CN114194719B - 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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- CN114194719B CN114194719B CN202111415905.1A CN202111415905A CN114194719B CN 114194719 B CN114194719 B CN 114194719B CN 202111415905 A CN202111415905 A CN 202111415905A CN 114194719 B CN114194719 B CN 114194719B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012546 transfer Methods 0.000 claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 230000008602 contraction Effects 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000011161 development Methods 0.000 claims description 5
- 230000011664 signaling Effects 0.000 claims description 2
- 239000003245 coal Substances 0.000 abstract description 16
- 230000005641 tunneling Effects 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 9
- 238000005520 cutting process Methods 0.000 description 14
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Classifications
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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 and a reversed loader of a heading machine, wherein the method comprises the following steps: collecting first pose information of a scraper at the tail of the heading machine relative to a roadway and second pose information of a reversed loader relative to the roadway; calculating pose information of the scraper relative to the transfer machine according to the first pose information and the second pose information, and determining target pose information of the scraper; and generating a swinging control signal and a swinging speed control signal of the scraper according to the target pose information, and carrying out joint control on the pitching, horizontal swinging and swinging speed of the scraper so as to enable the adjusted pose of the scraper to be matched with the pose of the reversed loader. According to the method, when the scraper is deviated, the swing and the swing speed of the scraper can be timely and intelligently and synchronously adjusted, so that the positions of the scraper 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 a self-adaptive control system for a tail scraper and a reversed loader of a heading machine.
Background
Along with the development of intelligent technology, in the construction of a coal mine tunneling working face, the intelligent cantilever type tunneling machine is popularized and applied, and the intelligent tunneling machine is used as main equipment for the tunneling construction of a coal mine tunnel, so that the tunneling efficiency is improved to a certain extent, and tunneling 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 intelligent heading machine can deviate to different degrees or the intelligent heading machine can deviate left and right during automatic cutting. When the intelligent development machine is provided with the scraper, the offset of the development machine causes the offset of the scraper, and after the offset of the scraper, the offset of the development machine is not matched with equipment for transporting coal, such as the position of a transfer conveyor, so that the efficient coal transportation cannot be smoothly realized, and therefore, the automatic adjustment is required after the offset of the scraper, and the matching of the scraper and the coal transportation of the transfer conveyor is ensured.
In the related art, the matching of the coal transportation of the scraper and the transportation equipment of the tunneller is realized by manually operating the scraper, but the labor intensity of the manually operated scraper is higher, and the tunnelling efficiency is lower. Therefore, how to reduce the manual operation of the scraper of the heading machine and realize the self-adaptive control of the coal transportation of the scraper of the heading machine and the transfer conveyor so as to reduce the labor intensity of workers has become a problem to be solved urgently.
Disclosure of Invention
The present application aims to solve at least one of the technical problems in the related art to some extent.
Therefore, the first object of the application is to provide a self-adaptive control method for a tail scraper and a reversed loader of a heading machine, which can timely and intelligently synchronously adjust the swinging and the swinging speed of the scraper when the scraper is deviated, so that the positions of the scraper and the reversed loader are matched, the stability of the coal conveying process is ensured, the labor intensity of workers is reduced, and the heading efficiency is improved.
The second aim of the application is to provide a self-adaptive control system of a tail scraper machine and a reversed loader of a heading machine;
a third object of the present application is to propose a non-transitory computer readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a self-adaptive control method for a tail scraper and a reversed loader of a heading machine, the method comprising the following steps:
collecting first pose information of a scraper at the tail of the cantilever type heading machine relative to a roadway, wherein the first pose information comprises pose information and position information of the scraper relative to the roadway;
acquiring second pose information of the reversed loader relative to the roadway;
calculating third pose information of the scraper relative to the transfer machine according to the first pose information and the second pose information, and determining target pose information of the scraper;
and generating a swinging control signal and a swinging speed control signal of the scraper according to the target pose information, and carrying out joint control on pitching swinging, horizontal swinging and swinging speed of the scraper through the swinging control signal and the swinging 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 one embodiment of the present application, collecting first pose information of a scraper of a tail of a cantilever excavator relative to a roadway includes: acquiring a pitch angle, a yaw angle and a roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope arranged on the heading machine; and the distance between the scraper and the two sides of the roadway is acquired through distance measuring sensors arranged on two sides of the tail of the scraper.
Optionally, in one embodiment of the present application, before the joint control of the pitching swing, the horizontal swing and the swinging speed of the scraper machine by the swinging control signal and the swinging speed control signal, the method further comprises performing proportional integral derivative PID correction on the swinging control signal and the swinging speed control signal.
Optionally, in one embodiment of the application, the swing control signal comprises a lifting swing signal and a horizontal swing signal, and the control of the pitching swing and the horizontal swing of the scraper comprises the steps of controlling a first displacement sensor in a lifting oil cylinder of the scraper according to the corrected lifting swing signal and controlling a second displacement sensor in the swinging oil cylinder of the scraper according to the corrected horizontal swing signal so as to adjust the displacement telescopic quantity of the lifting oil cylinder and the horizontal swing oil cylinder.
Optionally, in an embodiment of the present application, controlling the swinging speed of the scraper includes: and controlling the opening current of an electrohydraulic 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 provides a self-adaptive control system for a tail scraper and a reversed loader of a heading machine, comprising:
the scraper pose acquisition module is used for acquiring first pose information of a scraper machine at the tail of the cantilever type heading machine relative to a roadway, wherein the first pose information comprises pose information and position information of the scraper machine relative to the roadway;
the transfer conveyor pose acquisition module is used for acquiring second pose information of the transfer conveyor 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 swing and swing speed control module is used for generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and jointly controlling 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 adjusted pose of the scraper to be matched with the pose of the reversed loader.
Optionally, in an embodiment of the present application, the pose acquisition module of the scraper further includes: the first acquisition unit is used for acquiring the pitch angle, the yaw angle and the roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope arranged on the heading machine; the second acquisition unit is used for acquiring the distance between the scraper and the two sides of the roadway through the distance measuring sensors arranged on the two sides of the tail of the scraper.
Optionally, in one embodiment of the application, the scraper machine swinging and swinging speed control module is further used for performing proportional integral derivative PID correction on the swinging control signal and the swinging speed control signal.
Optionally, in one 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 the swinging cylinder of the scraper according to the corrected horizontal swing signal, so as to adjust the 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 scraper of the heading machine shifts in the cutting operation, the target pose information of the scraper to be adjusted is determined according to the acquired pose information of the scraper relative to the roadway and the pose information of the reversed loader relative to the roadway, further the swing control signal and the swing speed control signal for adjusting the pose of the scraper are generated, the pitching swing, the horizontal swing and the swing speed of the scraper are jointly controlled, the adjusted pose of the scraper is matched with the pose of the reversed loader, accordingly the swing and the swing speed of the scraper can be timely and intelligently synchronously adjusted, the pose of the scraper and the pose of the reversed loader are matched, the stability of the coal conveying process is guaranteed, the cooperative control of cutting and conveying in the automatic cutting process of the heading machine is realized, the labor intensity of workers is improved, and the heading efficiency is improved.
In order to achieve the above embodiments, a third aspect of the present application further provides a non-transitory computer readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the adaptive control method of the tail scraper and the reversed loader of the tunneling machine in the above embodiments.
Additional aspects and advantages of the application 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 application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a self-adaptive control method of a tail scraper and a reversed loader of a heading machine according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a specific boom-type heading machine according to an embodiment of the present application;
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 a self-adaptive control system of a tail scraper and a reversed loader of a heading machine according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
It should be noted that, when the intelligent heading machine is in cutting operation, some working conditions may cause the heading machine to deviate to different degrees. The scraper is offset due to the offset of the heading machine, and therefore when the positions of the scraper and the reversed loader are not matched any more and the positions of the scraper are manually adjusted, the labor intensity of manually operating the scraper is high, and the adjustment efficiency is low.
According to the self-adaptive control method for the scraper at the tail of the heading machine and the reversed loader, provided by the embodiment of the application, the swinging and the swinging speed of the scraper can be timely and intelligently and synchronously adjusted, so that the positions of the scraper and the reversed loader are matched, the stability of the coal conveying process is ensured, the cooperative control of cutting and conveying in the automatic cutting process of the heading machine is realized, the labor intensity of workers is reduced, and the heading efficiency is improved.
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 application with reference to the accompanying 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, as shown in fig. 1, the method includes the following steps:
step 101, first pose information of a scraper at the tail of the cantilever type heading machine relative to a roadway is acquired, wherein the first pose information comprises pose information and position information of the scraper relative to the roadway.
The self-adaptive control method of the tail scraper and the transfer conveyor of the heading machine is applicable to the cantilever heading 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, the structure and the connection relation of the cantilever heading machine provided with the scraper are described below. As shown in fig. 2, the boom type tunneling machine 10 of the present application includes a scraper 11 provided at the tail of the boom type tunneling machine 10, and a transfer conveyor 12 connected to the tail of the boom type tunneling machine 10, in addition to inherent components related to the tunneling machine, and when the scraper 11 is adapted to the posture of the transfer conveyor 12, the scraper 11 can transport cut coal to the transfer conveyor 12.
The first pose information comprises pose information and position information of the scraper relative to a 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 the roadway side, and the like.
In one embodiment of the application, when the first pose information of the scraper relative to the roadway is specifically acquired, the pitch angle, yaw angle and roll angle of the tunneling machine relative to the roadway can be acquired through an explosion-proof gyroscope arranged on the tunneling machine, and the distance between the scraper and two sides of the roadway can be acquired through distance measuring sensors arranged on two sides of the tail of the scraper. Specifically, an explosion-proof gyroscope A is arranged on a 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. The attitude of the heading machine relative to the tunnel, namely the pitch angle alpha 1, the yaw angle beta 1 and the roll angle gamma 1 of the heading machine relative to the tunnel, is acquired through an explosion-proof gyroscope arranged on the body of the heading machine, and the attitude of the heading machine relative to the tunnel can be used as the attitude information of the scraper due to the fact that the scraper is connected to the tail of the heading machine. And the distance between the scraper and two sides 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 of the scraper, wherein the two sides of the roadway are two opposite sides of the roadway, and the distance between the scraper and the corresponding side is measured through the distance measuring sensor on each side. And finally, calculating pose information of the scraper relative to the roadway by combining a pitch angle alpha 1, a yaw angle beta 1 and a roll angle gamma 1 of the excavator relative to the roadway and the distance between the scraper and the two sides of the roadway.
And 102, acquiring second pose information of the reversed loader relative to the roadway.
The second pose information comprises content corresponding to the first pose information, namely the second pose information comprises pose information and position information of the reversed loader relative to the roadway.
In the embodiment of the application, the implementation mode for acquiring the second pose information of the reversed loader relative to the roadway can refer to the scheme for acquiring the first pose information. As an example, an explosion-proof gyroscope B is mounted in advance at a head position of the transfer machine, and a distance measuring sensor C and a distance measuring sensor D are mounted on both sides of the transfer machine, respectively. The anti-explosion gyroscope B installed on the head of the transfer conveyor is used for acquiring the posture of the transfer conveyor relative to the roadway, namely, the pitch angle alpha 2, the yaw angle beta 2 and the roll angle gamma 2 of the transfer conveyor relative to the roadway, the distance measuring sensors C and D installed on the two sides of the head of the transfer conveyor are used for acquiring the distance between the transfer conveyor and the two sides of the roadway, and the posture information of the transfer conveyor 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 transfer conveyor relative to the roadway.
And 103, 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.
The target pose information is pose information which is adaptive to the pose of the transfer machine, and comprises the adjusted pose information and position information of the scraper relative to the roadway. The target pose is a pose to be adjusted by the scraper, for example, the target pose can be matched with the pose of the transfer conveyor, including the distance from two sides of the roadway is consistent, the angle of the target pose is matched with the roadway, or the target pose can be a pose in a preset range of the pose matched with the transfer conveyor, so that the adjustment workload is reduced as much as possible on the basis of ensuring the stability of coal transportation.
In one embodiment of the application, an explosion-proof control box can be arranged on the body of the heading machine in advance, and a processing component such as a micro control unit can be arranged in the explosion-proof control box and is used for receiving pose information of the scraper relative to the roadway and pose information of the transfer machine relative to the roadway, analyzing pose information of the scraper relative to the transfer machine and calculating target pose information of the scraper. In specific implementation, as an example, the second pose information of the reversed loader relative to the roadway may be taken as reference information, and the pose information of the reversed loader relative to the reversed loader may be calculated by calculating a difference between angles formed by the reversed loader and the roadway surface and a difference between positions of the reversed loader relative to both sides of the roadway. Further, according to the current pose of the scraper and the current pose of the scraper relative to the transfer conveyor, calculating the target pose of the scraper, and generating target pose information of the scraper. For example, according to the current pose of the scraper and the current pose of the scraper relative to the transfer conveyor, the adjustment direction and the adjustment route are formulated under the condition of minimum adjustment workload, and a pose within the allowable range of the pose error of the transfer conveyor, namely the 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 carrying out joint 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.
The swinging control signal is a control signal for controlling the swinging scraper machine to generate corresponding displacement, and the swinging speed control signal is a signal for controlling the speed of different stages in the swinging process of the scraper machine.
Specifically, the scraper is controlled to swing in the vertical direction and the horizontal direction by the swing control signal, and the swing speed of the scraper is controlled by the swing speed control signal, so that the pitching, the horizontal swing and the swing speed of the scraper are jointly controlled, the scraper is moved from the current pose to the target pose, and the adjusted pose of the scraper is matched with the pose of the reversed loader.
In one embodiment of the present application, as a possible implementation manner, a scraper machine lifting swing and swing speed control module is pre-installed on a tunneling machine body, and as shown in fig. 3, the module includes a solenoid valve control box 100, a driving oil cylinder, an electro-hydraulic proportional valve in the driving oil cylinder and a displacement sensor group in the driving oil cylinder, wherein the driving oil cylinder includes a lifting oil cylinder 210 and a horizontal swing oil cylinder 220, the lifting oil cylinder includes a first displacement sensor 211 and a first electro-hydraulic proportional valve 212, and the horizontal swing oil cylinder includes a second displacement sensor 221 group and a second electro-hydraulic proportional valve 222, so as to implement the scraper machine lifting swing and horizontal swing, respectively. In specific implementation, after determining the target pose, 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, the PID signal correction and the processing may be performed on the two initial signals by using a PID corrector, and by setting a suitable PID parameter to adjust the control signal, so as to improve the sensitivity of the control signal, reduce the deviation when the control signal controls the device, and then output a suitable swing control signal and swing speed control signal of the scraper through the PID corrector.
Further, a first displacement sensor in a lifting oil cylinder of the scraper machine is controlled according to the corrected lifting swing signal, and a second displacement sensor in a horizontal swing oil cylinder of the scraper machine is controlled according to the corrected horizontal swing signal, so that displacement expansion and contraction amounts of the lifting oil cylinder and the horizontal swing oil cylinder are adjusted, namely, the displacement expansion and contraction amounts of the lifting oil cylinder and the horizontal swing oil cylinder are controlled through detection and feedback of the displacement sensors, so that the scraper machine performs corresponding pitching swing and horizontal swing.
Furthermore, the opening current of the electro-hydraulic proportional valve in the driving oil cylinder of the scraper machine is controlled according to the swinging speed control signal so as to adjust the swinging speed of the scraper machine. The electro-hydraulic proportional valve is a component which generates corresponding action according to an input swing speed control signal by a proportional electromagnet in the valve, so that a valve core of the working valve generates displacement, the valve port size is changed, an output signal proportional to the input swing speed control signal is completed, the output signal is an opening current, and the swing speed of the scraper can be controlled according to the opening current.
Thus, in the adaptive control method according to the embodiment of the present application, as shown in fig. 3, the target pose of the scraper is received and analyzed by the electromagnetic valve control box 100, the wobble control signal 11 and the wobble control signal 12 of the scraper are output, PID signal correction and processing are performed on the above two signals, and then the wobble control signal 21 and the wobble control signal 22 of the scraper are output appropriately. The scraper swing control signal 21 comprises a lifting swing signal 213 and a horizontal swing signal 214 of the scraper, and the lifting swing signal 213 and the horizontal swing signal 214 of the scraper are utilized to control 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, and the scraper swing speed control signal 22 controls the opening current of an electrohydraulic proportional valve in a driving oil cylinder of the scraper so as to control the displacement expansion and contraction amount of the lifting oil cylinder 210 and the horizontal swing oil cylinder 220 and the opening current of the lifting electrohydraulic proportional valve, thereby realizing the joint control of the pitching, the horizontal swing and the swinging speed of the scraper.
In summary, according to the self-adaptive control method for the scraper at the tail of the heading machine and the transfer machine, when the scraper at the heading machine deviates in the cutting operation, the target pose information to be adjusted by the scraper is determined according to the acquired pose information of the scraper relative to a roadway and the pose information of the transfer machine relative to the roadway, so that the swing control signal and the swing speed control signal for adjusting the pose of the scraper are generated, the pitching swing, the horizontal swing and the swing speed of the scraper are jointly controlled, the adjusted pose of the scraper is matched with the pose of the transfer machine, the swing and the swing speed of the scraper can be timely and intelligently synchronously adjusted, the stability of the coal conveying process is ensured, the cooperative control of cutting and transportation in the automatic cutting process of the heading machine is realized, the labor intensity of workers is reduced, and the heading efficiency is improved.
In order to achieve the above 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 according to the embodiment of the present application, 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 machine at a tail of the cantilever type heading machine relative to a roadway, where the first pose information includes pose information and position information of the scraper machine relative to the roadway.
And the reversed loader pose acquisition module 200 is used for acquiring second pose information of the reversed loader relative to the roadway.
The relative pose analysis module 300 is configured to calculate third pose information of the scraper relative to the loader according to the first pose information and the second pose information, and determine target pose information of the scraper.
The scraper swing and swing speed control module 400 is configured to generate a swing control signal and a swing speed control signal of the scraper according to target pose information, and perform joint control on pitching swing, horizontal swing and swing speed of the scraper through the swing control signal and the swing speed control signal, so that the pose of the scraper after adjustment is matched with the pose of the reversed loader.
Optionally, in an embodiment of the present application, the pose acquisition module of the scraper further includes: the first acquisition unit is used for acquiring the pitch angle, the yaw angle and the roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope arranged on the heading machine; the second acquisition unit is used for acquiring the distance between the scraper and the two sides of the roadway through the distance measuring sensors arranged on the two sides of the tail of the scraper.
In specific implementation, as an example, the pose acquisition module of the scraper machine provided by the application comprises an explosion-proof gyroscope A arranged on a body of a heading machine, a distance measuring sensor A and a distance measuring sensor B arranged on two sides of the tail of the scraper machine. The explosion-proof gyroscope A arranged on the body of the heading machine is used for collecting the posture of the heading machine relative to the 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 mounted on two sides of the tail of the scraper are used for collecting distances between two sides of the scraper relative to the roadway, and then the pitch angle alpha 1, the yaw angle beta 1 and the roll angle gamma 1 of the scraper relative to the roadway are utilized to calculate pose information of the scraper relative to the roadway, and the pose information is output to the pose analysis module of the scraper relative transfer conveyor.
Further, in another embodiment of the present application, the pose acquisition module of the reversed loader includes an explosion-proof gyroscope B mounted on the head of the reversed loader, a ranging sensor C and a ranging sensor D mounted on two sides of the reversed loader. The explosion-proof gyroscope B arranged at the head of the reversed loader is used for collecting 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 mounted on two sides of the machine head of the transfer conveyor are used for collecting distances between two sides of the opposite lane of the transfer conveyor, and then the attitude information of the opposite lane of the transfer conveyor is calculated by using the pitch angle alpha 2, the yaw angle beta 2 and the roll angle gamma 2 of the opposite lane of the transfer conveyor, and the attitude information is output to the attitude analysis module of the scraper conveyor opposite transfer conveyor.
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 the 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 scraper swing and swing speed control module 400 is further configured to perform PID correction on the swing control signal and the swing speed control signal.
Optionally, in a possible implementation manner of the embodiment of the present application, the scraper machine lifting swing and swing speed control module 400 further includes a solenoid valve control box installed on the body of the heading machine, an electrohydraulic proportional valve in the driving oil cylinder, a displacement sensor group in the driving oil cylinder, and the driving oil cylinder. 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 the swing cylinder of the scraper according to the corrected horizontal swing signal, so as to adjust the displacement expansion and contraction amounts of the lifting cylinder and the horizontal swing cylinder.
Optionally, in an embodiment of the present application, the 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 a swing speed control signal, so as to adjust a swing speed of the scraper.
It should be noted that the foregoing explanation of the embodiment of the adaptive control method of the scraper and the loader of the boom-type entry-driving machine is also applicable to the system of this embodiment, and will not be repeated here.
In summary, according to the self-adaptive control system for the scraper at the tail of the heading machine and the reversed loader, when the scraper of the heading machine shifts in the cutting operation, the target pose information to be adjusted by the scraper is determined according to the acquired pose information of the scraper relative to a roadway and the pose information of the reversed loader relative to the roadway, so that the swing control signal and the swing speed control signal for adjusting the pose of the scraper are generated, the pitching swing, the horizontal swing and the swing speed of the scraper are jointly controlled, the adjusted pose of the scraper is matched with the pose of the reversed loader, the swing and the swing speed of the scraper can be timely and intelligently synchronously adjusted, the stability of the coal conveying process is ensured, the cooperative control of cutting and transportation in the automatic cutting process of the heading machine is realized, the labor intensity of workers is reduced, and the heading efficiency is improved.
In order to achieve the above embodiments, the present application further provides a non-transitory computer readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the adaptive control method for a tail scraper and a reversed loader of a heading machine according to any one of the above embodiments.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined 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 the steps of a custom logic function or process, and additional 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 in a substantially concurrent manner 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 is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (4)
1. The self-adaptive control method for the tail scraper and the reversed loader of the heading machine is characterized by comprising the following steps of:
the utility model provides a first position appearance information of scraper machine for tunnel of cantilever type entry driving machine tail is gathered, first position appearance information includes scraper machine is for the gesture information and the positional information in tunnel, the scraper machine of gathering cantilever type entry driving machine tail includes for the first position appearance information in tunnel: acquiring a pitch angle, a yaw angle and a roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope arranged on the heading machine; the distance between the scraper and the two sides of the roadway is acquired through distance measuring sensors arranged on two sides of the tail of the scraper;
acquiring second pose information of the reversed loader relative to the roadway;
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;
generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and carrying out joint 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 adjusted pose of the scraper to be matched with the pose of the reversed loader;
before the pitch swing, the horizontal swing and the swing speed of the scraper machine are jointly controlled by the swing control signal and the swing speed control signal, the method further comprises the step of carrying out Proportional Integral Derivative (PID) correction on the swing control signal and the swing speed control signal; the swinging control signals comprise lifting swinging signals and horizontal swinging signals, and are used for controlling pitching swinging and horizontal swinging of the scraper machine, and the method comprises the steps of controlling a first displacement sensor in a lifting oil cylinder of the scraper machine according to the corrected lifting swinging signals, and controlling a second displacement sensor in the swinging oil cylinder of the scraper machine according to the corrected horizontal swinging signals so as to adjust displacement expansion and contraction amounts of the lifting oil cylinder and the swinging oil cylinder.
2. The control method according to claim 1, controlling a swing speed of the scraper machine, comprising:
and controlling the opening current of an electrohydraulic 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.
3. The utility model provides a development machine tail scraper machine and reversed loader self-adaptation control system which characterized in that includes:
the scraper blade machine position appearance collection module for gather the first position appearance information of scraper machine for tunnel of cantilever type entry driving machine tail, first position appearance information includes scraper machine is for gesture information and the positional information in tunnel, scraper blade machine position appearance collection module still includes: the first acquisition unit is used for acquiring the pitch angle, the yaw angle and the roll angle of the heading machine relative to a roadway through an explosion-proof gyroscope arranged on the heading machine; the second acquisition unit is used for acquiring the distance between the scraper machine and the two sides of the roadway through distance measuring sensors arranged on two sides of the tail of the scraper machine;
the transfer conveyor pose acquisition module is used for acquiring second pose information of the transfer conveyor 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;
the scraper swing and swing speed control module is used for generating a swing control signal and a swing speed control signal of the scraper according to the target pose information, and jointly controlling 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 adjusted pose of the scraper to be matched with the pose of the reversed loader;
the scraper machine swinging and swinging speed control module is also used for carrying out proportional integral derivative PID correction on the swinging control signal and the swinging speed control signal; the swinging control signal comprises a lifting swinging signal and a horizontal swinging signal, and the scraper swinging and swinging speed control module is further used for controlling a first displacement sensor in a lifting oil cylinder of the scraper according to the corrected lifting swinging signal and controlling a second displacement sensor in the swinging oil cylinder of the scraper according to the corrected horizontal swinging signal so as to adjust the displacement expansion and contraction amounts of the lifting oil cylinder and the swinging oil cylinder.
4. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements a self-adaptive control method for a heading machine tail scraper and a reversed loader according to any one of claims 1-2.
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| CN115163107A (en) * | 2022-09-05 | 2022-10-11 | 三一重型装备有限公司 | Cutting arm control method and device, heading machine and heading machine control system |
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