distribution in physical prospecting area, the geographical location of drilling and lane height, lanewidth etc.
Data are stored into spatial database；
The mining engineering plan in driving face tunnel is determined according to the borehole data in attribute database；
Using ArcEngine three-dimensional control, and combine OpenGL technology, with mining engineering plan, attribute database and
Based on spatial database, threedimensional model of the driving face tunnel under earth coordinates is established.
Further, the azimuth of spatial positional information and development machine of the development machine in driving face tunnel is obtained
Information；
According to spatial positional information of the development machine in driving face tunnel, development machine is calculated under earth coordinates
Coordinate.
Further, the three-dimension modeling method of the development machine are as follows:
The model of development machine, the tunnel of adaptation, main structure member model and each parameters of operating part are obtained, angle is rotated
And amplitude of fluctuation information；
Made using the information of above-mentioned acquisition in conjunction with cutterhead, cantilever, shovel board gear, the type selecting of conveyer and arrangement
It draws out the body part of development machine respectively with autoCAD, cutting units, conveyer, carry mechanism, walking mechanism and rear support mechanism
Structure chart；
Pick is drawn out respectively using molding surface, solid modelling and the .net two dimension drawing in three-dimensional modeling according to structure chart
Into the three-dimensional entity model of Ji Ge mechanism.
Further, the method for adjustment of the direction of travel of the development machine and speed are as follows:
The walking path of the development machine of simulation is compared with the development machine walking path of setting；
If the walking path of the development machine of simulation and the walking path of development machine of setting shift, according to offset,
Calculate the location variation and azimuthal variation amount of development machine；
Using the location variation and azimuthal variation amount of development machine, the direction of travel of development machine and the amendment of speed are calculated
Amount；
Using the direction of travel and speed of correction amount adjustment development machine, keep development machine automatic according to the walking path planned
Walking.
A kind of development machine planning walking path device, the device include processor, memory and communication interface, the processing
Device, the memory are connected with the communication interface communication bus；
The communication interface, for receiving the spatial positional information and azimuth information of development machine；
The memory, for storing program code；
The processor for reading the program code stored in the memory, and executes following steps:
Establish threedimensional model of the driving face tunnel under earth coordinates；
According to the own dimensions data of development machine, the threedimensional model of development machine is established；
The spatial positional information of development machine is obtained, coordinate of the development machine under earth coordinates is calculated；
Obtain the azimuth of development machine；
The azimuth of coordinate and development machine based on development machine under earth coordinates, by the threedimensional model of development machine and pick
Threedimensional model into roadway workface combines, and simulates the walking path of development machine in real time；
According to the offset of the development machine walking path simulated and the development machine walking path of setting, development machine is adjusted
Direction of travel and speed.
A kind of development machine traveling control system, characterized in that include: development machine planning walking path device, further includes: control
Device processed；
Development machine planning walking path device is connect with controller, receives the space bit confidence for the development machine that controller is sent
Breath and azimuth information, and execute development machine planning walking path method as described above；
The controller receives the direction of travel of development machine and the repairing for speed of development machine planning walking path device feedback
Positive quantity adjusts the direction of travel and speed of development machine, makes development machine according to the walking path automatically walk planned.
It further, further include servo proportion connected to the controller, controller leads to according to the correction amount of the speed of travel
It crosses servo proportion and adjusts the oil mass that hydraulic pump is provided to two hydraulic motors respectively, control two shoes by two hydraulic motors
Band movement.
Further, identical when adjusting the oil mass that hydraulic pump is provided to two hydraulic motors respectively by servo proportion
When, two hydraulic motors control two crawler belt synchronous walkings；
When adjusting the oil mass difference that hydraulic pump is provided to two hydraulic motors respectively by servo proportion, two hydraulic
Two crawler belts of motor control are asynchronous, realize turning.
Further, when by servo proportion adjust respectively hydraulic pump to two hydraulic motors provide oil mass be greater than threshold
When value, the speed of travel for adjusting development machine becomes larger；
When by servo proportion adjust respectively hydraulic pump to two hydraulic motors provide oil mass be less than threshold value when, adjustment
The speed of travel of development machine reduces.
The beneficial effect of the disclosure is:
(1) disclosure realizes development machine according to the walking path automatically walk planned, solves current underground coal mine
Development machine walking path fully relies on artificial range estimation field control, can not achieve development machine in tunnel the problem of automatically walk,
It lays a good foundation for the intelligent control of development machine；
(2) disclosure is compared it, with the walking path planned by the walking path of simulation development machine to adjust
The direction of travel and speed of development machine, to automatically control development machine according to the walking path automatically walk planned.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is development machine planning walking path method flow diagram；
Fig. 2 is development machine planning walking path apparatus structure block diagram；
Fig. 3 is development machine traveling control system structural block diagram.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
One or more embodiments provide a kind of development machine planning walking path method of coal mine, as shown in Figure 1, should
Method the following steps are included:
Step S101 establishes threedimensional model of the driving face tunnel under earth coordinates.
According to the mining engineering plan of driving face, borehole data, 3D seismic data and state properties, pick is established
Into the threedimensional model of roadway workface.
Driving face tunnel be between earth's surface and ore body Drilling go out various accesses, for transport mine, ventilation and drainage,
Pedestrian and the various necessary preparation engineerings etc. newly dug for winning equipment extracted ore.
Wherein, mining engineering plan be reflection working seam or exploitation be layered in mining operation status and schedule of extraction and development and
The comprehensive drawing of geologic information is most basic most important drawing in coal production construction；Coal mine mining engineering plan is
By the mining operation and geological condition in working seam or its layering, using the principle of projection with heights, ruler is drawn by a certain percentage
Made of drawing.Include interior having on figure: field with "nine squares" technological boundary line, it is in this coal seam and related neighbouring with this coal seam is exploited
Tunnel, back production area, the area Diu Mei or the cancellation area Huo Baosun, the position of permanent traverse point and bench mark explores and shows that coal seam is buried
Data, such as drilling and exploration line area, important digging security document, such as primer sector, pools zone, coal and gas outburst area, ground
Face essential industry building, residential block, railway etc.；Adjacent mine mining operation and geologic information other than the boundary of field with "nine squares" in 100m.
The borehole data of driving face treats what production zone was drilled, the borehole data packet of driving face
Include but be not limited to the data such as orientation, inclination angle, aperture or hole depth.The digging of coal mine can be determined according to the borehole data of driving face
Engineering plan.
3D seismic data is that a certain number of excitation points and receiving point are laid on driving face, and in headwork
Carry out what earthquake data acquisition obtained on face.
State properties are using instruments such as electromagnetic instruments to the front of driving face, the left and right sides, top plate and bottom plate situation
The data detected.
In the step S101, the method for building up of threedimensional model of the driving face tunnel under earth coordinates are as follows:
S1011 establishes attribute database and spatial database, obtains borehole data, the 3-D seismics number of driving face
According to and state properties, and store into attribute database；The geographical distribution in acquisition physical prospecting area, the geographical location of drilling and lane height,
The data such as lanewidth are stored into spatial database；
S1012 determines the mining engineering plan in driving face tunnel according to the borehole data in attribute database；
S1013 using ArcEngine three-dimensional control, and combines OpenGL technology, with mining engineering plan, attribute number
Based on library and spatial database, threedimensional model of the driving face tunnel under earth coordinates is established.
Step S102 establishes the threedimensional model of development machine according to the own dimensions data of development machine.
The three-dimension modeling method of the development machine are as follows:
The model of development machine, the tunnel of adaptation, main structure member pattern and each parameters of operating part are obtained, angle is rotated
And the information such as amplitude of fluctuation；
Using the information of above-mentioned acquisition, in conjunction with the type selecting and arrangement of cutterhead, cantilever, shovel board gear, conveyer etc.,
It draws out the body part of development machine respectively using autoCAD, cutting units, conveyer, carry mechanism, walking mechanism and rear support machine
The structure chart of structure；
Pick is drawn out respectively using molding surface, solid modelling and the .net two dimension drawing in three-dimensional modeling according to structure chart
Into the three-dimensional entity model of Ji Ge mechanism.
Step S103 obtains the spatial positional information of development machine, calculates coordinate of the development machine under earth coordinates.
It is accurately fixed to spatial position real-time perfoming of the development machine in driving face tunnel by existing positioning device
Position, to obtain the location information of development machine.In at least one embodiment, by installing prism on development machine, positioning card, determining
The modes such as position device carry out the accurate positioning of the spatial position real-time perfoming to development machine in driving face tunnel, to be tunneled
Spatial positional information of the machine in driving face tunnel.
According to spatial positional information of the obtained development machine in driving face tunnel, development machine is calculated in geodetic coordinates
Coordinate under system.
Step S104 obtains the azimuth of development machine.
In at least one embodiment, pass through the azimuth of north finder real-time measurement development machine, the azimuth of the development machine
For the angle of development machine middle line and direct north.
Step S105, coordinate and step S104 of the development machine obtained based on step S103 under earth coordinates are obtained
The azimuth of development machine, the driving face tunnel that the threedimensional model of the step S102 development machine established and step S101 are established
Threedimensional model combine, in real time simulate development machine walking path.
Step S106, by the walking path of the step S105 development machine simulated compared with the development machine walking path of setting
Compared with if the walking path of the development machine of the walking path and setting of the development machine of simulation shifts, according to offset, calculating pick
Into the location variation and azimuthal variation amount of machine, the location variation and azimuthal variation amount of development machine, adjustment driving are utilized
The direction of travel and speed of machine make development machine according to the walking path automatically walk planned.
In the step S106, the direction of travel of development machine and the method for adjustment of speed specifically:
The walking path of the development machine of simulation is compared with the development machine walking path of setting；
If the walking path of the development machine of simulation and the walking path of development machine of setting shift, according to offset,
Calculate the location variation and azimuthal variation amount of development machine；
Using the location variation and azimuthal variation amount of development machine, the direction of travel of development machine and the amendment of speed are calculated
Amount；
Using the direction of travel and speed of correction amount adjustment development machine, keep development machine automatic according to the walking path planned
Walking.
The development machine planning walking path method that the present embodiment proposes, realizes development machine according to the walking path planned
Automatically walk solves current underground coal mine development machine walking path and fully relies on artificial range estimation field control, can not achieve pick
It the problem of automatically walk, lays a good foundation into machine in tunnel for the intelligent control of development machine.
A kind of development machine planning walking path device is also provided in one or more embodiments, as shown in Fig. 2, the device
Including at least one processor 201, memory 202, peripheral device interface 203, input/output subsystem 204 and communication line
205。
In fig 2 it is indicated by arrows that communication and data transmission between can be carried out the constituent element of computer system, and it can benefit
It is realized with high-speed serial bus, parallel bus, storage area network and/or other communication technologys appropriate.
Memory 202 may include operating system 206 and development machine planning walking path routine 207.For example, memory 202 can wrap
Include high-speed random access memory, disk, static random access memory, dynamic random access memory, read-only memory, sudden strain of a muscle
It deposits or non-voltile memory.
Peripheral device interface 203 can be by the input and/or output peripheral equipment of processor 201, also, input/output is sub
System 204 can combine a variety of input/output peripheral equipments with peripheral device interface 203.For example, input/output subsystem
204 may include display, keyboard, mouse, printer or as needed for by the peripheral equipments such as camera, various sensors with
The controller that peripheral device interface 204 combines.
Communication line 205 can be communicated using at least one interface with other computer systems, such as with remote control system
System is communicated.
Development machine row can be performed by implementing the software module being stored in memory 202 or instruction set architecture in processor 201
Walk the multiple functions of path planning apparatus and processing data.Processor 201 is structured to execute described in above method part
Development machine planning walking path method.
A kind of development machine walking of specific development machine planning walking path function is also provided in one or more embodiments
Control system, as shown in figure 3, the development machine traveling control system includes: primary processor 301 and controller MCU302.
The primary processor 301 is above-mentioned development machine planning walking path device, receives the development machine that controller uploads
Spatial positional information and information, and execute following steps:
Establish threedimensional model of the driving face tunnel under earth coordinates；
According to the own dimensions data of development machine, the threedimensional model of development machine is established；
The spatial positional information of development machine is obtained, coordinate of the development machine under earth coordinates is calculated；
Obtain the azimuth of development machine；
The azimuth of coordinate and development machine based on development machine under earth coordinates, by the threedimensional model of development machine and pick
Threedimensional model into roadway workface combines, and simulates the walking path of development machine in real time；
According to the offset of the development machine walking path simulated and the development machine walking path of setting, development machine is adjusted
Direction of travel and speed.
The controller 302 is connect with positioning device, north finder and servo proportion, and controller 202 passes through positioning device
The spatial positional information and azimuth information of development machine are acquired with north finder, and is uploaded to primary processor 301, also reception main process task
The correction amount that device 301 is fed back, adjusts the direction of travel and speed of development machine, keeps development machine automatic according to the walking path planned
Walking.
The working principle of digger traveling mechanism is the high pressure oil rotation that hydraulic motor is sent by hydraulic pump, hydraulic motor
Slow down to obtain low rotation speed large torque by deceleration mechanism connected to it, hydraulic motor, deceleration mechanism and sprocket wheel be made into one it is whole
The rotation band movable sprocket of body, hydraulic motor rotates, the master track pin occlusion of the gear teeth and crawler belt of sprocket wheel, to realize that development machine is being carried out
Take walking.
Controller by servo proportion adjust respectively hydraulic pump to oil mass, pass through two hydraulic motors and control two shoes
Band movement.When identical to oil mass, two crawler belt synchronous walkings；When to oil mass difference, turning is realized.When big to oil mass, development machine
The speed of travel is fast；To oil mass hour, the development machine speed of travel is slow.
Specifically, controller adjusts hydraulic pump by servo proportion to two according to the correction amount of the speed of travel respectively
The oil mass that hydraulic motor provides controls two crawler belt movements by two hydraulic motors.
When by servo proportion adjust respectively hydraulic pump to two hydraulic motors provide oil mass it is identical when, two are hydraulic
Two crawler belt synchronous walkings of motor control；
When adjusting the oil mass difference that hydraulic pump is provided to two hydraulic motors respectively by servo proportion, two hydraulic
Two crawler belts of motor control are asynchronous, realize turning；
When by servo proportion adjust respectively hydraulic pump to two hydraulic motors provide oil mass be greater than threshold value when, adjustment
The speed of travel of development machine becomes larger；
When by servo proportion adjust respectively hydraulic pump to two hydraulic motors provide oil mass be less than threshold value when, adjustment
The speed of travel of development machine reduces.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of development machine planning walking path method, characterized in that the following steps are included:
Establish threedimensional model of the driving face tunnel under earth coordinates；
According to the own dimensions data of development machine, the threedimensional model of development machine is established；
The spatial positional information of development machine is obtained, coordinate of the development machine under earth coordinates is calculated；
Obtain the azimuth of development machine；
The azimuth of coordinate and development machine based on development machine under earth coordinates, by the threedimensional model of development machine and heading driver
The threedimensional model for making face tunnel combines, and simulates the walking path of development machine in real time；
According to the offset of the development machine walking path simulated and the development machine walking path of setting, the walking of development machine is adjusted
Direction and speed.
2. development machine planning walking path method according to claim 1, characterized in that the driving face tunnel exists
The method for building up of threedimensional model under earth coordinates are as follows:
Attribute database and spatial database are established, the borehole data, 3D seismic data and physical prospecting number of driving face are obtained
According to, and store into attribute database；The geographical distribution in physical prospecting area, the geographical location of drilling and lane height, lanewidth data are obtained, is deposited
It stores up in spatial database；
The mining engineering plan in driving face tunnel is determined according to the borehole data in attribute database；
Using ArcEngine three-dimensional control, and OpenGL technology is combined, with mining engineering plan, attribute database and space
Based on database, threedimensional model of the driving face tunnel under earth coordinates is established.
3. development machine planning walking path method according to claim 1, characterized in that
Obtain the azimuth information of spatial positional information and development machine of the development machine in driving face tunnel；
According to spatial positional information of the development machine in driving face tunnel, seat of the development machine under earth coordinates is calculated
Mark.
4. development machine planning walking path method according to claim 1, characterized in that the threedimensional model of the development machine
Method for building up are as follows:
Obtain the model of development machine, the tunnel of adaptation, main structure member model and each parameters of operating part, rotate angle and
Amplitude of fluctuation information；
It is used using the information of above-mentioned acquisition in conjunction with cutterhead, cantilever, shovel board gear, the type selecting of conveyer and arrangement
AutoCAD draws out the body part of development machine respectively, cutting units, conveyer, carries mechanism, walking mechanism and rear support mechanism
Structure chart；
Development machine is drawn out respectively using molding surface, solid modelling and the .net two dimension drawing in three-dimensional modeling according to structure chart
The three-dimensional entity model of each mechanism.
5. development machine planning walking path method according to claim 1, characterized in that the direction of travel of the development machine
With the method for adjustment of speed are as follows:
The walking path of the development machine of simulation is compared with the development machine walking path of setting；
If the walking path of the development machine of the walking path and setting of the development machine of simulation shifts, according to offset, calculate
The location variation and azimuthal variation amount of development machine；
Using the location variation and azimuthal variation amount of development machine, the direction of travel of development machine and the correction amount of speed are calculated；
Using the direction of travel and speed of correction amount adjustment development machine, make development machine according to the automatic row of the walking path planned
It walks.
6. a kind of development machine planning walking path device, characterized in that including processor, memory and communication interface, the place
Reason device, the memory are connected with the communication interface communication bus；
The communication interface, for receiving the spatial positional information and azimuth information of development machine；
The memory, for storing program code；
The processor for reading the program code stored in the memory, and is executed as any in claim 1 to 5
Method described in.
7. a kind of development machine traveling control system, characterized in that include: device as claimed in claim 6, further includes: control
Device；
Device as claimed in claim 6 is linked with controller, receives spatial positional information and the side of the development machine that controller is sent
Azimuth angle information, and execute the method as described in any one of claims 1 to 5；
The controller receives the direction of travel of the development machine of device feedback as claimed in claim 6 and the correction amount of speed, adjusts
The direction of travel and speed of whole development machine make development machine according to the walking path automatically walk planned.
8. development machine traveling control system according to claim 7, characterized in that further include servo connected to the controller
Proportioning valve, controller adjust hydraulic pump by servo proportion to two liquid according to the correction amount of direction of travel and speed respectively
The oil mass that pressure motor provides controls two crawler belt movements by two hydraulic motors.
9. development machine traveling control system according to claim 7, characterized in that adjusted respectively when by servo proportion
When the oil mass that hydraulic pump is provided to two hydraulic motors is identical, two hydraulic motors control two crawler belt synchronous walkings；
When adjusting the oil mass difference that hydraulic pump is provided to two hydraulic motors respectively by servo proportion, two hydraulic motors
It is asynchronous to control two crawler belts, realizes turning.
10. development machine traveling control system according to claim 7, characterized in that adjusted respectively when by servo proportion
When section hydraulic pump is greater than threshold value to the oil mass that two hydraulic motors provide, the speed of travel for adjusting development machine becomes larger；
When by servo proportion adjust respectively hydraulic pump to two hydraulic motors provide oil mass be less than threshold value when, adjustment driving
The speed of travel of machine reduces.
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| CN112901162A (en) * | 2021-01-15 | 2021-06-04 | 临沂矿业集团菏泽煤电有限公司 | Chassis system for mine mining equipment and control method thereof |
| CN115163107A (en) * | 2022-09-05 | 2022-10-11 | 三一重型装备有限公司 | Cutting arm control method and device, heading machine and heading machine control system |
| CN117516550A (en) * | 2024-01-04 | 2024-02-06 | 三一重型装备有限公司 | Path planning method and system, and readable storage medium |
| CN117516550B (en) * | 2024-01-04 | 2024-03-15 | 三一重型装备有限公司 | Path planning method and system, and readable storage medium |
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