CN114701566B - Intelligent straightening system and method for crawler walking equipment of underground coal mine bolting machine - Google Patents
Intelligent straightening system and method for crawler walking equipment of underground coal mine bolting machine Download PDFInfo
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- CN114701566B CN114701566B CN202210195886.4A CN202210195886A CN114701566B CN 114701566 B CN114701566 B CN 114701566B CN 202210195886 A CN202210195886 A CN 202210195886A CN 114701566 B CN114701566 B CN 114701566B
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- 238000004364 calculation method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004873 anchoring Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
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Abstract
The invention relates to the technical field of underground coal mine bolting machine crawler walking equipment, and discloses an intelligent alignment system and method for underground coal mine bolting machine crawler walking equipment. The system comprises a control module, a direction sensor, a speed sensor, a communication module and an explosion-proof frequency converter, wherein the speed sensor is used for respectively measuring the rotating speeds of a left crawler belt and a right crawler belt of crawler belt walking equipment, the direction sensor is used for measuring the angle of the walking equipment, the output ends of the Hall speed sensor and the direction sensor are connected with the control module through the communication module, the output end of the control module is connected with the input end of the explosion-proof frequency converter and used for controlling the walking speed of the left crawler belt and the walking azimuth angle of the crawler belt walking equipment according to the measured values of the Hall speed sensor and the direction sensor, and the explosion-proof frequency converter is used for adjusting the walking speed of the left crawler belt and the walking azimuth angle of the crawler belt walking equipment. The invention can improve the operation efficiency of the equipment, improve the control precision and reduce the auxiliary operation time.
Description
Technical Field
The invention relates to the technical field of underground coal mine bolting machine crawler traveling equipment, in particular to an intelligent straightening system and method for underground coal mine bolting machine crawler traveling equipment.
Background
In the existing underground coal mine, the walking mode of the roof bolter is motor-driven and the crawler belt walks. The left and right tracks are respectively provided with independent and same walking systems without mutual interference. The crawler belt does not have an independent steering system during walking, the same variable is input to the left and right side walking drives through a control loop, so that the left and right side crawler belts have the same running speed, the linear walking of the bolting machine is realized, the variable with unequal numerical values or unequal directions is input, and the steering or turning-around of the bolting machine is realized. In practice, however, even if the same control inputs are given, the tracks on the two sides still cause deviation of the equipment due to the influences of different factors such as starting synchronism, process impact, inherent non-linear factors of components, contact among components, tension difference of the tracks, ground adhesion and the like, and meanwhile, the deviation amount reflects the manufacturing level of a power transmission system of the equipment and the control precision of the equipment. The deviation has adverse effects on improving the operation efficiency and the operability of the anchor rod machine, the deviation is controlled within an allowable range, and the method has important significance on improving the anchoring efficiency and the anchoring quality and improving the control precision of unmanned and automatic anchor drilling of underground equipment.
Disclosure of Invention
The invention overcomes the defects of the prior art, and solves the technical problems that: the intelligent straightening system and method for the crawler traveling equipment of the underground coal mine bolting machine are provided, so that the automatic straightening of the crawler traveling equipment of the underground coal mine bolting machine is realized.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a well worker colliery bolter track walking equipment intelligence alignment system, includes control module, direction sensor, speedtransmitter, communication module and flame proof converter, wherein, speedtransmitter is used for measuring the rotational speed of track about track walking equipment respectively, direction sensor is used for measuring the angle of walking equipment, hall speedtransmitter and direction sensor's output pass through communication module with control module connects, control module's output with the input of flame proof converter is connected for according to hall speedtransmitter and direction sensor's measured value, control the walking speed of track and the walking azimuth angle of track walking equipment about flame proof converter adjusts.
The control module is internally provided with a self-adaptive fuzzy PID controller, the input quantity of the self-adaptive fuzzy PID controller is the real-time walking azimuth angle and the set azimuth angle of the crawler walking equipment, and the PID parameter K is automatically set through fuzzy reasoning P 、K I 、K D And adjusting the frequency f and the voltage V output by the explosion-proof frequency converters on the left side and the right side in real time to enable the real-time walking azimuth angle of the crawler walking equipment to be equal to the set azimuth angle.
Real-time position offset S of crawler traveling equipment t The calculation method comprises the following steps:
calculating the average value of the traveling speeds of the left and right crawler belts;
calculating the speed of the crawler traveling equipment by combining the average value of the traveling speeds of the left crawler and the right crawler and the crawler width;
calculating the real-time position offset S of the crawler traveling equipment according to the speed, the traveling time and the current deflection angle of the vehicle of the crawler traveling equipment t 。
The direction sensor is an intrinsic safety three-dimensional electronic compass.
The speed sensors are intrinsic safety Hall speed sensors and are arranged on the left track and the right track of the track walking equipment.
In addition, the invention also provides an intelligent straightening method for the crawler traveling equipment of the underground coal mine bolting machine, and the intelligent straightening system for the crawler traveling equipment of the underground coal mine bolting machine comprises the following steps:
s1, after the equipment is started, the azimuth angle of the equipment and the rotating speeds of the left track and the right track are monitored in real time, and the position offset S is calculated t ；
S2, judging whether the position offset is larger than an offset threshold value or not, if so, controlling the explosion-proof frequency converter to adjust the walking speed of the left and right crawler belts until the walking azimuth angle of the crawler belt walking equipment is equal to alpha or 360-alpha; wherein α represents a given steering angle; if the walking azimuth angle of the current crawler walking equipment meets the condition that theta is less than 270 degrees t When the angle is less than 360 degrees, the walking azimuth angle is adjusted to alpha, and if the walking azimuth angle of the current bolting machine is more than 0 degrees and more than theta t When the angle is less than 90 degrees, the walking azimuth angle is adjusted to 360-alpha;
and S3, adjusting the walking speeds of the left and right tracks to be consistent, monitoring the azimuth angle of the equipment and the rotating speeds of the left and right tracks in real time, calculating the position offset, controlling the explosion-proof frequency converter to adjust the walking speeds of the left and right tracks if the offset is reduced to be equal to zero, and returning to the step S1 until the walking azimuth angle of the track walking equipment is equal to 0.
The given steering angle a has a value in the range of less than 30 °.
In the steps S2-S4, the output voltage and frequency of the explosion-proof frequency converter are controlled by the self-adaptive fuzzy PID controller, and then the walking speed of the left and right tracks is adjusted.
Compared with the prior art, the invention has the following beneficial effects:
the invention can monitor the linear traveling route of the underground crawler traveling equipment in real time, realize the automatic deviation correction of the linear traveling of the equipment and effectively control the actual deviation amount to be within the allowable range, thereby improving the operation efficiency of the equipment, improving the control precision and reducing the auxiliary operation time.
Drawings
Fig. 1 is a schematic diagram of an intelligent alignment system of a crawler traveling device of an underground coal mine bolting machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of PID control according to a first embodiment of the invention;
FIG. 3 is a schematic diagram of a velocity calculation according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the calculation of the position offset according to the first embodiment of the present invention;
fig. 5 is a flowchart of an intelligent alignment method for crawler traveling equipment of a mine coal mine bolting machine according to a second embodiment of the present invention;
fig. 6 is a schematic diagram of deviation rectification according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example one
As shown in fig. 1, the embodiment of the invention provides an intelligent alignment system for crawler traveling equipment of an underground coal mine bolting machine, which comprises a control module, a three-dimensional electronic compass, hall speed sensors, a communication module and an explosion-proof frequency converter, wherein the hall speed sensors are respectively arranged on a left crawler belt and a right crawler belt of the crawler traveling equipment 1 and are used for respectively measuring the rotating speeds of the left crawler belt and the right crawler belt of the crawler traveling equipment, the direction sensors are used for measuring the angle of the traveling equipment, the output ends of the hall speed sensors and the direction sensors are connected with the control module through the communication module, the output end of the control module is connected with the input end of the explosion-proof frequency converter and is used for controlling the explosion-proof frequency converter to adjust the traveling speeds of the left crawler belt and the right crawler belt and the traveling azimuth angle of the crawler traveling equipment according to the measured values of the hall speed sensors and the direction sensors.
Specifically, as shown in fig. 2, in the present embodiment, an adaptive fuzzy PID controller is arranged in the control module, and the input quantities of the adaptive fuzzy PID controller are the real-time walking azimuth angle and the set azimuth angle of the crawler walking device, which automatically sets the PID parameter K through fuzzy reasoning P 、K I 、K D And adjusting the frequency f and the voltage V output by the explosion-proof frequency converters on the left side and the right side in real time to enable the real-time walking azimuth angle of the crawler walking equipment to be equal to the set azimuth angle. In addition, the input quantity of the self-adaptive fuzzy PID controller can also be the real-time rotating speed of the left and right tracks of the track walking equipment, and the PID parameter K is automatically set through fuzzy reasoning P 、K I 、K D And adjusting the frequency f and the voltage V output by the explosion-proof frequency converters on the left side and the right side in real time to enable the real-time traveling speeds of the left crawler belt and the right crawler belt of the crawler belt traveling equipment to be the same.
Further, in the present embodiment, the adaptive fuzzy PID controller may also be a CNN-PID controller or other types of controllers.
Specifically, in this embodiment, the crawler travel apparatus has a real-time position offset S t The calculation method comprises the following steps:
s1, calculating an average value of the traveling speeds of the left crawler and the right crawler, and calculating the speed of the crawler by combining the width of the crawler traveling equipment.
S2, calculating the real-time position offset S of the crawler traveling equipment according to the speed, the traveling time and the current deflection angle of the vehicle of the crawler traveling equipment t 。
Assuming that the average traveling speeds of the left and right crawler belts are v Left side of And v Right side The speed of the crawler belt traveling apparatus is v Vehicle with wheels The crawler belt has a width B as shown in FIG. 3, connecting the respective speedsThe intersection point of the end point of the vector and the X axis is O ', wherein the longitudinal direction of the equipment is the X axis, the advancing direction is the positive direction of the Y axis, wherein X represents the distance between the crawler belt walking equipment and the intersection point O', and the following relation is provided:
by the formula (1), the speed V of the crawler belt walking device can be calculated Vehicle with wheels The expression of (a) is:
referring to fig. 4 below, the real-time position offset S of the crawler belt walking device can be known from the trigonometric function relation t The expression of (a) is:
S t ＝sinθ t v vehicle with wheels t； (3)
Wherein, theta t And t represents the walking time of the crawler walking equipment.
Specifically, in this embodiment, the direction sensor is an intrinsically safe three-dimensional electronic compass. Furthermore, the direction sensor may also be combined with a lidar and a depth camera.
Specifically, in this embodiment, the speed sensor is an intrinsically safe hall speed sensor, and the intrinsically safe hall speed sensor is used to detect the traveling speed and direction of the crawler belt and is disposed on the left and right crawler belts of the crawler belt traveling apparatus. In addition, the traveling speed and the traveling direction of the left and right crawler belts can be realized by detecting the output rotating speed of the explosion-proof variable frequency motor or the output rotating speed of the walking speed reducer.
Further, the intelligent alignment system of the crawler walking equipment of the underground coal mine bolting machine provided by the embodiment can also be applied to other crawler belts or rubber wheel equipment of an underground coal mine.
Example two
As shown in fig. 5, the second embodiment provides an intelligent straightening method for crawler traveling equipment of an underground coal mine bolting machine, and the intelligent straightening system for crawler traveling equipment of an underground coal mine bolting machine according to the first embodiment includes the following steps:
s1, after the equipment is started, the azimuth angle of the equipment and the rotating speeds of the left track and the right track are monitored in real time, and the position offset S is calculated t 。
As shown in fig. 6, the system is started and will automatically remember the current position as O point, and a cartesian coordinate system is established with O as the origin, where the longitudinal direction of the device is the X axis, the forward direction is the forward direction of the Y axis, the lateral direction of the device is the X axis, the Y axis is perpendicular to the X axis, and the Z axis is perpendicular to the geocentric. In step S1, the position offset S t The calculation method of (2) is the same as that of the first embodiment.
S2, judging whether the position offset is larger than an offset threshold value zeta/2, if so, controlling the explosion-proof frequency converter to adjust the walking speed of the left and right crawler belts until the walking azimuth angle of the crawler belt walking equipment is equal to alpha or 360-alpha.
Wherein α represents a given steering angle; if the walking azimuth angle of the current crawler walking equipment meets the condition that theta is less than 270 degrees t When the angle is less than 360 degrees, the walking azimuth angle is adjusted to alpha, and if the walking azimuth angle of the current bolting machine is more than 0 degrees and more than theta t When the angle is less than 90 degrees, the walking azimuth angle is adjusted to 360-alpha.
Specifically, in this embodiment, the range of the given steering angle α is less than 30 °.
And S3, adjusting the walking speeds of the left and right tracks to be consistent, monitoring the azimuth angle of the equipment and the rotating speeds of the left and right tracks in real time, calculating the position offset, controlling the explosion-proof frequency converter to adjust the walking speeds of the left and right tracks if the offset is reduced to be equal to zero, and returning to the step S1 until the walking azimuth angle of the track walking equipment is equal to 0.
After the adjustment is finished, the crawler belt walking equipment is controlled to continue walking along the adjusted azimuth angle (alpha or 360-alpha), and meanwhile, the offset distance S is continuously monitored t Up to an offset distance S t And reducing the azimuth angle to zero, namely adjusting the azimuth angle of the crawler traveling equipment to be 0 ℃ again after the crawler traveling equipment travels to the OY axis, and at the moment, returning the equipment to the initial route and returning to the initial state, and finishing the deviation rectification by the system. The circulation can ensure the deviation of the anchor rod machine when the anchor rod machine travels in a straight line along the set directionAnd ends up within the allowable excursion range zeta.
Specifically, in the steps S2 to S3, the output voltage and frequency of the explosion-proof frequency converter are controlled by the self-adaptive fuzzy PID controller, so that the traveling speed of the left and right tracks is adjusted.
In step S3, the distance S is shifted t The calculation formula of (2) is as follows:
S t ＝S t0 -sinαv’ vehicle with a detachable front cover t 1 ； (4)
Wherein S is t0 Denotes an offset distance, v 'before adjustment' Vehicle with a detachable front cover Represents the average speed of the crawler belt unit, and t represents the traveling time.
In conclusion, the invention provides the intelligent alignment system and method for the underground coal mine roof bolter crawler traveling equipment, which can monitor the linear traveling route of the underground crawler traveling equipment in real time, realize the automatic correction of the linear traveling of the equipment and effectively control the actual deviation amount to be within the allowable range. The equipment operation efficiency can be improved, the control precision is improved, and the auxiliary operation time is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides an intelligent alignment method of underworkings colliery bolter crawler traveling equipment, its characterized in that, the alignment system who adopts includes control module, direction sensor, speedtransmitter, communication module and flame proof converter, wherein, speedtransmitter is used for measuring the rotational speed of crawler about crawler traveling equipment respectively, direction sensor is used for measuring the angle of traveling equipment, speedtransmitter and direction sensor's output pass through communication module with control module connects, control module's output with the input of flame proof converter is connected for according to speedtransmitter and direction sensor's measured value, control the flame proof converter adjusts the walking speed of crawler about and the walking azimuth of crawler traveling equipment, the alignment method does:
s1, after the equipment is started, the azimuth angle of the equipment and the rotating speeds of the left track and the right track are monitored in real time, and the position offset S is calculated t ；
S2, judging whether the position offset is larger than an offset threshold value or not, if so, controlling the explosion-proof frequency converter to adjust the walking speed of the left and right crawler belts until the walking azimuth angle of the crawler belt walking equipment is equal to alpha or 360-alpha; wherein α represents a given steering angle; if the walking azimuth angle of the current crawler walking equipment meets the condition that theta is less than 270 degrees t When the angle is less than 360 degrees, the walking azimuth angle is adjusted to alpha, and if the walking azimuth angle of the current bolting machine is more than 0 degrees and more than theta t When the angle is less than 90 degrees, the walking azimuth angle is adjusted to 360-alpha;
and S3, adjusting the walking speeds of the left and right tracks to be consistent, monitoring the azimuth angle of the equipment and the rotating speeds of the left and right tracks in real time, calculating the position offset, controlling the explosion-proof frequency converter to adjust the walking speeds of the left and right tracks if the offset is reduced to be equal to zero, and returning to the step S1 until the walking azimuth angle of the track walking equipment is equal to 0.
2. The intelligent alignment method for the crawler traveling equipment of the underground coal mine roof bolter according to claim 1, wherein an adaptive fuzzy PID controller is arranged in the control module, the input quantity of the adaptive fuzzy PID controller is the real-time traveling azimuth angle and the set azimuth angle of the crawler traveling equipment, and the PID parameter K is automatically adjusted through fuzzy reasoning P 、K I 、K D And adjusting the frequency f and the voltage V output by the explosion-proof frequency converters on the left side and the right side in real time to enable the real-time walking azimuth angle of the crawler walking equipment to be equal to the set azimuth angle.
3. The underground coal mine bolter crawler walking equipment intelligence of claim 2The straightening method is characterized in that the real-time position offset S of the crawler walking equipment t The calculating method comprises the following steps:
calculating an average value of the traveling speeds of the left and right crawler belts;
calculating the speed of the crawler traveling equipment by combining the average value of the traveling speeds of the left crawler and the right crawler and the width of the crawler;
calculating the real-time position offset S of the crawler traveling equipment according to the speed, the traveling time and the current deflection angle of the vehicle of the crawler traveling equipment t 。
4. The intelligent straightening method for the crawler traveling equipment of the underground coal mine bolting machine according to claim 1, wherein the direction sensor is an intrinsic safety three-dimensional electronic compass.
5. The intelligent straightening method for crawler traveling equipment of the underground coal mine bolting machine according to claim 1, wherein the speed sensors are intrinsically safe Hall speed sensors and are arranged on left and right crawler belts of the crawler traveling equipment.
6. The intelligent straightening method for crawler traveling equipment of an underground coal mine bolting machine according to claim 1, wherein the given steering angle α is less than 30 °.
7. The intelligent straightening method for the crawler traveling equipment of the underground coal mine bolting machine according to claim 1, characterized in that in the steps S2 to S3, the output voltage and frequency of the explosion-proof frequency converter are controlled by a self-adaptive fuzzy PID controller, so that the traveling speeds of the left and right crawler belts are adjusted.
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| CN202210195886.4A CN114701566B (en) | 2022-03-02 | 2022-03-02 | Intelligent straightening system and method for crawler walking equipment of underground coal mine bolting machine |
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| CN202210195886.4A CN114701566B (en) | 2022-03-02 | 2022-03-02 | Intelligent straightening system and method for crawler walking equipment of underground coal mine bolting machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6445990B1 (en) * | 2001-03-19 | 2002-09-03 | Caterpillar Inc. | Method and apparatus for controlling straight line travel of a tracked machine |
| JP3729494B2 (en) * | 2002-05-14 | 2005-12-21 | 三菱電機株式会社 | Vehicle lane keeping support device |
| JP4639771B2 (en) * | 2004-11-24 | 2011-02-23 | トヨタ自動車株式会社 | Vehicle steering control device |
| CN100486845C (en) * | 2004-12-27 | 2009-05-13 | 日产自动车株式会社 | Lane departure prevention system |
| DE102005056211A1 (en) * | 2005-11-25 | 2007-06-06 | Robert Bosch Gmbh | Method for controlling or regulation of transversal movement of vehicle, involves determining lane size whereby transversal movement of vehicle is controlled or regulated depending on transverse size and lane size |
| CN102566573B (en) * | 2012-01-11 | 2013-12-18 | 西南交通大学 | Straight line moving control method for crawler-type mechanical equipment |
| CN113359694B (en) * | 2020-03-02 | 2022-08-02 | 徐州徐工挖掘机械有限公司 | Excavator linear walking control device based on satellite positioning and control method thereof |
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