CN114194719A - Self-adaptive control method and system for tail scraper and reversed loader of heading machine - Google Patents
Self-adaptive control method and system for tail scraper and reversed loader of heading machine Download PDFInfo
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- CN114194719A CN114194719A CN202111415905.1A CN202111415905A CN114194719A CN 114194719 A CN114194719 A CN 114194719A CN 202111415905 A CN202111415905 A CN 202111415905A CN 114194719 A CN114194719 A CN 114194719A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000005641 tunneling Effects 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 238000012937 correction Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims 1
- 239000003245 coal Substances 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 9
- 238000005520 cutting process Methods 0.000 description 14
- 238000011161 development Methods 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 11
- 230000000875 corresponding effect Effects 0.000 description 6
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- 238000010586 diagram Methods 0.000 description 4
- 238000004880 explosion Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
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- 230000003287 optical effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application provides a self-adaptive control method and a self-adaptive control system for a tail scraper machine and a reversed loader of a heading machine, wherein the method comprises the following steps: collecting first position information of a scraper conveyor at the tail of the tunneling machine relative to a roadway and second position information of a reversed loader relative to the roadway; calculating the pose information of the scraper relative to the reversed loader according to the first pose information and the second pose information, and determining the target pose information of the scraper; and generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and performing combined control on the pitching and horizontal swinging of the scraper and the swing speed of the scraper so as to enable the pose of the scraper after adjustment to be matched with the pose of the reversed loader. According to the method, when the scraper conveyor deviates, the swinging and the swing speed of the scraper conveyor can be timely and intelligently and synchronously adjusted, so that the positions of the scraper conveyor and the reversed loader are matched, the stability of the coal conveying process is ensured, and the tunneling efficiency is improved.
Description
Technical Field
The application relates to the technical field of machine control, in particular to a self-adaptive control method and system for a tail scraper and a reversed loader of a heading machine.
Background
With the development of intelligent technology, the intelligent cantilever type heading machine is popularized and applied in the construction of a coal mine heading face, and the intelligent heading machine is used as main equipment for coal mine roadway heading construction, so that the heading efficiency is improved to a certain extent, and heading construction workers are reduced to a certain extent.
However, when the intelligent heading machine is in cutting operation, the intelligent heading machine is in a strong vibration state for a long time due to uneven coal and rock load, so that the heading machine may deviate to different degrees, or the heading machine may deviate left and right when the intelligent heading machine is automatically cutting. When intelligence entry driving machine was furnished with scrapes the trigger, the skew of scraping the trigger has been caused in the skew of entry driving machine, scrapes the trigger skew back, and with the equipment of transportation coal, for example the position of elevating conveyor no longer matches, leads to unable smooth realization high-efficient fortune coal, consequently, need carry out automatically regulated after scraping the trigger skew, guarantees to scrape the trigger and the fortune coal matching of elevating conveyor.
In the related art, the coal conveying matching of the tunneling machine scraper and the transportation equipment is usually realized by manually operating the scraper, but the manual operation of the scraper has higher labor intensity and lower tunneling efficiency. Therefore, how to reduce the manual operation of the scraper conveyor of the development machine and realize the coal-conveying self-adaptive control of the scraper conveyor and the reversed loader of the development machine so as to reduce the labor intensity of workers becomes a problem to be solved urgently.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first purpose of the application is to provide a self-adaptive control method for the scraper conveyor and the reversed loader at the tail of the tunneling machine, and the method can timely and intelligently synchronously adjust the swing speed and the swing speed of the scraper conveyor when the scraper conveyor deviates, so that the positions of the scraper conveyor and the reversed loader are matched, the stability of a coal conveying process is ensured, the labor intensity of workers is reduced, and the tunneling efficiency is improved.
The second purpose of the application is to provide a self-adaptive control system of the tail scraper conveyor and the reversed loader of the development machine;
a third object of the present application is to propose a non-transitory computer-readable storage medium.
In order to achieve the above purpose, a first aspect of the present application is directed to an adaptive control method for a tail scraper and a reloader of a heading machine, the method including the following steps:
acquiring first position information of a scraper conveyor at the tail of the cantilever type excavator relative to a roadway, wherein the first position information comprises posture information and position information of the scraper conveyor relative to the roadway;
acquiring second position and posture information of the reversed loader relative to the roadway;
calculating third position information of the scraper relative to the reversed loader according to the first position information and the second position information, and determining target position information of the scraper;
and generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and performing combined control on pitching swing, horizontal swing and swing speed of the scraper through the swing control signal and the swing speed control signal so as to enable the pose of the scraper after adjustment to be matched with the pose of the reversed loader.
Optionally, in an embodiment of the present application, acquiring first attitude information of a scraper conveyor at a tail of the boom-type excavator relative to a roadway includes: collecting a pitch angle, a yaw angle and a roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope installed on the heading machine; and the distance between the scraper conveyor and the two sides of the roadway is acquired through distance measuring sensors arranged on the two sides of the tail part of the scraper conveyor.
Optionally, in an embodiment of the present application, before the jointly controlling the pitch swing, the horizontal swing, and the swing speed of the scraper machine by the swing control signal and the swing speed control signal, a PID correction of proportional-integral-derivative (PID) is further performed on the swing control signal and the swing speed control signal.
Optionally, in an embodiment of the present application, the swing control signal includes a lifting swing signal and a horizontal swing signal, and the control of the pitching swing and the horizontal swing of the scraper machine includes controlling a first displacement sensor in a lifting cylinder of the scraper machine according to the corrected lifting swing signal, and controlling a second displacement sensor in a swing cylinder of the scraper machine according to the corrected horizontal swing signal, so as to adjust displacement expansion and contraction amounts of the lifting cylinder and the horizontal swing cylinder.
Optionally, in an embodiment of the present application, controlling the swing speed of the scraper machine includes: and controlling the opening current of an electro-hydraulic proportional valve in a driving oil cylinder of the scraper machine according to the swing speed control signal so as to adjust the swing speed of the scraper machine.
In order to achieve the above object, a second aspect of the present application further provides an adaptive control system for a tail scraper and a reversed loader of a heading machine, including the following modules:
the system comprises a scraper machine pose acquisition module, a tunnel position acquisition module and a tunnel position acquisition module, wherein the scraper machine pose acquisition module is used for acquiring first pose information of a scraper machine at the tail of a cantilever type tunneling machine relative to a tunnel, and the first pose information comprises pose information and position information of the scraper machine relative to the tunnel;
the position and posture acquisition module of the reversed loader is used for acquiring second position and posture information of the reversed loader relative to the roadway;
the relative pose analysis module is used for calculating third pose information of the scraper relative to the reversed loader according to the first pose information and the second pose information and determining target pose information of the scraper;
and the scraper machine swinging and swinging speed control module is used for generating a swinging control signal and a swinging speed control signal of the scraper machine according to the target pose information and carrying out combined control on pitching swinging, horizontal swinging and swinging speed of the scraper machine through the swinging control signal and the swinging speed control signal so as to enable the pose of the scraper machine after adjustment to be matched with the pose of the reversed loader.
Optionally, in an embodiment of the present application, the scraper pose acquisition module further includes: the first acquisition unit is used for acquiring a pitch angle, a yaw angle and a roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope installed on the heading machine; and the second acquisition unit is used for acquiring the distance between the scraper conveyor and two sides of the roadway through the distance measurement sensors arranged on two sides of the tail part of the scraper conveyor.
Optionally, in an embodiment of the present application, the scraper swing and swing speed control module is further configured to perform PID correction on the swing control signal and the swing speed control signal.
Optionally, in an embodiment of the present application, the swing control signal includes a lifting swing signal and a horizontal swing signal, and the scraper swing and swing speed control module is further configured to control a first displacement sensor in a lifting cylinder of the scraper according to the corrected lifting swing signal, and control a second displacement sensor in a swing cylinder of the scraper according to the corrected horizontal swing signal, so as to adjust displacement expansion and contraction amounts of the lifting cylinder and the horizontal swing cylinder.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects: according to the scheme, when the tunneling machine scrapes the scraper and deviates in cutting operation, according to the collected pose information of the scraper relative to a roadway and the pose information of a reversed loader relative to the roadway, the target pose information to be adjusted of the scraper is determined, and then a swing control signal and a swing speed control signal for adjusting the pose of the scraper are generated, the pitching swing and the horizontal swing of the scraper and the swing speed of the scraper are jointly controlled, so that the pose adjusted by the scraper and the pose of the reversed loader are matched, the swing and the swing speed of the scraper can be timely and intelligently and synchronously adjusted, the pose of the scraper and the pose of the reversed loader are matched, the stability of a coal conveying process is ensured, the cooperative control of cutting and transportation in the automatic cutting process of the tunneling machine is realized, the labor intensity of workers is reduced, and the tunneling efficiency is improved.
In order to achieve the above embodiments, the third aspect of the present application further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for adaptively controlling the tail scraper and the transfer conveyor of the heading machine in the above embodiments is implemented.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a self-adaptive control method for a tail scraper and a reversed loader of a heading machine according to an embodiment of the application;
fig. 2 is a schematic structural diagram of a specific boom-type roadheader according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a specific scraper lifting swing and swing speed control module according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an adaptive control system for a tail scraper and a reversed loader of a heading machine according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
It should be noted that when the intelligent heading machine is in cutting operation, certain working conditions may cause the heading machine to deviate to different degrees. And the drift of the development machine can cause the drift of the scraper, and then when the position and the attitude of the scraper are no longer matched and the position and the attitude of the scraper are manually adjusted, the labor intensity of the scraper is high through manual operation, and the adjustment efficiency is low.
The self-adaptive control method for the tail scraper and the reversed loader of the heading machine can timely and intelligently synchronously adjust the swing speed and the swing speed of the scraper, enables the position and the posture of the scraper and the reversed loader to be matched, guarantees the stability of a coal conveying process, realizes the cutting and transportation cooperative control in the automatic cutting process of the heading machine, reduces the labor intensity of workers, and improves the heading efficiency.
The following describes a self-adaptive control method and a self-adaptive control system for a tail scraper and a reversed loader of a heading machine according to the embodiment of the invention with reference to the attached drawings.
Fig. 1 is a flowchart of a self-adaptive control method for a tail scraper and a reversed loader of a heading machine according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
step 101, collecting first position information of a scraper of a tail of the cantilever type excavator relative to a roadway, wherein the first position information comprises posture information and position information of the scraper relative to the roadway.
The self-adaptive control method of the tail scraper and the reversed loader of the development machine is suitable for the cantilever development machine with the scraper. In order to more clearly describe the self-adaptive control method of the tail scraper and the reversed loader of the heading machine according to the embodiment of the present application, the structure and the connection relationship of the cantilever type heading machine with the scraper proposed in the present application will be described first. As shown in fig. 2, the boom-type excavator 10 of the present application includes, in addition to the inherent components related to the excavator, a scraper 11 provided at the tail of the boom-type excavator 10, and a reversed loader 12 connected to the tail of the boom-type excavator 10, and the scraper 11 can transport cut coal to the reversed loader 12 when the scraper 11 is in conformity with the posture of the reversed loader 12.
The first position information comprises position information and attitude information of the scraper relative to the roadway. The attitude information comprises an angle formed by the scraper and the roadway surface, and the position information comprises distance information between the scraper and two sides of the roadway and the like.
In an embodiment of the application, when the first posture information of the scraper conveyor relative to the roadway is specifically acquired, the pitch angle, the yaw angle and the roll angle of the heading machine relative to the roadway can be acquired through an explosion-proof gyroscope installed on the heading machine, and the distance between the scraper conveyor and two sides of the roadway can be acquired through distance measuring sensors installed on two sides of the tail of the scraper conveyor. Specifically, an explosion-proof gyroscope A is arranged on the machine body of the heading machine in advance, and a distance measuring sensor A and a distance measuring sensor B are respectively arranged on two sides of the tail of the scraper machine. The anti-explosion gyroscope arranged on the body of the heading machine is used for acquiring the attitude of the heading machine relative to the roadway, namely acquiring the pitch angle alpha 1, the yaw angle beta 1 and the roll angle gamma 1 of the heading machine relative to the roadway, and the scraper is connected to the tail of the heading machine, so that the attitude of the heading machine relative to the roadway can be used as the attitude information of the scraper. And then, the distance between the scraper machine and the corresponding side of the roadway is acquired through a distance measuring sensor A and a distance measuring sensor B which are arranged on two sides of the tail part of the scraper machine, wherein the two sides of the roadway are two opposite side surfaces of the roadway, and the distance between the scraper machine and the corresponding side is measured through the distance measuring sensor on each side. And finally, calculating the pose information of the scraper relative to the tunnel by combining the pitch angle alpha 1, the yaw angle beta 1 and the roll angle gamma 1 of the excavator relative to the tunnel and the distance between the scraper and two sides of the tunnel.
And 102, collecting second position and posture information of the reversed loader relative to the roadway.
The second attitude information comprises content corresponding to the first attitude information, namely the second attitude information comprises attitude information and position information of the transfer machine relative to the roadway.
In the embodiment of the application, the implementation manner of acquiring the second position information of the reversed loader relative to the roadway may refer to a scheme of acquiring the first position information. As an example, an explosion-proof gyroscope B is arranged at the head position of the reversed loader in advance, and a distance measuring sensor C and a distance measuring sensor D are respectively arranged at the two sides of the reversed loader. The anti-explosion gyroscope B arranged on the head of the reversed loader is used for acquiring the posture of the reversed loader relative to the roadway, namely a pitch angle alpha 2, a yaw angle beta 2 and a roll angle gamma 2 of the reversed loader relative to the roadway, the distance measuring sensors C and D arranged on two sides of the head of the reversed loader are used for acquiring the distance between the reversed loader and two sides of the roadway, and the posture information of the reversed loader relative to the roadway is calculated by combining the pitch angle alpha 2, the yaw angle beta 2 and the roll angle gamma 2 of the reversed loader relative to the roadway.
And 103, calculating third position information of the scraper relative to the reversed loader according to the first position information and the second position information, and determining target position information of the scraper.
The target pose information is pose information adaptive to the pose of the reversed loader, and the target pose information comprises posture information and position information of the adjusted scraper relative to the roadway. The target pose is the pose to be adjusted by the scraper, for example, the target pose can be matched with the pose of the reversed loader, the distance between the target pose and the two sides of the roadway is consistent, and the target pose is matched with the angle of the roadway, or the target pose can be the pose matched with the reversed loader within a preset pose range, so that the adjustment workload is reduced as far as possible on the basis of ensuring the stability of coal transportation.
In an embodiment of the application, an explosion-proof control box may be arranged on the body of the heading machine in advance, and the explosion-proof control box may include a processing component such as a micro control unit, and the processing component is configured to receive pose information of the scraper relative to the roadway and pose information of the reversed loader relative to the roadway, analyze the pose information of the scraper relative to the reversed loader, and calculate target pose information of the scraper. In specific implementation, as an example, the second position and posture information of the reversed loader relative to the roadway can be used as reference information, and the position and posture information of the scraper relative to the reversed loader can be calculated by calculating the difference between the angles formed by the scraper and the reversed loader with the roadway surface and the difference between the positions of the scraper and the reversed loader relative to the two sides of the roadway. Further, the target pose of the scraper is calculated according to the current pose of the scraper and the pose of the scraper relative to the reversed loader, and the target pose information of the scraper is generated. For example, according to the current pose of the scraper and the current pose of the scraper relative to the reversed loader, an adjustment direction and a path are formulated under the condition of minimum adjustment workload, and a pose in the pose error allowable range of the reversed loader, namely a target pose, is determined.
And 104, generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and performing combined control on the pitching swing, the horizontal swing and the swing speed of the scraper through the swing control signal and the swing speed control signal so as to enable the pose of the scraper after being adjusted to be matched with the pose of the reversed loader.
The swing control signal is a control signal for controlling the swing scraper to generate corresponding displacement, and the swing speed control signal is a signal for controlling the speeds of different stages in the swing process of the scraper.
Specifically, the swing control signal is used for controlling the scraper to swing in the vertical direction and the horizontal direction, and the swing speed control signal is used for controlling the swing speed of the scraper, so that the pitching and horizontal swinging of the scraper and the swing speed of the scraper are jointly controlled, the scraper is enabled to move from the current pose to the target pose, and the pose of the scraper after adjustment is matched with the pose of the reversed loader.
In an embodiment of the present application, as a possible implementation manner, a scraper lift swing and swing speed control module is installed on a heading machine body in advance, and as shown in fig. 3, the module includes an electromagnetic valve control box 100, a driving cylinder, an electro-hydraulic proportional valve in the driving cylinder, and a displacement sensor group in the driving cylinder, where the driving cylinder includes a lift cylinder 210 and a horizontal swing cylinder 220, the lift cylinder includes a first displacement sensor 211 and a first electro-hydraulic proportional valve 212, and the horizontal swing cylinder includes a second displacement sensor 221 group and a second electro-hydraulic proportional valve 222, so as to implement a scraper lift swing and a horizontal swing, respectively. In specific implementation, after the target pose is determined, the target pose of the scraper is received and analyzed through an electromagnetic valve control box, wherein the electromagnetic valve control box comprises a micro control unit 110, a proportional-integral-derivative (PID) corrector 120 and other components, and a swing control signal and a swing speed control signal for adjusting the current pose of the scraper to the target pose can be determined according to the target pose and the current pose of the scraper, wherein the swing control signal comprises a lifting swing signal and a horizontal swing signal, and the pitching swing and the horizontal swing of the scraper are respectively controlled. In this embodiment, after the initial swing control signal and the swing speed control signal are generated, in order to reduce the control deviation, PID signal correction and processing may be performed on the two initial signals by a PID corrector, the control signal is adjusted by setting an appropriate PID parameter to improve the sensitivity of the control signal and reduce the deviation when the control signal controls the device, and then the PID corrector outputs an appropriate swing control signal and a suitable swing speed control signal of the scraper.
Furthermore, a first displacement sensor in a lifting oil cylinder of the scraper is controlled according to the corrected lifting swing signal, and a second displacement sensor in a horizontal swing oil cylinder of the scraper is controlled according to the corrected horizontal swing signal so as to adjust the displacement stretching amount of the lifting oil cylinder and the horizontal swing oil cylinder, namely, the displacement stretching amount of the lifting oil cylinder and the horizontal swing oil cylinder is controlled through the detection and feedback of the displacement sensors, so that the scraper can perform corresponding pitching swing and horizontal swing.
Furthermore, the opening current of an electro-hydraulic proportional valve in a driving oil cylinder of the scraper is controlled according to the swing speed control signal so as to adjust the swing speed of the scraper. The electro-hydraulic proportional valve is an element in which a proportional electromagnet in the valve generates corresponding action according to an input swing speed control signal to enable a valve core of a working valve to generate displacement, the size of a valve port is changed, and accordingly an output signal proportional to the input swing speed control signal is completed, the output signal is opening current, the electro-hydraulic proportional valve is a control signal, and the swing speed of a scraper machine can be controlled according to the size of the opening current.
Therefore, as shown in fig. 3, the adaptive control method according to the embodiment of the present application receives and analyzes the target pose of the scraper, outputs the scraper swing control signal 11 and the swing speed control signal 12 through the electromagnetic valve control box 100, performs PID signal correction and processing on the two signals, and outputs the appropriate scraper swing control signal 21 and swing speed control signal 22. The scraper swing control signal 21 comprises a lifting swing signal 213 and a horizontal swing signal 214 of the scraper, the output lifting swing signal 213 and the output horizontal swing signal 214 of the scraper are used for controlling a first displacement sensor 211 in a lifting oil cylinder 210 and a second displacement sensor 221 in a horizontal swing oil cylinder 220 of the scraper, an electro-hydraulic proportional valve opening current in a driving oil cylinder of the scraper is controlled by a scraper swing speed control signal 22, the lifting oil cylinder 210 and the displacement expansion amount and the lifting electro-hydraulic proportional valve opening current of the horizontal swing oil cylinder 220 are controlled, and the joint control of the pitching and the horizontal swinging of the scraper and the swing speed of the scraper is realized.
To sum up, according to the self-adaptive control method for the scraper conveyor and the reversed loader at the tail of the development machine, when the scraper conveyor of the development machine deviates in the cutting operation, the target pose information to be adjusted of the scraper conveyor is determined according to the collected pose information of the scraper conveyor relative to the roadway and the pose information of the reversed loader relative to the roadway, so that a swing control signal and a swing speed control signal for adjusting the pose of the scraper conveyor are generated, the pitching swing, the horizontal swing and the swing speed of the scraper conveyor are jointly controlled, the adjusted pose of the scraper conveyor is matched with the pose of the reversed loader, the swing and the swing speed of the scraper conveyor can be timely and intelligently adjusted, the stability of a coal conveying process is ensured, the cooperative control of cutting and transportation in the automatic cutting process of the development machine is realized, the labor intensity of workers is reduced, and the development efficiency is improved.
In order to implement the foregoing embodiment, the present application further provides a self-adaptive control system for a tail scraper and a reversed loader of a heading machine, and fig. 4 is a schematic structural diagram of the self-adaptive control system for a tail scraper and a reversed loader of a heading machine provided in the embodiment of the present application, and as shown in fig. 4, the control system includes a scraper pose acquisition module 100, a reversed loader pose acquisition module 200, a relative pose analysis module 300, and a scraper swing and swing speed control module 400.
The scraper pose acquisition module 100 is configured to acquire first pose information of a scraper at the tail of the cantilever excavator relative to the roadway, where the first pose information includes pose information and position information of the scraper relative to the roadway.
And the position and posture acquisition module 200 of the reversed loader is used for acquiring second position and posture information of the reversed loader relative to the roadway.
And the relative pose analysis module 300 is configured to calculate third pose information of the scraper relative to the reversed loader according to the first pose information and the second pose information, and determine target pose information of the scraper.
And the scraper swing and swing speed control module 400 is used for generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and performing combined control on the pitching swing, the horizontal swing and the swing speed of the scraper through the swing control signal and the swing speed control signal so as to enable the pose of the scraper after being adjusted to be matched with the pose of the reversed loader.
Optionally, in an embodiment of the present application, the scraper pose acquisition module further includes: the first acquisition unit is used for acquiring a pitch angle, a yaw angle and a roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope installed on the heading machine; and the second acquisition unit is used for acquiring the distance of the scraper conveyor relative to two sides of the roadway through the distance measurement sensors arranged on two sides of the tail part of the scraper conveyor.
During specific implementation, as an example, the scraper conveyor pose acquisition module comprises an explosion-proof gyroscope A installed on the body of the heading machine, and distance measuring sensors A and B arranged on two sides of the tail of the scraper conveyor. The anti-explosion gyroscope A arranged on the body of the heading machine is used for acquiring the posture of the heading machine relative to a roadway, namely a pitch angle alpha 1, a yaw angle beta 1 and a roll angle gamma 1 of the heading machine relative to the roadway; the distance measuring sensors A and B arranged on two sides of the tail of the scraper conveyor are used for collecting the distance between the scraper conveyor and two sides of a roadway, calculating the pose information of the scraper conveyor relative to the roadway by utilizing the pitch angle alpha 1, the yaw angle beta 1 and the roll angle gamma 1 of the heading machine relative to the roadway, and outputting the pose information to the pose analysis module of the scraper conveyor relative to the reversed loader.
Further, in another embodiment of the present application, the elevating conveyor pose acquisition module includes an explosion-proof gyroscope B installed at a head of the elevating conveyor, a distance measuring sensor C and a distance measuring sensor D installed at two sides of the elevating conveyor. The anti-explosion gyroscope B arranged on the head of the reversed loader is used for acquiring the posture of the reversed loader relative to the roadway, namely a pitch angle alpha 2, a yaw angle beta 2 and a roll angle gamma 2 of the reversed loader relative to the roadway; the distance measuring sensors C and D arranged on two sides of the head of the reversed loader are used for acquiring the distance between the reversed loader and two sides of the roadway, calculating the pose information of the reversed loader relative to the roadway by utilizing the pitch angle alpha 2, the yaw angle beta 2 and the roll angle gamma 2 of the reversed loader relative to the roadway, and outputting the pose information to the pose analysis module of the scraper relative to the reversed loader.
Optionally, in a possible implementation manner of the embodiment of the present application, the relative pose analysis module 300 includes an explosion-proof control box installed on the body of the heading machine, and is configured to receive pose information of the scraper relative to the roadway and pose information of the reversed loader relative to the roadway, analyze pose information of the scraper relative to the reversed loader, and calculate target pose information of the scraper
Optionally, in an embodiment of the present application, the flier swing and slew rate control module 400 is further configured to perform PID corrections on the swing control signal and the slew rate control signal.
Optionally, in a possible implementation manner of the embodiment of the present application, the scraper lift swing and swing speed control module 400 further includes a solenoid valve control box installed on the body of the heading machine, an electro-hydraulic proportional valve in the driving cylinder, a displacement sensor group in the driving cylinder, and the driving cylinder. Wherein the driving oil cylinder comprises a lifting oil cylinder and a horizontal swinging oil cylinder.
In this embodiment, the swing control signal includes a lifting swing signal and a horizontal swing signal, and the scraper swing and swing speed control module 400 is further configured to control a first displacement sensor in a lifting cylinder of the scraper according to the corrected lifting swing signal, and control a second displacement sensor in a swing cylinder of the scraper according to the corrected horizontal swing signal, so as to adjust displacement expansion and contraction amounts of the lifting cylinder and the horizontal swing cylinder.
Optionally, in an embodiment of the present application, the scraper swing and swing speed control module 400 is further configured to control an opening current of an electro-hydraulic proportional valve in a driving cylinder of the scraper according to the swing speed control signal, so as to adjust the swing speed of the scraper.
It should be noted that the foregoing explanation of the self-adaptive control method for the scraper conveyor and the reloader of the boom-type roadheader also applies to the system of the embodiment, and details are not repeated here.
To sum up, the self-adaptive control system for the scraper and the reversed loader at the tail of the development machine determines target pose information to be adjusted by the scraper according to collected pose information of the scraper relative to a roadway and pose information of the reversed loader relative to the roadway when the scraper deviates in cutting operation, further generates a swing control signal and a swing speed control signal for adjusting the pose of the scraper, performs combined control on pitching swing, horizontal swing and the swing speed of the scraper, and enables the adjusted pose of the scraper to be matched with the pose of the reversed loader, so that the swing and swing speed of the scraper can be timely and intelligently adjusted synchronously, the stability of a coal conveying process is ensured, the cooperative control of cutting and transportation in the automatic cutting process of the development machine is realized, the labor intensity of workers is reduced, and the development efficiency is improved.
In order to achieve the above embodiments, the present application further proposes a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the self-adaptive control method of the tail scraper and the reversed loader of the heading machine as described in any one of the above embodiments.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved.
For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A self-adaptive control method for a tail scraper machine and a reversed loader of a heading machine is characterized by comprising the following steps:
acquiring first position information of a scraper conveyor at the tail of a cantilever type excavator relative to a roadway, wherein the first position information comprises posture information and position information of the scraper conveyor relative to the roadway;
acquiring second position and posture information of the reversed loader relative to the roadway;
calculating third position information of the scraper relative to the reversed loader according to the first position information and the second position information, and determining target position information of the scraper;
and generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and performing combined control on the pitching swing, the horizontal swing and the swing speed of the scraper through the swing control signal and the swing speed control signal so as to enable the pose of the scraper after being adjusted to be matched with the pose of the reversed loader.
2. The method of claim 1, wherein the collecting first attitude information of a scraper of a boom miner tail relative to a roadway comprises:
collecting a pitch angle, a yaw angle and a roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope installed on the heading machine;
and the distance between the scraper conveyor and the two sides of the roadway is acquired through distance measuring sensors arranged on the two sides of the tail part of the scraper conveyor.
3. The control method according to claim 1 or 2, characterized in that, before said joint control of the pitch swing, the horizontal swing and the swing speed of the scraper by means of said swing control signal and said swing speed control signal, it further comprises:
and carrying out Proportional Integral Derivative (PID) correction on the swing control signal and the swing speed control signal.
4. The control method according to claim 3, characterized in that the swing control signal comprises a heave swing signal and a roll swing signal, controlling the pitch swing and the roll swing of the scraper, comprising:
and controlling a first displacement sensor in a lifting oil cylinder of the scraper machine according to the corrected lifting swing signal, and controlling a second displacement sensor in a swing oil cylinder of the scraper machine according to the corrected horizontal swing signal so as to adjust the displacement expansion and contraction amounts of the lifting oil cylinder and the horizontal swing oil cylinder.
5. The control method according to claim 3, controlling the swing speed of the scraper, comprising:
and controlling the opening current of an electro-hydraulic proportional valve in a driving oil cylinder of the scraper machine according to the swing speed control signal so as to adjust the swing speed of the scraper machine.
6. The utility model provides a self-adaptation control system of scraper conveyor and elevating conveyor is scraped to entry driving machine tail which characterized in that includes:
the system comprises a scraper machine pose acquisition module, a tunnel position acquisition module and a tunnel position acquisition module, wherein the scraper machine pose acquisition module is used for acquiring first pose information of a scraper machine at the tail of a cantilever type tunneling machine relative to a tunnel, and the first pose information comprises pose information and position information of the scraper machine relative to the tunnel;
the position and posture acquisition module of the reversed loader is used for acquiring second position and posture information of the reversed loader relative to the roadway;
the relative pose analysis module is used for calculating third pose information of the scraper relative to the reversed loader according to the first pose information and the second pose information and determining target pose information of the scraper;
and the scraper machine swinging and swinging speed control module is used for generating a swinging control signal and a swinging speed control signal of the scraper machine according to the target pose information and carrying out combined control on pitching swinging, horizontal swinging and swinging speed of the scraper machine through the swinging control signal and the swinging speed control signal so as to enable the pose of the scraper machine after adjustment to be matched with the pose of the reversed loader.
7. The control system of claim 6, wherein the scraper pose acquisition module further comprises:
the first acquisition unit is used for acquiring a pitch angle, a yaw angle and a roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope installed on the heading machine;
and the second acquisition unit is used for acquiring the distance between the scraper conveyor and two sides of the roadway through the distance measurement sensors arranged on two sides of the tail part of the scraper conveyor.
8. The control system of claim 6 or 7, wherein the scraper oscillation and swing speed control module is further configured to:
and carrying out Proportional Integral Derivative (PID) correction on the swing control signal and the swing speed control signal.
9. The control system of claim 6, wherein the swing control signal comprises a lift swing signal and a horizontal swing signal, and the scraper swing and swing speed control module is further configured to:
and controlling a first displacement sensor in a lifting oil cylinder of the scraper machine according to the corrected lifting swing signal, and controlling a second displacement sensor in a swing oil cylinder of the scraper machine according to the corrected horizontal swing signal so as to adjust the displacement expansion and contraction amounts of the lifting oil cylinder and the horizontal swing oil cylinder.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the heading machine tail scraper and reloader adaptive control method according to any of claims 1-5.
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