CN114895608A - Intelligent brain centralized control strategy and method for tunneling and intelligent control system - Google Patents
Intelligent brain centralized control strategy and method for tunneling and intelligent control system Download PDFInfo
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- CN114895608A CN114895608A CN202210738488.2A CN202210738488A CN114895608A CN 114895608 A CN114895608 A CN 114895608A CN 202210738488 A CN202210738488 A CN 202210738488A CN 114895608 A CN114895608 A CN 114895608A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application provides an intelligent brain centralized control strategy and method and an intelligent control system for tunneling, which are used for tunneling equipment at the forefront of a tunneling working face operating line, and the control system comprises: the monitoring sensing module is used for acquiring the working data of the working components in each tunneling device on the working line of the tunneling working face and integrating the working data of the components in each tunneling device; the safety anti-invasion module is used for detecting whether the working area of each tunneling device is invaded or not; the working face data transmission module is used for data interaction of the heading equipment at the forefront; the remote control module is used for integrally controlling the operation of each part in each tunneling device based on the monitored working data and/or the control instruction sent by the control room; and the autonomous navigation module is used for autonomously navigating each tunneling device. The application provides an on intelligence control system arranges the anchor all-in-one in, be the whole intelligent brain of controlling of equipping of whole tunnelling working face, the purpose is the intelligent control who realizes whole tunnelling working face operation line.
Description
Technical Field
The application relates to the field of tunneling control, in particular to an intelligent control strategy and method for tunneling and an intelligent control system.
Background
The heading machine is widely applied to heading construction of coal mine tunnels and subway tunnel excavation projects.
In the related technology, when each tunneling device on a control tunneling working face operating line is independently interacted with a centralized control center and a dispatching room, the relevance is poor, and intelligent sensing and intelligent control cannot be realized.
Disclosure of Invention
The application provides a wisdom control system to solve the unable technical problem who realizes intelligent perception and intelligent control of wisdom control system of relevant technique tunnelling equipment at least.
The embodiment of the first aspect of the application provides an intelligent control system, which is used for heading equipment at the forefront of a heading face operating line and is used for realizing intelligent control of the heading face operating line; the system comprises:
the monitoring sensing module is used for acquiring the working data of the components in the tunneling equipment, which are sent by the monitoring sensing sub-modules on the tunneling equipment of the working line of the tunneling working face, integrating the working data of the components in the tunneling equipment and executing alarm operation based on the integrated working data of the components;
the safety anti-intrusion module is used for detecting whether the working area of each tunneling device is invaded or not and triggering alarm when the working area of the tunneling device is detected to be invaded;
the working face data transmission module is used for data interaction between the frontmost tunneling device and other tunneling devices on the working face operating line, the other tunneling devices comprise any one of the tunneling devices on the working face operating line, and/or the frontmost tunneling device and a control room, so that working data monitored by the monitoring sensing module are transmitted to the control room, and a control instruction which is sent by the control room based on the working data and is used for controlling each tunneling device is obtained, wherein the control room comprises an underground centralized control center and/or a ground scheduling room;
the remote control module is used for integrating and controlling the operation of each part in each tunneling device based on the working data monitored by the monitoring sensing module and/or the control instruction sent by the control room, and displaying the working data of each part of each tunneling device;
and the autonomous navigation module is used for autonomously navigating each tunneling device.
An embodiment of a second aspect of the present application provides an intelligent control method implemented based on the system of the first aspect, which is used for a heading device at the forefront of a heading face line, and the method includes:
acquiring the working data of the components in the tunneling equipment, which are sent by monitoring sensing submodules on all tunneling equipment of a tunneling working face operating line, by using a monitoring sensing module, integrating the working data of the components in all tunneling equipment, and executing alarm operation based on the integrated working data of the components;
detecting whether the working area of each tunneling device is invaded or not by using a safety invasion prevention module, and triggering an alarm when the working area of the tunneling device is detected to be invaded;
performing data interaction with other tunneling equipment on the working face operation line by using a working face data transmission module, wherein the other tunneling equipment comprises any tunneling equipment on the working face operation line and/or performs data interaction with a control room so as to transmit working data monitored by the monitoring sensing module to the control room and acquire a control instruction which is sent by the control room based on the working data and is used for controlling each tunneling equipment, and the control room comprises an underground centralized control center and/or a ground scheduling room;
the remote control module is used for controlling the operation of each part in each tunneling device in an integrated mode based on the working data monitored by the monitoring sensing module and/or the control instructions sent by the control room, and displaying the working data of each part of each tunneling device;
and carrying out autonomous navigation on each tunneling device by using an autonomous navigation module.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
in the intelligent control system for tunneling provided by the embodiment of the application, the monitoring sensing module is utilized to integrate the working data of the components in each tunneling device on the working line of the tunneling working face, and then the remote control module is utilized to integrate and control the operation of each component in each tunneling device based on the working data monitored by the monitoring sensing module and/or the control instruction sent by the control room. That is, in the embodiment of the present application, the heading device at the forefront of the working face line is used to collect the working data of each heading device on the working line, and each heading device is controlled integrally based on the collected working data and the control instruction sent by the control room, so that the correlation when each heading device on the working line is controlled is high, and intelligent sensing and intelligent control are realized.
In addition, in the embodiment of the application, when the safety anti-intrusion module detects that the working area of the tunneling equipment is intruded, an alarm operation is also executed, so that the safety of the tunneling equipment during working can be ensured.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an intelligent control system according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a control method implemented based on the system shown in fig. 1 according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
An intelligent control system for excavation according to an embodiment of the present application is described below with reference to the drawings.
Fig. 1 is a schematic structural diagram of an intelligent control system 100 for excavation according to an embodiment of the present application, wherein the intelligent control system is applied to an excavation device at the forefront of a working line of an excavation face for implementing intelligent control of the working line of the excavation face, wherein the excavation device may include a fully mechanized excavation machine, an all-in-one machine, a continuous miner, a boom type excavation machine, or the like. And, as shown in fig. 1, the intelligent control system may include:
the monitoring sensing module 101 is used for acquiring the working data of the components in the tunneling equipment, which are sent by the monitoring sensing sub-modules on the tunneling equipment of the working line of the tunneling working face, integrating the working data of the components in the tunneling equipment and executing alarm operation based on the integrated working data of the components;
the safety anti-intrusion module 102 is used for detecting whether the working area of each tunneling device is intruded or not and triggering alarm when the working area of the tunneling device is detected to be intruded;
the working face data transmission module 103 is used for data interaction between the frontmost tunneling device and other tunneling devices on the working face operation line, the other tunneling devices comprise any one of the tunneling devices on the working face operation line, and/or the frontmost tunneling device and the control room, so that the working data monitored by the monitoring sensing module is transmitted to the control room, and a control instruction sent by the control room based on the working data and used for controlling each tunneling device is obtained, wherein the control room comprises a downhole centralized control center and/or a ground scheduling room
The remote control module 104 is used for integrally controlling the operation of each part in each tunneling device based on the working data monitored by the monitoring sensing module and/or the control instruction sent by the control room, and displaying the working data of each part of each tunneling device;
and the autonomous navigation module 105 is used for autonomously navigating each tunneling device.
In an embodiment of the present application, the function implementation of the monitoring sub-sensing module can be displayed and controlled by the heading equipment, and includes at least one of the following:
the low-illumination cameras are arranged on the left side and the right side of the machine body of each tunneling device;
the low-illumination cameras are arranged on the machine bodies of the tunneling devices;
the video camera is arranged at the tail of each tunneling device and integrates audio input and output;
the low-illumination camera is used for monitoring the connection position of the secondary transportation belt conveyor and the ore belt conveyor;
the network camera is used for monitoring remote workers;
the oil temperature sensor and the oil level sensor are arranged in an oil tank of each tunneling device;
pressure sensors arranged in a walking part, a loading part and a transportation part in a hydraulic system of each tunneling device;
a pressure sensor disposed in a lifting portion of the anchoring system;
the angle sensor is used for measuring the pitching, yawing and rolling postures of the cantilever and the postures of the shovel plate and the rear support relative to the ground; the angle sensor can be a high-precision angle sensor, and can be externally arranged at the positions of a cantilever, a rotary table, a shovel plate, a rear support and the like of the heading machine.
Pressure sensors arranged in a frame lifting oil cylinder loop, a frame pushing oil cylinder loop and a tail left-right swinging oil cylinder loop in the self-moving tail hydraulic system;
a displacement sensor arranged in the loop of the frame body pushing oil cylinder to realize the measurement of the stroke of the oil cylinder;
the proximity switches are arranged at the front end and the rear end of the self-moving tail and are used for preventing the reversed loader from colliding with the front and rear limiting devices and the combined switch of the self-moving tail when each tunneling device with the reversed loader automatically walks;
the monitoring submodule is used for detecting the working states of the shovel plate star wheel, the first conveyor, the second conveyor, the cutting motor, the oil pump motor, the pressure of a hydraulic system, the temperature of an oil tank and the oil level of the oil tank;
the distance measuring submodule is used for measuring the distance between the machine body of each tunneling device and the left side and the right side;
the state measurement and early warning submodule is used for realizing the measurement of the real-time states of all position motion mechanisms of the cantilever lifting, the cantilever swinging, the shovel plate lifting and the rear support lifting of each tunneling device and the automatic safety early warning of a visual field blind area; the real-time state of the motion mechanism can be measured by utilizing the motion sensor, wherein the motion sensor can be externally mounted, and the problems that an oil cylinder built-in sensor is easy to damage, difficult to overhaul and the like are solved. And the cantilever motion characteristic points can be adopted for grabbing, so that the automatic calibration, data calibration, boundary calibration and track recording functions of the motion sensor are realized.
The voice prompt submodule is used for performing voice prompt when the tunneling equipment is in a special working state, and the special working state comprises at least one of the following conditions: the tunneling equipment is remotely controlled, the tunneling equipment is in a positioning cutting working state, the tunneling equipment is in an automatic cutting working state, the distance between the tunneling equipment and workers or side walls is smaller than a preset distance threshold value, the self-moving tail is remotely controlled, and the self-moving tail is in a tail self-moving working state;
the navigation correction submodule is used for measuring the course, the attitude, the speed and the position information of each tunneling device in real time and controlling the tunneling devices to automatically tunnel according to a preset cutting track based on the information obtained by real-time measurement; the navigation modification sub-module comprises at least one of the following: navigation, total station, prism and millimeter wave radar.
It should be noted that the imaging principles of the cameras and the cameras may be different, and the cameras may perform imaging of the three-dimensional form of the working surface and the related viewing angle based on the imaging principles according to the environmental factors of the viewing angle. Further, the camera and the camera can have certain dust penetration capacity, so that accurate shooting can be still achieved when the tunneling equipment works in a dust environment.
Furthermore, the intelligent control system of the application can further comprise a display module, the display module can be used for displaying real-time data of each sensor, the display module can also display early warning information at a striking position, simultaneously, the display module can also associate each posture information monitored by the monitoring perception module with a three-dimensional form, and the associated data are displayed on the display module, so that the working states of all parts in the tunneling equipment can be visually displayed.
Based on the above description, in the present application, when the monitoring sensing module detects that the working data of the component reaches a predetermined condition, an alarm operation is executed;
wherein the predetermined condition may include at least one of:
the oil temperature detected by the oil temperature sensor exceeds a preset oil temperature threshold value;
the oil level detected by the oil level detector is lower than a preset oil level;
the pressure value detected by the pressure sensor exceeds a preset pressure interval;
the angle value detected by the angle sensor exceeds a preset angle interval
The displacement value detected by the displacement sensor exceeds a preset displacement interval;
the distance measured by the distance measuring module is smaller than a preset distance threshold;
components (such as a cutting motor, a scraper motor, a walking motor, key electrical elements and the like) in the tunneling equipment meet preset maintenance conditions, wherein the preset maintenance conditions can be determined based on the continuous working time and/or the starting and stopping times of the components, for example, when the continuous working time of a certain component exceeds a first threshold value or the starting and stopping times of a certain component exceeds a second threshold value, the component is determined to meet the preset maintenance conditions.
Further, the safety anti-intrusion module can be used for determining whether other equipment or operators enter the working area of the tunneling equipment or not based on position information sent by identification cards worn by the operators or arranged on the other equipment, and triggering an alarm and controlling the tunneling equipment to stop operating when determining that the other equipment or the operators enter the working area of the tunneling equipment. Wherein the other equipment may be any equipment other than the foremost ripping equipment.
And when other equipment and operators do not wear identification cards, the safety anti-intrusion module can detect whether the operators or other equipment enter the working area or not based on the ultra-bandwidth wireless positioning technology and the infrared anti-intrusion technology, and when the operators or other equipment are detected to enter the working area, the safety anti-intrusion module triggers an alarm and controls the tunneling equipment to stop operating.
Furthermore, the maximum working number of the working face of the tunneling equipment can be set, and the working number of the working face of the tunneling equipment is self-counted in real time based on the safety anti-intrusion module, so that the working number of the working face of the tunneling equipment does not exceed the maximum working number, and the accurate and strict control on the number of the working face personnel is realized.
Therefore, in the application, the anti-collision alarm between the working personnel and the tunneling equipment and between the tunneling equipment and other equipment can be realized by utilizing the safety anti-intrusion module, and the actual problem that the underground mining equipment extrudes and collides the personnel is solved.
And the working face data transmission module meets at least one of the following conditions:
1) the remote transmission of the heading machine and the later matched key data and audio and video information is realized by adopting a wireless + wired dual-redundancy and dual-combination mode, so that the phenomena of dragging, loss and instability of the heading machine during frequent movement of the machine body are avoided. The wireless transmission adopts 4G communication technology, and the wireless reliable transmission distance is more than or equal to 50 m.
2) The delay time of the working face equipment, the underground centralized control center and the ground dispatching room for remotely transmitting the video, the data and the control signals is less than or equal to 300ms, and a tunneling working network communication system can be built together according to the mining requirements to carry out reasonable network management on the equipment.
3) Communication interfaces such as RS485, CAN, Wifi, 4G, Ethernet electric/optical interfaces and the like are reserved in the system.
4) A kilomega optical fiber interface is reserved, and interactive data can be uploaded to any underground place, a mine ground dispatching room and a group company dispatching room; and a mobile phone monitoring APP is arranged, so that the functions of data monitoring and information pushing of management personnel at any time and any place are realized.
Still further, the remote control module may include:
the intelligent combination switch is arranged on the onboard tunneling working surface of the self-moving tail and is used for realizing centralized power supply and remote power cut-off of tunneling equipment, the belt type reversed loader and the self-moving tail;
the control submodule is used for realizing four control modes of local manual control, visual distance wireless remote control operation (more than or equal to 50 meters), underground arbitrary distance beyond visual distance remote control operation (more than or equal to 1000 meters) and ground dispatching room control of the tunneling equipment, wherein the four control modes can independently control and mutually lock the tunneling equipment and a rear support and can realize one-key emergency shutdown (emergency shutdown button), and the four control modes can be switched at will; the remote control can be realized through the embedded operation panel of the centralized control center, and the seamless switching between the sight distance remote control and the beyond sight distance remote control can also be realized through one remote controller.
The adjusting submodule is used for adaptively adjusting the traction speed of the cantilever according to the load trend when the tunneling equipment is positioned or automatically cut;
the interlocking start-stop control module is used for controlling the first conveying belt conveyor, the second conveying belt conveyor and the ore belt conveyor to realize interlocking start-stop control when the tunneling equipment performs positioning cutting;
and the movement control module is used for realizing the autonomous movement of the tail through one-key control when the tunneling equipment is in a belt tail self-moving mode.
And, it should be appreciated that the tunnelling apparatus is also typically remotely controlled by a surface dispatch room and a remote downhole central control centre, whereby the configuration of the surface dispatch room and the configuration of the remote downhole central control centre typically affect the performance of the remote control of the tunnelling apparatus. The following is a related description of the configuration of the ground dispatch room and the configuration of the remote centralized control center in the well in the embodiment of the present application.
(1) The configuration of the ground dispatch room may include: a high-performance computer, a display, an embedded operation panel and voice communication equipment are configured in a ground dispatching room to realize the remote centralized control function of the ground. And a network networking mode can be adopted to realize a remote control operation mode so as to control various action functions of the tunneling equipment (such as cutting lifting, cutting rotation, shovel plate lifting, oil pump motor starting and stopping, cutting motor starting and stopping, walking, rear support lifting, one-time operation starting and stopping and the like), so that the stable data transmission of the tunneling equipment is ensured, the distance of personnel operating equipment is increased, and the safety is improved.
(2) The configuration of the downhole remote centralized control center may include:
a. the integrated control system comprises a central control center, a 21-inch wide-screen display box, an embedded operation panel, a keyboard and mouse integrated stainless steel keyboard, a sound box, a microphone, a lighting lamp, a camera, an emergency stop button and the like.
b. The centralized control center has the functions of displaying working face video pictures, capturing pictures, recording, replaying, storing, copying and the like, displays three-dimensional dynamic pictures, cutting head attitude parameters and motion tracks, complete machine working condition parameters and fault information matched with the tunneling equipment and the back, and has the functions of historical fault inquiry, historical data copying and the like; the display box displays the navigation positioning picture of the machine body, and the display box displays the fault diagnosis and maintenance early warning picture.
c. The top and the rear of the centralized control center are designed to be waterproof, the overall layout is scientific, large-screen independent display is realized, and the three-dimensional animation of the tunneling equipment is three-dimensional and visual.
In the application, the intelligent control system may further include a section cutting forming control module, configured to control each tunneling device to perform section cutting;
wherein, the section cutting forming control module can comprise:
the dynamic tilt angle sensor and the angle sensor are used for measuring the position of the cutting head of each tunneling device relative to the machine body;
the machine body inclination angle sensor is used for detecting the machine body pitch angle of each tunneling device;
the control submodule is used for calculating the real-time position of the cutting head of each tunneling device based on the pose of the cutting head relative to the machine body and the pitching angle of the machine body;
the storage sub-module is used for storing the set cutting path, the teaching of the cutting track and the roadway boundary calibration information;
and the processing submodule is used for controlling the cutting head of each tunneling device to operate based on the real-time position of the cutting head, the calibration information of the roadway boundary, the teaching of the cutting track and the setting of the cutting path so as to realize automatic forming of the cutting of the section in one cycle of roadway tunneling and ensure the forming standardization of the roadway.
In addition, the intelligent control system may further include: the anchor rod electromechanical hydraulic control module is used for realizing automatic drilling, automatic anchor rod fastening and wide-range speed adjustment in anchoring and protecting work.
Specifically, the anchor rod electromechanical hydraulic control module is composed of an electrohydraulic control panel, a display and a solenoid valve box, can realize automatic drilling, automatic anchor rod fastening and wide-range speed adjustment in anchoring and protecting work, and has the functions of semi-automatic drilling, working condition online monitoring, fault diagnosis, anchoring quality self-inspection and the like. The traditional hydraulic operating handle is replaced by the remote control redundant control, the operating panel or the remote controller control keys of the machine.
And, the autonomous navigation module may include:
the total station is used for carrying out real-time data interaction with the airborne navigation control box through wireless communication to realize real-time compensation of inertial navigation positioning data;
the distance measurement submodule is used for realizing real-time distance detection between the body and the side wall and between the body and the head through a distance measurement sensor and a navigation control box;
the pose resolving submodule is used for realizing the fusion of pose data of the cutting head and pose data of the machine body;
and the calculation submodule is used for calculating the real-time position of the cutting head in the roadway space based on the fused data and the distance measured by the distance measurement submodule, and controlling the real-time position of the cutting head to move along a preset cutting track so as to realize autonomous navigation of the tunneling equipment.
Specifically, above-mentioned autonomous navigation module can adopt the combination navigation mode to realize the fuselage location, and the total powerstation is hung in the tunnel, carries out real-time data interaction through wireless communication and airborne navigation control case, realizes being used to lead positioning data real-time compensation. The real-time distance detection of the side wall of the body and the head-on distance of the body is realized through the distance measuring sensor and the navigation control box. The navigation control box is also provided with a UPS power box, so that the inertial navigation system is not required to be initialized frequently under the condition that the tunneling equipment is powered on and powered off frequently. The system utilizes pose resolving software to realize fusion of pose data of the cutting head and pose data of the machine body, and a control unit calculates the real-time position of the cutting head in a roadway space, so that the track monitoring of the cutting position is accurately realized within an error range.
To sum up, in the intelligent control system provided in the embodiment of the present application, the monitoring sensing module is used to integrate the working data of the components in each tunneling device on the working line of the tunneling working face, and then the remote control module is used to integrate and control the operation of each component in each tunneling device based on the working data monitored by the monitoring sensing module and/or the control command sent by the control room. That is, in the embodiment of the application, the heading equipment at the forefront of the working face working line is used for collecting the working data of each heading equipment on the working line, and the integrated control is performed on each heading equipment based on the collected working data and the control instruction sent by the control room, so that the correlation when each heading equipment on the working line is controlled is high, the intelligent sensing and the intelligent control are realized, the labor intensity of workers is reduced, the heading construction efficiency and the construction quality are improved as starting points, and the working face environment, the equipment and the personnel are finally integrated and harmoniously and uniformly combined by combining the characteristics of the current heading process and the heading equipment, and the autonomous, parallel and safe operation of multiple equipment on the fully-mechanized heading working face is realized.
Fig. 2 is a schematic flowchart of a control method implemented based on the system shown in fig. 1 according to an embodiment of the present application, and as shown in fig. 2, the method may include:
202, detecting whether the working area of each tunneling device is invaded or not by using a safety invasion prevention module, and triggering an alarm when the working area of the tunneling device is detected to be invaded;
203, performing data interaction with other tunneling equipment on the working face operation line by using a working face data transmission module, wherein the other tunneling equipment comprises any tunneling equipment on the working face operation line and/or performs data interaction with a control room so as to transmit working data monitored by the monitoring sensing module to the control room and acquire a control instruction which is sent by the control room based on the working data and is used for controlling each tunneling equipment, and the control room comprises an underground centralized control center and/or a ground scheduling room;
204, integrating and controlling the operation of each part in each tunneling device by using a remote control module based on the working data monitored by the monitoring sensing module and/or the control instruction sent by the control room, and displaying the working data of each part of each tunneling device;
and 205, performing autonomous navigation on each tunneling device by using an autonomous navigation module.
In summary, in the control method provided in the embodiment of the present application, the monitoring sensing module is used to integrate the working data of the components in each tunneling apparatus on the working line of the tunneling working face, and then the remote control module is used to integrate and control the operation of each component in each tunneling apparatus based on the working data monitored by the monitoring sensing module and/or the control instruction sent by the control room. That is, in the embodiment of the present application, the heading device at the forefront of the working face line is used to collect the working data of each heading device on the working line, and each heading device is controlled integrally based on the collected working data and the control instruction sent by the control room, so that the correlation when each heading device on the working line is controlled is high, and intelligent sensing and intelligent control are realized.
In addition, in the embodiment of the application, when the safety anti-intrusion module detects that the working area of the tunneling equipment is intruded, an alarm operation is also executed, so that the safety of the tunneling equipment during working can be ensured.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (12)
1. An intelligent control system for tunneling is characterized by being used on a tunneling device at the forefront of a tunneling working face operating line, and the system is used for realizing intelligent control of the tunneling working face operating line; the wisdom control system include:
the monitoring sensing module is used for acquiring the working data of the components in the tunneling equipment, which are sent by the monitoring sensing sub-modules on the tunneling equipment of the working line of the tunneling working face, integrating the working data of the components in the tunneling equipment and executing alarm operation based on the integrated working data of the components;
the safety anti-intrusion module is used for detecting whether the working area of each tunneling device is invaded or not and triggering alarm when the working area of the tunneling device is detected to be invaded;
the working face data transmission module is used for data interaction between the foremost tunneling device and other tunneling devices on the working face operating line, the other tunneling devices comprise any one tunneling device on the working face operating line, and/or the foremost tunneling device and a control room, so that the working data monitored by the monitoring sensing module is transmitted to the control room, and a control instruction which is sent by the control room based on the working data and is used for controlling each tunneling device is obtained;
the remote control module is used for integrating and controlling the operation of each part in each tunneling device based on the working data monitored by the monitoring sensing module and/or the control instruction sent by the control room, and displaying the working data of each part of each tunneling device;
and the autonomous navigation module is used for autonomously navigating each tunneling device.
2. The intelligent control system of claim 1, wherein the monitoring sub-sensing modules are functionally implemented and controllable by a display on the heading machine, the functions including at least one of:
the low-illumination cameras are arranged on the left side and the right side of the machine body of each tunneling device;
the low-illumination cameras are arranged on the machine bodies of the tunneling devices;
the video cameras are arranged at the tail of each tunneling device and integrated with audio input and output;
the low-illumination camera is used for monitoring the joint of the second bridge type transfer conveyor and the belt conveyor on the mine;
the network camera is used for monitoring remote workers;
the oil temperature sensor and the oil level sensor are arranged in the oil tank of each tunneling device;
the pressure sensors are arranged in the walking part, the loading part and the transportation part of the hydraulic system of each tunneling device;
a pressure sensor disposed in a lifting portion of the anchoring system;
the angle sensor is used for measuring the pitching, yawing and rolling postures of the cantilever and the postures of the shovel plate and the rear support relative to the ground;
pressure sensors arranged in a frame lifting oil cylinder loop, a frame pushing oil cylinder loop and a tail left-right swinging oil cylinder loop in the self-moving tail hydraulic system;
the displacement sensor is arranged in the frame body pushing oil cylinder loop and used for measuring the stroke of the oil cylinder;
the proximity switches are arranged at the front end and the rear end of the self-moving tail and are used for preventing the reversed loader from colliding with the front and rear limiting devices and the combined switch of the self-moving tail when each tunneling device with the reversed loader automatically walks;
the monitoring submodule is used for detecting the working states of the shovel plate star wheel, the first conveyor, the second conveyor, the cutting motor, the oil pump motor, the pressure of a hydraulic system, the temperature of an oil tank and the oil level of the oil tank;
the distance measuring submodule is used for measuring the distance between the machine body of each tunneling device and the left side and the right side;
the state measurement and early warning submodule is used for realizing the measurement of the real-time states of all position motion mechanisms of the cantilever lifting, the cantilever swinging, the shovel plate lifting and the rear support lifting of each tunneling device and the automatic safety early warning of a visual field blind area;
the voice prompt submodule is used for performing voice prompt when the tunneling equipment is in a special working state, and the special working state comprises at least one of the following states: the tunneling equipment is remotely controlled, the tunneling equipment is in a positioning cutting working state, the tunneling equipment is in an automatic cutting working state, the distance between the tunneling equipment and workers or side walls is smaller than a preset distance threshold value, the self-moving tail is remotely controlled, and the self-moving tail is in a tail self-moving working state;
the navigation correction submodule is used for measuring the course, the attitude, the speed and the position information of each tunneling device in real time and controlling each tunneling device to automatically tunnel according to a preset cutting track based on the information obtained by real-time measurement; the navigation correction sub-module comprises at least one of the following: navigation, total station, prism and millimeter wave radar.
3. The intelligent control system according to claim 2,
when the monitoring sensing module detects that the working data of the component reaches a preset condition, executing alarm operation;
wherein the predetermined condition comprises at least one of:
the oil temperature detected by the oil temperature sensor exceeds a preset oil temperature threshold value;
the oil level detected by the oil level detector is lower than a preset oil level;
the pressure value detected by the pressure sensor exceeds a preset pressure interval;
the angle value detected by the angle sensor exceeds a preset angle interval
The displacement value detected by the displacement sensor exceeds a preset displacement interval;
the distance measured by the distance measuring module is smaller than a preset distance threshold;
the parts in the tunneling equipment meet the preset overhaul conditions.
4. The intelligent control system of claim 1, wherein the safety and anti-intrusion modules are each controllable by a heading and anchoring machine or a heading machine or a continuous miner, and are configured to:
determining whether other equipment or operators enter a working area of the tunneling equipment or not based on position information sent by identification cards arranged on the other equipment or worn by the operators, and triggering an alarm and controlling the tunneling equipment to stop operating when determining that the other equipment or the operators enter the working area of the tunneling equipment.
5. The intelligent control system of claim 1, wherein the security intrusion module is further configured to: whether operating personnel or other equipment get into based on super bandwidth wireless location technique and infrared anti-intrusion technique the work area, when detecting operating personnel or other equipment get into when the work area, trigger the warning, and control tunnelling equipment stops to operate.
6. The intelligent control system of claim 1, wherein the face data transmission module satisfies at least one of the following conditions, and real-time data can be displayed and controlled by an all-in-one machine for driving and anchoring, or a heading machine or a continuous miner:
data interaction is realized in a wireless + wired dual redundancy and dual combination mode;
when data interaction is carried out, the signal delay time is less than or equal to 300 ms;
data interaction is realized through at least one communication interface of an RS485 interface, a CAN interface, a Wifi interface, a 4G interface, an Ethernet electric interface and an optical interface;
and reserving a gigabit optical fiber interface for data interaction.
7. The intelligent control system of claim 1, wherein the remote control module comprises:
the intelligent combination switch is arranged on the onboard tunneling working surface of the self-moving machine tail and is used for realizing centralized power supply and remote power cut-off of all tunneling equipment, the belt type reversed loader and the self-moving machine tail;
the control submodule is used for realizing four control modes of local manual control, visual distance wireless remote control operation, underground arbitrary distance beyond visual distance remote control operation and ground dispatching room control of the tunneling equipment, wherein the four control modes can independently control the tunneling equipment and a rear support and lock the tunneling equipment and the rear support with each other, one-key emergency shutdown can be realized, and the four control modes can be switched at will;
the adjusting submodule is used for adaptively adjusting the traction speed of the cantilever according to the load trend when the tunneling equipment is positioned or automatically cut;
the interlocking start-stop control module is used for controlling the first conveying belt conveyor, the second conveying belt conveyor and the ore belt conveyor to realize interlocking start-stop control when the tunneling equipment carries out positioning cutting;
and the movement control module is used for realizing the autonomous movement of the tail through one-key control when the tunneling equipment is in a belt tail self-moving mode.
8. The intelligent control system of claim 1, further comprising:
the section cutting and forming control module is used for controlling each tunneling device to cut the section;
the section cutting forming control module comprises:
the dynamic tilt angle sensor and the angle sensor are used for measuring the position of the cutting head of each tunneling device relative to the machine body;
the machine body inclination angle sensor is used for detecting the machine body pitch angle of each tunneling device;
the control submodule is used for calculating the real-time position of the cutting head of each tunneling device based on the pose of the cutting head relative to the machine body and the pitching angle of the machine body;
the storage sub-module is used for storing the set cutting path, the teaching of the cutting track and the roadway boundary calibration information;
and the processing submodule is used for controlling the cutting head of each tunneling device to operate based on the real-time position of the cutting head, the roadway boundary calibration information, the cutting track teaching and the set cutting path so as to realize automatic forming of the section cutting in one cycle of roadway tunneling.
9. The intelligent control system of claim 1, further comprising:
and the anchor rod electromechanical hydraulic control module is used for realizing automatic drilling, automatic anchor rod fastening and wide-range speed adjustment in anchoring and protecting work when each tunneling device performs anchoring and protecting work.
10. The intelligent control system of claim 1, wherein the autonomous navigation module comprises:
the total station is used for carrying out real-time data interaction with the airborne navigation control box through wireless communication to realize real-time compensation of inertial navigation positioning data;
the distance measurement submodule is used for realizing real-time distance detection between the body and the side wall and between the body and the head through a distance measurement sensor and a navigation control box;
the pose resolving submodule is used for realizing the fusion of pose data of the cutting head and pose data of the machine body;
and the calculation submodule is used for calculating the real-time position of the cutting head in the roadway space based on the fused data and the distance measured by the distance measurement submodule, and controlling the real-time position of the cutting head to move along a preset cutting track so as to realize autonomous navigation of the tunneling equipment.
11. An intelligent control system according to any one of claims 1 to 10, wherein the tunnelling apparatus comprises a fully mechanized tunnelling machine, or an integrated tunnelling machine, or a continuous miner, or a boom tunnelling machine.
12. An intelligent control method implemented based on the intelligent control system of any one of claims 1-11, for use on a heading device at the forefront of a heading face line, the method comprising:
acquiring the working data of the components in the tunneling equipment, which are sent by monitoring sensing submodules on all tunneling equipment of a tunneling working face operating line, by using a monitoring sensing module, integrating the working data of the components in all tunneling equipment, and executing alarm operation based on the integrated working data of the components;
detecting whether the working area of each tunneling device is invaded or not by using a safety invasion prevention module, and triggering an alarm when the working area of the tunneling device is detected to be invaded;
performing data interaction with other tunneling equipment on the working face operation line by using a working face data transmission module, wherein the other tunneling equipment comprises any one tunneling equipment on the working face operation line and/or performs data interaction with a control room so as to transmit working data monitored by the monitoring sensing module to the control room and acquire a control instruction which is sent by the control room based on the working data and is used for controlling each tunneling equipment;
the remote control module is used for controlling the operation of each part in each tunneling device in an integrated mode based on the working data monitored by the monitoring sensing module and/or the control instructions sent by the control room, and displaying the working data of each part of each tunneling device;
and carrying out autonomous navigation on each tunneling device by using an autonomous navigation module.
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| CN115903640A (en) * | 2022-11-16 | 2023-04-04 | 平安开诚智能安全装备有限责任公司 | Intelligent control device and method based on tunneling system and storage medium |
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| CN115903640A (en) * | 2022-11-16 | 2023-04-04 | 平安开诚智能安全装备有限责任公司 | Intelligent control device and method based on tunneling system and storage medium |
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