CN114194851B - Automatic coal loading and unloading linkage control method and equipment for underground coal mine - Google Patents
Automatic coal loading and unloading linkage control method and equipment for underground coal mine Download PDFInfo
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- CN114194851B CN114194851B CN202111342155.XA CN202111342155A CN114194851B CN 114194851 B CN114194851 B CN 114194851B CN 202111342155 A CN202111342155 A CN 202111342155A CN 114194851 B CN114194851 B CN 114194851B
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- 239000003245 coal Substances 0.000 title claims abstract description 443
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000005065 mining Methods 0.000 claims abstract description 108
- 230000008569 process Effects 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims description 72
- 238000012546 transfer Methods 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 3
- 238000004891 communication Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
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- 238000012545 processing Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013135 deep learning 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
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
- E21F13/063—Loading devices for use in mining
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
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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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- 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 invention provides a coal mine underground automatic loading and unloading linkage control method and equipment, wherein data interaction between coal mining equipment and coal conveying equipment is established through wireless communication, a receiving part of the coal conveying equipment reaches an output end of the coal mining equipment to charge coal, the coal conveying equipment receives coal and simultaneously controls the coal to be transferred into a hopper, and the loading is stopped when the coal is determined to be fully loaded by sensing the coal quantity in the hopper of the coal conveying equipment in real time through various sensors arranged on the coal conveying equipment. The invention can realize the orderly linkage between the coal receiving and moving of the coal conveying equipment and the coal unloading of the coal mining equipment, simplify the complicated operation of a driver, lighten the labor intensity of the driver of a working face and accelerate the intelligent process of the continuous mining working face.
Description
Technical Field
The invention relates to the technical field of deep learning, in particular to a coal mine underground automatic loading and unloading linkage control method, a device, computer equipment and a storage medium.
Background
The coal mining equipment and the coal conveying equipment are used as main equipment of underground continuous mining working surfaces of the coal mine, and play different roles in the continuous mining working surfaces of the coal mine. The coal mining equipment is used as tunneling equipment of continuous mining working face and plays a major role in coal mining and coal conveying, and the coal conveying equipment is used as transfer equipment for conveying coal, and the coal mining equipment and the transfer equipment are matched with each other to finish the tunneling and conveying task of coal. For a long time, coal mining equipment and coal transporting equipment are controlled by professional drivers, but because working face dust is large, potential danger is large and is difficult to predict, safety accidents are easy to cause, especially cooperative control between the two is needed, the two drivers are matched to complete linkage between coal loading, coal unloading and coal moving between a continuous mining machine and a shuttle car, and along with the development trend of intelligence, the intelligence of the coal mining equipment and the coal transporting equipment is urgent.
Disclosure of Invention
The invention provides a coal mine underground automatic loading and unloading linkage control method, a device, computer equipment and a storage medium, which aim to establish transfer linkage between coal conveying equipment and coal mining equipment and reduce the labor intensity of a working face driver.
Therefore, a first object of the present invention is to provide a coal mine underground automatic loading and unloading linkage control method, which comprises:
receiving a coal conveying instruction, identifying coal mining equipment in corresponding linkage according to the coal conveying instruction, establishing linkage with the coal mining equipment, and controlling the coal conveying equipment to travel to a coal unloading position of the coal mining equipment;
sending a coal unloading instruction to the coal mining equipment, monitoring a coal unloading process in real time, and starting transfer when the coal unloading amount of the coal unloading position is monitored to be larger than a first threshold value, and moving coal into a hopper of the coal conveying equipment;
and when the total coal amount in the hopper is monitored to be larger than a second threshold value, sending a coal unloading stopping instruction to the coal mining equipment.
Wherein, in the step of identifying coal mining equipment, the method comprises the steps of:
receiving and analyzing the coal conveying instruction to obtain the identification of the corresponding linked coal mining equipment;
shooting through a first shooting device arranged at the front end of the coal conveying equipment in the advancing direction, and identifying the identification of the coal mining equipment from the obtained shooting image;
and positioning the position of the corresponding coal mining equipment according to the identification of the coal mining equipment, and controlling the coal conveying equipment to move towards the coal material output end of the coal mining equipment according to the position of the coal mining equipment.
The identification of the coal mining equipment comprises a beacon arranged at the position of the coal material output end of the coal mining equipment.
Wherein, after the step of controlling the coal conveying equipment to move towards the coal output end of the coal mining equipment, the method comprises the following steps:
measuring the distance between the front end of the coal conveying equipment in the advancing direction and the coal output end of the coal mining equipment in real time by a laser range radar additionally arranged at the front end of the coal conveying equipment in the advancing direction;
when the distance measured by the real-time laser range radar is smaller than a preset distance, controlling the coal conveying equipment to run at a preset low speed;
the coal conveying equipment moves towards the coal mining equipment until the front end of the advancing direction of the coal conveying equipment contacts with a contact switch arranged at the coal material output end of the coal mining equipment, the coal conveying equipment is controlled to stop running, and a coal unloading instruction is sent to the coal mining equipment.
In the step of monitoring the coal unloading process in real time, a second shooting device arranged at the top end of the height direction of the material receiving part of the coal conveying equipment shoots a coal image of the material receiving part, the relative position of the top end of the coal and the height of the side wall of the material receiving part is determined by analyzing and identifying the image, the height threshold of the side wall of the material receiving part is set, and when the image identifying coal top end is higher than the preset height threshold of the side wall of the material receiving part, the coal conveying equipment is controlled to start transferring, and the coal of the material receiving part is conveyed to the inside of a hopper of the coal conveying equipment.
In the step of monitoring the coal unloading process in real time, sensing judgment is carried out through a height sensor and a width sensor which are arranged in the material receiving part; the height sensors are arranged at the appointed positions of the side walls of the material receiving part, two width sensors are arranged and symmetrically arranged at the positions, close to the side walls at the two sides, of the bottom of the material receiving part; when the height sensor senses that the height of the coal material of the receiving part is higher than a set threshold value, and the width sensor senses that the width of the coal material at the bottom of the receiving part is larger than a preset width, the coal conveying equipment is controlled to start transfer, and the coal material of the receiving part is conveyed into the hopper of the coal conveying equipment.
In the step of monitoring the coal unloading process in real time, sensing judgment is carried out through a pressure detection sensor arranged in the material receiving part; two pressure sensors are respectively arranged on the inner side edges of the hopper of the receiving part, the pressure sensors are symmetrically arranged at the positions, close to the upper side walls of the two sides, of the receiving part, the pressure threshold value of the coal pile of the receiving part is set, and when the average value of the two pressures is detected to be more than or equal to the preset pressure threshold value, the coal conveying equipment is controlled to start transfer, and the coal of the receiving part is conveyed to the inside of the hopper of the coal conveying equipment.
Wherein, in the step of monitoring that the total coal amount in the hopper is larger than a second threshold value by the coal conveying equipment, the total coal amount in the hopper is monitored by a coal amount sensor arranged in the hopper of the coal conveying equipment; the material sensing sensor is arranged at the discharging part in the hopper of the coal conveying equipment, and when the material sensing sensor generates sensing signals and the total coal quantity in the hopper sensed by the coal quantity sensor is larger than the second threshold value, a coal discharging stopping instruction is sent to the coal mining equipment.
The second object of the present invention is to provide a coal mine underground automatic loading and unloading linkage control device, which is applied to coal conveying equipment, and comprises:
the starting control module is used for receiving a coal conveying instruction, identifying coal mining equipment corresponding to linkage according to the coal conveying instruction, establishing linkage with the coal mining equipment, and controlling the coal conveying equipment to travel to a coal unloading position of the coal mining equipment;
the loading control module is used for sending a coal unloading instruction to the coal mining equipment, monitoring a coal unloading process in real time, starting transfer when the coal unloading amount of the coal unloading position is monitored to be larger than a first threshold value, and moving coal into the hopper of the coal conveying equipment;
and the stopping control module is used for sending a coal unloading stopping instruction to the coal mining equipment when the total coal amount in the hopper is monitored to be larger than a second threshold value.
A third object of the invention is to propose a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executing the computer program implements the method according to the above mentioned technical solution.
A fourth object of the present invention is to propose a non-transitory computer-readable storage medium on which a computer programme is stored, which when being executed by a processor carries out the method of the preceding solution.
Compared with the prior art, the coal mine underground automatic loading and unloading linkage control method provided by the invention has the advantages that data interaction between the coal mining equipment and the coal conveying equipment is established through wireless communication, the coal conveying equipment receiving part reaches the output end of the coal mining equipment to carry out coal loading, the coal conveying equipment receives coal and simultaneously controls the coal to be transferred into the hopper, the coal quantity in the hopper of the coal conveying equipment is sensed in real time through various sensors arranged on the coal conveying equipment, and the coal conveying equipment is controlled to stop loading when full load is determined. The invention can realize the orderly linkage between the coal receiving and moving of the coal conveying equipment and the coal unloading of the coal mining equipment, simplify the complicated operation of a driver, lighten the labor intensity of the driver of a working face and accelerate the intelligent process of the continuous mining working face.
Drawings
The foregoing and/or additional aspects and advantages of the invention 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 schematic flow chart of a coal mine underground automatic loading and unloading linkage control method.
FIG. 2 is a logic schematic diagram of an automatic coal loading and unloading linkage control method in a coal mine.
Fig. 3 is a schematic top view of the linkage of the shuttle car and the continuous miner in the method for controlling the automatic loading and unloading of coal underground in a coal mine.
Fig. 4 is a schematic structural diagram of an automatic coal loading and unloading linkage control device for a coal mine.
Fig. 5 is a schematic structural diagram of a non-transitory computer readable storage medium according to the present invention.
Detailed Description
Embodiments of the present invention 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 invention and should not be construed as limiting the invention.
Fig. 1 and fig. 2 are a flow chart and a logic schematic diagram of a coal mine underground automatic loading and unloading linkage control method according to an embodiment of the invention. The method comprises the following steps:
step 101, receiving a coal conveying instruction, identifying coal mining equipment corresponding to linkage according to the coal conveying instruction, establishing linkage with the coal mining equipment, and controlling the coal conveying equipment to travel to a coal unloading position of the coal mining equipment.
The invention is described with respect to coal mining equipment, the related coal conveying equipment is exemplified by a shuttle car, and the coal mining equipment is exemplified by a continuous miner. The continuous miner as coal mining equipment excavates coal on a working surface, and the excavated coal is transported by a shuttle car as coal transporting equipment so as to transport the excavated coal to a continuous conveyor head car or a crusher, and the coal is transported to the ground by a belt behind the continuous conveyor head car or the crusher.
Specifically, the step of identifying the coal mining equipment corresponding to linkage comprises the following steps:
s1011: after the coal conveying equipment receives the coal conveying instruction, the coal conveying instruction is analyzed, and the identification of the corresponding linked coal mining equipment is obtained.
The shuttle car of the coal conveying equipment receives the coal conveying instruction sent by the upper control equipment, the coal conveying instruction at least comprises a coal mining equipment identifier corresponding to coal conveying, such as the serial number of the continuous miner, and after the shuttle car receives the coal conveying instruction, the serial number of the continuous miner contained in the coal conveying instruction is confirmed through analysis of the coal conveying instruction, so that the corresponding continuous miner is searched in the subsequent step.
S1012: shooting through a first shooting device arranged at the front end of the advancing direction of the coal conveying equipment, and identifying the identification of the coal mining equipment from the obtained shooting file.
According to the invention, the shuttle car runs along a roadway, and performs image shooting through the first shooting device arranged at the front end of the running direction, and at the same time of shooting, the shot image file is transmitted to the vehicle-mounted computer equipment for image analysis and identification. The working scene related by the invention is usually underground coal mine, light is darker, and image shooting effect is poor, so that a professional camera shooting at night is adopted for shooting, or an image shot by a common camera is required to be subjected to image processing, and the image processing adopts the existing image processing mode, so that the purpose is that the shot image is clear, and after the clear image is obtained, whether a beacon of a continuous miner is included in the image is identified by vehicle-mounted computer equipment. In the invention, the beacon is a nameplate arranged at the coal output part of the continuous miner, the information such as the model number and the serial number of the corresponding continuous miner is marked, and the butt joint of the shuttle car of the coal conveying equipment and the continuous miner of the coal mining equipment can be completed by identifying the serial number of the continuous miner contained in the beacon.
S1013: after the identification of the coal mining equipment is identified, the corresponding position of the coal mining equipment is positioned, and the coal conveying equipment is controlled to move towards the coal material output end of the coal mining equipment.
And confirming the position of the continuous miner through image recognition, and further controlling and adjusting the traveling direction of the shuttle car to enable the shuttle car to travel towards the direction of the continuous miner. After the traveling direction is adjusted, the traveling speed of the shuttle car is controlled to be reduced so as to prevent the shuttle car from impacting the continuous miner due to the too high speed. When the shuttle car is controlled to run at a low speed to approach the continuous miner, the shuttle car runs in the roadway, and the position relationship between the shuttle car and the continuous miner when the shuttle car finally stops is shown in fig. 3 because of narrow roads. As shown in fig. 3, the left side in fig. 3 is a shuttle car, the right side is a continuous miner, the right end of the continuous miner is a coal mining mechanism, and the left side is a coal unloading position; the right side of the shuttle car is a coal-charging receiving part, and the left side of the shuttle car is a coal-discharging part; the middle part of the shuttle car is provided with a hopper, the bottom of the hopper is paved with a conveyer belt, and the moving direction of the conveyer belt moves from the material receiving part to the discharging part.
After the step of controlling the movement of the coal conveying equipment to the coal output end of the coal mining equipment, the method comprises the steps of:
s1014: the distance between the front end of the advancing direction of the coal conveying equipment and the coal output end of the coal mining equipment is measured in real time through a laser ranging radar additionally arranged at the front end of the advancing direction of the coal conveying equipment.
S1015: when the distance measured by the real-time laser range radar is smaller than the preset distance, controlling the coal conveying equipment to run at a preset low speed.
S1016: the coal conveying equipment moves towards the coal mining equipment until the front end of the advancing direction of the coal conveying equipment is contacted with a contact switch arranged at the coal material output end of the coal mining equipment, the coal conveying equipment stops running, and a coal unloading instruction is sent to the coal mining equipment.
In fig. 2, the front part of the shuttle car is opposite to the tail part of the continuous miner, after the shuttle car touches the continuous miner, the shuttle car is controlled to stop running through a sensor arranged on the shuttle car, and meanwhile, when the shuttle car is controlled to contact with the continuous miner, the contact position is an inductive switch connected with a coal unloading mechanism of the continuous miner, after touching, the continuous miner is started to begin to unload coal, and during coal unloading, coal is unloaded from the coal unloading mechanism of the continuous miner to a receiving part of the shuttle car.
Step 102: and sending a coal unloading instruction to the coal mining equipment, monitoring a coal unloading process in real time, and starting transfer when the coal unloading amount of the coal unloading position is monitored to be larger than a first threshold value, and moving the coal to the inside of the coal conveying equipment hopper.
The shuttle car sends a coal unloading instruction to the continuous miner, and as before, the coal unloading instruction can be a contact switch of the shuttle car touching the continuous miner, and the contact switch controls a coal unloading mechanism of the continuous miner to work in a power-on mode and starts coal unloading. In other embodiments of the present invention, the coal unloading instruction may be a coal unloading instruction sent by the on-board computer device of the shuttle car to the on-board computer device of the continuous miner after the shuttle car contacts the continuous miner. In the embodiment, the wireless CAN module or the wireless WiFi module is additionally arranged in the electric control box body of the shuttle car and the continuous miner, and data interaction between the shuttle car and the continuous miner CAN be realized through a wireless connection technology, so that a coal unloading instruction of the shuttle car CAN be transmitted to the continuous miner, and the continuous miner CAN execute coal unloading operation after receiving the coal unloading instruction.
In the step of monitoring the coal unloading process in real time, a second shooting device arranged at the top end of the height direction of the material receiving position of a shuttle car of coal conveying equipment shoots a coal image of the material receiving part, the relative position of the height of the top end of the coal and the side wall of the material receiving part is determined through image analysis and identification, the height threshold of the side wall of the material receiving part is set, when the image identification coal top end is higher than the preset height threshold of the side wall of the material receiving part, the coal conveying equipment is controlled to start transferring, and the coal of the material receiving part is conveyed into a hopper of the coal conveying equipment.
In other embodiments, the sensing judgment is performed by a height sensor and a width sensor which are arranged in the material receiving part; the height sensors are arranged at the appointed positions of the side walls of the material receiving part, the two width sensors are symmetrically arranged at the positions of the bottom of the material receiving part, which are close to the side walls at two sides; when the height sensor senses that the height of the coal material of the receiving part is higher than a set threshold value and the width sensor senses that the width of the coal material at the bottom of the receiving part is larger than a preset width, the coal conveying equipment is controlled to start transfer, and the coal material of the receiving part is conveyed to the inside of the coal conveying equipment hopper.
Or the sensing judgment is carried out through a pressure detection sensor arranged in the receiving part, wherein two pressure sensors are respectively arranged on the inner side edge of the hopper of the receiving part, the pressure sensors are symmetrically arranged at the positions, close to the upper side walls of the two sides, of the receiving part, the pressure threshold value of the coal pile of the receiving part is set, and when the average value of the two pressures is detected to be more than or equal to the threshold value, the coal conveying equipment is controlled to start the transfer, and the coal of the receiving part is conveyed to the inside of the hopper of the coal conveying equipment.
Specifically, the coal amount at the position of the material receiving part shown in fig. 3 is monitored, and the coal amount can be sensed by shooting a real-time image of the material receiving part or by a height and width sensor; if a mode of shooting a real-time image of the material receiving part is adopted, a mapping is established by comparing the height of the coal in the image with the height of the side wall of the material receiving part, the volume and the height of the coal in the image can be calculated, and if the volume and the height of the coal in the image exceed the preset volume threshold and the preset height threshold, the transfer of the shuttle car is started, so that the conveyor belt starts to operate, the coal at the position of the material receiving part is driven to move towards the inside of the material bin, and meanwhile, the conveyor belt which does not bear the position of the coal is transmitted to the material receiving part; if adopt the mode through high and width sensor response coal material, through setting up material sensor respectively in the limit for height position of receiving portion lateral wall and the limit for width position of receiving portion bottom, when the coal material height reaches limit for height position, or the spread area of coal material in receiving portion bottom surpasses limit for width position, the material sensor that corresponds produces the induction signal, and control starts the shuttle and carry, makes the conveyer belt start operation, drives the coal material of receiving portion position and moves to the feed bin inside, will not bear the weight of the conveyer belt of coal material position simultaneously and transmit to receiving portion.
S103: and when the total coal amount in the hopper is monitored to be larger than a second threshold value, sending a coal unloading stopping instruction to the coal mining equipment.
The continuous miner continues to execute the coal unloading operation, and continues to monitor the coal amount, and the conveyer belt gradually drives the coal to move to the left side of the shuttle car, and in the process that the conveyer belt gradually moves, the conveyer belt falls into the coal until the first loaded coal reaches the unloading part of the shuttle car. In the monitoring process of stopping coal unloading, the invention senses the weight of the coal on the conveyor belt in real time through the weight sensor arranged in the hopper of the shuttle car, and when the weight of the coal reaches a preset second threshold value, the vehicle-mounted computer equipment of the shuttle car sends a coal unloading stopping signal to the continuous miner, and the continuous miner stops the action of the coal unloading mechanism and the coal unloading is stopped after receiving the coal unloading stopping signal. In other embodiments of the present invention, a coal amount sensor is disposed at a designated position of the unloading portion of the shuttle car, and when the coal moves to the leftmost end of the shuttle car along with the conveyor belt, the coal amount sensor is touched, the on-board computer device of the shuttle car sends a coal unloading stopping signal to the continuous miner, and the continuous miner stops the action of the coal unloading mechanism and the coal unloading is stopped after receiving the coal unloading stopping signal.
After the coal unloading is stopped, the shuttle car enters an automatic driving mode, and moves towards the coal conveying equipment such as the continuous conveying head car or the crusher, and the continuous mining machine continues to wait for the shuttle car to go ahead.
In order to implement the above embodiment, the present invention further provides a coal mine underground automatic loading and unloading linkage control device, as shown in fig. 4, including:
the starting control module 310 is configured to receive a coal transporting instruction, identify a coal mining device corresponding to linkage according to the coal transporting instruction, establish linkage with the coal mining device, and control the coal transporting device to travel to a coal unloading position of the coal mining device;
the loading control module 320 is configured to send a coal unloading instruction to the coal mining device, monitor a coal unloading process in real time, and start transfer when the monitored coal unloading amount at the coal unloading position is greater than a first threshold value, and move the coal to the inside of the hopper of the coal conveying device;
and the stopping control module 330 is used for sending a coal unloading stopping instruction to the coal mining equipment when the total coal amount in the hopper is monitored to be larger than a second threshold value.
In order to implement the above embodiment, the present invention also proposes another computer device, including: the system comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein when the processor executes the computer program, the automatic coal loading and unloading linkage control of the underground coal mine is realized.
As shown in fig. 5, the non-transitory computer readable storage medium includes a memory 810 of instructions executable by a processor 820 of the coal mining equipment travel speed estimation device to perform the method described above. Alternatively, the storage medium may be a non-transitory computer readable storage medium, for example, a ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
In order to achieve the above embodiments, the present invention further provides a non-transitory computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the coal mine underground automatic coal loading and unloading linkage control according to the embodiments of the present invention.
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 invention. 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 invention, 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 specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. 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. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention 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. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
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 invention 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 integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
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 invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, 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 invention.
Claims (9)
1. The coal mine underground automatic loading and unloading linkage control method is characterized by being applied to coal conveying equipment, and comprises the following steps of:
receiving a coal conveying instruction, identifying coal mining equipment in corresponding linkage according to the coal conveying instruction, establishing linkage with the coal mining equipment, and controlling the coal conveying equipment to travel to a coal unloading position of the coal mining equipment; wherein,,
the step of identifying the coal mining apparatus includes:
receiving and analyzing the coal conveying instruction to obtain the identification of the corresponding linked coal mining equipment;
shooting through a first shooting device arranged at the front end of the coal conveying equipment in the advancing direction, and identifying the identification of the coal mining equipment from the obtained shooting image;
positioning the position of the corresponding coal mining equipment according to the identification of the coal mining equipment, and controlling the coal conveying equipment to move towards the coal material output end of the coal mining equipment according to the position of the coal mining equipment;
measuring the distance between the front end of the coal conveying equipment in the advancing direction and the coal output end of the coal mining equipment in real time by a laser range radar additionally arranged at the front end of the coal conveying equipment in the advancing direction;
when the distance measured by the real-time laser range radar is smaller than a preset distance, controlling the coal conveying equipment to run at a preset low speed;
the coal conveying equipment moves towards the coal mining equipment until the front end of the advancing direction of the coal conveying equipment is contacted with a contact switch arranged at the coal material output end of the coal mining equipment, the coal conveying equipment is controlled to stop running, and a coal unloading instruction is sent to the coal mining equipment;
sending a coal unloading instruction to the coal mining equipment, monitoring a coal unloading process in real time, and starting transfer when the coal unloading amount of the coal unloading position is monitored to be larger than a first threshold value, and moving coal into a hopper of the coal conveying equipment;
and when the total coal amount in the hopper is monitored to be larger than a second threshold value, sending a coal unloading stopping instruction to the coal mining equipment.
2. The method for controlling the coordinated loading and unloading of coal under a coal mine as claimed in claim 1, wherein the identification of the coal mining equipment comprises a beacon arranged at the position of a coal output end of the coal mining equipment.
3. The method for controlling coal mine underground automatic loading and unloading linkage according to claim 1, wherein in the step of monitoring the coal unloading process in real time, a second shooting device arranged at the top end of the height direction of the material receiving part of the coal conveying equipment shoots the coal material image of the material receiving part, the relative position of the top end of the coal material and the height of the side wall of the material receiving part is determined by analyzing and identifying the image, the height threshold of the side wall of the material receiving part is set, and when the top end of the image identifying coal material is higher than the preset height threshold of the side wall of the material receiving part, the coal conveying equipment is controlled to start transfer, and the coal material of the material receiving part is conveyed into the hopper of the coal conveying equipment.
4. The method for controlling coal mine underground automatic loading and unloading linkage according to claim 1, wherein in the step of monitoring the coal unloading process in real time, sensing judgment is performed by a pressure detection sensor arranged in the material receiving part; two pressure sensors are respectively arranged on the inner side edges of the hopper of the receiving part, the pressure sensors are symmetrically arranged at the positions, close to the upper side walls of the two sides, of the receiving part, the pressure threshold value of the coal pile of the receiving part is set, and when the average value of the two pressures is detected to be more than or equal to the preset pressure threshold value, the coal conveying equipment is controlled to start transfer, and the coal of the receiving part is conveyed to the inside of the hopper of the coal conveying equipment.
5. The method for controlling coal mine underground automatic loading and unloading linkage according to claim 1, wherein in the step of monitoring the coal unloading process in real time, sensing judgment is performed by a height sensor and a width sensor which are arranged in the material receiving part; the height sensors are arranged at the appointed positions of the side walls of the material receiving part, two width sensors are arranged and symmetrically arranged at the positions, close to the side walls at the two sides, of the bottom of the material receiving part; when the height sensor senses that the height of the coal material of the receiving part is higher than a set threshold value, and the width sensor senses that the width of the coal material at the bottom of the receiving part is larger than a preset width, the coal conveying equipment is controlled to start transfer, and the coal material of the receiving part is conveyed into the hopper of the coal conveying equipment.
6. The method according to claim 3, wherein in the step of monitoring that the total amount of coal in the hopper is greater than a second threshold value by the coal transporting device, the total amount of coal in the hopper is monitored by a coal amount sensor installed in the hopper of the coal transporting device; the material sensing sensor is arranged at the discharging part in the hopper of the coal conveying equipment, and when the material sensing sensor generates sensing signals and the total coal quantity in the hopper sensed by the coal quantity sensor is larger than the second threshold value, a coal discharging stopping instruction is sent to the coal mining equipment.
7. An automatic coal loading and unloading coordinated control device in pit for a coal mine is characterized in that the coordinated control device is applied to coal conveying equipment and comprises:
the starting control module is used for receiving a coal conveying instruction, identifying coal mining equipment corresponding to linkage according to the coal conveying instruction, establishing linkage with the coal mining equipment, and controlling the coal conveying equipment to travel to a coal unloading position of the coal mining equipment; wherein,,
the step of identifying the coal mining apparatus includes:
receiving and analyzing the coal conveying instruction to obtain the identification of the corresponding linked coal mining equipment;
shooting through a first shooting device arranged at the front end of the coal conveying equipment in the advancing direction, and identifying the identification of the coal mining equipment from the obtained shooting image;
positioning the position of the corresponding coal mining equipment according to the identification of the coal mining equipment, and controlling the coal conveying equipment to move towards the coal material output end of the coal mining equipment according to the position of the coal mining equipment;
measuring the distance between the front end of the coal conveying equipment in the advancing direction and the coal output end of the coal mining equipment in real time by a laser range radar additionally arranged at the front end of the coal conveying equipment in the advancing direction;
when the distance measured by the real-time laser range radar is smaller than a preset distance, controlling the coal conveying equipment to run at a preset low speed;
the coal conveying equipment moves towards the coal mining equipment until the front end of the advancing direction of the coal conveying equipment is contacted with a contact switch arranged at the coal material output end of the coal mining equipment, the coal conveying equipment is controlled to stop running, and a coal unloading instruction is sent to the coal mining equipment;
the loading control module is used for sending a coal unloading instruction to the coal mining equipment, monitoring a coal unloading process in real time, starting transfer when the coal unloading amount of the coal unloading position is monitored to be larger than a first threshold value, and moving coal into the hopper of the coal conveying equipment;
and the stopping control module is used for sending a coal unloading stopping instruction to the coal mining equipment when the total coal amount in the hopper is monitored to be larger than a second threshold value.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any of claims 1-6 when executing the computer program.
9. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method according to any of claims 1-6.
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| GB1086905A (en) * | 1965-02-09 | 1967-10-11 | Qualter Hall & Company Sales L | Automatic control of mine car loading and feed conveyor |
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| CN114194851A (en) | 2022-03-18 |
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