CN112267906B - Method for determining working state of two-column hydraulic support - Google Patents
Method for determining working state of two-column hydraulic support Download PDFInfo
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Abstract
The embodiment of the invention provides a method for determining the working state of a two-column hydraulic support, which relates to the technical field of coal face equipment monitoring and automatic control, and comprises the following steps: acquiring a pitch angle of a top beam and a front connecting rod of the hydraulic support along the trend, a pitch angle of a base along the trend and an inclination angle of the base along the direction of a working surface in real time; and the pressure on the upright post, the balance jack and the left and right guard plate jacks; establishing a pose calculation model and a stress calculation model in a three-dimensional geological environment; inputting the obtained pitch angle and the obtained inclination angle into a pose calculation model to obtain position coordinates of key points of the hydraulic support; and inputting the obtained pressure into the stress calculation model to obtain the component force and the resultant force of the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface, and determining the working state of the support according to the obtained posture and position data and the pressure applied to a plurality of main structural components of the hydraulic support. The working state of the hydraulic support in different geological environments can be determined in real time and accurately.
Description
Technical Field
The invention relates to the technical field of coal face equipment monitoring and automatic control, in particular to a method for determining the working state of a two-column hydraulic support.
Background
The hydraulic support is used as key equipment of the fully mechanized coal mining face, not only supports necessary operation space for coal mining, but also maintains the safety of equipment and personnel of the working face, and the quality of the working performance of the hydraulic support greatly restricts the automation level of the fully mechanized coal mining face. However, the hydraulic support is applied to the underground of the coal mine, the working environment is severe, the posture of the support is changed frequently in a stope with large change of surrounding rock load, and the unreasonable posture type can cause the overall instability of the support and damage of key parts. Meanwhile, the phenomenon that the top plate and the bottom plate incline due to the height adjustment of the coal mining machine often exists in the mining process, so that the posture of the hydraulic support on the whole working face cannot be in an ideal state. Therefore, the research on the hydraulic support working state monitoring technology under complex and diversified geological conditions is particularly important.
At present, the monitoring research on the working state of the hydraulic support is mostly focused on the composition and monitoring means of a monitoring system, generally, sensors are installed at a plurality of key positions on the hydraulic support, state information of the key positions of the hydraulic support is acquired, and the state of the support is simply and comprehensively determined according to the state information of the key positions. For example, the invention patent application with the Chinese patent application number of CN201110275902.2 and the name of hydraulic support attitude detection method and device based on multi-sensor data fusion discloses a method and device for acquiring pressure, displacement and inclination angle information of a hydraulic support in real time and simply summarizing and synthesizing the information to obtain the attitude of the hydraulic support.
However, the existing hydraulic support working state monitoring technology including the above patent application does not fully consider the influence factors of geological environment on the posture and stress characteristics of the hydraulic support, and only simply depends on the data of the local position of the hydraulic support to be simple and comprehensive, so that the overall working state of the hydraulic support cannot be accurately described or determined.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a method for determining a working state of a two-column hydraulic support, which can determine the working state of the hydraulic support in different geological environments in real time and relatively accurately, so as to provide accurate control information for intelligent control of the hydraulic support.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method for determining a working state of a two-column hydraulic support
Acquiring a pitch angle of a top beam and a front connecting rod of the hydraulic support along the trend, a pitch angle of a base of the hydraulic support along the trend and an inclination angle of the base of the hydraulic support along the direction of a working surface in real time;
acquiring the pressure born by the hydraulic support upright post, the balance jack and the left and right guard plate jacks in real time;
establishing a hydraulic support pose calculation model and a stress calculation model in a three-dimensional geological environment according to the three-dimensional geological environment of the current fully-mechanized mining face;
inputting the obtained pitch angle and the inclination angle into the pose calculation model, and calculating by using the calculation model to obtain the position coordinates of the key points of the hydraulic support;
inputting the obtained pressure into the stress calculation model, calculating component forces respectively applied to the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface by using the stress calculation model, and calculating resultant force applied to the top beam and the base of the hydraulic support based on the obtained component forces respectively applied to the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface;
determining the working state of the hydraulic support according to the acquired pitch angle, the acquired inclination angle, the position coordinates of key points of the hydraulic support and the pressure borne by a plurality of main structural members of the hydraulic support; the pressure applied on the main structural members comprises component force and resultant force applied on the top beam of the hydraulic support and the base.
Optionally, the establishing of the hydraulic support pose calculation model in the three-dimensional geological environment according to the current fully-mechanized mining face three-dimensional geological environment includes:
constructing a three-dimensional geological environment geometric model of the current fully mechanized mining working face, establishing a pose calculation model of the hydraulic support in the direction of a plane in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane where the rear end of the bottom surface of a hydraulic support base is located, and marking a plurality of key points and gravity centers of the hydraulic support; the key points are marked as A, B, C, D, E, F, J, K and M respectively, and the position coordinates of each key point are (X) in sequence A ,Y A )、(X B ,Y B )、(X C ,Y C )、(X D ,Y D )、(X E ,Y E )、(X F ,Y F )、(X J ,Y J )、(X K ,Y K ) And (X) M ,Y M ) The gravity center of the hydraulic support is marked as G, and the position coordinate of the gravity center is (X) G, Y G )；
Inputting the obtained pitch angle and the inclination angle into the pose calculation model, and calculating to obtain the position coordinates of the key points of the hydraulic support by using the calculation model, wherein the position coordinates of the key points of the hydraulic support comprise:
calculating position coordinates of a plurality of key points of the hydraulic support by using a hydraulic support pose calculation model based on the support height of the hydraulic support, the length of a hydraulic support upright post, the length of a hydraulic support balance jack, the geometric lengths of a plurality of hydraulic support main body structural members forming the key points of the hydraulic support and the acquired pitch angle and inclination angle; the solving formula is as follows:
H＝Y M +L 20 ·cosα+L 1 ·sinα-L 5 ·sin γ
in the formula:
K 1 ＝X E 2 -X A 2 +Y E 2 -Y A 2 -L DE 2 +L 4 2 K 2 ＝2·(Y E -Y A )
K 3 ＝2·(X E -X A )
K 7 ＝X E 2 -X D 2 +Y E 2 -Y D 2 -L EF 2 +L DF 2 K 8 ＝2·(Y E -Y D )
K 9 ＝2·(X E -X D )
K 13 ＝X E 2 -X D 2 +Y E 2 -Y D 2 -L EM 2 +L DM 2
K 14 ＝2·(Y E -Y D )
K 15 ＝2·(X E -X D )
wherein H is the support height of the hydraulic support and X Lz Is the length of the hydraulic support column, X PH The length of the hydraulic support balance jack is L1-L21, and the lengths are the corresponding geometric lengths of a plurality of main structural members of the hydraulic support; l is DF Length of key points D to E of hydraulic support, L FF Length of key points E to F of hydraulic support, L DF Is the length of key points D to F of the hydraulic support, L FM Length of key points E to M of hydraulic support, L DM The length of key points D to M of the hydraulic support;
and solving the barycentric position coordinates of the hydraulic support according to the barycentric positions of all the components of the hydraulic support.
Optionally, the building of the hydraulic support stress calculation model in the three-dimensional geological environment according to the current three-dimensional geological environment of the fully mechanized mining face includes: establishing a three-dimensional geological environment geometric model of a current fully-mechanized mining working face, establishing a first stress calculation model of a hydraulic support in a direction of a moving plane in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane where the rear end of the bottom surface of a hydraulic support base is located, marking component force of overburden acting force borne by a top beam of the hydraulic support in the moving plane, action position of overburden acting force borne by the top beam of the hydraulic support in the moving plane, component force of friction force of the top beam and a top plate of the hydraulic support in the moving plane, component force of bottom plate supporting force borne by the hydraulic support base in the moving plane, action position of bottom plate supporting force borne by the hydraulic support base in the moving plane, component force of friction force of the hydraulic support base and the bottom plate in the moving plane, component force of gravity borne by the hydraulic support in the moving plane and moment arm sizes of different main structural members of the hydraulic support relative to a reference point; the reference point is the intersection point of the extension lines of the front connecting rod and the rear connecting rod;
establishing a second stress calculation model of the hydraulic support along the working face direction in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane where the rear end of the bottom surface of the hydraulic support base is located, marking the inclination angle of the hydraulic support base along the working face direction, the component force of the acting force of the overlying rock stratum borne by the top beam of the hydraulic support along the working face direction, the component force of the supporting force of the bottom plate borne by the hydraulic support base along the working face direction, the component force of the gravity borne by the hydraulic support along the working face direction and the driving force of the left and right adjacent supports on the frame;
inputting the obtained pressure into the stress calculation model, and calculating by using the stress calculation model to obtain the component forces respectively applied to the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface, wherein the component forces comprise: respectively taking moments from the origin of coordinates O, the reference point and the point M according to the established first stress calculation model of the hydraulic support, and combining a resultant force balance condition of a Y axis to obtain a first solution equation set;
calculating the component force of the overburden acting force borne by the top beam of the hydraulic support in the strike plane, the component force position of the overburden acting force borne by the top beam of the hydraulic support in the strike plane, the component force of the bottom plate supporting force borne by the base of the hydraulic support in the strike plane and the component force position of the bottom plate supporting force borne by the base of the hydraulic support in the strike plane according to the first calculation equation group under different postures;
obtaining a moment of a coordinate origin O according to the established second stress calculation model of the hydraulic support, and obtaining a second solving equation set by combining a Y-axis resultant force balance condition;
and calculating the component force of the overburden acting force borne by the top beam of the hydraulic support and the component force of the bottom plate supporting force borne by the base of the hydraulic support along the working face direction under different postures of the hydraulic support according to the second calculation equation group.
Optionally, the calculating, based on the obtained component forces applied to the top beam of the hydraulic support and the base along the direction of the moving plane and the direction of the working surface, a resultant force applied to the top beam of the hydraulic support and the base includes:
calculating the resultant force borne by the top beam of the hydraulic support as follows: calculating the resultant force borne by the top beam of the hydraulic support according to a first formula based on the component force of the overburden acting force borne by the top beam of the hydraulic support in the strike plane; wherein, the first formula is: q '= Q & cos theta & cos alpha, wherein Q' is the component force of the overburden acting force borne by the top beam of the hydraulic support in the trend plane, Q is the resultant force borne by the top beam of the hydraulic support, theta is the inclination angle of the base of the hydraulic support along the direction of the working surface, and alpha is the pitch angle of the top beam along the trend plane at any moment; alternatively, the first and second liquid crystal display panels may be,
calculating the resultant force borne by the top beam of the hydraulic support according to a second formula based on the component force of the overburden acting force borne by the top beam of the hydraulic support along the direction of the working face; wherein, the second formula is: q '= Q x sin theta, wherein Q' is a component force of an overlying strata acting force borne by a top beam of the hydraulic support along the direction of a working face, and Q is a resultant force borne by the top beam of the hydraulic support;
calculating the resultant force borne by the base of the hydraulic support as follows: based on the component force of the bottom plate supporting force borne by the hydraulic support base in the moving direction plane, calculating the resultant force borne by the hydraulic support base according to a third formula; wherein the third formula is: r '= R & cos theta & cos gamma, wherein R' is a component force of a bottom plate supporting force borne by the hydraulic support base in a moving plane, R is a resultant force borne by the hydraulic support base, and gamma is a pitching angle of the hydraulic support base along the moving direction; alternatively, the first and second electrodes may be,
calculating the resultant force borne by the hydraulic support base according to a fourth formula based on the component force of the bottom plate supporting force borne by the hydraulic support base along the working face direction; wherein the fourth formula is: and R '= R sin theta, wherein R' is the component force of the bottom plate supporting force borne by the hydraulic support base along the direction of the working face.
Optionally, the multiple main structural members include a top beam, a shield beam, a front connecting rod, a rear connecting rod, a base, a column and a balance jack, the structural members are connected in a hinged manner, and the key point of the hydraulic support is a hinge point between the main structural members.
Optionally, the obtaining of the pitch angle of the top beam and the front connecting rod of the hydraulic support along the trend, the pitch angle of the base of the hydraulic support along the trend, and the inclination angle of the base of the hydraulic support along the working face direction in real time includes: arranging inclination angle sensors on a top beam, a front connecting rod and a base of the hydraulic support, wherein the inclination angle sensors arranged on the top beam and the front connecting rod are single-shaft sensors which are arranged in parallel to the trend direction;
respectively measuring the pitching angles of the top beam and the front connecting rod along the trend at any time by using the single-shaft sensor;
the inclination angle sensor arranged on the base is a double-shaft sensor, one shaft of the double-shaft sensor is parallel to the trend direction, and the other shaft of the double-shaft sensor is parallel to the working surface direction;
and measuring the pitching angle of the hydraulic support base along the trend at any moment and the inclination angle of the hydraulic support base along the direction of the working surface by using the double-shaft sensor.
Optionally, the pressure that obtains hydraulic support stand, balance jack and left and right side backplate jack in real time and bear includes: arranging pressure sensors on the hydraulic support upright post, the balance jack, the left guard plate jack and the right guard plate jack;
and measuring the pressure born by the hydraulic support upright post, the balance jack, the left guard plate jack and the right guard plate jack at any moment by using the pressure sensor.
The invention provides a method for determining the working state of a two-column hydraulic support, which comprises the steps of acquiring inclination angle information of a plurality of main structural members of the hydraulic support in real time, establishing a pose and stress calculation model of the hydraulic support in a three-dimensional geological environment according to the current three-dimensional geological environment of a fully mechanized mining surface, fully considering the influence of geological environment factors of different fully mechanized mining surfaces, obtaining position coordinates of a plurality of key points and component force and resultant force borne by a top beam and a base of the hydraulic support, comprehensively describing the current working state of the hydraulic support according to a plurality of indexes such as the acquired inclination angle information, the key point position information and the pressure borne by the plurality of main structural members, and determining the working posture and stress characteristic of the hydraulic support in different geological environments in real time and relatively accurately.
Furthermore, according to the method, the dangerous states of head raising, head lowering, dumping, overload and the like of the hydraulic support can be comprehensively and accurately monitored and early warned, so that accurate control information is provided for intelligent control of the hydraulic support.
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 schematic diagram of an embodiment of a pose and stress analysis model of a two-column hydraulic support in a three-dimensional geological environment.
Fig. 2 is a schematic view of an embodiment of a pose analysis model of the two-column hydraulic support along the strike plane direction in the invention.
Fig. 3 is a schematic view of an embodiment of a stress analysis model of the two-column hydraulic support along the strike plane direction in the invention.
Fig. 4 is a schematic view of an embodiment of a stress analysis model of the two-column hydraulic support along the working face direction in the invention.
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 only a few embodiments of the invention, and not all embodiments. 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.
FIG. 1 is a schematic view of an embodiment of a pose and stress analysis model of a two-column hydraulic support in a three-dimensional geological environment; referring to fig. 1, the method for determining the working state of the two-column hydraulic support provided by the embodiment of the invention can be applied to monitoring and automatic control of the working state of the two-column hydraulic support on the fully mechanized coal mining face.
In some embodiments, the method comprises:
and 110, acquiring a pitch angle of the top beam and the front connecting rod of the hydraulic support along the trend, a pitch angle of the base of the hydraulic support along the trend and an inclination angle of the base of the hydraulic support along the direction of a working surface in real time.
Specifically, the real-time angle of pitch and the angle of inclination along the working face direction of obtaining hydraulic support back timber, front connecting rod along the trend include along the angle of pitch of the trend and the hydraulic support base along the trend: arranging inclination angle sensors on a top beam, a front connecting rod and a base of the hydraulic support, wherein the inclination angle sensors arranged on the top beam and the front connecting rod are single-shaft sensors which are arranged in parallel to the trend direction; and respectively measuring the pitch angle alpha of the top beam along the trend at any moment and the pitch angle beta of the front connecting rod along the trend at any moment by using the single-shaft sensor.
The inclination angle sensor arranged on the base is a double-shaft sensor, one shaft of the double-shaft sensor is parallel to the trend direction, and the other shaft of the double-shaft sensor is parallel to the working surface direction; and measuring the pitching angle gamma of the hydraulic support base along the trend at any moment and the inclination angle theta along the direction of the working surface by using the double-shaft sensor.
Step 120, acquiring pressures P borne by the hydraulic support upright column, the balance jack, the left guard plate jack and the right guard plate jack in real time LZ 、P PH 、T Z And T Y 。
The upright post is hinged between the top beam and the base, belongs to a pressure-bearing structural member, can bear the pressure of the top plate on the hydraulic support, and realizes telescopic motion along the central line direction of the upright post.
The balance jack is hinged between the top beam and the shield beam, belongs to a pressure-bearing structural member, can bear the pressure or tension between the top beam and the shield beam, and realizes the telescopic motion along the central line direction of the balance jack.
Specifically, the pressure that acquires hydraulic support stand, balanced jack and left and right side backplate jack in real time and bear includes: arranging pressure sensors on the hydraulic support upright post, the balance jack, the left guard plate jack and the right guard plate jack; the pressure sensor is utilized to measure the pressure born by the upright post of the hydraulic bracket, the balance jack, the left guard plate jack and the right guard plate jack at any moment
And step 130, establishing a hydraulic support pose calculation model and a stress calculation model in the three-dimensional geological environment according to the current three-dimensional geological environment of the fully mechanized mining face.
Wherein, the calculation model is also called as mathematical model, specifically: setting a three-axis coordinate system XYZ and a coordinate origin O, and respectively marking the simplified resultant force of the acting force of the overlying rock borne by the top beam of the hydraulic support, the simplified resultant force of the supporting force of the bottom plate borne by the base of the hydraulic support and the gravity borne by the hydraulic support; wherein, the positive direction is as shown in fig. 1, Q in the figure is the simplified resultant force of the overburden acting force borne by the top beam of the hydraulic support, R is the simplified resultant force of the supporting force of the bottom plate borne by the base of the hydraulic support, and PG is the gravity borne by the hydraulic support.
It should be noted that, as those skilled in the art can easily understand from the technical idea of the present invention, the execution sequence among the steps 110, 120 and 130 may be arbitrarily changed or may be implemented simultaneously, and the order of the steps written cannot be regarded as a limitation to the changeable sequence in the actual execution of the technical solution.
And 140, inputting the acquired pitch angle and the acquired inclination angle into the pose calculation model, and calculating by using the calculation model to obtain the position coordinates of the key points of the hydraulic support.
Step 150, inputting the obtained pressure into the stress calculation model, calculating the component forces of the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface respectively by using the stress calculation model, and calculating the resultant force of the top beam and the base of the hydraulic support based on the obtained component forces of the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface respectively.
Step 160, determining the working state of the hydraulic support according to the acquired pitch angle, the acquired inclination angle, the position coordinates of the key points of the hydraulic support and the pressure borne by a plurality of main structural members of the hydraulic support; the pressure applied to the main structural components comprises component force and resultant force applied to the top beam and the base of the hydraulic support.
The hydraulic support comprises a plurality of main structural parts, wherein each main structural part comprises a top beam, a shield beam, a front connecting rod, a rear connecting rod, a base, an upright post and a balance jack, the structural parts are connected in a hinged mode, and the key points of the hydraulic support are hinged joints among the main structural parts.
It can be understood that, in this embodiment, the positions, postures and stress conditions of the hydraulic support in the direction plane and along the working plane are obtained by establishing the working state calculation model of the hydraulic support in the three-dimensional geological environment, and the working state of the hydraulic support is comprehensively determined according to the positions, postures and stress conditions of the plurality of main structural members of the hydraulic support, so that the current working state of the hydraulic support can be described or determined more comprehensively and accurately. Furthermore, the monitoring and early warning of the states of the hydraulic support under working conditions of head raising, head lowering, dumping, overload and the like can be realized.
The method for determining the working state of the two-column hydraulic support comprises the steps of acquiring dip angle information of a plurality of main structural members of the hydraulic support in real time, establishing a pose and stress calculation model of the hydraulic support in a three-dimensional geological environment according to the current three-dimensional geological environment of the fully mechanized mining face, fully considering the influence of geological environment factors of different fully mechanized mining faces, obtaining position coordinates of a plurality of key points and component force and resultant force borne by a top beam and a base of the hydraulic support, comprehensively describing the current working state of the hydraulic support according to a plurality of indexes such as the acquired dip angle information, the key point position information and pressure borne by the main structural members, and determining the working pose and stress characteristics of the hydraulic support in different geological environments in real time and accurately.
Furthermore, according to the method, the dangerous states of the hydraulic support such as head raising, head lowering, dumping and overload can be comprehensively and accurately monitored and early warned, so that accurate control information is provided for intelligent control of the hydraulic support.
It can be understood that the method provided by the embodiment can be combined with a computer through various sensor detection tools, and the provided calculation model is implanted into the computer to form a set of system for determining the working state of the hydraulic support, so that the method is executed to achieve the preset technical effect. For brevity of description, the corresponding system is not described again.
Referring to fig. 2, in some embodiments, in step 130, the establishing of the hydraulic support pose calculation model in the three-dimensional geological environment according to the current fully-mechanized mining face three-dimensional geological environment comprises:
constructing a three-dimensional geological environment geometric model of the current fully mechanized mining working face, establishing a pose calculation model of the hydraulic support in the direction of a plane in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane where the rear end of the bottom surface of a hydraulic support base is located, and marking a plurality of key points and gravity centers of the hydraulic support; as shown in fig. 2, the plurality of key points are respectively marked as a, B, C, D, E, F, J, K and M, and the key points are hinge points between different main structural members of the hydraulic support; the position coordinates of each key point are sequentially (X) A ,Y A )、(X B ,Y B )、(X C ,Y C )、(X D ,Y D )、(X E ,Y E )、(X F ,Y F )、(X J ,Y J )、(X K ,Y K ) And (X) M ,Y M ) (ii) a The gravity center mark of the hydraulic support is G, and the gravity center coordinate mark is (X) G, Y G ) H is the hydraulic support height, X LZ Is the length of the hydraulic support column, X PH In order to balance the length of the jack of the hydraulic support, L1-L21 are the geometrical lengths of the main structural member of the hydraulic support, and the geometrical lengths comprise the length of the main structural member and the distance between assembling hinge points (namely key points) of the main structural member.
Wherein, L1: top beam length, L2: shield beam length, L3: front link length, L4: rear link length, L5: the length of the base and L6-L21 are the distance between the assembling hinge points of the main structural part, namely the distance between a plurality of key points; l is DE Is the length of key points D to E of the hydraulic support, L EF Length of key points E to F of hydraulic support, L DF Length of key points D to F of hydraulic support, L EM Length of key points E to M of hydraulic support, L DM The length of key points D to M of the hydraulic support.
Inputting the obtained pitch angle and the inclination angle into the pose calculation model, and calculating by using the calculation model to obtain the position coordinates of the key points of the hydraulic support, wherein the position coordinates of the key points of the hydraulic support comprise:
based on the support height of the hydraulic support, the length of a hydraulic support upright post, the length of a hydraulic support balance jack, the geometrical lengths of a plurality of hydraulic support main body structural members forming hydraulic support key points and the acquired pitch angle and inclination angle, solving the position coordinates of the plurality of key points of the hydraulic support by using a hydraulic support pose calculation model; the solving formula is as follows:
H＝Y M +L 20 ·cosα+L 1 ·sinα-L 5 ·sinγ
in the formula:
K 1 ＝X E 2 -X A 2 +Y E 2 -Y A 2 -L DE 2 +L 4 2
K 2 ＝2·(Y E -Y A )
K 3 ＝2·(X E -X A )
K 7 ＝X E 2 -X D 2 +Y E 2 -Y D 2 -L EF 2 +L DF 2
K 8 ＝2·(Y E -Y D )
K 9 ＝2·(X E -X D )
K 13 ＝X E 2 -X D 2 +Y E 2 -Y D 2 -L EM 2 +L DM 2 K 14 ＝2·(Y E -Y D )
K 15 ＝2·(X E -X D )
and solving the barycentric position coordinates of the hydraulic support according to the barycentric positions of all the components of the hydraulic support.
It can be understood that the specific way of calculating the barycentric position coordinates of the object according to the barycentric position of the object component can be manually calculated or calculated by software, which is the prior art, and in order to highlight the innovation point of the invention, the existing scheme for calculating the barycentric position coordinates is not described.
In other embodiment, the building of the hydraulic support stress calculation model in the three-dimensional geological environment according to the current fully mechanized mining face three-dimensional geological environment includes: establishing a three-dimensional geological environment geometric model of a current fully mechanized mining working face, establishing a first stress calculation model of a hydraulic support in a direction of a strike plane in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane where the rear end of the bottom surface of a base of the hydraulic support is located, marking a component force of an overburden acting force borne by a top beam of the hydraulic support in the strike plane, a component force of an overburden acting force borne by the top beam of the hydraulic support in the strike plane, a component force of a friction force of the top beam and a top plate of the hydraulic support in the strike plane, a component force of a bottom plate supporting force borne by the base of the hydraulic support in the strike plane, a component force of a gravity borne by the hydraulic support in the strike plane and a moment arm of different main structural components of the hydraulic support relative to a reference point; the reference point is the intersection point of the extension lines of the front connecting rod and the rear connecting rod.
The specific first stress calculation model can be seen in fig. 3, a plane coordinate system XY, a coordinate origin O and a positive direction are shown in the figure, Q' is a component force of the overburden acting force borne by the top beam of the hydraulic support in a direction towards the plane, and X Q′ The position of the acting force of the overburden acting force borne by the top beam of the hydraulic support in the trend plane is f 1 Is the friction coefficient between the top beam and the top plate of the hydraulic support, Q' f 1 The component force of the friction force between the top beam and the top plate of the hydraulic support in the strike plane, R' the component force of the supporting force of the bottom plate borne by the base of the hydraulic support in the strike plane, X R′ Acting position f of the supporting force of the bottom plate born by the base of the hydraulic support in the trend plane 2 Is the friction coefficient of the base and the bottom plate of the hydraulic support, R' f 2 Is the component force of the friction force between the top base and the bottom plate of the hydraulic support in the strike plane, P G ' is the component force of the gravity on the hydraulic support in the strike plane, r 1 、r 2 、r 3 、r 4 、r 5 、r 6 Respectively different stress structural members of the hydraulic support relative to a reference point O 1 The force arm of the moment is taken.
As shown in fig. 4, the method further includes: establishing a second stress calculation model of the hydraulic support along the working face direction in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane at the rear end of the bottom surface of the hydraulic support base, marking the inclination angle theta of the hydraulic support base along the working face direction, the component force Q 'of the overburden stratum acting force borne by the top beam of the hydraulic support along the working face direction, the component force R' of the bottom plate supporting force borne by the base of the hydraulic support along the working face direction, and the component force P of the gravity borne by the hydraulic support along the working face direction G "and the main power T of the left and right adjacent racks to the rack Z And T Y 。
Inputting the obtained pressure into the stress calculation model, and calculating by using the stress calculation model to obtain the component forces respectively applied to the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface, wherein the component forces comprise: respectively taking moments from the origin of coordinates O, the reference point and the point M according to the established first stress calculation model of the hydraulic support, and combining a resultant force balance condition of a Y axis to obtain a first solution equation set; the first solution equation set comprises four quaternary linear equations;
and calculating the component force of the overburden acting force borne by the top beam of the hydraulic support in the plane of the trend, the component force position of the overburden acting force borne by the top beam of the hydraulic support in the plane of the trend, the component force of the bottom plate supporting force borne by the base of the hydraulic support in the plane of the trend and the component force position of the bottom plate supporting force borne by the base of the hydraulic support in the plane of the trend according to the first calculation equation group when the hydraulic support is in different postures.
It should be noted that, as can be known by those skilled in the art, the calculated position of the component force of the overburden acting force borne by the top beam of the hydraulic support in the moving direction plane and the position of the component force of the bottom plate supporting force borne by the base of the hydraulic support in the moving direction plane are a distance value and are not a position point; in the embodiment, the working state of the hydraulic support can be better reflected or described by solving the mechanical indexes of the four key points of the hydraulic support.
Obtaining a moment of a coordinate origin O according to the established second stress calculation model of the hydraulic support, and obtaining a second solving equation set by combining a Y-axis resultant force balance condition; the second solution equation set is two linear equations in two binary systems.
And calculating the component force of the acting force of the overlying rock stratum borne by the top beam of the hydraulic support along the direction of the working surface and the component force of the supporting force of the bottom plate borne by the base of the hydraulic support along the direction of the working surface when the hydraulic support is in different postures according to the second calculation equation group.
The embodiment is based on detectable parameters, and can solve a plurality of stress parameters of the hydraulic support during working by establishing a stress calculation model and applying the stress calculation model to the monitoring application of the working state of the hydraulic support, so that the stress state of the hydraulic support during working can be better reflected or described, and the reliability of monitoring the working state of the hydraulic support can be improved.
The step of calculating the resultant force applied to the top beam and the base of the hydraulic support based on the obtained component forces applied to the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface respectively comprises the following steps of:
calculating the resultant force Q borne by the top beam of the hydraulic support as follows: calculating the resultant force borne by the top beam of the hydraulic support according to a first formula based on the component force of the overburden acting force borne by the top beam of the hydraulic support in the strike plane; wherein, the first formula is: q '= Q & cos theta & cos alpha, wherein Q' is a component force of an overlying strata acting force borne by a top beam of the hydraulic support in a moving plane, Q is a resultant force borne by the top beam of the hydraulic support, theta is an inclination angle of a base of the hydraulic support along the direction of a working face, and alpha is a pitching angle of the top beam along the moving plane at any moment;
in another alternative mode, the calculation of the resultant force exerted on the top beam of the hydraulic support is as follows: calculating the resultant force borne by the top beam of the hydraulic support according to a second formula based on the component force of the overburden acting force borne by the top beam of the hydraulic support along the direction of the working face; wherein, the second formula is: q '= Q x sin theta, wherein Q' is a component force of an overlying strata acting force borne by a top beam of the hydraulic support along the direction of a working face, and Q is a resultant force borne by the top beam of the hydraulic support;
calculating the resultant force R borne by the base of the hydraulic support as follows: based on the component force of the bottom plate supporting force borne by the hydraulic support base in the moving direction plane, calculating the resultant force borne by the hydraulic support base according to a third formula; wherein the third formula is: r '= R & cos theta & cos gamma, wherein R' is a component force of a bottom plate supporting force borne by the hydraulic support base in a moving plane, R is a resultant force borne by the hydraulic support base, and gamma is a pitching angle of the hydraulic support base along the moving direction.
In another alternative, the calculation of the resultant force exerted on the hydraulic support base is: calculating the resultant force borne by the hydraulic support base according to a fourth formula based on the component force of the bottom plate supporting force borne by the hydraulic support base along the working face direction; wherein the fourth formula is: and R '= R sin theta, wherein R' is the component force of the bottom plate supporting force borne by the hydraulic support base along the direction of the working face.
In the embodiment, the magnitude of resultant force exerted on the top beam and the base of the hydraulic support under the three-dimensional geological condition is calculated, and the posture and the stress state of the hydraulic support under the three-dimensional geological environment are described together by combining the calculated parameters, so that the current working state of the hydraulic support can be comprehensively and accurately determined, and more accurate and comprehensive data support is provided for the control of the hydraulic support, and the accuracy of the control of the hydraulic support can be improved.
The advanced hydraulic support positioning system based on the laser point cloud provided by the embodiment of the invention not only solves the self-positioning problem of the advanced support in the advanced roadway, but also can determine the relative position relation between the advanced hydraulic support and two sides of coal walls and equipment of the roadway, realizes the positioning and control of the advanced hydraulic support in the roadway, and can improve the coal mining efficiency and safety. Furthermore, by utilizing the three-dimensional point cloud data and the infrared live-action image information for fusion processing, the calculation amount of the point cloud data is greatly reduced, the data processing speed is improved, the feedback efficiency of control information is further improved, and the real-time control requirement of the advanced hydraulic support is met. The method can be well applied to positioning and controlling the equipment in the long and narrow space of the underground roadway of the coal mine, and has important significance for high-efficiency and safety mining application of the coal mine. 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. In addition, 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 phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like 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 (6)
1. A method for determining the working state of a two-column hydraulic support is characterized by comprising the following steps:
acquiring a pitch angle of a top beam and a front connecting rod of the hydraulic support along the trend, a pitch angle of a base of the hydraulic support along the trend and an inclination angle of the base of the hydraulic support along the direction of a working surface in real time;
acquiring the pressure born by the hydraulic support upright post, the balance jack and the left and right guard plate jacks in real time;
establishing a hydraulic support pose calculation model and a hydraulic support stress calculation model in a three-dimensional geological environment according to the current fully-mechanized mining face three-dimensional geological environment;
the method for establishing the hydraulic support stress calculation model under the three-dimensional geological environment according to the current fully-mechanized mining face three-dimensional geological environment comprises the following steps: establishing a three-dimensional geological environment geometric model of a current fully mechanized mining working face, establishing a first stress calculation model of a hydraulic support in a direction of a strike plane in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane where the rear end of the bottom surface of a base of the hydraulic support is located, marking a component force of an overburden acting force borne by a top beam of the hydraulic support in the strike plane, a component force of an overburden acting force borne by the top beam of the hydraulic support in the strike plane, a component force of a friction force of the top beam and a top plate of the hydraulic support in the strike plane, a component force of a bottom plate supporting force borne by the base of the hydraulic support in the strike plane, a component force of a gravity borne by the hydraulic support in the strike plane and a moment arm of different main structural components of the hydraulic support relative to a reference point; the reference point is the intersection point of the extension lines of the front connecting rod and the rear connecting rod;
establishing a second stress calculation model of the hydraulic support along the working face direction in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O on a horizontal plane and a vertical plane where the rear end of the bottom surface of the hydraulic support base is located, marking the inclination angle of the hydraulic support base along the working face direction, the component force of the acting force of the overlying rock stratum borne by the top beam of the hydraulic support along the working face direction, the component force of the supporting force of the bottom plate borne by the hydraulic support base along the working face direction, the component force of the gravity borne by the hydraulic support along the working face direction and the driving force of the left and right adjacent supports on the frame;
inputting the obtained pressure into the stress calculation model, and calculating by using the stress calculation model to obtain the component forces of the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface respectively, wherein the component forces comprise: respectively taking moments from the origin of coordinates O, the reference point and the point M according to the established first stress calculation model of the hydraulic support, and obtaining a first solution equation set by combining a Y-axis resultant force balance condition;
calculating component force of the overburden acting force borne by the top beam of the hydraulic support on a moving plane, component force position of the overburden acting force borne by the top beam of the hydraulic support on the moving plane, component force of the bottom plate supporting force borne by the base of the hydraulic support on the moving plane and action position of the bottom plate supporting force borne by the base of the hydraulic support on the moving plane under different postures of the hydraulic support according to the first calculation equation group;
obtaining a moment of the origin of coordinates O according to the established second stress calculation model of the hydraulic support, and obtaining a second solving equation set by combining a Y-axis resultant force balance condition;
calculating the component force of the acting force of the overlying rock stratum borne by the top beam of the hydraulic support along the direction of the working surface and the component force of the supporting force of the bottom plate borne by the base of the hydraulic support along the direction of the working surface when the hydraulic support is in different postures according to the second calculation equation group;
inputting the obtained pitch angle and the inclination angle into the pose calculation model, and calculating by using the calculation model to obtain the position coordinates of the key points of the hydraulic support;
inputting the obtained pressure into the stress calculation model, calculating component forces respectively applied to the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface by using the stress calculation model, and calculating resultant force applied to the top beam and the base of the hydraulic support based on the obtained component forces respectively applied to the top beam and the base of the hydraulic support along the direction of the strike plane and the direction of the working surface;
determining the working state of the hydraulic support according to the acquired pitch angle, the inclination angle, the position coordinates of key points of the hydraulic support and the pressure borne by a plurality of main structural members of the hydraulic support; the pressure applied on the main structural members comprises component force and resultant force applied on the top beam of the hydraulic support and the base.
2. The method according to claim 1, wherein the establishing of the hydraulic support pose calculation model in the three-dimensional geological environment according to the current fully-mechanized mining face three-dimensional geological environment comprises the following steps:
constructing a three-dimensional geological environment geometric model of a current fully mechanized mining face, establishing a hydraulic support position and pose calculation model in a direction of a plane in the three-dimensional geological environment geometric model, setting a plane coordinate system XY and a coordinate origin O with a horizontal plane and a vertical plane where the rear end of the bottom surface of a hydraulic support base is located, and marking a plurality of key points and gravity centers of the hydraulic support; the key points are marked as A, B, C, D, E, F, J, K and M respectively, and the position coordinates of each key point are (X) in sequence A ,Y A )、(X B ,Y B )、(X C ,Y C )、(X D ,Y D )、(X E ,Y E )、(X F ,Y F )、(X J ,Y J )、(X K ,Y K ) And (X) M ,Y M ) The gravity center of the hydraulic support is marked as G, and the position coordinate of the gravity center is (X) G ,Y G )；
Inputting the obtained pitch angle and the inclination angle into the pose calculation model, and calculating to obtain the position coordinates of the key points of the hydraulic support by using the calculation model, wherein the position coordinates of the key points of the hydraulic support comprise:
based on the support height of the hydraulic support, the length of a hydraulic support upright post, the length of a hydraulic support balance jack, the geometrical lengths of a plurality of hydraulic support main body structural members forming hydraulic support key points and the acquired pitch angle and inclination angle, solving the position coordinates of the plurality of key points of the hydraulic support by using a hydraulic support pose calculation model; the solving formula is as follows:
H＝Y M +L 20 ·cosα+L 1 ·sinα-L 5 ·sinγ
in the formula:
K 1 ＝X E 2 -X A 2 +Y E 2 -Y A 2 -L DE 2 +L 4 2
K 2 ＝2·(Y E -Y A )
K 3 ＝2·(X E -X A )
K 7 ＝X E 2 -X D 2 +Y E 2 -Y D 2 -L EF 2 +L DF 2
K 8 ＝2·(Y E -Y D )
K 9 ＝2·(X E -X D )
K 13 ＝X E 2 -X D 2 +Y E 2 -Y D 2 -L EM 2 +L DM 2
K 14 ＝2·(Y E -Y D )
K 15 ＝2·(X E -X D )
wherein H is the support height of the hydraulic support and X LZ Is the length of the hydraulic support column, X PH The length of a hydraulic support balance jack is L1-L21, and the length is the geometric length corresponding to a plurality of main structural members of the hydraulic support; l is DE Length of key points D to E of hydraulic support, L EF Length of key points E to F of hydraulic support, L DF Is the length of key points D to F of the hydraulic support, L EM Length of key points E to M of hydraulic support, L DM The length of key points D to M of the hydraulic support; alpha is the pitch angle of the top beam along the strike plane at any moment, beta is the front connecting rod along any momentThe pitching angle of the trend, gamma is the pitching angle of the hydraulic support base along the trend;
and solving the barycentric position coordinates of the hydraulic support according to the barycentric positions of all the components of the hydraulic support.
3. The method of claim 2, wherein calculating a resultant force of the top beam and the base of the hydraulic support based on the obtained component forces of the top beam and the base of the hydraulic support in the direction of the strike plane and the direction of the working plane respectively comprises:
calculating the resultant force borne by the top beam of the hydraulic support as follows: calculating the resultant force borne by the top beam of the hydraulic support according to a first formula based on the component force of the overburden acting force borne by the top beam of the hydraulic support in the strike plane; wherein, the first formula is: q '= Q & cos theta & cos alpha, wherein Q' is the component force of the overburden acting force borne by the top beam of the hydraulic support in the trend plane, Q is the resultant force borne by the top beam of the hydraulic support, and theta is the inclination angle of the base of the hydraulic support along the direction of the working face; alternatively, the first and second electrodes may be,
calculating the resultant force borne by the top beam of the hydraulic support according to a second formula based on the component force of the overburden acting force borne by the top beam of the hydraulic support along the direction of the working face; wherein, the second formula is: q '= Q sin theta, wherein Q' is the component force of the overburden acting force borne by the top beam of the hydraulic support along the direction of the working face, and Q is the resultant force borne by the top beam of the hydraulic support;
calculating the resultant force borne by the hydraulic support base as follows: based on the component force of the bottom plate supporting force borne by the hydraulic support base in the moving direction plane, calculating the resultant force borne by the hydraulic support base according to a third formula; wherein the third formula is: r '= R & cos theta & cos gamma, wherein R' is a component force of a bottom plate supporting force borne by the hydraulic support base in a moving plane, and R is a resultant force borne by the hydraulic support base; alternatively, the first and second electrodes may be,
calculating a resultant force borne by the hydraulic support base according to a fourth formula based on the obtained component force of the bottom plate supporting force borne by the hydraulic support base along the direction of the working face; wherein the fourth formula is: and R '= R sin theta, wherein R' is the component force of the bottom plate supporting force borne by the hydraulic support base along the direction of the working face.
4. The method of claim 1, wherein the plurality of main structural members comprise a top beam, a shield beam, a front connecting rod, a rear connecting rod, a base, a vertical column and a balance jack, the structural members are connected in an articulated manner, and the key point of the hydraulic support is an articulated point between the main structural members.
5. The method of claim 1, wherein the obtaining in real time the pitch angle of the hydraulic support top beam and the front link along the strike and the pitch angle of the hydraulic support base along the strike and the tilt angle along the working face comprises: arranging inclination sensors on a top beam, a front connecting rod and a base of the hydraulic support, wherein the inclination sensors arranged on the top beam and the front connecting rod are single-shaft sensors which are arranged in parallel to the trend direction;
respectively measuring the pitching angles of the top beam and the front connecting rod along the trend at any time by using the single-shaft sensor;
the inclination angle sensor arranged on the base is a double-shaft sensor, one shaft of the double-shaft sensor is parallel to the trend direction, and the other shaft of the double-shaft sensor is parallel to the working surface direction;
and measuring the pitching angle of the hydraulic support base along the trend at any moment and the inclination angle of the hydraulic support base along the direction of the working surface by using the double-shaft sensor.
6. The method of claim 1 or 5, wherein the real-time acquisition of the pressure borne by the hydraulic support columns, the balance jacks and the left and right side apron jacks comprises: arranging pressure sensors on the hydraulic support upright post, the balance jack, the left guard plate jack and the right guard plate jack;
and measuring the pressure born by the hydraulic support upright post, the balance jack and the left and right guard plate jacks at any moment by using the pressure sensor.
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