CN111173510A - Intelligent control method and system for fully mechanized mining equipment for complex condition working face - Google Patents
Intelligent control method and system for fully mechanized mining equipment for complex condition working face Download PDFInfo
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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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an intelligent decision control method and system for fully mechanized mining equipment for a complex condition working face, aiming at the problems of equipment interference, abnormal mechanical state and the like caused by excessive error accumulation after multi-cycle of an automatic mining system under the complex geological condition at present. Comprehensively measuring 15 space parameters and mine pressure data of the real-time operation state of the equipment, simulating a real mining process through data superposition, calculating equipment abnormity caused by complex geological conditions and predicting the surrounding rock state, providing an error elimination and surrounding rock control method based on a known process method and a historical data learning result, and predicting subsequent mining control parameters; and optimizing and deciding the control parameters of the underground fully-mechanized mining equipment based on the real data and the virtual simulation result, so that the equipment control under the complex geology can be ensured to be matched with the actual environmental conditions, and the running quality of the fully-mechanized mining equipment is greatly improved.
Description
Technical Field
The invention relates to the field of coal mine fully-mechanized coal mining face equipment control, in particular to an intelligent decision control method and system for fully-mechanized coal mining face equipment.
Background
Coal is continuously developed in large scale for decades, shallow resources are less and less, and the mining depth is continuously increased. The deep mining face is limited by multiple factors such as high ground pressure, high ground temperature and complex geological conditions, is used as a working face fully-mechanized mining complete set of equipment (a hydraulic support, a coal mining machine, a scraper conveyor, a reversed loader, an advance support equipment and the like) of a core operation system for underground mining, is in a dynamic change environment of surrounding rock deformation and mine pressure impact, and cannot keep normal spatial pose and mechanical state due to random inclination and dislocation of equipment groups which are originally orderly and harmonious in queue along with the conditions of a top floor and a coal bed. The application range of the existing automatic mining equipment system is limited, and the system is difficult to adapt to the application environment with large dynamic changes.
The existing underground fully-mechanized coal mining face centralized control system is connected with a single machine control system of each device, but only collects the information of each device together, does not have further data mining and application, and cannot perform intelligent decision and fully-mechanized coal mining equipment cooperative control. The invention patent 201910064818.2 discloses a virtual reality physical engine-based fully mechanized mining equipment cooperative propulsion simulation method, which models and repairs coal beds and equipment of a fully mechanized mining working face in the virtual reality physical engine, updates virtual coal bed data information in real time and truly reproduces the propulsion process of underground equipment. The invention patent 201711138800.X discloses an attitude solving and predicting method for fully-mechanized coal mining face mining and transporting equipment, which can solve attitude data of a coal mining machine and a scraper conveyor under the working condition that a fully-mechanized coal mining face bottom plate is uneven, and predict the shape of the scraper conveyor in the next cycle and the working state of the coal mining machine according to a cutting top bottom plate curve of the current cycle of the coal mining machine. These methods only provide a way to map and simulate real equipment into virtual reality, which, while able to guide the operation of fully mechanized mining equipment, cannot be directly controlled.
The invention patent 201811422886.3 discloses an unmanned intelligent fully-mechanized coal mining face, which comprises a face body, a signal receiving and transmitting mechanism, a control mechanism, a monitoring mechanism and the like, and the unmanned fully-mechanized coal mining face is realized by the mechanisms instead of manpower. The invention patent 201510527484.X provides an implementation method of a centralized control platform for large equipment of a coal mine fully-mechanized coal mining face, and the method is based on a video monitoring system to implement centralized control for large equipment of a coal mine underground fully-mechanized coal mining face. The methods are based on sensors, underground network technologies, video technologies and the like to carry out centralized control on the fully mechanized coal mining face equipment, but the control methods are simple, feedback control is carried out according to sensor signals, comprehensive utilization of data and modeling of the whole fully mechanized coal mining face are lacked, and control over the fully mechanized coal mining face equipment under complex conditions is difficult to deal with.
Disclosure of Invention
In view of the above, the invention provides an intelligent decision control method and system for fully-mechanized mining equipment of a working face under a complex condition, which can complete optimization and decision of underground fully-mechanized mining equipment control parameters according to real data and a virtual simulation result, thereby ensuring that equipment control under the complex geology can be matched with an actual environment condition, and greatly improving the running quality of the fully-mechanized mining equipment.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an intelligent decision control method and system for fully mechanized mining equipment for a complex condition working face, which comprises a fully attitude measurement system for fully mechanized mining equipment, a decision-making module and a decision-making module, wherein the fully attitude measurement system is used for measuring 15 necessary parameters which comprehensively describe the real-time running state of the equipment;
the mine pressure monitoring system is used for acquiring and analyzing mine pressure data of the fully mechanized coal mining face and providing a data basis for the analysis decision system;
the virtual simulation system is used for receiving necessary parameters obtained by the fully-mechanized mining equipment full-attitude measurement system, loading mine pressure data which is obtained by monitoring of the mine pressure monitoring system and is along the direction of a working face, updating the mine pressure data along with time, and driving the equipment three-dimensional model to simulate a real mining process;
the analysis decision-making system is used for calculating abnormal equipment position deviation and random direction inclination caused by complex geological conditions, predicting deformation, caving, rib caving and the like of surrounding rocks (a top plate, a coal wall and a bottom plate), providing a control strategy for automatically eliminating pose errors and surrounding rock changes based on a known process method and a historical data learning result, and determining a next coal cutting cycle control parameter;
and the distributed control system is used for carrying out full-flow cooperative management and control, sending equipment state information and operating parameters to the coal mining machine, the hydraulic support and the scraper conveyor and finishing comprehensive decision control of the fully mechanized coal mining equipment system.
Preferably, the fully mechanized mining equipment full-attitude measurement system is arranged under a working surface global coordinate system, and simultaneously obtains the minimum parameter set describing the equipment per se and the mutual space constraint and pose relationship through an inertial navigation device, an inclination angle and displacement sensor and an image analysis method: the method comprises the steps of three rotation inclination angles and the height of a rocker arm of the coal mining machine; the hydraulic support comprises a hydraulic support base inclination angle, a hydraulic support top beam inclination angle, a support height, a pushing distance and a side protection state; the scraper conveyer is horizontally bent, the bottom plate is fluctuated, and the torsion angle is changed; the equipment room has 3 relative poses including the distance between a roller of the coal mining machine and a side protection plate of the bracket, the distance between the coal mining machine and a machine head of the scraper conveyor, and the included angle between a middle groove of the scraper conveyor and a push rod of the bracket.
Preferably, the mine pressure monitoring system has a working face mine pressure data acquisition function, and also has a complex geological condition working face mine pressure data analysis and prediction function based on deep learning or an expert feature library, and subsequent mining control parameters are calculated together with equipment pose data.
Preferably, the virtual simulation system is developed by adopting a modular idea, and is provided with a motion simulation module driven based on real data, a scene generation module, a simulation scene and a feedback control module. The full-attitude measurement system enters a real-time database through a bottom data interface for storage and analysis, and interface parameters correspond to simulation model driving parameters one to one. The motion simulation module filters data which have larger deviation and do not meet the actual working condition, stores reliable data, completes the equipment running state collaborative simulation and deduction calculation, drives the virtual model to move, and can generate historical data variation trend, equipment key parameter time-shifting curve and the like; after receiving the motion simulation instruction, the scene generation module acquires geological conditions and mine pressure monitoring system data through a data interface to reconstruct an underground three-dimensional geological environment and transmits the reconstructed scene data into a simulation scene; generating a simulation scene by the equipment operation data and the geological environment data under the support of an analysis decision system, and analyzing and predicting; and the decision result is transmitted back to the feedback control module through the virtual link to complete the display of the graphical interface, and the feedback control is realized on the actual equipment of the working face through the data interface.
Preferably, the analysis decision system is the core of the background operation service of the whole system, models specific underground working scenes, equipment objects and process flows based on real data and virtual simulation, and operates the intelligent decision control method of the fully-mechanized mining equipment to complete the optimization and decision of the control parameters of the fully-mechanized mining equipment.
Preferably, the distributed control system comprises a central main controller and an application program expansion interface module, and a controller and a coding and decoding module of the coal mining machine, the hydraulic support and the scraper conveyor, wherein the module establishes an integral framework of a data link layer, a protocol layer and an application layer based on the underground industrial Ethernet, is connected with the equipment and completes control signal transmission, interface communication and distributed coordination control.
Preferably, the distributed control system has a three-layer architecture of a data link layer, a protocol layer and an application layer, and respectively corresponds to the functions of system signal transmission, interface communication and control; the protocol layer system interface can be compatible with various communication protocols and can exchange information with equipment of different manufacturers through the coding and decoding modules of the equipment; the application layer is provided with an API (application program extension interface), and realizes the unified control of hardware of different manufacturers by calling the bottom control command in the function library.
The invention also provides an intelligent decision control method for the fully-mechanized mining equipment, which fuses the space pose, the surrounding rock geological parameters and the mine pressure data of the operation process of the fully-mechanized mining equipment on the working face together, forms a space field model and a stress field model for the operation of the equipment along the time dimension, superposes the two fields of data to determine the equipment states of the surrounding rock form, the working face mining height, the roof caving and straightness, the upward movement, the downward movement, the upward movement and the downward movement at a certain moment, and judges whether the equipment states are normal or not; based on the goals of recovering the normal state, improving the operation efficiency and adaptability of the equipment, the operation control parameters such as the support resistance of the hydraulic support, the optimal support moving time, the coal cutting speed and the mining height of the coal mining machine, the retraction time of the side protection plate, the sinking amount of the top plate, the pushing distance of the scraper conveyor, the upward-fleeing and downward-sliding amount and the like are obtained through advanced calculation; and after each cutting cycle is finished, the model is automatically revised again and the forecast calculation data is updated according to the actual data, the goodness of fit of the preset control and the actual geological conditions is ensured, and the running quality of the working face is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a block diagram of the intelligent decision control system of the fully mechanized mining equipment for the complex condition working face.
Fig. 2 is a diagram for describing the full-attitude composition of the fully mechanized mining equipment of the working face.
FIG. 3 is a plan for measuring the full attitude of the fully mechanized mining equipment of the working face.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are merely exemplary of some, but not all embodiments of the invention, and that numerous specific details are set forth in order to provide a thorough understanding of the invention. In addition, some methods, means, components and applications thereof known to those skilled in the art are not described in detail in order to highlight the gist of the present invention, but the implementation of the present invention is not affected. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the intelligent decision control system for fully mechanized mining equipment for a complex-condition working face provided by the embodiment of the invention is composed of a block diagram, and is used for completing optimization and decision of control parameters of downhole fully mechanized mining equipment and improving the operation quality of the fully mechanized mining equipment.
The intelligent decision control system for the fully mechanized mining equipment comprises a fully mechanized mining equipment full attitude measurement system 100 for measuring 15 necessary parameters for comprehensively describing the real-time running state of the equipment;
the mine pressure monitoring system 200 is used for acquiring and analyzing mine pressure data of the fully mechanized coal mining face and providing a data basis for an analysis decision system;
the virtual simulation system 300 is used for receiving necessary parameters obtained by the fully-mechanized equipment full-attitude measurement system, loading mine pressure data in the working face direction obtained by monitoring of the mine pressure monitoring system, updating the mine pressure data along with time, and driving the equipment three-dimensional model to simulate a real mining process;
the analysis decision-making system 400 is used for calculating abnormal equipment position deviation and random direction inclination caused by complex geological conditions, predicting deformation, caving, rib caving and the like of surrounding rocks (a top plate, a coal wall and a bottom plate), providing a control strategy for automatically eliminating pose errors and surrounding rock changes based on a known process method and a historical data learning result, and determining a next coal cutting cycle control parameter;
and the distributed control system 500 is used for performing full-flow cooperative management and control, sending equipment state information and operating parameters to the coal mining machine, the hydraulic support and the scraper conveyor, and completing comprehensive decision control of the fully mechanized coal mining equipment system.
Specifically, as shown in fig. 2, the fully mechanized mining equipment full-pose measurement system is installed in a global coordinate system of a working surface, and obtains a minimum parameter set describing the equipment itself and the mutual spatial constraint and pose relationship through an inertial navigation device, an inclination angle and displacement sensor and an image analysis method, and the mathematical expression of the system is as follows:
wherein the content of the first and second substances,S i the method comprises the following steps of providing 4 position posture parameters of the coal mining machine, wherein the position posture parameters comprise three rotation inclination angles and the height of a rocker arm;H j setting 5 hydraulic support position and posture parameters including base inclination angle around Y axis, top beam inclination angle, support height, pushing distance and side protection state;C k the position and posture parameters of the scraper conveyor comprise horizontal bending, bottom plate fluctuation (rotation around the Y axis) and torsion angle;R m the device is 3 relative poses between devices, including the distance between a roller of a coal mining machine and a side protection plate of a support, the distance between the coal mining machine and a machine head of a scraper conveyor, and the included angle between a middle groove of the scraper conveyor and a push rod of the support.
Specifically, as shown in fig. 3, the minimum parameter set describing the equipment itself and the mutual spatial constraint and pose relationship can be obtained by measuring through a fusion vision scheme. Inertial navigation system installed on coal mining machine for measuring rotation angle of inertial navigation system along three axesS 1 、S 2 、S 3 High precision shaft encoder for measuring rocker arm rotation angleS 4 (ii) a Method for measuring walking displacement of coal mining machine by walking wheel shaft encoderR 14 (ii) a Mounting tilt sensors on the top beam, the connecting rod and the base of the hydraulic support to measure the integral attitude of the supportH 5 AndH 6 and calculating the height of the supportH 7 (ii) a A displacement sensor is arranged on the support advancing jack to measure the advancing distanceH 8 The horizontal bending degree of a fiber bragg grating bending measurement device monitor is arranged on the scraper conveyorC 10 ；C 11 AndC 12 byS 1 ，S 3 AndH 5 obtaining by fusion calculation; distance between shearer and supportR 13 Angle between scraper conveyor and supportR 15 And the state of the upper protection plateH 9 The image collected by the vision sensor can be analyzed and calculated. The sensors are firstly processed by respective calculation modules to obtain accurate and reliable values, and then are sent to a unified full attitude and attitude fusion calculation system and are connected to a virtual simulation model 310 of the virtual simulation system 300.
Specifically, the visual measuring devices are arranged on the basis of end hydraulic supports, one visual measuring device is arranged at intervals of 5-10 hydraulic supports, the visual measuring devices are used for measuring the state of the side wall protecting plate of the hydraulic supports, the relative pose of a coal mining machine and the hydraulic supports, the relative pose of the hydraulic supports and a scraper conveyor, and the straightness of a working face can be measured through fusion of the multi-visual measuring devices. The vision measuring device is corrected by the bracket position and posture monitoring device where the vision measuring device is installed. The inertial navigation system is arranged on the coal mining machine, the pose measurement of the coal mining machine and the straightness measurement of the scraper conveyor can be realized by combining a shaft encoder of the coal mining machine, and the precision requirement and the correction time of the inertial navigation system are reduced under the condition of vision measurement fusion correction.
Specifically, the mine pressure monitoring system 200 has a working face mine pressure data acquisition function, a complex geological condition working face mine pressure data analysis and prediction function based on deep learning or an expert feature library, and subsequent mining control parameters are calculated together with equipment pose data.
Specifically, the virtual simulation system 300 is developed by adopting a modular concept, and includes a motion simulation module 310 driven by real data, a scene generation module 320, a simulation scene 330, and a feedback control module 340.
The full-pose measurement system 100 enters a real-time database through a bottom data interface for storage and analysis, and interface parameters correspond to simulation model driving parameters one to one. The motion simulation module 310 filters data which have large deviation and do not meet actual working conditions, stores reliable data, completes equipment running state collaborative simulation and deduction calculation, drives a virtual model to move, and can generate historical data variation trend, equipment key parameter time-shifting curves and the like; after receiving the motion simulation instruction, the scene generation module 320 acquires geological conditions and mine pressure monitoring system data through the data interface to reconstruct the underground three-dimensional geological environment, and transmits the reconstructed scene data into the simulation scene; generating a simulation scene by the equipment operation data and the geological environment data under the support of the analysis decision system 330, and carrying out analysis and prediction; the decision result is transmitted back to the feedback control module 340 through the virtual link to complete the graphical interface display, and the feedback control is realized on the actual equipment of the working face through the data interface.
Specifically, the motion simulation module 310 includes hydraulic support motion simulation, coal mining machine motion simulation, scraper conveyor motion simulation, and fully mechanized equipment group cooperative motion simulation. The motion simulation state of the hydraulic support mainly comprises the following steps: the device comprises a side protection plate, a descending column, a moving frame, a lifting column, an extending side protection plate and a pushing slide. The whole hydraulic support moves in a coordinated manner in the process of lifting and lowering the column. The single machine movement process of the coal mining machine mainly comprises the following steps: the method comprises the following steps of cutting a coal layer by a roller, linearly moving a coal cutter, rotating a rocker arm, steering the coal cutter at the end point of a roadway and advancing the cutting depth of the coal cutter. The coal mining machine is divided into 3 node levels according to different movement modes of a machine body, a rocker arm and a roller of the coal mining machine, wherein the machine body is a father node, the rocker arm is a primary child node, and the roller is a secondary child node. And creating a node tree according to the logic controlled by the coal mining machine, and driving each child node of the father node when the father node is operated, wherein each child node is operated relative to the father node. And loading the scraper conveyor model into a simulation system in a segmented establishment mode. In the pushing and sliding process of the hydraulic support, the scraper conveyor moves forwards by taking the hydraulic support as a pivot, and the scraper conveyor is in an approximately bent state under the action of time difference of pushing oil cylinders of different hydraulic supports. The fully-mechanized mining equipment group cooperative motion simulation is carried out on the basis of single-machine equipment motion simulation, each model and each part in a scene are independent, and the motion between the models and each part can be realized by establishing a parent-child relationship and a motion driving equation.
Specifically, the scene generation module 320 completes three-dimensional modeling of the fully mechanized mining equipment by using three-dimensional software such as Creo, Solidworks, UG, and the like, and imports Unity 3D. And performing parent-child relationship constraint on different models and different parts in the Unity3D, establishing a coordinate system and a collision motion rule, and finishing the establishment of the virtual simulation model of the fully mechanized mining equipment of the working face. And completing construction of the surrounding rock environment of the working face by using a Line render Line Renderer and a Mesh grid component through a Unity3D software scene generation module.
Specifically, the scene simulation module 330 controls the movement of each device and its components in the virtual simulation system based on the actual condition perception data, and reflects the movement state of each device in the coal mining process in real time.
Specifically, the feedback control module 340 feeds back the control parameters obtained by analysis, calculation, simulation and optimization to the scene generation module 320 and the motion simulation module 310 through the virtual control link, and the scene generation module 320 and the motion simulation module 310 control the fully mechanized mining equipment in the virtual simulation system to operate according to the control signals generated by the optimized data. If the operation result of the fully mechanized mining equipment does not accord with the optimization expectation, the data is transmitted back to the decision analysis system 330 to reenter the parameter optimization calculation process until the expected control effect is achieved. And the motion simulation module 310 confirms that the operation parameters of the fully mechanized mining equipment are correctly optimized and then transmits the parameters to the gateway centralized control center of the coal face corresponding to the virtual simulation system through the network, and the gateway centralized control center transmits the obtained control parameters to the fully mechanized mining equipment controller through the underground looped network. And the comprehensive mining controller judges the received control signal, and if the control parameters do not accord with the working conditions of the current comprehensive mining controller, the comprehensive mining controller sends a feedback signal to the virtual simulation system to request recalculation of the control parameters until correct control parameters are received. And after being confirmed by the control system of the equipment, the control parameters are transmitted to the fully mechanized mining equipment executing mechanism through field bus communication protocols such as Profibus, CAN, Modbus, RS232/485 and the like, and a control command generated by the virtual simulation system is executed.
Specifically, the analysis decision system 400 is the core of the background operation service of the whole system, models specific underground working scenes, equipment objects and process flows based on real data and virtual simulation, and operates an intelligent decision control method of fully-mechanized mining equipment to complete optimization and decision of control parameters of the underground fully-mechanized mining equipment.
Specifically, the analysis decision system 400 may establish a coupling model of the equipment space pose and the stress state under general conditions, calculate a pressure controllable region and a pose instability region of the equipment space pose and the pose instability region according to different control parameters, and determine a group of optimal control parameters including hydraulic support resistance, optimal support moving time, coal cutting speed and coal mining height of a coal mining machine, time for retracting and retracting a side protection plate, top plate sinking amount, pushing distance of a scraper conveyor, upward movement and downward movement amount and the like by combining a specific adjustment target. The parameter set can be transmitted back to the simulation model to simulate the mining effect before actual operation, so that a conflict and potential risk mining process is avoided.
Specifically, the distributed control system 500 includes a central main controller and an application program expansion interface module, and a controller and a coding/decoding module of the coal mining machine, the hydraulic support and the scraper conveyor, which establishes an overall architecture of a data link layer, a protocol layer and an application layer based on the downhole industrial ethernet, connects the above devices, and completes control signal transmission, interface communication and distributed coordination control.
Specifically, the distributed control system 500 has a three-layer architecture of a data link layer, a protocol layer, and an application layer, and corresponds to the system signal transmission, interface communication, and control functions, respectively; the protocol layer system interface can be compatible with various communication protocols and can exchange information with equipment of different manufacturers through the coding and decoding modules of the equipment; the application layer is provided with an API (application program extension interface), and realizes the unified control of hardware of different manufacturers by calling the bottom control command in the function library.
The embodiment of the invention also provides an intelligent decision control method for the fully-mechanized mining equipment, which fuses the space pose, the surrounding rock geological parameters and the mine pressure data of the operation process of the fully-mechanized mining equipment on the working face together, forms a space field model and a stress field model for the operation of the equipment along the time dimension, and superposes the two fields of data to determine the equipment states of surrounding rock shape, working face mining height, roof caving and straightness, upward movement, downward movement and the like at a certain moment and judges whether the equipment states are normal or not; based on the goals of recovering the normal state, improving the operation efficiency and adaptability of the equipment, the operation control parameters such as the support resistance of the hydraulic support, the optimal support moving time, the coal cutting speed and the mining height of the coal mining machine, the retraction time of the side protection plate, the sinking amount of the top plate, the pushing distance of the scraper conveyor, the upward-fleeing and downward-sliding amount and the like are obtained through advanced calculation; and after each cutting cycle is finished, the model is automatically revised again and the forecast calculation data is updated according to the actual data, the goodness of fit of the preset control and the actual geological conditions is ensured, and the running quality of the working face is improved.
The intelligent decision control system for the complex condition working face provided by the embodiment of the invention completes optimization and decision of the control parameters of the underground fully-mechanized mining equipment based on real data and a virtual simulation result, thereby ensuring that the equipment control under complex geology can be matched with actual environmental conditions, greatly improving the operation quality of the fully-mechanized mining equipment, meeting the requirement of coal mine workers on the automatic control of the fully-mechanized mining working face, filling the blank of the intelligent decision control system for the fully-mechanized mining equipment in the market, and having important significance for the research and development of the intelligent system for the coal mining working face.
It should be noted that, in the present specification, all the embodiments are described in a related manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Moreover, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An intelligent decision control method and system for fully mechanized mining equipment of a complex condition working face are characterized in that: the comprehensive mining equipment comprehensive attitude measurement system comprises a comprehensive mining equipment total attitude measurement system, a mine pressure monitoring system, a virtual simulation system, an analysis decision system and a distributed control system; the fully-mechanized mining equipment full-attitude measurement system measures 15 necessary parameters which comprehensively describe the real-time running state of the equipment; a mine pressure monitoring system collects and analyzes mine pressure data of a coal face; the virtual simulation system loads mine pressure data which is obtained by monitoring of the mine pressure monitoring system and is along the direction of the working face, updates the mine pressure data along with time, and drives a device three-dimensional model to simulate a real mining process according to the data obtained by the fully-mechanized mining equipment full-pose measuring system; the analysis decision-making system calculates abnormal deviation of equipment position, random inclination of direction, deformation, caving, rib caving and the like of surrounding rocks (a top plate, a coal wall and a bottom plate) caused by complex geological conditions, gives a control strategy for automatically eliminating pose errors and surrounding rock changes based on a known process method and a historical data learning result, and determines a next coal cutting cycle control parameter; and the distributed control system performs full-flow cooperative management and control, sends equipment state information and operating parameters to the coal mining machine, the hydraulic support and the scraper conveyor, and implements comprehensive decision control of the fully mechanized mining equipment system.
2. The intelligent decision-making control method for fully mechanized mining equipment according to claim 1, characterized in that: integrating the space pose, the surrounding rock geological parameters and the mine pressure data of the fully mechanized mining equipment in the operation process of the working face, forming a space field model and a stress field model of the equipment operation along the time dimension, superposing the two fields of data to determine the equipment states of surrounding rock shape, working face mining height, roof caving, straightness, upward movement, downward movement and the like at a certain moment, and judging whether the equipment states are normal or not; based on the goals of recovering the normal state, improving the operation efficiency and adaptability of the equipment, the operation control parameters such as the support resistance of the hydraulic support, the optimal support moving time, the coal cutting speed and the mining height of the coal mining machine, the retraction time of the side protection plate, the sinking amount of the top plate, the pushing distance of the scraper conveyor, the upward-fleeing and downward-sliding amount and the like are obtained through advanced calculation; and after each cutting cycle is finished, the model is automatically revised again and the forecast calculation data is updated according to the actual data, the goodness of fit of the preset control and the actual geological conditions is ensured, and the running quality of the working face is improved.
3. The fully mechanized mining equipment full attitude measurement system of claim 1, wherein: installing a uniform measurement system under a working face global coordinate system; simultaneously acquiring a minimum parameter set for describing the equipment, the mutual spatial constraint and the pose relationship by an inertial navigation device, an inclination angle and displacement sensor and an image analysis method: the method comprises the steps of three rotation inclination angles and the height of a rocker arm of the coal mining machine; the hydraulic support comprises a hydraulic support base inclination angle, a hydraulic support top beam inclination angle, a support height, a pushing distance and a side protection state; the scraper conveyer is horizontally bent, the bottom plate is fluctuated, and the torsion angle is changed; the equipment room has 3 relative poses including the distance between a roller of the coal mining machine and a side protection plate of the bracket, the distance between the coal mining machine and a machine head of the scraper conveyor, and the included angle between a middle groove of the scraper conveyor and a push rod of the bracket.
4. The mine pressure monitoring system according to claim 1, wherein: besides the function of acquiring the mine pressure data of the working face, the mine pressure data of the working face under the complex geological conditions based on deep learning or an expert feature library is analyzed and predicted, and the mine pressure data and the equipment pose data are used for calculating the subsequent mining control parameters.
5. The virtual simulation system of claim 1, wherein: the system is developed by adopting a modular idea, and is provided with a motion simulation module, a scene generation module, a simulation scene and a feedback control module which are driven based on real data;
the full-attitude measurement system enters a real-time database through a bottom data interface for storage and analysis, and interface parameters correspond to simulation model driving parameters one by one; the module filters data which have larger deviation and do not meet the actual working condition, stores reliable data, completes the collaborative simulation and deduction calculation of the running state of the equipment and drives the virtual model to move; historical data change trend, equipment key parameter time-shifting curves and the like can be generated; after receiving the motion simulation instruction, the scene generation module acquires geological conditions and mine pressure monitoring system data through a data interface to reconstruct an underground three-dimensional geological environment and transmits the reconstructed scene data into a simulation scene; generating a simulation scene by the equipment operation data and the geological environment data under the support of an analysis decision system, and analyzing and predicting; and the decision result is transmitted back to the feedback control module through the virtual link to complete the display of the graphical interface, and the feedback control is realized on the actual equipment of the working face through the data interface.
6. The analytical decision system according to claim 1, wherein: as the core of the background running service of the whole system; modeling specific underground working scenes, equipment objects and process flows based on real data and virtual simulation, and operating the intelligent decision control method of the fully-mechanized mining equipment to complete optimization and decision of control parameters of the underground fully-mechanized mining equipment.
7. The distributed control system of claim 1, further characterized by: the system comprises a central main controller, an application program expansion interface module, controllers of a coal mining machine, a hydraulic support and a scraper conveyor, and an encoding and decoding module; and establishing an integral framework of a data link layer, a protocol layer and an application layer based on the underground industrial Ethernet, connecting the equipment, and completing control signal transmission, interface communication and distributed coordination control.
8. The distributed control system of claim 7, further characterized by: the system comprises a three-layer architecture with a data link layer, a protocol layer and an application layer, which respectively correspond to the functions of system signal transmission, interface communication and control; the protocol layer system interface can be compatible with various communication protocols and can exchange information with equipment of different manufacturers through the coding and decoding modules of the equipment; the application layer is provided with an API (application program extension interface), and realizes the unified control of hardware of different manufacturers by calling the bottom control command in the function library.
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