CN114348550A - Automatic alignment control system and method for intelligent coal face conveyor - Google Patents

Abstract

The present application provides an automatic straightening control system and method for an intelligent coal mining face conveyor. Control system, including: upper computer, switch, multiple hydraulic supports, scraper conveyor, each hydraulic support includes: support controller, push driver, push solenoid valve, push cylinder and push stroke sensor, which are sent to the hydraulic support through the host computer The control command is executed by the support controller of the hydraulic support. According to the control command, the support controller controls the push driver, push solenoid valve, push cylinder, and push stroke sensor to complete the automatic rack transfer of the hydraulic support, so that the scraper conveyor is in Driven by the hydraulic support, it is a straight line, which realizes the automatic control of "three straight and two levels" of the fully mechanized mining face, which does not require users to stay at the coal mining site for a long time and manually move the frame, which improves the safety and improves the coal mining operation. degree of intelligence.

Description

Intelligent automatic straightening control system and method for coal mining face conveyor

technical field

The present application relates to the technical field of intelligent coal mining, and in particular, to a control system and method for automatic straightening of an intelligent coal mining face conveyor.

Background technique

In the coal mining operation, the fully mechanized mining face is mainly composed of the shearer, the scraper conveyor and the hydraulic support. Bring things down and reciprocate along the chute of the scraper conveyor to cut the coal wall. The scraper conveyor is placed along the direction of the coal seam, and is connected with the hydraulic support through the pushing jack, and the hydraulic support is responsible for the pushing. During the mining process, it is necessary to maintain the "three straight and two flat" of the fully mechanized mining face, that is, the coal wall, the scraper conveyor and the hydraulic support are respectively in a straight line, so as to ensure the smooth and reliable operation of the hydraulic support and the scraper conveyor, and avoid the fully mechanized mining work. The hydraulic support of the surface appears to bite, squeeze, etc., to ensure safe and efficient production.

At present, in order to ensure that the fully mechanized mining face is "three straight and two level", the fully mechanized mining face is often managed by pulling wires, that is, the lighting fixtures are hung on the fully mechanized mining face as a reference, and the judgment is made manually. When the vertical phenomenon occurs, the personnel shall manually operate the frame shifting or sliding, and adjust the distance between the hydraulic supports, so as to achieve the purpose of "three straight and two leveling".

However, by implementing the wire-pull management in the fully mechanized mining face, the workers need to be at the coal mining site for a long time, which poses a potential safety hazard, and the manual operation of the rack transfer efficiency is low, which in turn affects the coal production efficiency.

SUMMARY OF THE INVENTION

The present application provides an intelligent automatic straightening control system and method for a coal mining face conveyor, which realizes the automatic control of "three straight and two horizontal" in a fully mechanized mining face, and does not require the user to stay at the coal mining site for a long time, manually move the frame, and improve the Safety, and improve the intelligence of coal mining operations.

In the first aspect, the present application provides an intelligent automatic straightening control system for a coal mining face conveyor, including:

Upper computer, switch, multiple hydraulic supports, scraper conveyor, each hydraulic support includes: support controller, push driver, push solenoid valve, push cylinder and push stroke sensor;

The host computer is connected with the switch, the switch is connected with the bracket controller, the bracket controller is connected with the push driver, the push driver is connected with the push solenoid valve, and the push stroke sensor connected with the bracket controller;

The host computer is used to obtain the target coal mining work trajectory curve, generate a control instruction according to the current position information of the point corresponding to each hydraulic support on the target coal mining work trajectory curve, and convert the The control instruction is sent to the support controller of each hydraulic support, and the target coal mining working track curve includes the current position information of the hydraulic support;

The support controller is configured to receive the control instruction, obtain the current position information of the point corresponding to the hydraulic support carried in the control instruction, and execute the control logic corresponding to the control instruction according to the control instruction , the control logic includes determining the target push stroke data of the push cylinder according to the current position information of the point corresponding to the hydraulic support carried in the control instruction, and controlling the push driver to open the push solenoid valve to The push cylinder drives the hydraulic support to move, and receives the push stroke data periodically sent by the push stroke sensor. When the push stroke data reaches the target push stroke data, the push driver is controlled to close the push the solenoid valve to retract the push cylinder;

The push driver is used to open or close the push solenoid valve under the control of the bracket controller;

The push solenoid valve is used to supply hydraulic pressure to the push cylinder when it is opened under the control of the push driver, and stops supplying hydraulic pressure to the push cylinder when it is closed under the control of the push driver;

The pushing oil cylinder is used to perform a pushing action when the pushing solenoid valve is opened, so as to make the hydraulic support move the frame and drive the scraper conveyor to move;

The push stroke sensor is used to periodically acquire the push stroke data of the push cylinder when the push cylinder performs the push action, and send the push stroke data to the bracket controller.

Optionally, the control system further includes: a shearer, and an inertial navigation sensor provided on the shearer;

The inertial navigation sensor is used to acquire the first actual position information relative to the reference position of each place in the scraper conveyor when the shearer reciprocates to cut coal, and send the first actual position information to the host computer;

The pushing stroke sensor is used for acquiring the second actual position information of the hydraulic support before the pushing oil cylinder performs the pushing action, and sending the second actual position information to the upper computer, wherein the The second actual position information is the position information of the position before the hydraulic support is moved;

The upper computer is configured to receive the first actual position information and the second actual position, obtain the first actual trajectory curve of the scraper conveyor according to the first actual position information corresponding to the inertial navigation sensor, and obtain the first actual trajectory curve according to the first actual position information corresponding to the inertial navigation sensor. The second actual position corresponding to each hydraulic support obtains the second actual trajectory curve of the multiple hydraulic supports, and obtains the first to-be-determined sampling curve according to the first actual trajectory curve and the second actual trajectory curve. For the coal working trajectory curve, the target coal mining working trajectory curve is obtained according to the first coal mining working trajectory curve to be determined.

Optionally, the inertial navigation sensor includes: a gyroscope.

Optionally, a wireless transmitter is installed on the shearer;

the inertial navigation sensor is connected to the wireless transmitter;

The wireless transmitter is configured to send the first actual position information obtained by the inertial navigation sensor to the upper computer.

Optionally, the scraper conveyor includes: a plurality of position sensors, and a conveyor controller disposed on the scraper conveyor;

the distribution of the plurality of position sensors on the scraper conveyor;

The position sensor is used to acquire third actual position information of the scraper conveyor at the location relative to the reference position, and send the third actual position information to the conveyor controller;

The conveyor controller is used to receive the third actual position information corresponding to each of the position sensors, and send the third actual position information corresponding to each of the position sensors to the upper computer;

The push stroke sensor is used to acquire fourth actual position information of the hydraulic support before the push cylinder performs the push action, and send the fourth actual position information to the upper computer, wherein the The fourth actual position information is the position information of the position before the hydraulic support is moved;

the upper computer is configured to receive the third actual position information and the fourth actual position, and obtain the third actual trajectory curve of the scraper conveyor according to the third actual position information corresponding to each position sensor, The fourth actual trajectory curve of the multiple hydraulic supports is obtained according to the fourth actual position corresponding to each hydraulic support, and the second to-be-determined trajectory curve is obtained according to the third actual trajectory curve and the fourth actual trajectory curve For the coal mining work trajectory curve, the target coal mining work trajectory curve is obtained according to the second to-be-determined coal mining work trajectory curve.

Optionally, the position sensor includes at least one of a laser range finder and a radio frequency locator.

In the second aspect, the present application provides a method for controlling the automatic alignment of an intelligent coal mining face conveyor, which is applied to an intelligent coal mining face conveyor automatic alignment control system. The control system includes: a host computer, a switch, multiple racks Hydraulic support, scraper conveyor, each hydraulic support includes: support controller, push driver, push solenoid valve, push oil cylinder and push stroke sensor;

The host computer is connected with the switch, the switch is connected with the bracket controller, the bracket controller is connected with the push driver, the push driver is connected with the push solenoid valve, and the push stroke sensor connected with the bracket controller;

include:

The host computer obtains the target coal mining work trajectory curve, generates a control command according to the current position information of the point corresponding to each hydraulic support on the target coal mining work trajectory curve, and sends the control command through the switch For the support controller of each hydraulic support, the target coal mining working track curve includes the current position information of the hydraulic support;

The support controller receives the control instruction, obtains the current position information of the point corresponding to the hydraulic support carried in the control instruction, and executes the control logic corresponding to the control instruction according to the control instruction, the The control logic includes determining the target pushing stroke data of the pushing oil cylinder according to the current position information of the point corresponding to the hydraulic support carried in the control instruction, and controlling and controlling the pushing driver to open the pushing solenoid valve, so that the pushing The push cylinder drives the hydraulic support to move, and receives the push stroke data periodically sent by the push stroke sensor, and when the push stroke data reaches the target push stroke data, the push driver is controlled to close the push solenoid valve , so that the push cylinder is retracted;

The push solenoid valve is opened or closed under the control of the push driver and the bracket controller;

When the push solenoid valve is opened under the control of the push driver, hydraulic pressure is supplied to the push cylinder, and when it is closed under the control of the push driver, the hydraulic pressure is stopped to be supplied to the push cylinder;

The pushing oil cylinder performs a pushing action when the pushing solenoid valve is opened, so that the hydraulic support moves the frame and drives the scraper conveyor to move;

The push stroke sensor periodically acquires the push stroke data of the push cylinder when the push cylinder performs the push action, and sends the push stroke data to the bracket controller.

Optionally, the control system further includes: a shearer, and an inertial navigation sensor provided on the shearer;

The upper computer obtains the target coal mining work trajectory curve, including:

When the shearer reciprocates to cut coal, the inertial navigation sensor acquires the first actual position information relative to the reference position in all parts of the scraper conveyor, and sends the first actual position information to the host computer;

The pushing stroke sensor acquires the second actual position information of the hydraulic support before the pushing action of the pushing oil cylinder, and sends the second actual position information to the upper computer, wherein the second actual position information is The position information is the position information of the position before the hydraulic support is moved;

The host computer receives the first actual position information and the second actual position, obtains the first actual trajectory curve of the scraper conveyor according to the first actual position information corresponding to the inertial navigation sensor, and according to the Obtain the second actual trajectory curve of the multiple hydraulic supports from the second actual position corresponding to the hydraulic support, and obtain the first coal mining working trajectory to be determined according to the first actual trajectory curve and the second actual trajectory curve The target coal mining work trajectory curve is obtained according to the first coal mining work trajectory curve to be determined.

Optionally, the inertial navigation sensor includes: a gyroscope.

Optionally, a wireless transmitter is installed on the shearer;

the inertial navigation sensor is connected to the wireless transmitter;

The method also includes:

The wireless transmitter sends the first actual position information obtained by the inertial navigation sensor to the upper computer.

Optionally, the scraper conveyor includes: a plurality of position sensors, and a conveyor controller disposed on the scraper conveyor;

the distribution of the plurality of position sensors on the scraper conveyor;

The upper computer obtains the target coal mining work trajectory curve, including:

The position sensor acquires third actual position information of the scraper conveyor at the location relative to the reference position, and sends the third actual position information to the conveyor controller;

The conveyor controller receives the third actual position information corresponding to each position sensor, and sends the third actual position information corresponding to each position sensor to the upper computer;

The pushing stroke sensor acquires the fourth actual position information of the hydraulic support before the pushing oil cylinder performs the pushing action, and sends the fourth actual position information to the upper computer, wherein the fourth actual position information is The position information is the position information of the position before the hydraulic support is moved;

The host computer receives the third actual position information and the fourth actual position, obtains the third actual trajectory curve of the scraper conveyor according to the third actual position information corresponding to each position sensor, and obtains the third actual trajectory curve of the scraper conveyor according to the The fourth actual position corresponding to each hydraulic support obtains the fourth actual trajectory curve of the multiple hydraulic supports, and obtains the second coal mining work to be determined according to the third actual trajectory curve and the fourth actual trajectory curve A trajectory curve, the target coal mining work trajectory curve is obtained according to the second to-be-determined coal mining work trajectory curve.

Optionally, the position sensor includes at least one of a laser range finder and a radio frequency locator.

The intelligent coal mining face conveyor automatic straightening control system and method provided by this application, in the coal mining operation, in order to maintain the "three straight and two levels" of the fully mechanized mining face, the control system includes: a host computer, a switch, a multi- Frame hydraulic support, scraper conveyor, each hydraulic support includes: support controller, push driver, push solenoid valve, push cylinder and push stroke sensor, because the upper computer is connected with the switch, the switch is connected with the support controller, and the support controller is connected with The push driver is connected, the push driver is connected with the push solenoid valve, and the push stroke sensor is connected with the support controller, so that the control command can be sent to the hydraulic support through the upper computer, and the control command is executed by the support controller of the hydraulic support. Command, control the push driver to open the push solenoid valve, make the push cylinder act, and obtain the push stroke data of the push cylinder through the push stroke sensor, and feed it back to the bracket controller, so that the bracket controller controls the push driver to close the push solenoid valve, and complete the hydraulic support. Automatically move the frame, so that the scraper conveyor is in a straight line driven by the hydraulic support. The automatic control of "three straight and two levels" of the fully mechanized mining face is realized, which does not require the user to stay at the coal mining site for a long time and manually move the frame, which improves the safety and improves the intelligence of the coal mining operation.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is a structural schematic diagram of an automatic straightening control system for an intelligent coal mining face conveyor provided by an embodiment of the present application;

2 is a schematic structural diagram of an automatic straightening control system for an intelligent coal mining face conveyor provided by another embodiment of the present application;

3 is a schematic structural diagram of an automatic straightening control system for an intelligent coal mining face conveyor provided by another embodiment of the present application;

FIG. 4 is a flowchart of a control method provided by an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application are described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present application, but not all of them. Example. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work also fall within the protection scope of the present application.

The “three straight and two levels” of the fully mechanized mining face in coal mines is an effective means to realize the normal and efficient production of the fully mechanized mining face. Especially when the fully mechanized mining face passes through geological structures such as faults or folds, it is difficult for the fully mechanized mining face equipment to adapt to the geological conditions. The hydraulic support, the cut coal wall and the scraper conveyor are each kept in a straight line. By taking effective control measures to keep the fully mechanized mining face "three straight and two level", the failure rate of equipment can be reduced and the production efficiency of the working face can be improved. In the prior art, in order to ensure that the fully mechanized mining face is "three straight and two level", the fully mechanized mining face is often managed by pulling wires, that is, the lighting lamps are hung on the fully mechanized mining face as a reference, and judged manually. When the local non-straightening phenomenon occurs, the personnel shall manually operate the frame shifting or sliding, and adjust the distance between the hydraulic supports to make the fully mechanized mining face achieve "three straight and two flat".

However, the existing method of making the fully mechanized mining face "three straight and two flat" requires workers to move the hydraulic support at the coal mining site for a long time, which has potential safety hazards, and the efficiency of manual operation of moving the support is low. , which in turn affects the coal production efficiency.

Therefore, in order to solve the technical problems existing in the prior art, the present application proposes an intelligent control system and method for automatic alignment of coal mining face conveyors. The control system includes: a host computer, a switch, multiple hydraulic supports, and a scraper conveyor , Each hydraulic support includes: support controller, push driver, push solenoid valve, push oil cylinder and push stroke sensor. Obtain the target coal mining work trajectory curve through the host computer, and send the position information corresponding to the target coal mining work trajectory curve and each hydraulic support to the corresponding support controller, and control the push drive through the support controller, so as to control the push Solenoid valve, when the push solenoid valve is opened, the push cylinder acts, and the push stroke data of the push cylinder is obtained through the push stroke sensor, and fed back to the bracket controller, so that the bracket controller controls the push driver to close the push solenoid valve to complete the automatic hydraulic support. Move the frame, so that the scraper conveyor is in a straight line driven by the hydraulic support. This application realizes the automatic rack shifting of the hydraulic support through the upper computer, the support controller of the hydraulic support, the push driver, the push solenoid valve, the push oil cylinder and the push stroke sensor, so that the scraper conveyor becomes a straight line, and the operator does not need a long time. The hydraulic support is moved at the coal mining site, and the moving efficiency of the hydraulic support is high.

FIG. 1 is a schematic structural diagram of an automatic alignment control system for an intelligent coal mining face conveyor provided by an embodiment of the present application. As shown in FIG. 1 , the control system includes: a host computer 100, a switch 200, multiple hydraulic supports 300, and a scraper conveyor 400. Each hydraulic support 300 includes: a support controller 310, a push driver 320, a push solenoid valve 330, a push Oil cylinder 340 and push stroke sensor 350.

The host computer 100 is connected to the switch 200 , the switch 200 is connected to the bracket controller 310 , the bracket controller 310 is connected to the push driver 320 , the push driver 320 is connected to the push solenoid valve 330 , and the push stroke sensor 350 is connected to the bracket controller 310 .

The upper computer 100 is used to obtain the target coal mining work trajectory curve, generate control instructions according to the current position information of the points corresponding to each hydraulic support 300 on the target coal mining work trajectory curve, and send the control instructions to each hydraulic support 300 through the switch 200. The support controller 310 of the hydraulic support 300 includes the current position information of the hydraulic support 300 on the target coal mining work track curve.

The support controller 310 is used to receive the control command, obtain the current position information of the point corresponding to the hydraulic support 300 carried in the control command, and execute the control logic corresponding to the control command according to the control command. The current position information of the point corresponding to the hydraulic support 300 determines the target push stroke data of the push cylinder 340, and controls the push driver 320 to open the push solenoid valve 330, so that the push cylinder 340 drives the hydraulic support 300 to move, and receives the push stroke sensor 350 periodically Sending the push stroke data, when the push stroke data reaches the target push stroke data, the push driver 320 is controlled to close the push solenoid valve 330, so that the push cylinder 340 is retracted;

The push driver 320 is used to open or close the push solenoid valve 330 under the control of the bracket controller 310;

The push solenoid valve 330 is used to provide hydraulic pressure to the push cylinder 340 when it is opened under the control of the push driver 320, and to stop supplying hydraulic pressure to the push cylinder 340 when it is closed under the control of the push driver 320;

The push cylinder 340 is used to perform a push action when the push solenoid valve 330 is opened, so as to move the hydraulic support 300 and drive the scraper conveyor to move;

The push stroke sensor 350 is used to periodically acquire the push stroke data of the push cylinder 340 when the push cylinder 340 performs the push action, and send the push stroke data to the bracket controller 310 .

Specifically, the upper computer 100 is provided with, for example, a human-computer interaction interface, the user inputs the current position information of each hydraulic support 300 into the upper computer, and the upper computer automatically generates the target coal mining track according to the current position information of each hydraulic support 300 curve. Wherein, the current position information of each hydraulic support 300 is obtained according to the actual position of the hydraulic support 300 before the support is moved. The position of the stent 300 is obtained by inspection. In this way, although the user still needs to be located in the coal mining site, compared with the prior art, the user needs to manually move each hydraulic support 300 at the coal mining site, the user obtains the current position of each hydraulic support 300 After receiving the information, the user can leave the coal mining site without the need to manually move the rack. The user stays at the coal mining site for a short period of time, and there are fewer potential safety hazards.

The upper computer 100 obtains the target coal mining work trajectory curve, and the target coal mining work trajectory curve is obtained from the current position information of each hydraulic support 300. Therefore, the abscissa of the point corresponding to each hydraulic support 300 on the target coal mining work trajectory curve is the frame number of the hydraulic support 300, and the ordinate is the distance data of the hydraulic support 300 relative to the reference point. The host computer 100 generates a control command from the current position information of the point corresponding to each hydraulic support 300 on the target coal mining track curve, and sends the control command to the corresponding hydraulic support 300 through the switch 200 according to the frame number of the hydraulic support 300 . Wherein, the current position information of the hydraulic support 300 is carried in the control command.

The support controller 310 of the hydraulic support 300 is provided with control logic corresponding to the control instruction, and the control logic is executed after receiving the control instruction sent by the switch 200 .

The support controller 310 obtains the current position information of the hydraulic support 300 in the control instruction, and determines the target push stroke data of the push cylinder according to the current position of the hydraulic support 300, wherein the distance between the hydraulic support 300 and the scraper conveyor 400 is 960mm, that is to say, when the pushing stroke of the pushing cylinders 340 of all the hydraulic supports 300 is 960 mm, the scraper conveyor 400 is a straight line. Therefore, according to the current position information of the hydraulic supports 300, the distance of the hydraulic support 300 can be obtained, so that The target position information of the hydraulic support 300 is acquired, so as to determine the target push stroke data of the push cylinder 340 .

The bracket controller 310 controls the movement of the push driver 320 according to the control instruction, and opens the push solenoid valve 330. After the push solenoid valve 330 is opened, hydraulic pressure is supplied to the push cylinder 340, and the push cylinder 340 moves the hydraulic support 300 to move the frame. .

Wherein, when the push cylinder 340 is pushed by hydraulic pressure, the push stroke sensor 350 periodically acquires the push stroke data of the push cylinder 340 , and sends the push stroke data to the bracket controller 310 . The bracket controller 310 judges whether the push stroke data of the push cylinder 340 reaches the target push stroke data according to the push stroke data sent by the push stroke sensor 350, and controls the push cylinder 340 to close when it is determined that the push stroke data of the push cylinder 340 reaches the target push stroke data Push the solenoid valve 330 to stop supplying hydraulic pressure to the push cylinder 340 , and complete the moving of the hydraulic support 300 . After all the hydraulic supports 300 have been moved, all the hydraulic supports 300 are arranged in a straight line, and the scraper conveyor 400 is in a straight line.

In this embodiment, in the coal mining operation, in order to maintain the "three straight and two levels" of the fully mechanized mining face, the control system includes: a host computer, a switch, multiple hydraulic supports, and scraper conveyors, and each hydraulic support includes: a support Controller, push driver, push solenoid valve, push cylinder and push stroke sensor, because the host computer is connected with the switch, the switch is connected with the bracket controller, the bracket controller is connected with the push driver, the push driver is connected with the push solenoid valve, and the push stroke sensor is connected It is connected with the bracket controller, so that the control command can be sent to the hydraulic bracket through the upper computer, and the bracket controller of the hydraulic bracket executes the control command. And through the push stroke sensor to obtain the push stroke data of the push cylinder, and feed it back to the support controller, so that the support controller controls the push driver to close the push solenoid valve, and completes the automatic movement of the hydraulic support, so that the scraper conveyor is driven by the hydraulic support. for a straight line. The automatic control of "three straight and two levels" of the fully mechanized mining face is realized, which does not require the user to stay at the coal mining site for a long time and manually move the frame, which improves the safety and improves the intelligence of the coal mining operation.

In the above embodiment, the user makes the upper computer 100 obtain the target coal mining work trajectory curve by manually inputting the current position information of each hydraulic support 300 . Although this method does not require the user to be at the coal mining site for a long time, the user will still check each hydraulic support 300 to obtain its actual position information, so that the user has a high potential safety hazard. In order to further reduce the time the user spends at the coal mining site, the present application provides the following methods, so that the upper computer 100 obtains the target coal mining work trajectory curve.

In some embodiments, as shown in FIG. 2 , the control system further includes: a shearer 500 , and an inertial navigation sensor 510 disposed on the shearer 500 .

The inertial navigation sensor 510 is used to acquire the first actual position information relative to the reference position of each place in the scraper conveyor 400 when the shearer 500 reciprocates to cut coal, and sends the first actual position information to the upper computer 100 .

The push stroke sensor 350 is used to obtain the second actual position information of the hydraulic support 300 before the push cylinder 340 performs the pushing action, and send the second actual position information to the upper computer 100, wherein the second actual position information is the hydraulic support 300 The position information of the position before the rack was moved.

The upper computer 100 is used to receive the first actual position information and the second actual position, obtain the first actual trajectory curve of the scraper conveyor 400 according to the first actual position information corresponding to the inertial navigation sensor 510, The second actual position obtains the second actual trajectory curve of the multiple hydraulic supports 300, and obtains the first coal mining work trajectory curve to be determined according to the first actual trajectory curve and the second actual trajectory curve, and according to the first coal mining work trajectory curve to be determined The trajectory curve obtains the target coal mining work trajectory curve.

Specifically, the shearer 500 is arranged on the chute of the scraper conveyor 400. Under the belt of the traction device, the shearer 500 reciprocates along the chute of the scraper conveyor 400 to perform the coal cutting operation on the coal wall. The position information of the scraper conveyor 400 can be obtained.

An inertial navigation sensor 510 is installed on the shearer 500. Optionally, the inertial navigation sensor 510 can be a gyroscope. Under the belt of the pulling device, the shearer 500 reciprocates along the chute of the scraper conveyor 400. During the coal cutting operation, the inertial navigation sensor 510 acquires the first actual position information relative to the reference position at each point in the scraper conveyor 400 . Wherein, the first actual position information includes the position of each point in the scraper conveyor 400 and the distance of the point relative to the reference position.

The inertial navigation sensor 510 sends the first actual position information of the scraper conveyor 400 relative to the reference position to the upper computer 100, and the upper computer 100 obtains the first actual position information relative to the reference position in the scraper conveyor 400 according to the first actual position information of the scraper conveyor 400. The first actual trajectory curve of the scraper conveyor 400 .

Optionally, as shown in FIG. 2 , a wireless transmitter 520 is installed on the shearer 500 , and the inertial navigation sensor 510 is connected 520 to the wireless transmitter.

The wireless transmitter 520 is configured to send the first actual position information obtained by the inertial navigation sensor 510 to the upper computer 100 .

Specifically, the environment of the coal mining site is complex. In order to reduce the entanglement of the wires on the coal mining site, make the coal mining site more tidy and easy to manage, a wireless transmitter 520 is installed on the coal shearer 500, so that the wireless transmitter 520 is connected to the inertial navigation sensor. 510 is connected, so that when the inertial navigation sensor 510 obtains the first actual position information relative to the reference position in the scraper conveyor 400, the first actual position information is wirelessly sent to the upper computer 100 through the wireless transmitter 520.

Before the push cylinder 340 performs the push action, the push stroke sensor 350 acquires the second actual position information of the hydraulic support 300 , wherein the second actual position information is position information relative to the reference position. The second position information includes the rack number of the hydraulic support 300 and the distance of the hydraulic support 300 relative to the reference position.

The push stroke sensor 350 sends the second actual position information to the upper computer 100 , and the upper computer 100 obtains the second actual trajectory curve according to the second actual position information of all the hydraulic supports 300 .

Since the distance between the hydraulic support 300 and the scraper conveyor 400 is very small, and there is an error between the first actual trajectory curve and the second actual trajectory curve, in order to reduce the error, the host computer 100 uses the first actual trajectory curve and the second actual trajectory curve to reduce the error. The trajectory curve obtains the first to-be-determined coal mining work trajectory curve. For example, the average value of the ordinates of the corresponding points on the first actual trajectory curve and the second actual trajectory curve is the ordinate value of the corresponding point on the first to-be-determined coal mining work trajectory curve.

There is an error between the first actual trajectory curve and the second actual trajectory curve. Although the first to-be-determined coal mining working trajectory curve reduces the error, in order to further reduce the error, the fully mechanized mining face reaches "three straight and two flat", which improves safety According to the actual position of the hydraulic support 300 on the coal mining site, the user adjusts the first coal mining work trajectory curve to be determined. For example, for the lead or lag situation of the hydraulic support 300 at the coal mining site displayed on the first to-be-determined coal mining work trajectory curve, which is obviously inconsistent with the actual lead or lag of the hydraulic support, the user shall adjust the lead or lag of the hydraulic support according to the actual lead or lag of the hydraulic support. First, adjust the corresponding position on the coal mining work trajectory curve to be determined to obtain the target coal mining work trajectory curve.

Among them, when the actual advance or lag of the hydraulic support is obtained, the user can go to the coal mining site to obtain the actual advance or lag data of the hydraulic support. In this way, although the user still needs to reach the coal mining site, the stay time is short and the safety is high. Or it can be obtained according to the video, which is not limited in this application.

In this embodiment, by setting the inertial navigation sensor on the shearer, the first actual trajectory curve of the scraper conveyor is obtained through the inertial navigation sensor, and the second actual trajectory curve of the hydraulic support after passing the stroke sensor is obtained. According to the first actual trajectory curve The trajectory curve and the second actual trajectory curve are used to obtain the first coal mining work trajectory curve to be determined, and the position information of the scraper conveyor and the hydraulic support are automatically obtained, and then the first coal mining work trajectory curve to be determined is determined according to the actual advance or lag of the hydraulic support. Adjust to obtain the target coal mining work trajectory curve, and control the hydraulic support moving frame according to the target coal mining work trajectory curve, which improves the effect of the hydraulic support moving frame in a straight line, so that the effect of the scraper conveyor in a straight line is higher.

In the above embodiment, the inertial navigation sensor 510 is provided on the shearer 500 to obtain the first actual position information relative to the reference position in each place in the scraper conveyor 400 . The sensor obtains the third actual position information relative to the reference position for each place in the scraper conveyor 400 .

Optionally, as shown in FIG. 3 , the scraper conveyor 400 includes: a plurality of position sensors 410 , and a conveyor controller 420 disposed on the scraper conveyor 400 , wherein the plurality of position sensors 410 are distributed on the scraper conveyor 400 superior.

The position sensor 410 is used for acquiring the third actual position information of the scraper conveyor 400 at the location relative to the reference position, and sending the third actual position information to the conveyor controller 420 .

The conveyor controller 420 is configured to receive the third actual position information corresponding to each position sensor 410 , and send the third actual position information corresponding to each position sensor 410 to the upper computer 100 .

The push stroke sensor 350 is used to acquire the fourth actual position information of the hydraulic support 300 before the push cylinder 340 performs the pushing action, and send the fourth actual position information to the upper computer 100, wherein the fourth actual position information is the hydraulic support 300 The position information of the position before the rack was moved.

The upper computer 100 is configured to receive the third actual position information and the fourth actual position, obtain the third actual trajectory curve of the scraper conveyor 400 according to the third actual position information corresponding to each position sensor 410, and obtain the third actual trajectory curve of the scraper conveyor 400 according to the corresponding obtain the fourth actual trajectory curve of the multiple hydraulic supports, and obtain the second coal mining work trajectory curve to be determined according to the third actual trajectory curve and the fourth actual trajectory curve, according to the second coal mining work trajectory curve to be determined The trajectory curve obtains the target coal mining work trajectory curve.

Specifically, a plurality of position sensors 410 are arranged on the scraper conveyor 400. Optionally, the position sensors 410 include at least one of a laser range finder and a radio frequency locator, and the plurality of position sensors 410 can be the same sensor, Different sensors are also possible.

The position sensors 410 arranged at various places on the scraper conveyor 400 acquire the third actual position information relative to the reference position at its position on the scraper conveyor 400, and each position sensor 410 sends the obtained third actual position information to the conveyor controller 420. The third actual location information includes the location where the location sensor 410 is located, and the distance of the location relative to the reference location.

The conveyor controller 420 sends the third actual position information sent by each position sensor 410 to the upper computer 100 . The upper computer 100 obtains the third actual trajectory curve of the scraper conveyor 400 according to the third actual position information of the scraper conveyor 400 relative to the reference position.

Before the push cylinder 340 performs the push action, the push stroke sensor 350 acquires fourth actual position information of the hydraulic support 300 , where the fourth actual position information is position information relative to a reference position. The fourth position information includes the rack number of the hydraulic support 300 and the distance of the hydraulic support 300 relative to the reference position.

The push stroke sensor 350 sends the fourth actual position information to the upper computer 100 , and the upper computer 100 obtains the fourth actual trajectory curve according to the fourth actual position information of all the hydraulic supports 300 .

Since the distance between the hydraulic support 300 and the scraper conveyor 400 is very small, and there is an error between the third actual trajectory curve and the fourth actual trajectory curve, in order to reduce the error, the host computer 100 uses the third actual trajectory curve and the fourth actual trajectory curve to reduce the error. The trajectory curve obtains the second to-be-determined coal mining work trajectory curve. For example, the average value of the ordinates of the corresponding points on the third actual trajectory curve and the fourth actual trajectory curve is the ordinate value of the corresponding point on the second to-be-determined coal mining work trajectory curve.

There is an error between the third actual trajectory curve and the fourth actual trajectory curve. Although the second to-be-determined coal mining working trajectory curve reduces the error, in order to further reduce the error, the fully mechanized mining face reaches "three straight and two flat", which improves safety According to the actual position of the hydraulic support 300 on the coal mining site, the user adjusts the second to-be-determined coal mining work trajectory curve. For example, for the lead or lag situation of the hydraulic support 300 on the coal mining site displayed on the second to-be-determined coal mining work track curve, which is obviously inconsistent with the actual lead or lag of the hydraulic support, the user shall adjust the lead or lag of the hydraulic support according to the actual lead or lag of the hydraulic support. Second, adjust the corresponding position on the coal mining work trajectory curve to be determined to obtain the target coal mining work trajectory curve.

Among them, when the actual advance or lag of the hydraulic support is obtained, the user can go to the coal mining site to obtain the actual advance or lag data of the hydraulic support. In this way, although the user still needs to reach the coal mining site, the stay time is short and the safety is high. Or it can be obtained according to the video, which is not limited in this application.

It should be noted that the fourth actual position information obtained by the push stroke sensor 350 in this embodiment is the same as the second actual position information obtained by the push stroke sensor 350 in the previous embodiment, and the fourth actual position information obtained by the host computer 100 according to the fourth actual position information The actual trajectory curve is the same as the second actual trajectory curve obtained by the host computer 100 according to the second actual position information in the previous embodiment.

In this embodiment, by setting a plurality of position sensors and a conveyor controller on the scraper conveyor, the upper computer obtains the third actual trajectory curve of the scraper conveyor through the inertial navigation sensor, and the fourth actual trajectory curve of the hydraulic support after pushing the stroke sensor. track curve, and obtain the second coal mining track curve to be determined according to the third actual track curve and the fourth actual track curve, automatically obtain the position information of the scraper conveyor and the hydraulic support, and then according to the actual advance or lag of the hydraulic support Second, adjust the coal mining work trajectory curve to be determined, obtain the target coal mining work trajectory curve, and control the hydraulic support moving frame according to the target coal mining work trajectory curve, which improves the effect of the hydraulic support moving frame arranging in a straight line, so that the scraper conveyor can become Straight lines are more effective.

For the intelligent coal mining face conveyor automatic straightening control system provided in any of the above embodiments, the corresponding intelligent coal mining face conveyor automatic straightening control method is as follows.

FIG. 4 is a flowchart of a control method provided by an embodiment of the present application. As shown in Figure 4, the illustrated method includes:

S401. The host computer obtains the target coal mining track curve, generates a control command according to the current position information of the point corresponding to each hydraulic support on the target coal mining track curve, and sends the control command to the support control of each hydraulic support through the switch device.

Wherein, the current position information of the hydraulic support is included on the target coal mining track curve.

Specifically, a possible implementation of S401 is:

S101. When the shearer reciprocates to cut coal, the inertial navigation sensor acquires first actual position information relative to a reference position in each place in the scraper conveyor, and sends the first actual position information to a host computer.

Optionally, the inertial navigation sensor includes: a gyroscope.

In one embodiment, a possible implementation of S101 is:

S1011, the wireless transmitter sends the first actual position information obtained by the inertial navigation sensor to the upper computer.

S102. Before the push cylinder performs the push action, the push stroke sensor obtains the second actual position information of the hydraulic support, and sends the second actual position information to the upper computer.

Wherein, the second actual position information is the position information of the position of the hydraulic support before the frame is moved.

S103: The host computer receives the first actual position information and the second actual position, obtains the first actual trajectory curve of the scraper conveyor according to the first actual position information corresponding to the inertial navigation sensor, and obtains the second actual position corresponding to each hydraulic support The second actual trajectory curve of the multiple hydraulic supports, and according to the first actual trajectory curve and the second actual trajectory curve, the first coal mining work trajectory curve to be determined is obtained, and the target coal mining is obtained according to the first coal mining work trajectory curve to be determined. Work track curve.

In an embodiment, another possible implementation of S401 is:

S201. The position sensor acquires the third actual position information of the scraper conveyor at the location relative to the reference position, and sends the third actual position information to the conveyor controller.

Optionally, the position sensor includes at least one of a laser range finder and a radio frequency locator.

S202. The conveyor controller receives the third actual position information corresponding to each position sensor, and sends the third actual position information corresponding to each position sensor to the upper computer.

S203: Before the push cylinder performs the push action, the push stroke sensor obtains the fourth actual position information of the hydraulic support, and sends the fourth actual position information to the upper computer.

The fourth actual position information is the position information of the position before the hydraulic support is moved.

S204, the host computer receives the third actual position information and the fourth actual position, obtains the third actual trajectory curve of the scraper conveyor according to the third actual position information corresponding to each position sensor, and obtains the third actual trajectory curve of the scraper conveyor according to the third actual position information corresponding to each position sensor, and according to the fourth actual position corresponding to each hydraulic support Obtain the fourth actual trajectory curve of the multiple hydraulic supports, and obtain the second coal mining work trajectory curve to be determined according to the third actual trajectory curve and the fourth actual trajectory curve, and obtain the target mining work trajectory curve according to the second coal mining work trajectory curve to be determined. Coal working trajectory curve.

S402. The support controller receives the control instruction, obtains the current position information of the point corresponding to the hydraulic support carried in the control instruction, and executes the control logic corresponding to the control instruction according to the control instruction.

The control logic includes determining the target push stroke data of the push cylinder according to the current position information of the point corresponding to the hydraulic support carried in the control instruction, and controlling the push driver to open the push solenoid valve, so that the push cylinder drives the hydraulic support to move, and receives the push The push travel data periodically sent by the travel sensor, when the push travel data reaches the target push travel data, the push driver is controlled to close the push solenoid valve, so that the push cylinder is retracted.

S403 , open or close the push solenoid valve under the control of the push drive bracket controller.

S404. When the push solenoid valve is opened under the control of the push driver, hydraulic pressure is supplied to the push cylinder, and when it is closed under the control of the push driver, the hydraulic pressure is stopped to be supplied to the push cylinder.

S405, when the push solenoid valve is opened, the push oil cylinder performs a push action, so that the hydraulic support moves the frame and drives the scraper conveyor to move.

S406 , when the pusher cylinder performs the pusher action, the pusher stroke sensor periodically acquires the pusher stroke data of the pusher cylinder, and sends the pusher stroke data to the bracket controller.

For the specific implementation process of the control method provided by the embodiment of the present application, reference may be made to the foregoing control system embodiment, and the implementation principle and technical effect thereof are similar, and are not repeated in this embodiment.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that; The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims (10)

1. The utility model provides an automatic alignment control system of intelligent coal face conveyer which characterized in that includes: host computer, switch, many hydraulic support, scraper conveyor, every hydraulic support includes: the pushing device comprises a bracket controller, a pushing driver, a pushing electromagnetic valve, a pushing oil cylinder and a pushing travel sensor;

the upper computer is connected with the switch, the switch is connected with the support controller, the support controller is connected with the pushing driver, the pushing driver is connected with the pushing electromagnetic valve, and the pushing travel sensor is connected with the support controller;

the upper computer is used for acquiring a target coal mining working track curve, generating a control instruction according to current position information of a point on the target coal mining working track curve corresponding to each hydraulic support, and sending the control instruction to the support controller of each hydraulic support through the switch, wherein the target coal mining working track curve comprises the current position information of the hydraulic support;

the support controller is used for receiving the control instruction, acquiring current position information of a point corresponding to the hydraulic support carried in the control instruction, and executing a control logic corresponding to the control instruction according to the control instruction, wherein the control logic comprises the steps of determining target push stroke data of the push oil cylinder according to the current position information of the point corresponding to the hydraulic support carried in the control instruction, controlling the push driver to open the push electromagnetic valve so that the push oil cylinder drives the hydraulic support to push, receiving push stroke data periodically sent by the push stroke sensor, and controlling the push driver to close the push electromagnetic valve so that the push oil cylinder is retracted when the push stroke data reaches the target push stroke data;

the pushing driver is used for opening or closing the pushing electromagnetic valve under the control of the bracket controller;

the pushing electromagnetic valve is used for providing hydraulic pressure to the pushing oil cylinder when the pushing electromagnetic valve is opened under the control of the pushing driver, and stopping providing the hydraulic pressure to the pushing oil cylinder when the pushing electromagnetic valve is closed under the control of the pushing driver;

the pushing oil cylinder is used for pushing when the pushing electromagnetic valve is opened so as to enable the hydraulic support to move and drive the scraper conveyer to move;

the pushing travel sensor is used for periodically acquiring pushing travel data of the pushing oil cylinder when the pushing oil cylinder performs pushing action, and sending the pushing travel data to the support controller.

2. The control system of claim 1, further comprising: the system comprises a coal mining machine and an inertial navigation sensor arranged on the coal mining machine;

the inertial navigation sensor is used for acquiring first actual position information of each position in the scraper conveyor relative to a reference position when the coal cutter reciprocates to cut coal, and sending the first actual position information to the upper computer;

the pushing stroke sensor is used for acquiring second actual position information of the hydraulic support before the pushing oil cylinder performs pushing action, and sending the second actual position information to the upper computer, wherein the second actual position information is position information of the position of the hydraulic support before moving;

the upper computer is used for receiving the first actual position information and the second actual position, acquiring a first actual track curve of the scraper conveyer according to the first actual position information corresponding to the inertial navigation sensor, acquiring a second actual track curve of the multiple hydraulic supports according to the second actual position corresponding to each hydraulic support, acquiring a first coal mining working track curve to be determined according to the first actual track curve and the second actual track curve, and acquiring a target coal mining working track curve according to the first coal mining working track curve to be determined.

3. The control system of claim 2, wherein the inertial navigation sensor comprises: a gyroscope.

4. The control system of claim 3, wherein the shearer has a wireless transmitter mounted thereon;

the inertial navigation sensor is connected with the wireless transmitter;

and the wireless transmitter is used for transmitting the first actual position information obtained by the inertial navigation sensor to the upper computer.

5. The control system of claim 1, wherein the face conveyor comprises: a plurality of position sensors, and a conveyor controller disposed on the face conveyor;

a distribution of the plurality of position sensors on the face conveyor;

the position sensor is used for acquiring third actual position information of the scraper conveyor at the position relative to the reference position and sending the third actual position information to the conveyor controller;

the transporter controller is used for receiving third actual position information corresponding to each position sensor and sending the third actual position information corresponding to each position sensor to the upper computer;

the pushing stroke sensor is used for acquiring fourth actual position information of the hydraulic support before the pushing oil cylinder performs pushing action, and sending the fourth actual position information to the upper computer, wherein the fourth actual position information is position information of a position where the hydraulic support is located before moving;

the upper computer is used for receiving the third actual position information and the fourth actual position, acquiring a third actual track curve of the scraper conveyer according to the third actual position information corresponding to each position sensor, acquiring a fourth actual track curve of the multiple hydraulic supports according to the fourth actual position corresponding to each hydraulic support, acquiring a coal mining working track curve to be determined according to the third actual track curve and the fourth actual track curve, and acquiring a target coal mining working track curve according to the coal mining working track curve to be determined.

6. The control system of claim 5, wherein the position sensor comprises at least one of a laser range finder, a radio frequency locator.

7. An automatic alignment control method of an intelligent coal face conveyor is characterized by being applied to an automatic alignment control system of the intelligent coal face conveyor, and the control system comprises the following components: host computer, switch, many hydraulic support, scraper conveyor, every hydraulic support includes: the pushing device comprises a bracket controller, a pushing driver, a pushing electromagnetic valve, a pushing oil cylinder and a pushing travel sensor;

the upper computer is connected with the switch, the switch is connected with the support controller, the support controller is connected with the pushing driver, the pushing driver is connected with the pushing electromagnetic valve, and the pushing travel sensor is connected with the support controller;

the method comprises the following steps:

the upper computer acquires a target coal mining working track curve, generates a control instruction according to current position information of a point on the target coal mining working track curve corresponding to each hydraulic support, and sends the control instruction to a support controller of each hydraulic support through the switch, wherein the current position information of the hydraulic support is included in the target coal mining working track curve;

the support controller receives the control instruction, acquires current position information of a point corresponding to the hydraulic support carried in the control instruction, and executes a control logic corresponding to the control instruction according to the control instruction, wherein the control logic comprises the steps of determining target push stroke data of the push oil cylinder according to the current position information of the point corresponding to the hydraulic support carried in the control instruction, controlling the push driver to open the push electromagnetic valve so that the push oil cylinder drives the hydraulic support to push, receiving push stroke data periodically sent by the push stroke sensor, and controlling the push driver to close the push electromagnetic valve so that the push oil cylinder is retracted when the push stroke data reaches the target push stroke data;

the pushing driver is controlled by the bracket controller to open or close the pushing electromagnetic valve;

the pushing electromagnetic valve supplies hydraulic pressure to the pushing oil cylinder when opened under the control of the pushing driver, and stops supplying hydraulic pressure to the pushing oil cylinder when closed under the control of the pushing driver;

when the pushing electromagnetic valve is opened, the pushing oil cylinder carries out pushing action so as to move the hydraulic support and drive the scraper conveyer to move;

and the pushing stroke sensor periodically acquires pushing stroke data of the pushing oil cylinder when the pushing oil cylinder performs pushing action, and sends the pushing stroke data to the support controller.

8. The method of claim 7, wherein the control system further comprises: the system comprises a coal mining machine and an inertial navigation sensor arranged on the coal mining machine;

the host computer obtains target coal mining working trajectory curve, includes:

the inertial navigation sensor acquires first actual position information of each position in the scraper conveyor relative to a reference position when the coal cutter reciprocates to cut coal, and sends the first actual position information to the upper computer;

the pushing stroke sensor acquires second actual position information of the hydraulic support before the pushing oil cylinder performs pushing action, and sends the second actual position information to the upper computer, wherein the second actual position information is position information of a position where the hydraulic support is located before moving;

the upper computer receives the first actual position information and the second actual position, acquires a first actual track curve of the scraper conveyer according to the first actual position information corresponding to the inertial navigation sensor, acquires a second actual track curve of the multiple hydraulic supports according to the second actual position corresponding to each hydraulic support, acquires a first coal mining working track curve to be determined according to the first actual track curve and the second actual track curve, and acquires the target coal mining working track curve according to the first coal mining working track curve to be determined.

9. The method of claim 8, wherein the inertial navigation sensor comprises: a gyroscope.

10. The method according to claim 9, characterized in that the shearer has a wireless transmitter mounted thereon;

the inertial navigation sensor is connected with the wireless transmitter;

the method further comprises the following steps:

and the wireless transmitter transmits the first actual position information obtained by the inertial navigation sensor to the upper computer.

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