CN113958320A - Full-intelligent cruise system and method for coal mine fully-mechanized coal mining complete equipment - Google Patents
Full-intelligent cruise system and method for coal mine fully-mechanized coal mining complete equipment Download PDFInfo
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- CN113958320A CN113958320A CN202111230449.3A CN202111230449A CN113958320A CN 113958320 A CN113958320 A CN 113958320A CN 202111230449 A CN202111230449 A CN 202111230449A CN 113958320 A CN113958320 A CN 113958320A
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- 239000003245 coal Substances 0.000 title claims abstract description 105
- 238000005065 mining Methods 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007704 transition Effects 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000005520 cutting process Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 238000013480 data collection Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 238000012795 verification Methods 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/18—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Abstract
The invention relates to a full-intelligent cruise system and a cruise method for fully-mechanized coal mining complete equipment, belonging to the technical field of coal mine machinery; and performing cooperative optimization control on the three machines by taking the running posture and the running position of the pushed and slipped conveying equipment as references. The device comprises a scraper conveyor, a crossheading reversed loader, a crusher, a cruise track, a cruise trolley, an inertial navigation positioning device, a computer and a control display; the cruising track penetrates through the non-coal wall side of the whole set of conveying equipment; the cruise trolley drives the inertial navigation positioning device to move back and forth on the cruise track; the motion track of the inertial navigation positioning device is matched with the motion track rule of the coal mining machine; the inertial navigation positioning device can acquire the operation attitude and the operation position of the conveying equipment; the invention carries out attitude-fixing and positioning on the conveying equipment after the coal mining machine runs and pushes away the chute, and generates self-adaptive control for guiding the pushing and pulling frame stroke of the hydraulic support and the mining height and depth of the coal mining machine according to the output of the attitude of the conveying equipment, thereby carrying out self-cruising, intelligent adjustment and intelligent verification on the three machines.
Description
The technical field is as follows:
the invention belongs to the field of coal mine machinery, and particularly relates to a full-intelligent cruise system and a cruise method for fully-mechanized coal mining complete equipment.
Background art:
in recent years, with the continuous improvement of the manufacturing and mining levels of fully mechanized coal mining equipment, the fully mechanized coal mining intelligent technology is rapidly developed. The intelligent fully-mechanized coal mining face has the important characteristics of intelligent integration, automatic control, safe mining and efficient production. In the prior art, several coal mine intelligent systems are disclosed, one is an unmanned intelligent fully-mechanized coal mining working surface, a monitoring system is arranged on a coal mining machine, and the data of the running route of the coal mining machine is collected, so that the coal mining machine and a hydraulic support are controlled; the running track of the system is synchronous with the coal mining machine, the current running attitude is acquired, but the attitude and the position of the hydraulic support after pushing and sliding are not acquired, and the key point for influencing the next cut is the three-machine attitude of the hydraulic support after pushing and sliding; the other type is that the coal mining machine memorizes cutting: and (3) setting a coal mining control route by taking the artificial coal mining data as basic data, and if deviation occurs in the process, manually mining the coal and updating the data again. The system is based on data of the artificial coal mining machine, absolute unmanned work is not achieved, meanwhile, real-time data detection and updating cannot be achieved in changeable working condition environments, and unreliable and unusable control is easily caused, so that a series of errors and problems are caused. The other is an intelligent monitoring system of the scraper conveyor, and various sensors are arranged at key positions to complete data collection and analysis of the scraper conveyor; it can be seen that the attitude and position of the whole machine cannot be completely described by single part monitoring, and the feedback of the current situation of the complete equipment mining is far from the same.
The method is characterized in that the operation states of a scraper conveyor and a matched gate way reversed loader and a crusher after the hydraulic support is pushed to slide are described in real time, the space state is accurately positioned, the cutting height and the cutting depth of a coal mining machine are adjusted on line, the hydraulic support is pushed to slide accurately, and the data of complete equipment are collected and fed back in real time, adjusted automatically and verified intelligently, so that the method is the basis for realizing intelligent, digital, unmanned and self-healing mining of coal, and is a hotspot and difficulty in current international mining field research.
The invention content is as follows:
in order to overcome the defects of the prior art, the invention provides a full-intelligent cruise system and a cruise method for fully-mechanized coal mining complete equipment.
The purpose of the invention is realized by the following technical scheme: the method comprises the following steps: the system comprises a coal mining machine, a scraper conveyor, a hydraulic support, a reversed loader, a crusher, a cruise track, a cruise trolley, an inertial navigation positioning device, a computer and a control display; the cruising track penetrates through the whole set of scraper conveyor, the reversed loader and the non-coal wall side of the crusher and has a certain radian; the inertial navigation positioning device is fixed with the cruise trolley, and the cruise trolley drives the inertial navigation positioning device to run back and forth on the cruise track; the motion track of the inertial navigation positioning device is matched with the motion track rule of the coal mining machine; the running attitude and the running position of the pushing and sliding back conveying equipment can be collected and transmitted to a computer and a control display to control the three machines to be cooperatively mined and transported.
The cruising track consists of a conveyor cruising track, a transition cruising track, a reversed loader cruising track and a crusher cruising track; the conveyor cruising track is arranged in the middle of the cable trough; the transition cruising track is arc-shaped and is arranged at the cross transition position of the scraper conveyor and the reversed loader; the transfer conveyor cruising track and the crusher cruising track are arranged in the middle position outside the side baffle; the cruise tracks are connected with each other through a spring assembly.
The conveyor cruising track consists of a plurality of single-section tracks, and the middle parts of the single-section tracks are connected with each other through a spring assembly; the length of the single track is the same as that of the cable slots, and the number of the single tracks is determined according to the number of the cable slots; the transition cruise track is formed by welding a plurality of bent tracks; the transfer conveyor cruising track consists of a plurality of single-section tracks, and the middle parts of the single-section tracks are connected with each other through a spring assembly; the length of the single track is the same as the length of the reversed loader groove, and the number of the single tracks is determined according to the number of the reversed loader grooves.
The cruise trolley comprises a trolley body and a remote controller; a traveling guide wheel and an auxiliary guide wheel are arranged on the lower two sides of the vehicle body, a battery mounting groove is formed in the vehicle body, a battery is mounted in the battery mounting groove, and the vehicle body is controlled to run through a remote controller; the inertial navigation positioning device comprises an accelerometer, a gyroscope and a box body.
Two smooth steel pipes matched with the cruise trolley are welded on each single section of the cruise track; walking guide wheels are arranged on two sides of the cruising trolley and matched with the smooth steel pipe, and the cruising trolley can roll back and forth on the smooth steel pipe; an auxiliary guide wheel is arranged below the smooth steel pipe to be matched with the walking guide wheel.
A full-intelligent cruising method of fully-mechanized coal mining complete equipment comprises the following steps:
before coal mining, the cruise trolley drives the inertial navigation positioning device to reciprocate for a circle on a cruise track, and data collection is carried out on the initial posture and position of the conveying equipment and is transmitted to a computer and a control display to generate basic data; the transition cruise track is a starting point and an end point;
secondly, the coal mining machine starts to work, the coal mining machine digs coal and moves forwards, and after the follow-up support is pushed to slide, the cruise trolley drives the inertial navigation positioning device to start from the transition cruise track and move on the conveyor cruise track (the operation is carried out on the conveyor cruise track along the action track of the coal mining machine, and the transverse, longitudinal and vertical three-dimensional space data of the scraper conveyor after the coal mining is monitored;
when the inertial navigation positioning device runs to the middle position of the scraper conveyor, pausing, waiting for the coal mining machine to finish the running of the first cutter, and returning to the position;
when the inertial navigation positioning device meets the coal mining machine, the cruise trolley drives the inertial navigation positioning device to move forwards towards the tail of the scraper conveyor, the posture position of the rear half section of the scraper conveyor after pushing and sliding is collected, meanwhile, the stroke direction of the coal mining machine is changed, triangular coal at the tail is mined, and the inertial navigation positioning device is located in front of the coal mining machine;
fifthly, when the inertial navigation positioning device reaches the tail part of the scraper conveyor, pausing to complete the first cutter complete monitoring; after the coal mining machine finishes mining the tail triangular coal, mining towards the head of the scraper conveyor; according to the matching rule, the inertial navigation positioning device finishes one period of data collection, returns to the transition cruise track, outputs three-dimensional position information through a computer and a control display, obtains a running track through multi-source data fusion and outputs a running track curve; performing track fitting according to a positioning result, comparing the positioning result with initial data, iteratively calculating the guide pushing adjustment amount of each support by combining the layout of the hydraulic supports, and simultaneously performing optimized adjustment on the cutting height and the cutting depth of the coal mining machine;
when the coal mining machine starts the next period of mining, the inertial navigation positioning device cruises and monitors the reversed loader and the crusher through the reversed loader cruise track and the crusher cruise track to form the running posture and the running position of the crossheading equipment; and after the monitoring is finished, returning to the transition track, and continuing to follow the regular operation monitoring of the coal mining machine.
The invention has the following beneficial effects: the method extracts data in the mining process of the fully mechanized mining face in real time, monitors the posture and the position of the conveying equipment after pushing, generates a pushing stroke for guiding the hydraulic support, and assists automatic alignment in the production process of the fully mechanized mining face. The action track of the coal mining machine is tracked in real time, and attitude determination and positioning are carried out on the conveying equipment, so that self-cruising, intelligent adjustment and intelligent verification are carried out on the three machines.
Description of the drawings:
the accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and are not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the cruise system assembly
FIG. 2 is a combined side view of the cruise track, the cruise trolley and the inertial navigation positioning device
FIG. 3 is a schematic view of the connection of the spring assembly to the cruise track
FIG. 4 is a schematic view of the start position
FIG. 5 is a schematic view of the starting position of the rear inertial navigation positioning device for the working and pushing hydraulic support of the coal mining machine
FIG. 6 is a schematic diagram of the coal mining machine completing one-cutting-tool inertial navigation positioning device at the middle waiting position
FIG. 7 is a schematic diagram of the meeting position of the coal mining machine mining and inertial navigation positioning device
FIG. 8 is a schematic diagram of a cruise tail part of an inertial navigation positioning device and a mining tail triangular coal of a coal mining machine
FIG. 9 is a schematic diagram of waiting positions of mining and inertial navigation positioning devices of a coal mining machine
FIG. 10 is a schematic view of a starting position of a rear inertial navigation positioning device of a hydraulic bracket
FIG. 11 is a schematic diagram of a patrol position of a rear inertial navigation positioning device of a hydraulic support
FIG. 12 is a schematic diagram of the coal mining machine completing one cycle and the inertial navigation positioning device being in the middle waiting position
FIG. 13 is a schematic diagram of the meeting position of the coal mining machine with the inertial navigation positioning device
FIG. 14 is a schematic diagram of a cruise head of an inertial navigation positioning device and triangular coal of a mining head of a coal mining machine
FIG. 15 is a schematic view of a process of a cruise crossheading reversed loader and a crusher of an inertial navigation positioning device
In the figure: 1. the device comprises a coal mining machine 2, a scraper conveyor 3, a hydraulic support 4, a reversed loader 5, a crusher 6, a cruise track 7, a cruise trolley 8, an inertial navigation positioning device 61, a conveyor cruise track 62, a transition cruise track 63, a reversed loader cruise track 64 and a crusher cruise track.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention are fully and clearly described below with reference to the accompanying 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 them.
As shown in fig. 1-3, a coal mining machine, a scraper conveyor, a hydraulic support, a reversed loader and a crusher are installed, each single cruise track is connected through a spring assembly, a cruise trolley and an inertial navigation positioning device are installed after the connection, and the cruise trolley drives the inertial navigation positioning device to move back and forth on the cruise track; the motion track of the inertial navigation positioning device is matched with the motion track rule of the coal mining machine; the running attitude and the running position of the pushing and sliding back conveying equipment can be collected, and the three machines can be controlled to be cooperatively mined and transported.
Full-intelligent cruising method of coal mine fully-mechanized mining complete equipment as shown in figure 4
Before coal mining, the cruise trolley drives the inertial navigation positioning device to move back and forth for a circle on a cruise track, data collection is carried out on the initial posture and the position of the conveying equipment, and the transition cruise track is a starting point and an end point;
secondly, the coal mining machine starts to work, the coal mining machine digs coal and moves forwards, after the follow-up support is pushed to slide, the cruise trolley drives the inertial navigation positioning device to start from the transition cruise track and move on the conveyor cruise track along the action track of the coal mining machine, and transverse, longitudinal and vertical three-dimensional space data of the scraper conveyor after the coal mining and the pushing to slide are monitored;
when the inertial navigation positioning device runs to the middle position of the scraper conveyor, pausing, waiting for the coal mining machine to finish the running of the first cutter, and returning to the position;
when the inertial navigation positioning device meets the coal mining machine, the cruise trolley drives the inertial navigation positioning device to move forwards towards the tail of the scraper conveyor, the posture position of the rear half section of the scraper conveyor after pushing and sliding is collected, meanwhile, the stroke direction of the coal mining machine is changed, triangular coal at the tail is mined, and the inertial navigation positioning device is located in front of the coal mining machine;
fifthly, when the inertial navigation positioning device reaches the tail part of the scraper conveyor, pausing to complete the first cutter complete monitoring; after the coal mining machine finishes mining the tail triangular coal, mining towards the head of the scraper conveyor; according to the matching rule, the inertial navigation positioning device finishes one period of data collection, returns to the transition cruise track, outputs three-dimensional position information, obtains a running track through multi-source data fusion, and outputs a running track curve; performing track fitting according to a positioning result, comparing the positioning result with initial data, iteratively calculating the guide pushing adjustment amount of each support by combining the layout of the hydraulic supports, and simultaneously performing optimized adjustment on the cutting height and the cutting depth of the coal mining machine;
when the coal mining machine starts the next period of mining, the inertial navigation positioning device cruises and monitors the reversed loader and the crusher through the reversed loader cruise track and the crusher cruise track to form the running posture and the running position of the crossheading equipment; and after the monitoring is finished, returning to the transition track, and continuing to follow the regular operation monitoring of the coal mining machine.
It should be understood that the above detailed description of the technical solution of the present invention with the help of preferred embodiments is illustrative and not restrictive. After reading the description of the present invention, those skilled in the art may modify the technical solutions described in the embodiments or make equivalent substitutions for some technical features, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a full intelligent cruise system of colliery combined mining complete sets, includes: coal-winning machine (1), scraper conveyor (2), hydraulic support (3), its characterized in that: the device also comprises a reversed loader (4), a crusher (5), a cruising track (6), a cruising trolley (7), an inertial navigation positioning device (8), a computer and a control display;
the cruising track (6) penetrates through the whole set of scraper conveyor (2), the reversed loader (4) and the non-coal wall side of the crusher (5) and has a certain radian;
the inertial navigation positioning device (8) is fixed with the cruise trolley (7), and the cruise trolley (7) drives the inertial navigation positioning device (8) to move back and forth on the cruise track (6);
the moving track of the inertial navigation positioning device (8) is regularly matched with the moving track of the coal mining machine (1); the running attitude and the running position of the pushing and sliding back conveying equipment can be collected and transmitted to a computer and a control display to control the three machines to be cooperatively mined and transported.
2. The fully intelligent cruise system for fully mechanized mining equipment of coal mines according to claim 1, wherein:
the cruising track (6) consists of a conveyor cruising track (61), a transition cruising track (62), a reversed loader cruising track (63) and a crusher cruising track (64); the conveyor cruising track (61) is arranged at the lower groove position of the cable groove; the transition cruise track (62) is arc-shaped and is arranged at the cross transition position of the scraper conveyor (2) and the reversed loader (4); the transfer conveyor cruising track (63) and the crusher cruising track (64) are arranged at the middle position outside the side baffle; the cruise tracks are connected with each other through a spring assembly.
3. The fully intelligent cruise system for fully mechanized mining equipment of coal mines according to claim 2, wherein:
the conveyor cruising track (61) consists of a plurality of single-section tracks, and the middle parts of the single-section tracks are connected with each other through a spring assembly; the length of the single track is the same as that of the cable slots, and the number of the single tracks is determined according to the number of the cable slots;
the transition cruise track (62) is formed by welding a plurality of bent tracks;
the transfer conveyor cruising track (63) consists of a plurality of single-section tracks, and the middle parts of the single-section tracks are connected with each other through a spring assembly; the length of the single track is the same as the length of the reversed loader groove, and the number of the single tracks is determined according to the number of the reversed loader grooves.
4. The fully intelligent cruise system for fully mechanized mining equipment of coal mines according to claim 1, wherein:
the cruise trolley (7) comprises a trolley body and a remote controller; a traveling guide wheel and an auxiliary guide wheel are arranged on the lower two sides of the vehicle body, a battery mounting groove is formed in the vehicle body, a battery is mounted in the battery mounting groove, and the vehicle body is controlled to run through a remote controller; the inertial navigation positioning device (8) comprises an accelerometer, a gyroscope and a box body.
5. The fully intelligent cruise system for fully mechanized mining equipment of coal mines according to claim 1, wherein:
each single section of the cruising track (6) is welded with two smooth steel pipes matched with the cruising trolley (7); the walking guide wheel of the cruising trolley (7) is matched with the smooth steel pipe and can roll back and forth on the smooth steel pipe; an auxiliary guide wheel is arranged below the smooth steel pipe to be matched with the walking guide wheel.
6. A full-intelligent cruising method for fully-mechanized coal mining complete equipment is characterized in that: the fully intelligent cruise system comprises the fully-mechanized coal mining complete equipment of claims 1 to 5; the method comprises the following steps:
before coal mining, the cruise trolley (7) drives the inertial navigation positioning device (8) to reciprocate on the cruise track (6) for a cycle, and data collection is carried out on the initial posture and position of the conveying equipment and is transmitted to a computer and a control display to generate basic data; the transition cruise track (62) is a starting point and an end point;
secondly, the coal mining machine (1) starts to work, the coal mining machine (1) digs coal and moves forwards, after the follow-up support sliding is finished, the cruise trolley (7) drives the inertial navigation positioning device (8) to start from the transition cruise track (62) and move on the conveyor cruise track (61) along with the action track of the coal mining machine (1), and transverse, longitudinal and vertical three-dimensional space data of the scraper conveyor (2) after coal mining and sliding are monitored;
when the inertial navigation positioning device (8) runs to the middle position of the scraper conveyor (2), pausing, waiting for the coal mining machine (1) to finish the running of a first cutter, and returning to the position;
when the inertial navigation positioning device (8) meets the coal mining machine (1), the cruise trolley (7) drives the inertial navigation positioning device (8) to move forwards towards the tail of the scraper conveyor (2), the posture position of the rear half section of the scraper conveyor (2) after pushing and sliding is collected, meanwhile, the stroke direction of the coal mining machine (1) is changed, triangular coal at the tail is mined, and the inertial navigation positioning device (8) is located in front of the coal mining machine (1);
fifthly, when the inertial navigation positioning device (8) reaches the tail part of the scraper conveyor (2), pausing to complete the first knife complete monitoring; transmitting the first-cut data information; after the triangular coal at the tail part is mined by the coal mining machine (1), the triangular coal is recovered to the head part of the scraper conveyor (2); according to the matching rule, the inertial navigation positioning device (8) finishes data collection of one period, returns to the transition cruise track (62), outputs three-dimensional position information through a computer and a control display, obtains a running track through multi-source data fusion, and outputs a running track curve; performing track fitting according to a positioning result, comparing the track fitting with initial data, iteratively calculating the guide pushing adjustment amount of each support by combining the layout of the hydraulic supports (3), and simultaneously performing optimized adjustment on the cutting height and the cutting depth of the coal mining machine (1);
when the coal mining machine (1) starts the next period of mining, the inertial navigation positioning device (8) cruises and monitors the reversed loader (4) and the crusher (5) through the reversed loader cruise track (63) and the crusher cruise track (64) to form the running posture and the running position of the crossheading equipment; and after the monitoring is finished, returning to the transition track (62) and continuing to follow the regular operation monitoring of the coal mining machine (1).
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| CN115204325A (en) * | 2022-09-16 | 2022-10-18 | 太原向明智控科技有限公司 | Fully mechanized coal mining face continuous straightening method based on inertial navigation system |
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| CN112855266A (en) * | 2020-12-31 | 2021-05-28 | 北京天地玛珂电液控制系统有限公司 | Intelligent monitoring and autonomous cooperative follow machine device of coal mining machine and inspection platform system |
| CN112983452A (en) * | 2021-03-04 | 2021-06-18 | 中国矿业大学 | Tunneling process and cooperative positioning control method for complete equipment for comprehensive tunneling of roadway |
| CN113236363A (en) * | 2021-04-23 | 2021-08-10 | 陕西陕煤黄陵矿业有限公司 | Mining equipment navigation positioning method, system, equipment and readable storage medium |
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| CN114506212B (en) * | 2022-02-15 | 2023-09-22 | 国能神东煤炭集团有限责任公司 | Space positioning auxiliary driving system and method for shuttle car |
| CN115204325A (en) * | 2022-09-16 | 2022-10-18 | 太原向明智控科技有限公司 | Fully mechanized coal mining face continuous straightening method based on inertial navigation system |
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