CN112832761B - Coal mine fully mechanized working face coal mining machine and geological model coupling system - Google Patents
Coal mine fully mechanized working face coal mining machine and geological model coupling system Download PDFInfo
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Abstract
The invention provides a coupling system of a coal mining machine and a geological model on a fully mechanized mining face of a coal mine, which is characterized in that an inertial navigation encoder combined positioning device, a coal stratum boundary line identification device and a GITP module are installed on the coal mining machine, the inertial navigation encoder combined positioning device is calibrated in real time by utilizing a measuring robot to conduct geodetic coordinates, the accurate spatial position and attitude of the coal mining machine are obtained, coal stratum boundary line data are obtained through the coal stratum boundary line identification device, and meanwhile, a three-dimensional geological model of the coal stratum is dynamically updated by combining coal stratum data measured by geological engineering disclosure, handover or maintenance shifts; the optimal predicted cutting line of the future N cutters is calculated by utilizing the predicted cutting line service, the cutting path of the coal mining machine is constrained by combining the GITP module, the highly-coupled spatial relation between the coal mining machine based on the unified geodetic coordinate system and the three-dimensional geological model of the coal bed is established, a practical solution is provided for realizing the self-adaptive coal cutting based on the accurate positioning and three-dimensional dynamic geological model, and the intelligent mining level of the fully-mechanized coal mining face is improved.
Description
Technical Field
The invention relates to the technical field of intelligent mining and mining equipment of coal mines, in particular to a coupling system of a coal mining machine and a geological model of a fully mechanized coal mining face of a coal mine.
Background
The fully-mechanized mining face is the first site of coal mine production, the working environment is relatively severe, and potential safety hazards are more, so that the basic task of building an intelligent mine is to build a less-human or unmanned intelligent fully-mechanized mining face. At present, with the revolution of the state of comprehensively promoting the coal mine intelligent technology, a great deal of work is done in the aspect of intelligent fully mechanized coal mining face construction in various places, but the following problems still exist:
in a coal mining mode mainly based on 'one-key start-stop and coal-cutting memory', a coal mining machine is not associated with a working face geological model and cannot dynamically adjust the posture of the coal mining machine according to the change of the spatial form of a coal bed, so that the practicability of the coal mining mode is influenced;
secondly, in the actual operation process of the coal mining mode adopting the Australian LASC system, the accumulated error of the system calculation is larger and larger due to inertial navigation drift and other reasons, and even if a system for correcting the inertial navigation at the end tail of the end of the cutting surface is established, the operation is complex and the intelligent degree is lower. Meanwhile, the spatial data calculation of the LASC system is relative coordinate calculation, is not associated with a three-dimensional dynamic geological model established based on geodetic coordinate data such as drilling holes and the like, and the practicability of the LASC system is greatly influenced.
In summary, the coal mining machine is used as a core device of the fully mechanized coal mining face, the coal seam is used as a mining object, if the high coupling between the coal mining machine and the spatial variation of the geological model of the coal seam cannot be realized, the construction target of the intelligent fully mechanized coal mining face with the self-adaptive cutting of the coal mining machine is difficult to realize, and meanwhile, if the geological model of the coal seam is not updated timely, the practicability of the intelligent fully mechanized coal mining face is inevitably limited.
Disclosure of Invention
In view of the above, the invention provides a coupling system of a coal mining machine and a geological model of a coal mine fully-mechanized mining face, so as to improve the intelligent mining level of the coal mine fully-mechanized mining face.
In order to solve the problems, the invention discloses a coupling system of a coal mining machine and a geological model of a fully mechanized coal mining face, which comprises an equipment terminal, a service terminal and a spatial database terminal, wherein the equipment terminal, the service terminal and the spatial database terminal are connected through network equipment, and the coupling system comprises:
the equipment end comprises a coal mining machine, a measuring robot, an inertial navigation encoder combined positioning device, a GITP module and a coal and rock stratum boundary line identification device. The measuring robot is used for conducting geodetic coordinates to calibrate the position of the inertial navigation encoder combined positioning device in real time; the coal and rock stratum boundary line identification device is arranged on the coal mining machine and used for acquiring coal and rock stratum boundary line data of a top plate and a bottom plate of a coal bed of a current cutting surface in the advancing process of the coal mining machine; the inertial navigation encoder combined positioning device is arranged on the coal mining machine and is used for acquiring real-time geodetic coordinate position and attitude information of the coal mining machine; the GITP module is installed on the coal mining machine and used for acquiring predicted cutting line data through the server side, adjusting the height of a roller of the coal mining machine according to the predicted cutting line data and cutting coal in a self-adaptive mode according to an optimal predicted cutting line;
the server is used for calibrating the position of the inertial navigation encoder combined positioning device in real time by transmitting a geodetic coordinate through the measuring robot, calculating real-time position and attitude information of the coal mining machine according to the geodetic coordinate of the inertial navigation encoder combined positioning device and equipment parameters of the coal mining machine, calculating a cutting track of a roller of the coal mining machine, calculating coal stratum boundary line data of a coal seam top plate and a coal stratum bottom plate of a cutting surface of the coal mining machine when cutting coal according to the coal stratum boundary line identification device, dynamically updating a geological model according to the latest coal stratum boundary line data and latest coal seam data measured by geological engineering disclosure, handover or maintenance shift, and calculating the optimal predicted cutting line of the future N cutters through seamless coupling of predicted cutting line calculation service and the geological model;
and the spatial database end is used for storing a measurement control point, the equipment parameters, the geological model, the cutting track, the coal and rock layer boundary line and the prediction cutting line.
Optionally, the service end is configured to provide geodetic coordinate calibration service, cutting trajectory calculation service, coal and rock layer boundary calculation service, geological model updating service, and prediction cutting line calculation service, where:
the geodetic coordinate calibration service is used for calibrating the geodetic coordinate of the inertial navigation encoder combined positioning device through the measuring robot and providing positioning service for the coal mining machine and associated equipment;
the cutting track calculation service is used for calculating the cutting track of a roller of the coal mining machine when the coal mining machine cuts coal;
the coal and rock stratum boundary line calculation service is used for calculating coal and rock stratum boundary line data of a coal bed top plate and a coal bed bottom plate of a cutting surface of the coal mining machine when cutting coal;
the geological model updating service is used for acquiring the latest coal and rock layer boundary data and the latest coal bed data measured by geological engineering disclosure, handover or overhaul shift so as to update the geological model;
the predicted cutting line calculation service is used for calculating the optimal predicted cutting line of the future N cutters in a seamless coupling mode with the geological model, and providing cutting path planning data of the future N cutters for the self-adaptive cutting of the coal mining machine.
Optionally, the measurement control points are geodetic coordinate control points in the gate roads on both sides of the current fully mechanized mining face, and provide initialization and update of geodetic coordinates for the measurement robot, so as to establish a geodetic coordinate network in the middle of the fully mechanized mining face.
Optionally, the device parameters include basic information and geometric design parameters of main devices in the fully mechanized mining face.
Optionally, the geological model is high-precision three-dimensional dynamic geological model data of a coal seam of a current fully mechanized mining face, and the three-dimensional dynamic geological model data can be dynamically updated along with new coal seam data acquired by production activities.
Optionally, the measurement control point, the geological model, the cutting track, the coal and rock layer boundary data, and the predicted cutting line are all spatial geodetic coordinate data consistent with the geological model data coordinate system.
Optionally, the GITP module stores the predicted cutting line, and calls the predicted cutting line to constrain a height of a drum of the coal mining machine to adjust according to a corresponding cutter number when the coal mining machine cuts coal, so as to constrain the coal mining machine to adaptively cut coal according to the predicted cutting line.
The method comprises the steps of installing inertial navigation equipment, a coal stratum boundary line recognition device and a GITP module on a coal mining machine, calibrating the position of an inertial navigation encoder combined positioning device in real time by utilizing a measuring robot to conduct geodetic coordinates, obtaining accurate spatial position and attitude of the coal mining machine, obtaining coal stratum boundary line data through the coal stratum boundary line recognition device, meanwhile, a coal bed three-dimensional geological model is dynamically updated by combining coal bed data measured by geological engineering uncovering, handover or maintenance shifts, an optimal prediction cutting line of a future N cutter is calculated by using a prediction cutting line service, a cutting path of a coal mining machine is constrained by combining a GITP module, a spatial relationship of the coal mining machine based on a unified geodetic coordinate system and the high-precision three-dimensional geological model of the coal bed is established, a highly feasible practical solution is provided for realizing self-adaptive coal cutting based on accurate positioning and the three-dimensional dynamic geological model, and the intelligent mining level on a coal mine fully-mechanized mining 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 a coupling system of a coal mining machine and a geological model of a coal mine fully mechanized mining face according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Examples
Fig. 1 is a block diagram of a coupling system of a coal mining machine and a geological model of a coal mine fully mechanized mining face according to an embodiment of the present application.
Referring to fig. 1, the coupling system provided by the embodiment is applied to an intelligent fully-mechanized coal mining face of a coal mine, and includes an equipment side 10, a service side 20, and a spatial database side 30. The equipment side, the server side and the spatial database side realize connection and information interaction through network equipment, namely, each side is provided with corresponding network communication equipment.
The equipment end comprises a coal mining machine 11 and a measuring robot 12 on a fully mechanized mining face, and further comprises an inertial navigation encoder combined positioning device 13, a GITP module 14 and a coal and rock stratum boundary line identification device 15 which are installed on the coal mining machine.
The inertial navigation encoder combined positioning device is positioning and attitude-fixing equipment and is used for acquiring real-time position and attitude information of the coal mining machine; the inertial navigation encoder combined positioning device calibrates a geodetic coordinate system consistent with a geological model through geodetic coordinate conduction service of a measuring robot, and then can comprehensively calculate the space geodetic coordinates of any position of a body of the coal mining machine and an equipment subsystem installed on the coal mining machine, such as cutting track space geodetic coordinate data of left and right rollers of the coal mining machine and coal strata boundary line space geodetic coordinate data of a coal strata boundary line recognition device, through geometric design parameters of the coal mining machine, the real-time posture of the coal mining machine acquired by the inertial navigation encoder combined positioning device, and the installation position and the geometric design parameters of equipment installed on the coal mining machine.
The GITP (Geological Information Transmission Protocol) module is configured to obtain a predicted cutting line through calculation by the predicted cutting line calculation service module, and store the predicted cutting line. When the coal mining machine cuts coal, the drum height of the coal mining machine is adjusted by utilizing the predicted cutting line, and the coal mining machine is restrained from adaptively cutting coal according to the predicted cutting line;
the measuring robot is geodetic coordinate transmission equipment and is used for calibrating the geodetic coordinate position of the inertial navigation encoder combined positioning device in real time.
The coal and rock stratum boundary line identification device is used for acquiring coal and rock stratum boundary line data of a top plate and a bottom plate of a coal bed of the current cutting surface in the advancing process of the coal mining machine; the coal and rock stratum boundary line identification device obtains the geodetic coordinates of the coal and rock stratum boundary line identification device according to the design position on the coal mining machine and the self geometric design parameters, combines the detection interpretation data to obtain the coal and rock stratum boundary line data, and converts the coal and rock stratum boundary line data into the geodetic coordinate data consistent with the geological model data coordinate system through the coal and rock stratum boundary line calculation service.
The service end is a computer or a server which is actually used for providing calculation service and is used for providing geodetic coordinate calibration service, cutting track calculation service, coal and rock stratum boundary calculation service, geological model updating service and prediction cutting line calculation service.
In order to realize the high coupling of mining equipment such as a coal mining machine and the like and a geological model, the measurement control point, the geological model data, the cutting track, the coal rock layer boundary data and the predicted cutting line data are all space geodetic coordinate data consistent with a geological model data coordinate system.
The geodetic coordinate calibration service is used for calibrating the geodetic coordinate position of the inertial navigation encoder combined positioning device through the measuring robot and providing positioning service for the coal mining machine and associated equipment;
the cutting track calculation service is used for calculating the cutting track of a roller of the coal mining machine when the coal mining machine cuts coal, and converting the cutting track into geodetic coordinate data consistent with a geological model coordinate system;
the coal and rock stratum boundary line calculation service is used for calculating coal and rock stratum boundary line data of a coal bed top plate and a coal bed bottom plate of a cutting face of the coal mining machine during coal cutting, and converting the coal and rock stratum boundary line data into geodetic coordinate data consistent with a geological model coordinate system;
the geological model updating service is used for acquiring the latest coal and rock layer boundary data and the latest coal bed data measured by geological engineering disclosure, handover or overhaul shifts so as to update the geological model;
the predicted cutting line calculation service is used for calculating the optimal predicted cutting line of the future N cutters based on the latest geological model in a seamless coupling mode, converting the predicted cutting line into geodetic coordinate data consistent with a geological model coordinate system, and providing cutting path planning data of the future N cutters for self-adaptive cutting of the coal mining machine. In addition, at the beginning of self-adaptive cutting of the coal mining machine based on the geological model by using the system, the coal mining machine needs to be manually and interactively controlled to cut a cut of coal, and a cutting track of the cut of coal is obtained through a cutting track service.
The spatial database terminal is a data service or a computer for providing data storage or exchange service, and is used for storing a measurement control point, equipment parameters, a geological model, a cutting track, a coal rock layer boundary line and predicting a cutting line; the measuring control points are geodetic coordinate control points in the gate roads on the two sides of the current fully mechanized mining face, and provide initialization and updating of geodetic coordinates for the measuring robot, so that a geodetic coordinate network in the middle of the fully mechanized mining face is established; the equipment parameters comprise basic information and geometric design parameters of main equipment in the fully mechanized mining working face and are used for assisting in calculating the space geodetic coordinate positions of various equipment and parts thereof;
the geological model is high-precision three-dimensional dynamic geological model data of the coal bed of the current fully mechanized mining face, and can be dynamically updated along with new coal bed data obtained by production activities;
the cutting track comprises geodetic coordinate track data of the operation of the coal mining machine and top and bottom cutting track data of each coal cutting section of the coal mining machine calculated by the cutting track calculation service;
the coal rock layer boundary line is the coal rock layer boundary line data of the coal bed top plate and the coal bed bottom plate of each coal cutting face obtained by the coal rock boundary line calculation service;
the predicted cutoff line is predicted cutoff line data of the future N cutters generated according to the predicted cutoff line calculation service.
The method comprises the steps of installing inertial navigation equipment, a coal stratum boundary line recognition device and a GITP module on a coal mining machine, calibrating the position of an inertial navigation encoder combined positioning device in real time by utilizing a measuring robot to conduct geodetic coordinates, obtaining accurate spatial position and attitude of the coal mining machine, obtaining coal stratum boundary line data through the coal stratum boundary line recognition device, meanwhile, a coal bed three-dimensional geological model is dynamically updated by combining coal bed data measured by geological engineering uncovering, handover or maintenance shifts, an optimal prediction cutting line of a future N cutter is calculated by using a prediction cutting line service, a cutting path of a coal mining machine is constrained by combining a GITP module, a spatial relationship of the coal mining machine based on a unified geodetic coordinate system and the high-precision three-dimensional geological model of the coal bed is established, a highly feasible practical solution is provided for realizing self-adaptive coal cutting based on accurate positioning and the three-dimensional dynamic geological model, and the intelligent mining level on a coal mine fully-mechanized mining working face is improved.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, 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 terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The technical solutions provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained in this document by applying specific examples, and the descriptions of the above examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (7)
1. The utility model provides a colliery is combined and is adopted working face coal-winning machine and coupled system of geological model which characterized in that, includes equipment end, service end and the spatial database end that realizes connecting through network equipment, wherein:
the equipment end comprises a coal mining machine, a measuring robot, an inertial navigation encoder combined positioning device, a GITP module and a coal and rock stratum boundary line identification device, wherein the GITP module is a geological model information transmission protocol module;
the measuring robot is used for conducting geodetic coordinates to calibrate the position of the inertial navigation encoder combined positioning device in real time;
the coal and rock stratum boundary line identification device is arranged on the coal mining machine and used for acquiring coal and rock stratum boundary line data of a top plate and a bottom plate of a coal bed of a current cutting surface in the advancing process of the coal mining machine;
the inertial navigation encoder combined positioning device is arranged on the coal mining machine and is used for acquiring real-time geodetic coordinate position and attitude information of the coal mining machine;
the GITP module is installed on the coal mining machine and used for acquiring predicted cutting line data through the server side, adjusting the height of a roller of the coal mining machine according to the predicted cutting line data and cutting coal in a self-adaptive mode according to an optimal predicted cutting line;
the server is used for calibrating the position of the inertial navigation encoder combined positioning device in real time by transmitting a geodetic coordinate through the measuring robot, calculating real-time position and attitude information of the coal mining machine according to the geodetic coordinate of the inertial navigation encoder combined positioning device and equipment parameters of the coal mining machine, calculating a cutting track of a roller of the coal mining machine, calculating coal stratum boundary line data of a coal seam top plate and a coal stratum bottom plate of a cutting surface of the coal mining machine when cutting coal according to the coal stratum boundary line identification device, dynamically updating a geological model according to the latest coal stratum boundary line data and latest coal seam data measured by geological engineering disclosure, handover or maintenance shift, and calculating the optimal predicted cutting line of the future N cutters through seamless coupling of predicted cutting line calculation service and the geological model;
and the spatial database end is used for storing a measurement control point, the equipment parameters, the geological model, the cutting track, the coal and rock layer boundary line and the prediction cutting line.
2. The coupling system of claim 1, wherein the service end is configured to provide geodetic coordinate calibration services, cutting trajectory calculation services, coal formation boundary calculation services, geological model updating services, and predicted cutting line calculation services, wherein:
the geodetic coordinate calibration service is used for calibrating the geodetic coordinate of the inertial navigation encoder combined positioning device through the measuring robot and providing positioning service for the coal mining machine and associated equipment;
the cutting track calculation service is used for calculating the cutting track of a roller of the coal mining machine when the coal mining machine cuts coal;
the coal and rock stratum boundary line calculation service is used for calculating coal and rock stratum boundary line data of a coal bed top plate and a coal bed bottom plate of a cutting surface of the coal mining machine when cutting coal;
the geological model updating service is used for acquiring the latest coal and rock layer boundary data and the latest coal bed data measured by geological engineering disclosure, handover or overhaul shift so as to update the geological model;
the predicted cutting line calculation service is used for calculating the optimal predicted cutting line of the future N cutters in a seamless coupling mode with the geological model, and providing cutting path planning data of the future N cutters for the self-adaptive cutting of the coal mining machine.
3. The coupling system of claim 1, wherein the measurement control points are geodetic coordinate control points in the gate roads on both sides of the current fully mechanized mining face, and provide initialization and update of geodetic coordinates for the measurement robot, thereby establishing a geodetic coordinate network in the middle of the fully mechanized mining face.
4. The coupling system of claim 1, wherein the equipment parameters include basic information and geometric design parameters of major equipment in the fully mechanized mining face.
5. The coupling system of claim 1, wherein the geological model is high-precision three-dimensional dynamic geological model data of a current fully mechanized coal face coal seam, and the three-dimensional dynamic geological model data can be dynamically updated with new coal seam data acquired during production activities.
6. The coupling system of claim 1, wherein the survey control points, the geological model, the cut trajectory, the coal seam boundary data, and the predicted cut line are all spatial geodetic coordinate data that is consistent with the geological model data coordinate system.
7. The coupling system of claim 1, wherein the GITP module stores the predicted cutting line, and invokes the predicted cutting line to constrain a height of a drum of the shearer to adjust according to a corresponding cutter number when the shearer cuts coal, so as to constrain the shearer to adaptively cut coal according to the predicted cutting line.
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| CN114091233B (en) * | 2021-10-18 | 2024-03-08 | 中煤科工开采研究院有限公司 | Self-adaptive following coal seam cutting path optimization method for fully-mechanized coal face coal mining machine |
| CN116291434B (en) * | 2023-05-18 | 2023-08-18 | 煤炭科学研究总院有限公司 | Coal mining and cutting navigation method and device for high-precision geological model |
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