CN114194745A - Scraper conveyor straightness control algorithm based on inertial navigation - Google Patents
Scraper conveyor straightness control algorithm based on inertial navigation Download PDFInfo
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- CN114194745A CN114194745A CN202010907615.8A CN202010907615A CN114194745A CN 114194745 A CN114194745 A CN 114194745A CN 202010907615 A CN202010907615 A CN 202010907615A CN 114194745 A CN114194745 A CN 114194745A
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- scraper conveyor
- straightness
- scraper
- control algorithm
- pushing
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- 239000003245 coal Substances 0.000 claims abstract description 25
- 238000005065 mining Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000007790 scraping Methods 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 5
- 238000011217 control strategy Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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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
- 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
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a scraper conveyor straightness control algorithm based on inertial navigation, wherein the inertial navigation can measure the straightness information of a scraper conveyor in the walking process of a coal mining machine, the control algorithm calculates the pushing stroke of a hydraulic support of a next straight cutter process section according to the straightness information, the calculation process is divided into two conditions, firstly, when the most advanced point of the scraper conveyor is more than the most lagging point by one step distance, and secondly, the distance between the most advanced point and the most lagging point is less than one step distance, the control algorithm discriminately treats and forms different control strategies, the support completes the pushing action, because the support cannot be accurately pushed according to the calculated value, errors are continuously accumulated in the coal mining process, the control algorithm can autonomously learn the corresponding errors of different support numbers and obtain error distribution, and the pushing stroke of the next support is adjusted in a grouping mode, so that the precision is improved.
Description
Technical Field
The invention relates to straightness detection and hydraulic support pushing control of a scraper conveyor in a fully mechanized mining face under a mine, in particular to a scraper conveyor straightness control algorithm based on inertial navigation.
Background
At present, the pushing and straightening of a scraper conveyor in a fully mechanized mining working surface in a coal mine are basically completed by great manpower investment, in the production process, a plurality of staffs continuously control the pushing and sliding and pulling frame on the working surface to ensure that coal mining is smoothly carried out, the problem of poor straightening precision exists in manual straightening, under most conditions, the straightness of the whole working surface cannot be guaranteed, the condition of overlarge bending exists locally, the straightening efficiency is low, personal safety hazards exist in manual straightening action of the support, in addition, the production environment is severe, and errors are easily caused in manual judgment.
Along with the increasing importance of the state on the safety of coal mining production in the underground coal mine, the automatic straightening of the underground coal mine is more and more important. The coal wall, the scraper conveyor and the hydraulic support of the fully mechanized mining face need to be kept in a linear state, the straightness of the scraper conveyor directly influences the safety degree and the mining efficiency of coal mine production, and the detection and control of the straightness of the scraper conveyor are particularly important.
At present, various automatic straightening technologies are being implemented by coal mine enterprises to reduce manual modes, and achieve the effects of reducing safety risks and improving straightening precision. However, the current straightening technology is limited to the simple combination of a plurality of sensors, and cannot effectively combine the underground fully mechanized mining process and the mining process, so that the problems of poor straightening precision, poor system stability, large installation investment, high maintenance cost, poor usability, low practicability and the like are caused.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a scraper conveyor straightness control algorithm based on inertial navigation, which does not need various additional sensors, needs inertial navigation to provide data, obtains the pushing stroke of the scraper conveyor according to the algorithm, can judge errors after pushing and correct, has low investment cost, effectively improves the straightness control precision of the scraper conveyor, and has high maintainability.
In order to achieve the above object, the present invention comprises the steps of:
(1) establishing a working surface XY coordinate system, taking the left-to-right direction facing the coal wall as the X-axis increasing direction, and taking the support pushing and sliding direction as the Y-axis increasing direction;
(2) the inertial navigation is carried out in a coordinate system, output data are divided into groups according to the groove width Lg of the scrapers [ (x0, Y0), (x1, Y1), (x2, Y2) … (xn, yn) ] after median filtering, the average value of each group of data is obtained, namely the Y-direction position of the corresponding scraper, all measurable position data [ G0, G1 and G2 … Gn ] of the working face are obtained according to the method, the positions of the 1 st section to the n +1 st section of the scraper are sequentially shown, and the straightness of the scraper conveyor can be obtained;
(3) judging the maximum value Ga and the minimum value Gi of [ G0, G1 and G2 … Gn ], recording the difference value between the maximum value and the minimum value as Gd, recording the pushing step distance of the scraper conveyor as Ds, and processing the two conditions:
1) when Gd is smaller than or equal to Ds, setting respective pushing strokes in a mode of filling up difference values, wherein the pushing amount of the nth section of scraper is Ds- (Gn-Gi), n represents the nth section of scraper, and Gn represents the current position of the nth section of scraper;
2) when Gd is larger than Ds, the position of the maximum Ga is set as an Nh section of the scraping plate, the position of the minimum Gi is set as an NL section of the scraping plate, the scraping plate is kept still in the interval from Nh-10 to Nh +10, the scraping plate in the interval from NL-10 to NL +10 is moved according to the full stroke of Ds, and the other intervals are processed according to the 1) condition;
(4) and (4) error correction is carried out on the result of the step (3), error calculation data of coal mining in each straight-blade process is from the difference value of the coal mining data in the previous straight-blade process and the result of the previous control algorithm, and the specific steps are as follows:
1) carrying out first coal mining by a straight cutter process, and pushing a scraper conveyor according to a control algorithm result;
2) carrying out second straight cutter process coal mining to obtain straightness data of the scraper conveyor, comparing the straightness data with the control algorithm result of the previous step, recording the range of 1/5 that the absolute values of errors exceeding 8 frames in a continuous range exceed the shifting step distance Ds of the scraper conveyor, setting the range as the CL to Ch range, wherein the average error Ca is in the range, the shifting amount in the range needs to be added with-Ca on the basis of the step (3), and the shifting amount is calculated according to the Ds after exceeding the Ds;
(5) sending corrected control data to a support controller, pushing the support controller, and performing next straight cutter process coal mining after the pushing is completed;
(6) and (5) dynamically controlling the straightness of the scraper conveyor when the coal mining is completed in the steps (2), (3), (4) and (5).
Drawings
FIG. 1 is a flow chart of the algorithm of the present invention;
FIG. 2 is a schematic representation of a working surface coordinate system of the present invention;
FIG. 3 is a schematic view of a first straightness processing method according to the present invention;
FIG. 4 is a schematic view of a second straightness processing method of the present invention;
fig. 5 is a schematic diagram of the error compensation of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, a coordinate system is required to be established at the beginning of the algorithm for inertial navigation positioning of a working face, after a coal mining straight cutting process is completed, inertial navigation data are obtained, a calculation stage is carried out, median filtering processing is carried out according to the sub-output data, grouping is carried out according to the groove width Lg of the scraper, the average value of each group of data is obtained, namely the Y-direction position of the corresponding scraper, position data [ G0, G1 and G2 … Gn ] of all measurable scrapers on the working face are obtained according to the method, the positions of the 1 st section to the (n + 1) th section of the scraper are sequentially represented, the straightness of the scraper conveyor can be obtained, the maximum difference of the straightness is calculated, the position where the maximum difference occurs is positioned is compared with the pushing step distance of the scraper conveyor, when the difference is greater than the pushing step distance, the calculation is carried out according to an interval mode, otherwise, the calculation is carried out according to a compensation mode of difference, and is carried out by a support according to a control algorithm after error compensation, after the pushing, the next straight cutter process is carried out for coal mining, and the straightness of the scraper conveyor can be dynamically controlled.
As shown in fig. 2, in the process of establishing the coordinate system of the fully mechanized mining face, the left end of the face is used as a base point, the increasing direction from left to right is used as the X-axis increasing direction, the advancing direction is used as the Y-axis increasing direction, the coal mining machine moves on the scraper conveyor, and the scraper conveyor is positioned in the coordinate system.
As shown in fig. 3, when the difference between the maximum and minimum straightness of the scraper conveyor is smaller than the moving step of the scraper conveyor, the scraper conveyor is moved in a mode of compensating the difference, specifically, a straight line parallel to the X axis is determined at the lowest point, a second straight line is determined at a moving step distance from the straight line, the difference between the position of the current scraper on the Y axis and the second straight line is calculated, and each scraper is moved according to the difference, so that the scraper conveyor can be overlapped with the second straight line after one moving, and a straight line is formed.
As shown in fig. 4, when the difference between the maximum value and the minimum value of the straightness of the scraper conveyor is larger than the pushing step pitch of the scraper conveyor, pushing is performed according to a partition mode, specifically, a straight line parallel to the X axis is determined at the lowest point, a second straight line is determined at a pushing step pitch from the straight line, pushing is performed according to a full stroke in a section with 10 frames on both sides of the lowest point, the next straight knife process is not pushed in a section with 10 frames on both sides of the highest point, and pushing is performed according to a mode of filling up the difference in other sections.
As shown in fig. 5, the expected value of the straightness of the scraper conveyor after the next straight cutter is calculated according to the straightness of the scraper conveyor before the transition, the expected value is compared with the straightness after the transition, the error of each scraper is recorded, when 8 continuous error values exceed 1/5 of the transition step distance, the interval cannot be moved in place due to other reasons, the interval needs to be compensated, the average error Ca in the interval is calculated, and-Ca needs to be added to the expected value of the straightness, so that the next straight cutter process compensates the error, and the straightness control precision is improved.
Claims (2)
1. A scraper conveyor straightness control algorithm based on inertial navigation is characterized by comprising the following steps:
(1) establishing a working surface XY coordinate system, taking the left-to-right direction facing the coal wall as the X-axis increasing direction, and taking the support pushing and sliding direction as the Y-axis increasing direction;
(2) the inertial navigation is carried out in a coordinate system, output data are divided into groups according to the groove width Lg of the scrapers [ (x0, Y0), (x1, Y1), (x2, Y2) … (xn, yn) ] after median filtering, the average value of each group of data is obtained, namely the Y-direction position of the corresponding scraper, all measurable position data [ G0, G1 and G2 … Gn ] of the working face are obtained according to the method, the positions of the 1 st section to the n +1 st section of the scraper are sequentially shown, and the straightness of the scraper conveyor can be obtained;
(3) judging the maximum value Ga and the minimum value Gi of [ G0, G1 and G2 … Gn ], recording the difference value between the maximum value and the minimum value as Gd, recording the pushing step distance of the scraper conveyor as Ds, and processing the two conditions:
1) when Gd is smaller than or equal to Ds, setting respective pushing strokes in a mode of filling up difference values, wherein the pushing amount of the nth section of scraper is Ds- (Gn-Gi), n represents the nth section of scraper, and Gn represents the current position of the nth section of scraper;
2) when Gd is larger than Ds, the position of the maximum Ga is set as an Nh section of the scraping plate, the position of the minimum Gi is set as an NL section of the scraping plate, the scraping plate is kept still in the interval from Nh-10 to Nh +10, the scraping plate in the interval from NL-10 to NL +10 is moved according to the full stroke of Ds, and the other intervals are processed according to the 1) condition;
(4) correcting errors according to the result of the step (3), and carrying out transition after correcting according to the result of error distribution learning;
(5) and (5) repeating the step (2), the step (3) and the step (4) to dynamically control the straightness of the scraper conveyor when coal mining is completed.
2. The inertial navigation-based scraper conveyor straightness control algorithm of claim 1, wherein:
the error distribution learning is completed by two straight-cutter coal mining processes and comprises the following steps:
(1) carrying out first coal mining by a straight cutter process, and pushing a scraper conveyor according to a control algorithm result;
(2) and (3) carrying out second straight cutter process coal mining to obtain straightness data of the scraper conveyor, comparing the straightness data with the control algorithm result of the previous step, recording the range of 1/5 that the absolute values of errors exceeding 8 frames in a continuous range exceed the shifting step distance Ds of the scraper conveyor, setting the range as the CL-Ch range, and setting the average error Ca in the range, wherein the shifting amount in the range needs to be added with Ca on the basis of the step (3) in the claim 1, and the shifting amount is calculated according to Ds after exceeding Ds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010907615.8A CN114194745A (en) | 2020-09-02 | 2020-09-02 | Scraper conveyor straightness control algorithm based on inertial navigation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010907615.8A CN114194745A (en) | 2020-09-02 | 2020-09-02 | Scraper conveyor straightness control algorithm based on inertial navigation |
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| Publication Number | Publication Date |
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| CN114194745A true CN114194745A (en) | 2022-03-18 |
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| CN202010907615.8A Pending CN114194745A (en) | 2020-09-02 | 2020-09-02 | Scraper conveyor straightness control algorithm based on inertial navigation |
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| Country | Link |
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2020
- 2020-09-02 CN CN202010907615.8A patent/CN114194745A/en active Pending
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Application publication date: 20220318 |