CN113756711A - Underground coal mine drilling construction equipment system and construction parameter optimization method thereof - Google Patents
Underground coal mine drilling construction equipment system and construction parameter optimization method thereof Download PDFInfo
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Abstract
The invention discloses a coal mine underground drilling construction equipment system and a construction parameter optimization method thereof, wherein the coal mine underground drilling construction equipment system comprises a drilling unit, an auxiliary transportation unit, a post-processing unit and an intelligent decision-making system, and can autonomously complete underground drilling and post-matching construction operation of a coal mine, realize autonomous transportation and obstacle avoidance of each construction equipment, detect and discover a roadway deformation failure position and a to-be-constructed area, and independently complete drilling and post-matching all construction operations without manual intervention. Therefore, the underground coal mine drilling construction equipment system has high operation efficiency, high automatic construction efficiency and high operation precision, all equipment of the drilling rig group can move quickly and can be matched with each other to complete construction operation, and theoretical basis is provided for underground coal mine drilling rig group construction.
Description
Technical Field
The invention relates to the technical field of underground coal mine drilling construction equipment, in particular to an underground coal mine drilling construction equipment system and a construction parameter optimization method thereof.
Background
Along with the increase of underground mining intensity and depth of a coal mine, deep coal resources become strategic guarantee of main energy in China, the underground deep coal mine has high ground stress, high ground temperature, high humidity, high dust, low visibility and strong electromagnetic interference environment, the operation environment of constructors is severe, the construction of drilling equipment is widely applied to coal mine gas control and water exploration and drainage drilling construction operation at present, the conventional equipment mainly comprises mechanical drilling machines, a large number of operators are needed, the labor intensity is high, potential safety hazards exist in the construction process, automatic drilling equipment appearing in the market in recent years basically realizes automatic control of the drilling process, the processes before and after drilling cannot be intelligently linked, manual intervention is still needed, meanwhile, auxiliary equipment is still needed for construction in the post-drilling construction, and the whole-process intelligent construction cannot be really realized. Therefore, the unmanned or less-humanized intelligent cluster operation system becomes the key for solving the underground construction problem of the coal mine in the future.
At present, automatic drilling machines have been realized at home and abroad, and the automatic drilling machines can have the functions of automatic drill rod loading and unloading, automatic drilling and wireless remote control operation, but the automatic drilling equipment at present has the following two problems: (1) the automation and intelligence degree is low, functions such as autonomous navigation, perception and autonomous decision are in urgent need of development, and more field personnel are still needed to assist partial work; (2) the subsequent construction operation of the drill hole has no general construction equipment, and the supporting construction operation after manual completion is still needed, so that the construction requirement of intelligent drilling under a coal mine cannot be met.
Therefore, in view of the above defects, the designer of the invention researches and designs a coal mine underground drilling construction equipment system and an autonomous control method thereof by taking into account experience and achievement of related industries for many years through careful research and design so as to overcome the above defects.
Disclosure of Invention
The invention aims to provide a coal mine underground drilling construction equipment system and a construction parameter optimization method thereof, which can autonomously complete underground drilling and post-supporting construction operation of a coal mine, realize autonomous transportation and obstacle avoidance of each construction equipment, detect and discover a roadway deformation failure position and a to-be-constructed area, enable a construction equipment system to quickly reach a construction site, independently complete all the construction operations of drilling and post-supporting, do not need manual intervention, have high automatic construction efficiency and high operation precision, enable each equipment of a drilling rig group to quickly move, and quickly complete the construction operation by being matched with each other, thereby providing a theoretical basis for underground coal mine drilling rig group construction.
In order to solve the problems, the technical scheme adopted by the invention comprises the following steps:
a method for optimizing construction parameters of a coal mine underground drilling construction equipment system is disclosed, wherein the drilling construction equipment system comprises an intelligent decision system and a construction equipment system;
the intelligent decision system obtains an equipment operation parameter coefficient of the construction equipment system and an equipment construction process coefficient of the construction equipment system through the following formula;
in the formula: f1The construction period of the construction equipment system, h;
F2construction efficiency of the construction equipment system;
n, the equipment type number of the construction equipment system, wherein n is a natural number less than or equal to 6;
Xithe number of devices of the construction equipment system;
Qieffective construction time of equipment of the construction equipment system, h;
Mithe method comprises the steps of calculating a device operation parameter coefficient of a construction device system, wherein the device rated operation parameter is marked as 1, and the actual device operation parameter is divided by the device rated operation parameter to obtain the device operation parameter coefficient, and the value of the device operation parameter coefficient is positive;
m, the number of target drilled holes;
c, taking the stratum characteristic coefficient of the hole area from 0 to 1;
q, the stress coefficient of the coal body takes the value of 0 to 1;
d, drilling cutting quantity coefficient, taking value from 0 to 1;
Ciequipment construction process coefficients of the construction equipment system; the basic construction process of the equipment is marked as 1, the actual operation process of the equipment is divided by the basic construction process of the equipment to obtain the coefficient of the construction process of the equipment, and the value is positive;
Kiand the equipment utilization rate of the construction equipment system.
Optionally, the device operation parameter coefficient of the construction device system and the device construction process coefficient of the construction device system obtained by the intelligent decision system are locally optimized by using a particle swarm algorithm, and the optimal device operation parameter coefficient of the construction device system and the optimal device construction process coefficient of the construction device system are obtained through weighted calculation.
Optionally, the intelligent decision system is provided with a data acquisition module, an intelligent expert module and a data output module; the data acquisition module acquires equipment operation parameters of a construction equipment system, equipment construction procedures of the construction equipment system and roadway environment information; the intelligent expert module processes the data acquired by the data acquisition module to obtain an equipment operation parameter coefficient of the construction equipment system, an equipment construction process coefficient of the construction equipment system and path planning information; and the data output module receives the output result of the intelligent expert module and sends the equipment operation parameter coefficient of the construction equipment system, the equipment construction process coefficient of the construction equipment system and the path planning information to the construction equipment system for construction.
A coal mine underground drill rig group construction parameter optimization method is provided, wherein a drilling construction equipment system comprises an intelligent decision system and a construction equipment system, and the optimization method specifically comprises the following steps:
the method comprises the following steps: the intelligent decision-making system carries out path planning by utilizing the roadway environment information, selects equipment construction procedures and equipment operation parameters, and leads the construction equipment system to go to an operation area;
step two: the intelligent decision system obtains an equipment operation parameter coefficient of the construction equipment system and an equipment construction process coefficient of the construction equipment system through the following formula;
in the formula: f1The construction period of the construction equipment system, h;
F2construction efficiency of the construction equipment system;
n, the equipment type number of the construction equipment system, wherein n is a natural number less than or equal to 6;
Xithe number of devices of the construction equipment system;
Qieffective construction time of equipment of the construction equipment system, h;
Mithe method comprises the steps of calculating a device operation parameter coefficient of a construction device system, wherein the device rated operation parameter is marked as 1, and the actual device operation parameter is divided by the device rated operation parameter to obtain the device operation parameter coefficient, and the value of the device operation parameter coefficient is positive;
m, the number of target drilled holes;
c, taking the stratum characteristic coefficient of the hole area from 0 to 1;
q, the stress coefficient of the coal body takes the value of 0 to 1;
d, drilling cutting quantity coefficient, taking value from 0 to 1;
Ciequipment construction process coefficients of the construction equipment system; the basic construction process of the equipment is marked as 1, the actual operation process of the equipment is divided by the basic construction process of the equipment to obtain the coefficient of the construction process of the equipment, and the value is positive;
Kithe equipment utilization rate of the construction equipment system;
step three: and C, carrying out local optimization on the equipment operation parameter coefficient of the construction equipment system and the equipment construction process coefficient of the construction equipment system obtained in the step two by using a particle swarm algorithm, and carrying out weighted calculation to obtain an optimal equipment operation parameter coefficient of the construction equipment system and an optimal equipment construction process coefficient of the construction equipment system.
Optionally, the planning a path by using the roadway environment information in the first step includes: and obtaining the path plan by combining the positioning information of the construction equipment system and the roadway environment information including the module area divided by the roadway and the characteristic information of the obstacles.
A coal mine underground drilling construction equipment system comprises an intelligent decision-making system and a construction equipment system, wherein the construction equipment system is provided with a drilling unit, an auxiliary transportation unit and a post-processing unit; the intelligent decision-making system utilizes the method for optimizing the construction parameters of the underground coal mine drill pipe group to obtain the equipment operation parameter coefficient of the construction equipment system and the equipment construction process coefficient of the construction equipment system.
Optionally, the drilling unit comprises a wheel type walking device, a vehicle body platform I, a detection device, a power device, an angle adjusting device, a working device and an electric cabinet I;
optionally, the auxiliary transportation unit comprises a crawler-type walking device, a second vehicle body platform, an automatic loading and unloading mechanism, a storage device, a special drill rod box, a power device and a second electric cabinet.
Optionally, the post-processing unit includes a grouting unit, an anchoring unit, a hole sealing unit, and a blasting unit.
Optionally, the drilling unit, the auxiliary transportation unit and the post-processing unit realize data interaction with the intelligent decision-making system through a local area network.
The construction equipment system has high operation efficiency and wide application range, greatly reduces constructors, can receive environmental parameters and operation parameters in the working process of the construction equipment system in real time, can autonomously complete underground drilling and post-supporting construction operation of a coal mine, realizes autonomous transportation and obstacle avoidance of each construction equipment, can detect and find out deformation failure positions of roadways and areas to be constructed, can quickly reach construction sites, independently complete drilling and post-supporting all construction operations, does not need manual intervention, has high automatic construction efficiency and high operation precision, can quickly move each equipment of a drilling rig group, can cooperate with each other to complete the construction operation, and provides a theoretical basis for underground drilling rig group construction of the coal mine.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic diagram of the system operation of the underground coal mine drilling construction equipment;
FIG. 2 is a schematic structural diagram of a drilling unit of the underground coal mine drilling construction equipment system;
figure 3 is a schematic view of the angle adjustment arrangement of the drilling unit according to the invention;
figure 4 is a schematic view of the working device of the drilling unit of the present invention;
FIG. 5 is a schematic structural view of an auxiliary transportation unit of the underground coal mine drilling construction equipment system of the invention;
FIG. 6 is a schematic structural diagram of a grouting unit of the underground coal mine drilling construction equipment system;
FIG. 7 is a schematic structural view of an anchoring unit of the underground coal mine drilling construction equipment system of the invention;
FIG. 8 is a schematic structural diagram of a hole sealing unit of the underground coal mine drilling construction equipment system of the invention;
FIG. 9 is a schematic structural diagram of a blasting unit of the underground coal mine drilling construction equipment system of the invention;
the reference numerals of the drawings have the following meanings:
1-drilling unit, 2-auxiliary transportation unit, 3-intelligent decision system, 5-detection device, 6-electric cabinet I, 7-working device, 8-angle modulation device, 9-vehicle body platform I, 10-power device, 11-wheel type walking device, 12-rotating motor I, 13-rotating speed reducer II, 14-rotating speed reducer I, 15-working arm I, 16-secondary machine body, 17-working arm II, 18-rotating motor II, 19-machine body, 20-double-cylinder guide rail, 21-ball screw device, 22-rotating device, 23-feeding device, 24-crawler type walking device, 25-electric cabinet II, 26-automatic loading and unloading mechanism, 27-storage device, 28-vehicle body platform II, etc, 29-special drill pipe box, 30-grouting pump, 31-stirring station, 32-tensioning pump, 33-tensioning device, 34-quick-change connector, 35-hole packer, 36-signal controller and 37-filler; 4-post-treatment unit, 41-grouting unit, 42-anchoring unit, 43-hole sealing unit and 44-blasting unit.
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.
The method for optimizing the construction parameters of the underground coal mine drilling construction equipment system is mainly completed by an intelligent decision-making system 3, wherein the intelligent decision-making system 3 is provided with a data acquisition module, an intelligent expert module and a data output module; the data acquisition module acquires equipment operation parameters of the construction equipment system, equipment construction procedures of the construction equipment system and roadway environment information; the intelligent expert module processes the data acquired by the data acquisition module to obtain an equipment operation parameter coefficient of the construction equipment system, an equipment construction process coefficient of the construction equipment system and path planning information; and the data output module receives the output result of the intelligent expert module and sends the equipment operation parameter coefficient of the construction equipment system, the equipment construction process coefficient of the construction equipment system and the path planning information to the construction equipment system for construction.
Wherein: the data acquisition module is mainly used for collecting the operation parameters and the environment parameters of each device, the operation parameters comprise various device construction efficiency, various device construction process parameters, various device operation state parameters and various device operation tracks, the construction efficiency measures construction engineering quantity through a binocular vision sensor arranged on the device and obtains the construction efficiency through calculation, the construction process reads a storage device arranged in an electric cabinet of the device, the initial construction process is preset manually, various device operation state parameters are measured through various displacement sensors and angle sensors, and the operation speed, the operation angle of an angle adjusting mechanism, whether a working device is in an operating state, whether faults exist and fault position information are obtained; the running tracks of various devices are combined with local inertial navigation information to obtain the coordinate position of the region, and coordinate parameters are given to obtain accurate positioning information. The environmental parameters comprise roadway deformation failure conditions, hole region stratum characteristic parameters, rock mass geological structure characteristic parameters, rock mass mechanical characteristic parameters, construction site conditions and target drilling parameters. The roadway deformation failure condition and the construction site condition are obtained by utilizing a multi-view camera and a temperature sensor and a humidity sensor to measure image information; the method comprises the steps that qualitative results are obtained by combining hole region stratum characteristic parameters, rock mass geological structure characteristic parameters and rock mass mechanics characteristic parameters with image information, and accurate results are obtained by performing correlation identification calculation on working parameters during drilling construction of a drilling unit, wherein the working parameters comprise rotating speed, drilling speed, pressure and torque; the target drilling parameters are read from a memory arranged in an electric cabinet of the equipment, and the initial drilling parameters are preset manually.
The intelligent expert module is mainly used for comprehensively analyzing the running parameter and environment parameter data set, filtering and processing redundant information, determining a roadway construction area and construction process requirements according to set conditions and analysis roadway failure positions through image information obtained by the multi-camera, and selecting a proper post-processing unit 4. By establishing a multi-objective optimization configuration model, solving a non-mapping relation by adopting a proper mathematical algorithm, selecting a design optimization objective and constraint conditions autonomously, determining the operation parameters of each device, and obtaining the construction steps and the construction sequence. Guarantee construction equipment system efficiency of construction, can remotely carry out artifical supplementary fine setting simultaneously. Taking the construction period and the construction efficiency as examples as optimization targets, and selecting different construction steps and construction procedures as constraint conditions, the following formula is specifically adopted for selection.
In the formula: f1The construction period of the construction equipment system, h;
F2construction efficiency of the construction equipment system;
n, the equipment type number of the construction equipment system, wherein n is a natural number less than or equal to 6; (such as a drilling unit, an auxiliary transportation unit, a grouting unit, an anchoring unit, a sealing unit, a blasting unit)
XiThe number of devices of the construction equipment system;
Qieffective construction time of equipment of the construction equipment system, h;
Mithe method comprises the steps of calculating a device operation parameter coefficient of a construction device system, wherein the device rated operation parameter is marked as 1, and the actual device operation parameter is divided by the device rated operation parameter to obtain the device operation parameter coefficient, and the value of the device operation parameter coefficient is positive; processing by global optimization method, such as taking value between 0-2, and taking value at certain sampling interval, such as 0.01, to obtain shortest construction period and the best construction periodThe construction efficiency is high;
m, the number of target drilled holes;
c, taking the stratum characteristic coefficient of the hole area from 0 to 1;
q, the stress coefficient of the coal body takes the value of 0 to 1;
d, drilling cutting quantity coefficient, taking value from 0 to 1;
Ciequipment construction process coefficients of the construction equipment system; the basic construction process of the equipment is marked as 1, the actual operation process of the equipment is divided by the basic construction process of the equipment to obtain the coefficient of the construction process of the equipment, and the value is positive; processing by using a global optimization method, for example, a numerical value between 0 and 2 is taken according to a certain sampling interval, for example, 0.01, so that the shortest construction period and the maximum construction efficiency are obtained;
Kiand the equipment utilization rate of the construction equipment system.
Through the calculation of the formula, in order to ensure that the drilling construction equipment system achieves the optimal construction period and the optimal construction efficiency, the optimal construction process, the optimal construction steps and the corresponding operation parameters of each equipment can be obtained. The operation path planning of each device mainly combines the accurate positioning information of each device, and carries out comprehensive analysis and comparison by analyzing the module area divided by the roadway and the characteristic information of the barrier, so as to realize autonomous obstacle avoidance and obtain the optimal azimuth navigation and path planning. The data output module is mainly used for displaying the running state of each equipment and outputting working parameters and instructions to each construction equipment, and sending instructions to the electric control box of each equipment by receiving the output result of the intelligent expert module, and commanding the construction steps, the running parameters and the path planning of each equipment.
The autonomous control method of the coal mine drilling construction equipment system comprises the following steps:
the method comprises the following steps: assembling and debugging the required drilling unit 1, the intelligent decision-making system 3, the auxiliary transportation unit 2 and the post-processing unit 4, ensuring the normal work of each construction device, simultaneously checking the safety condition and the construction condition of a working place, and timely processing potential safety hazards;
step two: performing inspection tour on the roadway, finding an operation area to be constructed by the drilling unit 1 through the detection device 5, selecting proper path planning, construction procedures and working parameters by the intelligent decision system 3, realizing that each construction device autonomously goes to the operation area, and completing obstacle avoidance and route optimization;
step three: the auxiliary transportation unit 2 is mainly used for providing production consumables for the drilling unit 1 and the post-processing unit 4, when the construction of the drilling unit 1 is completed, the construction of the post-processing unit 4 mainly comprises grouting construction, anchoring construction, hole sealing construction and blasting construction, certain or combination of several construction modes is carried out according to the control of the intelligent decision system 3, the construction of the grouting unit 41 comprises the installation of a grouting pipe, the preparation of grout by adopting a stirring station 31 and the completion of grouting operation by utilizing a grouting pump 30; the construction of the anchoring unit 42 comprises the steps of installing anchor cables, configuring trays and ball pads, providing power by using the tensioning pump 32, and tensioning and pre-tightening the anchor cables by using the tensioning device 33; the hole sealing unit 43 construction comprises filling cotton yarn and double-slurry by using the quick connector 34, and sealing holes by using the hole sealer 35; the blasting unit 44 construction includes loading the explosive charges using the charger 37 and then performing the blasting operation using the signal controller 36.
Step five: after each equipment finishes construction operation, the intelligent decision system 3 analyzes, arranges and stores data, guides the construction equipment system to continue construction to the next construction operation position, and ensures that the construction equipment system is always in the optimal working state during working.
With reference to fig. 1-9, the invention discloses a coal mine underground drilling construction equipment system, which comprises a drilling unit 1, an auxiliary transportation unit 2, a post-processing unit 4 and an intelligent decision-making system 3: the drilling unit 1 comprises a wheel type walking device 11, a vehicle body platform I9, a detection device 5, a power device 10, an angle adjusting device 8, a working device 7 and an electric cabinet I6; the auxiliary transportation unit 2 comprises a crawler-type walking device 24, a vehicle body platform II 28, an automatic loading and unloading mechanism 26, a storage device 27, a special drill rod box 29, a power device 10 and an electric control box II 25; the post-processing unit 4 comprises a grouting unit 41, an anchoring unit 42, a hole sealing unit 43 and a blasting unit 44; the intelligent decision system 3 comprises a data acquisition module, an intelligent expert module and a data output module, and can complete data processing of the drilling rig group and distribute decision instructions; the drilling unit 1, the auxiliary transportation unit 2 and the post-processing unit 4 have functions of sensing self running state, fault diagnosis, communication and the like, and can feed back running speed, position information, whether equipment is in a working state, a working attitude angle of the equipment, whether the equipment works in a fault or not and fault position information to the intelligent decision system 3 through a local area network by using the electric control box I6 and the electric control box 25, and receive and execute decision instructions of the intelligent decision system 3;
wherein: the wheel type traveling device 11 is connected with the first vehicle body platform 9 through bolts, the detection device 5 is arranged in front of the first vehicle body platform 9, the power device 10 and the first electric cabinet 6 are arranged behind the first vehicle body platform 9, the angle adjusting device 8 is arranged in the middle of the vehicle body, and the working device 7 is connected with the angle adjusting device 8 through bolts.
Wherein: the angle adjusting mechanism 8 comprises a first working arm 15, a second working arm 17, a first rotating motor 12, a second rotating motor 18, a first rotary speed reducer 14, a second rotary speed reducer 13 and a second-stage machine body 16, and is mainly used for adjusting the construction angle of the working device 7, ensuring the drilling construction range and realizing accurate regulation and control of the pose of the working device 7, the first rotary speed reducer 14 and the second rotary speed reducer 13 are mainly used for adjusting the direction angle of the working device 7, the second-stage machine body 16 is mainly used for fixing the working device 7, the first working arm 15 and the second working arm 17 are provided with various sensors such as a fiber gyroscope and the like, and real-time accurate monitoring and control of the pose and the motion state of the working device 7 are realized through posture adjustment of the first rotating motor 12 and the second rotating motor 18.
Wherein: the working device 7 comprises a rotating device 22, a feeding device 23, a ball screw device 21, a double-cylinder guide rail 20 and a machine body 19, wherein the double-cylinder guide rail 20 and the ball screw device 21 are installed on the machine body 19, the rotating device 22 slides on the double-cylinder guide rail 20 in a reciprocating manner, the double-cylinder guide rail is driven by a servo motor, the speed reduction and the torque increase are realized through a speed reducer, the rotating torque and the rotating speed are ensured to meet the design requirements, the rotating torque can be accurately controlled, the 2-time torque stuck-releasing capability is realized, and the drilling speed can be autonomously controlled; the feeding device 23 is driven by a servo motor, speed reduction and torque increase are realized through a speed reducer, power is transmitted to the ball screw device 21, feeding speed and position accurate control of the rotating device 22 can be realized, the ball screw device 21 is connected with the rotating device 22, the ball screw device is mainly used for providing power for reciprocating sliding of the rotating device 22, and the automatic stopping and locking device has a stopping and self-locking function. Various sensors are arranged on the body 19 and can acquire drilling parameters in real time.
Wherein: the wheel type walking device 11 adopts four wheels to drive independently, the passing performance is good, 4 wheel motors transmit power to corresponding wheel reducers, so that 4 wheels are driven respectively, and a front-wheel drive mode or an all-wheel drive mode can be selected according to different roadway conditions.
Wherein: the detection device 5 completes roadway illumination through the LED lamp source, environment area characteristic point detection is completed through the multi-camera, the temperature sensor and the humidity sensor, the whole roadway is divided into multiple module areas, barrier characteristic information is extracted, image acquisition of target roadway construction conditions is completed simultaneously, roadway deformation failure conditions and construction site conditions are obtained, qualitative results such as hole area stratum characteristics, rock mass geological structure characteristics and rock mass mechanical characteristics are obtained preliminarily, area coordinate positions are automatically established by combining local inertial navigation information, coordinate parameters are given, and accurate positioning and azimuth navigation of equipment are achieved.
Wherein: the power device 10 is driven by a plurality of groups of explosion-proof batteries, provides power for the wheel type walking device 11, the detection device 5, the angle adjusting device 8, the working device 7 and the electric cabinet I6, and has an electric quantity display function.
The first electric cabinet 6 is mainly used for transmitting roadway environment parameters and image information obtained by the detection device 5 and operation parameters of the drilling unit 1 to the intelligent decision system 3, meanwhile, by constructing a mapping relation model of the operation parameters, pose parameters and construction parameters of the angle modulation device 8, accurate regulation and control of the pose of the working device 7 are achieved through a closed-loop feedback control method, and instructions of the intelligent decision system 3 are received.
Wherein: the crawler-type traveling device 24 is connected with a second vehicle body platform 28 through bolts, the automatic loading and unloading mechanism 26, the storage device 27, the special drill rod box 29, the power device 10 and the second electric control box 25 are fixedly connected on the second vehicle body platform 28, a plurality of types of sensors are arranged on the second vehicle body platform 28, and the equipment running state parameters are transmitted to the second electric control box 25, the second electric control box 25 feeds back data to the intelligent decision system 3 through a local area network, autonomous position navigation and path planning selection are realized by receiving the instruction of the intelligent decision-making system 3, and at the same time, the automatic loading and unloading mechanism 26 is controlled autonomously, the storage device 27 is used for storing special drill bits, cement, sand and other production consumables, the special drill rod box 29 is used for storing special drill rods, according to different construction conditions, the special drill rod has different specifications of length and diameter, and the special drill bit is matched with the special drill rod for use; the automatic loading and unloading mechanism 26 comprises a base, a main working arm, a telescopic arm and a gripper, and can complete the automatic loading and unloading process of production consumables, special drill rods and special drill bits.
Wherein: the post-processing unit 4 is a combination of a grouting unit 41, an anchoring unit 42, a hole sealing unit 43 and a blasting unit 44, the post-processing unit 4 is arranged at a certain distance behind the drilling unit 1, and the type of the post-processing unit 4 is selected through the intelligent decision-making system 3 according to the on-site construction requirement. The grouting unit 41 comprises a mixing station 31, a grouting pump 30, a wheel type walking device 11, a power device 10 and a second electric cabinet 25, and is provided with various sensors; the anchoring unit 42 comprises a tensioning device 33, a tensioning pump 32, a power device 10, a wheel type walking device 11 and a second electric cabinet 25, and is provided with various sensors; the hole sealing unit 43 comprises a hole sealing device 35, a quick joint 34, a power device 10, a wheel type walking device 11 and a second electric cabinet 25, and is provided with various sensors; the blasting unit 44 comprises a filler 37, a signal controller 36, a power device 10, a wheel walking device 11 and a second electric cabinet 25, and is provided with various sensors. The grouting unit 41, the anchoring unit 42, the hole sealing unit 43 and the blasting unit 44 all travel through the wheel type traveling device 11, the power device 10 provides power for the wheel type traveling device 11, the second electric cabinet 25 and the corresponding operation mechanism, and the second electric cabinet 25 receives instructions of the intelligent decision system 3 to realize autonomous azimuth navigation and path planning selection and complete control of the corresponding operation mechanism.
The drilling unit 1 utilizes the electric cabinet I6 to carry out interactive control with the intelligent decision-making system 3 through a local area network, and receives and executes decision instructions of the intelligent decision-making system 3; the auxiliary transportation unit 2, the grouting unit 41, the anchoring unit 42, the hole sealing unit 43 and the blasting unit 44 are in interactive control with the intelligent decision-making system 3 through the local area network by utilizing the second electric cabinet 25, and receive and execute decision instructions of the intelligent decision-making system 3.
Example 1:
when the coal mine drilling construction equipment system carries out tunnel patrol inspection, and the drilling unit 1 finds that a tunnel construction operation area needs anchoring construction, the autonomous control method of the drilling construction equipment system is as follows:
the method comprises the following steps: the intelligent decision system 3 comprehensively analyzes the roadway graphic information, the roadway failure information and the equipment operation information obtained by the detection device 5, filters and processes redundant information, extracts information such as feature points of obstacles, sparse environment feature points of roadway regions, floor heave of roadway surrounding rocks, rib positions, positions of roadways to be repaired and operation parameters of each piece of equipment of the construction equipment system in the roadway graphic information, determines information such as anchoring construction range, anchor rod spacing, anchor rod length, anchor rod arrangement mode and anchoring agent type, reasonably determines operation tracks and optimized routes of each piece of equipment of the construction equipment system according to the obstacle information parameters and the roadway region coordinate information parameters, and can remotely perform manual auxiliary fine adjustment of multi-source information.
Step two: the drilling unit 1, the auxiliary transportation unit 2 and the anchoring unit 42 sequentially go to an operation area according to a specified route according to an instruction of the intelligent decision-making system 3, the intelligent decision-making system 3 autonomously selects and selects a design optimization target and constraint conditions according to the operation parameters, the number of construction anchor rods, the arrangement mode of anchoring holes, anchoring construction process requirements, target stratum compressive strength, elastic modulus, Poisson ratio and other parameters of the drilling unit 1, the auxiliary transportation unit 2 and the anchoring unit 42, a multi-target configuration optimization model of the construction efficiency and period of a construction equipment system is taken as an example for explanation, two target functions are coordinately corrected by using a weighted combination method, and a scheme which is better for each branch target is selected according to the importance degree to serve as a relatively optimal solution of the multi-target optimization model.
Taking a certain anchoring construction case as an example for analysis, the weighting coefficient of the construction period is 0.6, the weighting coefficient of the construction efficiency is 0.4, n is 3, and X is1＝2，X2＝1，X3＝2，Q1＝0.5，Q2＝0.8，Q3＝0.4，M1、M2、M3Is a positive number from 0 to 2, m is 3, C is 0.86, q is 0.57, d is 0.67, C1、C2、C3Is a positive number from 0 to 1, K1＝0.8，K2＝0.7，K3Substituting equation 1 and 2 for 0.6, and finding F1Is 0.3912, F20.6874, corresponding relatively optimal solution M1、M2、M3And C1、C2、C3The values of (A) are respectively 1.1, 0.9, 1.2, 0.9 and 0.8, and the scheme is taken as an optimization scheme.
Step three: calculating according to the independent target configuration optimization model respectively, carrying out local optimization by a particle swarm algorithm, updating the position and the speed of the optimization by tracking two extreme values in each iteration, selecting the maximum iteration times or (and) the optimal position searched by the particle swarm so far according to the construction equipment system according to the iteration termination condition to meet the preset minimum adaptive threshold value, obtaining the optimal configuration solution of each equipment, obtaining the optimal equipment operation parameters and the construction procedures through weighting calculation, verifying, and returning and reading information again for analysis and calculation if a certain operation parameter is not optimal. The operation parameters of the drilling unit 1 comprise operation speed, angle modulation precision, drilling speed, rotating speed, output torque and the like, the operation parameters of the auxiliary transportation unit 2 comprise operation speed, rod grabbing mode, rod grabbing precision, rod grabbing range and the like, and the operation parameters of the anchoring unit 42 comprise anchor rod installation mode, anchor rod pretightening force, anchor rod rotating speed, anchoring agent material and the like.
To equipment operation parameter coefficient and construction process coefficient M1、M2、M3、C1、C2、C3The values are subjected to local iterative optimization and are respectively 1.08, 0.88, 1.22, 0.90, 0.89 and 0.82, an optimal configuration solution of each device is obtained, so that corresponding operating parameters and construction procedures of each device are obtained, and the intelligent decision system 3 guides the operating parameters and the procedure steps of each device to carry out construction operation according to the obtained results.
Step four: the drilling unit 1 and the auxiliary transportation unit 2 work according to set operation parameters and construction steps, after drilling construction is completed, the anchoring unit 42 performs post-processing construction according to the set operation parameters, installation of anchor cables, configuration of trays, ball pads and tensioning of pre-tightened anchor cables are completed, and the pre-tightening force of the anchor rods is checked to meet design requirements.
Step five: after the construction equipment system finishes the anchoring construction, the intelligent decision system 3 analyzes the anchoring construction data to obtain data of the tension strength, the pretightening force, the anchoring effect and the like of each anchor rod, and analyzes, arranges and stores the data.
Example 2:
when the coal mine drilling construction equipment system carries out the inspection of the roadway patrol and when the drilling unit 1 finds that the roadway construction operation area needs grouting construction, the autonomous control method of the drilling construction equipment system comprises the following steps:
the method comprises the following steps: the intelligent decision system 3 comprehensively analyzes the roadway graphic information, the roadway failure information and the equipment operation information obtained by the detection device 5, filters and processes redundant information, extracts information such as feature points of obstacles in the roadway graphic information, sparse environment feature points of roadway regions, the crushing state of roadway surrounding rocks, the position of a roadway to be repaired and operation parameters of equipment of a construction equipment system, determines information such as a grouting construction range, a grouting mode, surrounding rock strength requirements, a grouting hole arrangement mode and grouting material types, reasonably determines operation tracks and optimized routes of the equipment of the construction equipment system according to the information parameters of roadway region coordinates of the obstacle information parameters, and can remotely perform manual auxiliary fine adjustment of multi-source information.
Step two: the drilling unit 1, the auxiliary transportation unit 2 and the grouting unit 41 sequentially go to an operation area according to a specified route according to an instruction of the intelligent decision-making system 3, the intelligent decision-making system 3 autonomously selects and selects a design optimization target and constraint conditions according to the operation parameters, the number of construction grouting holes, the grouting hole arrangement mode, dynamic viscosity, the requirement on the surrounding rock strength of a roadway, the target stratum crushing degree, the rock stress concentration state and other parameters of the drilling unit 1, the auxiliary transportation unit 2 and the grouting unit 41, the construction efficiency and the periodic multi-target configuration optimization model of the construction equipment system are taken as an example for explanation, the two target functions are coordinately corrected by using a weighted combination method, and a scheme which is better for each branch target is selected according to the importance degree to serve as a relatively optimal solution of the multi-target optimization model.
Taking a certain grouting construction case as an example for analysis, the weighting coefficient of the construction period is 0.5, the weighting coefficient of the construction efficiency is 0.5, n is 3, and X is1＝2，X2＝1，X3＝3，Q1＝0.5，Q2＝0.7，Q3＝0.5，M1、M2、M3Is a positive number from 0 to 2, m is 3, C is 0.76, q is 0.68, d is 0.81, C1、C2、C3Is a positive number from 0 to 1, K1＝0.7，K2＝0.8，K3Substituting equation 1 and 2 for 0.7, and finding F1Is 0.3783, F20.6956, corresponding relatively optimal solution M1、M2、M3And C1、C2、C3The values of (A) are respectively 1.2, 0.9, 1.1, 0.8, 0.9 and 0.9, and the scheme is taken as an optimization scheme.
Step three: calculating according to the independent target configuration optimization model respectively, carrying out local optimization by a particle swarm algorithm, updating the position and the speed of the optimization by tracking two extreme values in each iteration, selecting the maximum iteration times or (and) the optimal position searched by the particle swarm so far according to the construction equipment system according to the iteration termination condition to meet the preset minimum adaptive threshold value, obtaining the optimal configuration solution of each equipment, obtaining the optimal equipment operation parameters through weighting calculation, verifying, and returning to read information again for analysis and calculation if a certain operation parameter is not optimal. The operation parameters of the drilling unit 1 comprise operation speed, angle adjusting precision, drilling speed, rotating speed, output torque and the like, the operation parameters of the auxiliary transportation unit 2 comprise operation speed, rod grabbing mode, rod grabbing precision, rod grabbing range and the like, and the operation parameters of the grouting unit 41 comprise grouting amount, grouting materials, grouting setting-waiting time, grouting pressure, grouting speed, slurry diffusion radius and the like.
To equipment operation parameter coefficient and construction process coefficient M1、M2、M3、C1、C2、C3The values are subjected to local iterative optimization and are respectively 1.17, 0.89, 1.12, 0.79, 0.89 and 0.91, the optimal configuration solution of each device is obtained, so that the corresponding operating parameters and construction procedures of each device are obtained, and the intelligent decision system 3 guides the operating parameters and the procedure steps of each device to carry out construction operation according to the obtained results.
Step four: the drilling unit 1 and the auxiliary transportation unit 2 work according to set operation parameters and construction steps, after drilling construction is completed, the grouting unit 41 works according to the set operation parameters, grouting pipe installation is completed, grouting operation is completed by the grouting pump 30, and the strength of the rock mass after grouting is checked to meet design requirements.
Step five: after the grouting construction of the part is completed by the construction equipment system, the intelligent decision system 3 analyzes grouting construction data to obtain data such as bonding strength, compressive strength and grouting quality of the rock mass after grouting, and the data are analyzed and arranged.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method for optimizing construction parameters of a coal mine underground drilling construction equipment system is characterized in that the drilling construction equipment system comprises an intelligent decision system (3) and a construction equipment system;
the intelligent decision system (3) obtains an equipment operation parameter coefficient of the construction equipment system and an equipment construction process coefficient of the construction equipment system through the following formula;
in the formula: f1The construction period of the construction equipment system, h;
F2construction efficiency of the construction equipment system;
n, the equipment type number of the construction equipment system, wherein n is a natural number less than or equal to 6;
Xithe number of devices of the construction equipment system;
Qieffective construction time of equipment of the construction equipment system, h;
Mithe method comprises the steps of calculating a device operation parameter coefficient of a construction device system, wherein the device rated operation parameter is marked as 1, and the actual device operation parameter is divided by the device rated operation parameter to obtain the device operation parameter coefficient, and the value of the device operation parameter coefficient is positive;
m, the number of target drilled holes;
c, taking the stratum characteristic coefficient of the hole area from 0 to 1;
q, the stress coefficient of the coal body takes the value of 0 to 1;
d, drilling cutting quantity coefficient, taking value from 0 to 1;
Ciequipment construction process coefficients of the construction equipment system; the basic construction process of the equipment is marked as 1, the actual operation process of the equipment is divided by the basic construction process of the equipment to obtain the coefficient of the construction process of the equipment, and the value is positive;
Kiand the equipment utilization rate of the construction equipment system.
2. The method for optimizing the construction parameters of the underground coal mine drill pipe group according to claim 1, wherein the equipment operation parameter coefficient of the construction equipment system and the equipment construction process coefficient of the construction equipment system, which are obtained by the intelligent decision system (3), are locally optimized by using a particle swarm algorithm, and the optimal equipment operation parameter coefficient of the construction equipment system and the optimal equipment construction process coefficient of the construction equipment system are obtained through weighted calculation.
3. The method for optimizing the construction parameters of the underground coal mine drill pipe group according to the claim 1 or 2, wherein the intelligent decision system (3) is provided with a data acquisition module, an intelligent expert module and a data output module;
the data acquisition module acquires equipment operation parameters of a construction equipment system, equipment construction procedures of the construction equipment system and roadway environment information;
the intelligent expert module processes the data acquired by the data acquisition module to obtain an equipment operation parameter coefficient of the construction equipment system, an equipment construction process coefficient of the construction equipment system and path planning information;
and the data output module receives the output result of the intelligent expert module and sends the equipment operation parameter coefficient of the construction equipment system, the equipment construction process coefficient of the construction equipment system and the path planning information to the construction equipment system for construction.
4. A coal mine underground drill rig group construction parameter optimization method is characterized in that a drilling construction equipment system comprises an intelligent decision system (3) and a construction equipment system, and the optimization method specifically comprises the following steps:
the method comprises the following steps: the intelligent decision-making system (3) performs path planning by using the roadway environment information, selects equipment construction procedures and equipment operation parameters, and enables the construction equipment system to go to an operation area;
step two: the intelligent decision system (3) obtains an equipment operation parameter coefficient of the construction equipment system and an equipment construction process coefficient of the construction equipment system through the following formula;
in the formula: f1The construction period of the construction equipment system, h;
F2construction efficiency of the construction equipment system;
n, the equipment type number of the construction equipment system, wherein n is a natural number less than or equal to 6;
Xithe number of devices of the construction equipment system;
Qieffective construction time of equipment of the construction equipment system, h;
Mithe method comprises the steps of calculating a device operation parameter coefficient of a construction device system, wherein the device rated operation parameter is marked as 1, and the actual device operation parameter is divided by the device rated operation parameter to obtain the device operation parameter coefficient, and the value of the device operation parameter coefficient is positive;
m, the number of target drilled holes;
c, taking the stratum characteristic coefficient of the hole area from 0 to 1;
q, the stress coefficient of the coal body takes the value of 0 to 1;
d, drilling cutting quantity coefficient, taking value from 0 to 1;
Ciequipment construction process coefficients of the construction equipment system; the basic construction process of the equipment is marked as 1, the actual operation process of the equipment is divided by the basic construction process of the equipment to obtain the coefficient of the construction process of the equipment, and the value is positive;
Kithe equipment utilization rate of the construction equipment system;
step three: and C, carrying out local optimization on the equipment operation parameter coefficient of the construction equipment system and the equipment construction process coefficient of the construction equipment system obtained in the step two by using a particle swarm algorithm, and carrying out weighted calculation to obtain an optimal equipment operation parameter coefficient of the construction equipment system and an optimal equipment construction process coefficient of the construction equipment system.
5. The method for optimizing the construction parameters of the underground coal mine drill rig group according to claim 4, wherein the step one of planning the path by using the roadway environment information comprises the following steps:
and obtaining the path plan by combining the positioning information of the construction equipment system and the roadway environment information including the module area divided by the roadway and the characteristic information of the obstacles.
6. A coal mine underground drilling construction equipment system is characterized by comprising an intelligent decision-making system and a construction equipment system, wherein the construction equipment system is provided with a drilling unit (1), an auxiliary transportation unit (2) and a post-processing unit (4); the intelligent decision-making system (3) utilizes the method for optimizing the construction parameters of the underground coal mine drill pipe group according to any one of claims 1 to 5 to obtain the equipment operation parameter coefficient of the construction equipment system and the equipment construction process coefficient of the construction equipment system.
7. The underground coal mine drilling construction equipment system according to claim 6, wherein the drilling unit (1) comprises a wheel type walking device (11), a vehicle body platform I (9), a detection device (5), a power device (10), an angle adjusting device (8), a working device (7) and an electric cabinet I (6).
8. The underground coal mine drilling construction equipment system according to claim 6, wherein the auxiliary transportation unit (2) comprises a crawler-type walking device (24), a second vehicle body platform (28), a loading and unloading mechanism (26), a storage device (27), a special drill rod box (29), a power device (10) and a second electric cabinet (25).
9. The underground coal mine drilling construction equipment system according to claim 6, wherein the post-processing unit (4) comprises a grouting unit (41), an anchoring unit (42), a hole sealing unit (43) and a blasting unit (44).
10. The underground coal mine drilling construction equipment system according to claim 6, wherein the drilling unit (1), the auxiliary transportation unit (2) and the post-processing unit (4) realize data interaction with the intelligent decision-making system (3) through a local area network.
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