CN112983523A - Method for detecting abnormity of pushing, sliding and moving frame of fully mechanized coal mining face of coal mine - Google Patents
Method for detecting abnormity of pushing, sliding and moving frame of fully mechanized coal mining face of coal mine Download PDFInfo
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- CN112983523A CN112983523A CN202110385224.9A CN202110385224A CN112983523A CN 112983523 A CN112983523 A CN 112983523A CN 202110385224 A CN202110385224 A CN 202110385224A CN 112983523 A CN112983523 A CN 112983523A
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- 238000005065 mining Methods 0.000 title claims abstract description 61
- 239000003245 coal Substances 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims abstract description 59
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 3
- 230000002159 abnormal effect Effects 0.000 claims description 13
- 230000005856 abnormality Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a method for detecting abnormity of a pushing, sliding and moving rack of a fully mechanized coal mining face, and the method comprises the following steps of S1, mounting an acceleration sensor on an inner testing surface of a top plate of each hydraulic support of the fully mechanized coal mining face, and numbering according to the arrangement sequence of the hydraulic supports; s2, outputting the measurement signal of each acceleration sensor to a fully mechanized coal mining face server; s3, when the fully mechanized mining face performs pushing and sliding actions and a server receives an acceleration value sent by an acceleration sensor, the hydraulic support corresponding to the number of the acceleration sensor is judged to move; and S4, when the fully mechanized mining face moves and the server does not receive an acceleration value sent by an acceleration sensor, judging that the hydraulic support corresponding to the number of the acceleration sensor does not move. The invention has the advantages that whether the pushing, sliding and moving actions of the fully mechanized coal mining face are executed or not, whether the moving is correct or not and whether the moving actions are deviated or not are automatically monitored in real time. The detection method is economical and reliable and has quick response.
Description
Technical Field
The invention relates to the field of coal mine underground fully mechanized coal mining face pushing and sliding frames, in particular to a coal mine fully mechanized coal mining face pushing and sliding frame abnormity detection method.
Background
The realization of intellectualization and unmanned of the coal mine fully-mechanized coal mining face is an important research direction of the current coal mining face and a current coal mining research trend, and how to automatically control the coal mine fully-mechanized coal mining face to have better straightness is a core problem which restricts the development of the research direction. In addition, according to the requirements of coal mine safety regulations, the three-straightness of the fully mechanized coal mining face is realized, namely, the hydraulic support, the scraper conveyor and the coal wall are ensured to be straight lines, so that the fact that the fully mechanized coal mining face can accurately push and slide the frame is a key factor for keeping the three-straightness. The traditional detection method for the abnormity of the pushing sliding frame mainly depends on the observation of human eyes, and has larger dependence on human; the comprehensive mining working face is long, generally 100-plus-200 hydraulic supports are needed for arrangement and support, the underground environment of the coal mine is complex, light is weak, dust and water mist are large in the coal mining process, the definition of visual information captured by human eyes is poor, accurate judgment of the abnormality of the pushing and sliding frame by workers is affected, and intelligent and unmanned implementation of the comprehensive mining working face is not facilitated. How to accurately detect whether the fully mechanized coal mining face has the abnormal pushing, sliding and moving of the frame is important for realizing 'three straight' in real time.
Disclosure of Invention
The invention aims to provide a method for detecting the abnormity of the pushing and sliding frame of the fully mechanized coal mining face, which realizes real-time automatic accurate detection of the pushing and sliding frame and provides scientific basis for automatic straightening of the subsequent fully mechanized coal mining face.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a method for detecting the abnormity of a pushing sliding moving frame of a fully mechanized coal mining face of a coal mine, which comprises the following steps:
s1, firstly, respectively installing acceleration sensors on the inner measuring surface of the top plate of each hydraulic support of the fully mechanized mining face, and numbering according to the arrangement sequence of each hydraulic support;
s2, outputting the measurement signal of each acceleration sensor to a fully mechanized coal mining face server in a wired or wireless mode;
s3, when the fully mechanized mining face performs pushing and sliding actions, when the fully mechanized mining face server receives an acceleration value sent by an acceleration sensor, the hydraulic support corresponding to the serial number of the acceleration sensor is judged to move, and an abnormal pushing and sliding signal of the hydraulic support is sent to an upper computer;
and S4, when the fully mechanized mining face moves, and when the fully mechanized mining face server does not receive an acceleration value sent by an acceleration sensor, it is determined that the hydraulic support corresponding to the acceleration sensor number does not move, and an abnormal signal of the hydraulic support moving is sent to the upper computer.
Preferably, the acceleration sensor is a two-axis acceleration sensor, the Y axis of the two-axis acceleration sensor points to the advancing direction of the moving frame, and the X axis points to the arrangement direction of the hydraulic supports; when the fully mechanized mining face moves, each two-axis acceleration sensor measures the Y-axis offset angle alpha in real time and uploads the Y-axis offset angle alpha to the fully mechanized mining face server, the fully mechanized mining face server fits a moving route according to the Y-axis offset angle alpha of each two-axis acceleration sensor, and if the Y-axis offset angle alpha is not coincident with a preset moving route, a hydraulic support moving abnormal signal corresponding to the serial number of the two-axis acceleration sensor and the Y-axis offset angle alpha are sent to an upper computer.
The invention has the advantages that whether the pushing, sliding and moving actions of the fully mechanized coal mining face are executed or not, whether the moving is correct or not and whether the moving actions are deviated or not are automatically monitored in real time. The pushing, sliding and moving movement detection is controlled by a fully mechanized coal mining face server, so that the intelligent and unmanned realization of the working face is facilitated; the detection method is economical and reliable, has quick response, and provides important scientific basis for the subsequent alignment of the fully mechanized coal mining face.
Drawings
Fig. 1 is a schematic layout of the fully mechanized mining face pushing and sliding frame.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the method for detecting the abnormality of the pushing, sliding and moving rack of the fully mechanized coal mining face of the coal mine comprises the following steps:
s1, firstly, respectively installing two-axis acceleration sensors 2 on the inner side surface of the top plate of each hydraulic support 1 of the fully mechanized mining face, and numbering according to the arrangement sequence of each hydraulic support 1; the Y axis of the two-axis acceleration sensor 2 points to the advancing direction of the moving frame, and the X axis points to the arrangement direction of the hydraulic supports 1;
s2, outputting the measuring signal of each two-axis acceleration sensor 2 to a fully mechanized coal mining face server in a wired or wireless mode;
s3, when the pushing and sliding action of the fully mechanized mining face is carried out, when the fully mechanized mining face server receives acceleration values of an X axis or/and a Y axis sent by a certain two-axis acceleration sensor 2, the hydraulic support 1 corresponding to the serial number of the two-axis acceleration sensor 2 is judged to move, and an abnormal pushing and sliding signal of the hydraulic support 1 is sent to an upper computer;
s4.1, when the fully mechanized mining face moves, each two-axis acceleration sensor 2 measures the offset angle alpha and the acceleration value of the Y axis of the fully mechanized mining face in real time and uploads the values to a fully mechanized mining face server, when the fully mechanized mining face server does not receive the Y axis acceleration value sent by one two-axis acceleration sensor 2, the hydraulic support 1 corresponding to the serial number of the two-axis acceleration sensor 2 is judged not to move, and an abnormal signal of the hydraulic support moving 1 is sent to an upper computer; when the fully-mechanized mining face server receives a Y-axis acceleration value and an offset angle alpha sent by a certain two-axis acceleration sensor 2, the fully-mechanized mining face server fits a rack moving route according to the Y-axis offset angle alpha of the two-axis acceleration sensor 2, and if the Y-axis offset angle alpha is not overlapped with a preset rack moving route, an abnormal signal that the hydraulic support 1 corresponding to the serial number of the two-axis acceleration sensor 2 deviates from the rack moving positive direction alpha is sent to an upper computer.
The principle of the invention is as follows:
when the hydraulic support 1 pushes the conveyor 3, the position of the hydraulic support 1 should be kept unchanged, the acceleration component of the acceleration sensor 2 on each axis is 0, and if the acceleration component of the acceleration sensor 2 in each axis direction is not zero, the hydraulic support 1 moves and the pushing is abnormal.
When the hydraulic support 1 moves, the hydraulic support 1 should move towards the conveyor 3, the acceleration sensor 2 uploads the numerical values acquired in the movement process of the hydraulic support 1 to the fully mechanized mining face server in real time, the fully mechanized mining face server obtains the movement path of the hydraulic support 1 by adopting a weighted least square method, and at the moment, if the acceleration component of the acceleration sensor 2 on each axis is 0, the support moving is abnormal; if the server of the fully mechanized mining face performs curve fitting on all angles acquired by the acceleration sensor 2 by adopting a weighted least square method, the obtained moving path of the hydraulic support 1 is inconsistent with the preset moving route, and the included angle between the actual moving path of the hydraulic support 1 and the moving direction of the normal support is
If so, the frame moving is abnormal.
Claims (2)
1. A coal mine fully mechanized coal mining face pushing, sliding and moving frame abnormity detection method is characterized by comprising the following steps: the method comprises the following steps:
s1, firstly, respectively installing acceleration sensors on the inner measuring surface of the top plate of each hydraulic support of the fully mechanized mining face, and numbering according to the arrangement sequence of each hydraulic support;
s2, outputting the measurement signal of each acceleration sensor to a fully mechanized coal mining face server in a wired or wireless mode;
s3, when the fully mechanized mining face performs pushing and sliding actions, when the fully mechanized mining face server receives an acceleration value sent by an acceleration sensor, the hydraulic support corresponding to the serial number of the acceleration sensor is judged to move, and an abnormal pushing and sliding signal of the hydraulic support is sent to an upper computer;
and S4, when the fully mechanized mining face moves, and when the fully mechanized mining face server does not receive an acceleration value sent by an acceleration sensor, it is determined that the hydraulic support corresponding to the acceleration sensor number does not move, and an abnormal signal of the hydraulic support moving is sent to the upper computer.
2. The coal mine fully mechanized mining face pushing and sliding frame abnormity detection method according to claim 1, characterized in that: the acceleration sensor is a two-axis acceleration sensor, the Y axis of the two-axis acceleration sensor points to the advancing direction of the moving frame, and the X axis points to the arrangement direction of the hydraulic supports; when the fully mechanized mining face moves, each two-axis acceleration sensor measures the Y-axis offset angle alpha in real time and uploads the Y-axis offset angle alpha to the fully mechanized mining face server, the fully mechanized mining face server fits a moving route according to the Y-axis offset angle alpha of each two-axis acceleration sensor, and if the Y-axis offset angle alpha is not coincident with a preset moving route, a hydraulic support moving abnormal signal corresponding to the serial number of the two-axis acceleration sensor and the Y-axis offset angle alpha are sent to an upper computer.
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| CN202110385224.9A CN112983523A (en) | 2021-04-09 | 2021-04-09 | Method for detecting abnormity of pushing, sliding and moving frame of fully mechanized coal mining face of coal mine |
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| CN202110385224.9A CN112983523A (en) | 2021-04-09 | 2021-04-09 | Method for detecting abnormity of pushing, sliding and moving frame of fully mechanized coal mining face of coal mine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115167127A (en) * | 2022-07-04 | 2022-10-11 | 北京天玛智控科技股份有限公司 | Method and device for adaptively correcting support control parameters |
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2021
- 2021-04-09 CN CN202110385224.9A patent/CN112983523A/en active Pending
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Effective date of registration: 20220809 Address after: 450016 No.167, 9th Street, Zhengzhou area (Jingkai), Zhengzhou pilot Free Trade Zone, Henan Province Applicant after: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Address before: No.167, 9th Street, Zhengzhou Economic Development Zone, Henan Province, 450016 Applicant before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Applicant before: ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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Address after: 450016 No.167, 9th Street, Zhengzhou area (Jingkai), Zhengzhou pilot Free Trade Zone, Henan Province Applicant after: Zhengzhou Hengda Intelligent Control Technology Co.,Ltd. Address before: 450016 No.167, 9th Street, Zhengzhou area (Jingkai), Zhengzhou pilot Free Trade Zone, Henan Province Applicant before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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Application publication date: 20210618 |
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