CN115288765A - Automatic straightening method for fully mechanized coal mining face based on hydraulic support inertial navigation system - Google Patents
Automatic straightening method for fully mechanized coal mining face based on hydraulic support inertial navigation system Download PDFInfo
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- CN115288765A CN115288765A CN202210916686.3A CN202210916686A CN115288765A CN 115288765 A CN115288765 A CN 115288765A CN 202210916686 A CN202210916686 A CN 202210916686A CN 115288765 A CN115288765 A CN 115288765A
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- 238000005065 mining Methods 0.000 title claims abstract description 32
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
- E21D23/144—Measuring the advance of support units with respect to internal points of reference, e.g. with respect to neighboring support units or extension of a cylinder
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a coal mine fully mechanized coal mining face automatic straightening method based on a hydraulic support inertial navigation system, which comprises a support controller, an inertial navigation device, a stroke sensor and a down-the-slot main control computer, and is used for executing the following steps: aligning the hydraulic supports on the working face before use, and constructing a two-dimensional plane datum line; calibrating the inertial navigation devices to enable the coordinate system of each inertial navigation device to be in the same direction, and establishing an initial coordinate system; in the normal coal mining process of a working face, the inertial navigation devices on the hydraulic supports report the advancing distances of the hydraulic supports corresponding to the datum lines; and when the frame moving action is executed each time, the controller of the hydraulic support performs the frame moving action according to the position information of the hydraulic support, the advancing distance of the hydraulic support moving through the adjacent frame and the reference line, so that the hydraulic support is aligned with the adjacent hydraulic support moving through the frame.
Description
Technical Field
The invention belongs to the technical field of automatic straightening of fully mechanized coal mining faces, and particularly relates to an automatic straightening method of a fully mechanized coal mining face based on a hydraulic support inertial navigation system.
Background
At present, the fully mechanized mining face of a coal mine gradually realizes automation, a coal cutter memorizes coal cutting, and a hydraulic support automatically moves along with the position of the coal cutter according to a configured machine following process. Because the environment in the pit of colliery is originally more complicated, under the circumstances of automation control equipment, hardly carry out the perception to hydraulic support's state, hydraulic support can appear the wrong frame of different degrees (two supports are uneven from beginning to end), when hydraulic support appears wrong frame, can lead to when hydraulic support in groups carries out and pushes away the swift current action, scrape the trigger and do not directly. If the deviation is not adjusted in time, the deviation can be gradually accumulated, so that the damage of the scraper conveyor and the coal mining machine or the change of the advancing direction of the working face can be easily caused, and the obstruction can be caused to the normal mining work.
In the technical field of automatic straightening of fully mechanized coal mining faces, the general method is that an inertial navigation system is installed on a coal mining machine body, the coal mining machine cuts a complete cut, a straightness curve of a scraper machine is drawn according to data of the inertial navigation system, the frame moving amount of each hydraulic support is calculated according to the position of a hydraulic support corresponding to a point on the curve, and then frame moving is carried out according to the calculated frame moving amount when the next cut is moved. I.e. to intentionally compensate for the already occurring deviations in the straightness of the work surface during each transfer. The alignment method based on the coal cutter inertial navigation has the defect that data according to which the hydraulic support compensates the straightness error of the working surface through the support moving action each time is acquired by the inertial navigation on the body of the coal cutter when the coal is cut in the previous cut. Such a technical route has two drawbacks:
1. an inertial navigation system is installed on a coal mining machine, the data acquired by inertial navigation needs to guide the moving distance of a hydraulic support in the coal mining process of the next cut, but not the moving distance in the coal mining process of the current cut, and the adjustment process has lag. The deviation occurring from the period from the data acquisition to the adjustment according to the data can not be compensated, so that the straightening effect of the technical route is limited;
2. the hydraulic support moves the frame at the frame in-process unable assurance and scrapes the trigger motionless completely, and most circumstances are, and hydraulic support moves the frame forward, drives to scrape the trigger and have the retreat of not equidimension. The moving distance of the fixed-distance moving bracket of the bracket is judged by the change of a displacement sensor in the pushing jack, and the error caused by the retreating of the scraper conveyor cannot be judged and corrected.
Disclosure of Invention
The invention aims to provide a coal mine fully mechanized coal mining face automatic straightening method based on a hydraulic support inertial navigation system, aiming at the defects of the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a method for automatically straightening a coal mine fully-mechanized coal mining working face based on a hydraulic support inertial navigation system, which comprises the following steps:
configuring a system device: a bracket controller is arranged on each hydraulic bracket, an inertial navigation device is arranged on a base of each hydraulic bracket, and a stroke sensor is arranged in a displacement jack of each hydraulic bracket;
the inertial navigation device is connected with the stroke sensor and the bracket controller at the same time, so as to carry out combined navigation according to the data of the stroke sensor and calculate the current position and deflection angle of the hydraulic bracket, and report the data of the stroke sensor, the position data of the inertial navigation device and the deflection angle data to the bracket controller in real time through serial port communication;
each bracket controller reports the received information to the crossheading main control computer through a CAN bus;
issuing a straightening parameter to each bracket controller by a crossheading main control computer, and performing a centralized straightening process:
aligning the hydraulic supports on the working face before use, and constructing a two-dimensional plane datum line; calibrating the inertial navigation devices to enable the coordinate system of each inertial navigation device to be in the same direction, and establishing an initial coordinate system;
in the normal coal mining process of a working face, the inertial navigation devices on the hydraulic supports report the advancing distances of the hydraulic supports corresponding to the datum lines;
and when the frame moving action is executed each time, the controller of the hydraulic support performs the frame moving action according to the position information of the hydraulic support, the advancing distance of the hydraulic support moving through the adjacent frame and the reference line, so that the hydraulic support is aligned with the adjacent hydraulic support moving through the frame.
The invention provides a coal mine fully mechanized mining working face automatic straightening system based on a hydraulic support inertial navigation system, which comprises a support controller, an inertial navigation device, a stroke sensor and a forward groove main control computer;
the inertial navigation device is connected with the stroke sensor and the bracket controller, and the bracket controller is in communication connection with the crossheading main control computer and is used for executing the automatic alignment method of the coal mine fully-mechanized coal mining working face of the hydraulic bracket inertial navigation system.
Compared with the prior art, the invention has prominent substantive characteristics and remarkable progress, and particularly has the following beneficial effects:
1. when the frame moving action is executed each time, the hydraulic support controller can acquire the current position information of the hydraulic support, frame moving adjustment is carried out according to the current position information, errors caused by other processes do not exist in the middle, and the real-time performance between inertial navigation data and action control is high, so that the problem that the deviation generated during the period from data acquisition to adjustment according to the data cannot be compensated does not exist;
2. the inertial navigation device on the hydraulic support can measure the actual distance of the forward movement of the hydraulic support, and the displacement data on which the support moving action is executed is not the displacement sensor of the pushing jack but the position data collected by the inertial navigation device, so that the problem that the error caused by the backward movement of the scraper cannot be judged and corrected is solved.
Drawings
FIG. 1 is a schematic view of an inertial navigation unit and a travel sensor according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a hydraulic bracket according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
Example 1
As shown in fig. 1 and fig. 2, the embodiment provides an automatic straightening method for a fully mechanized coal mining face based on a hydraulic support inertial navigation system, which includes the following steps:
configuring a system device:
a bracket controller is arranged on each hydraulic bracket, an inertial navigation device is arranged on a base 1 of each hydraulic bracket, and a stroke sensor is arranged in a displacement jack 2 of each hydraulic bracket;
the inertial navigation device is connected with the stroke sensor and the bracket controller at the same time, so as to carry out combined navigation according to the data of the stroke sensor and calculate the current position and deflection angle of the hydraulic bracket, and report the data of the stroke sensor, the position data of the inertial navigation device and the deflection angle data to the bracket controller in real time through serial port communication;
each bracket controller reports the received information to the crossheading main control computer through a CAN bus; and issuing alignment parameters to each bracket controller by the crossheading main control computer, and performing a centralized alignment process.
The specific centralized straightening process comprises the following steps:
firstly, aligning a hydraulic support of a working surface before use, and constructing a two-dimensional plane datum line; calibrating the inertial navigation devices to enable the coordinate system of each inertial navigation device to be in the same direction, and establishing an initial coordinate system;
the method for aligning the hydraulic supports of the working face and constructing the two-dimensional plane datum line comprises the following steps:
taking a line parallel to the coal wall as a datum line, controlling a push rod structure of the hydraulic supports, and adjusting the front and back positions of each hydraulic support to be aligned with the datum line so that the hydraulic supports on the whole working surface are positioned on the datum line;
the method for establishing the initial coordinate system comprises the following steps:
initializing inertial navigation devices arranged on a hydraulic support of the whole working surface, and resetting the position of each inertial navigation device to a zero point;
and establishing an initial coordinate system by taking the position of the first hydraulic support as a coordinate origin, the front and back direction of the hydraulic support as an x direction, the left and right offset direction of the hydraulic support as a y direction and the height direction of the hydraulic support as a z direction.
Secondly, entering a normal coal mining working flow, reporting the current position to a support controller by each inertial navigation system in real time, and reporting position information to an upper computer of a centralized control system by each support controller;
the main control computer of the crossheading sets the minimum alignment error as D, sets D max The position of the working surface closest to the fore-carriage, d min The position of the most lagging bracket of the working face;
maximum position deviation of hydraulic support on working face
d=d max -d min And when the current value is more than D, starting to execute the straightening flow.
Thirdly, after entering the straightening process, setting the maximum distance D of the single-time frame moving of the hydraulic support max Minimum distance D for single carriage movement min Calculating a target value d for moving the rack g =d min +D max If d is g ＜d+D min And d is the current position of the hydraulic supportIf the target value of the moving rack of the hydraulic support is d g =d+d min Otherwise d g =d min +D max ；
In particular, the hydraulic support of the working plane is present only if d is present g ＜d+D min The situation of (1) means that the straightening process needs to be carried out in multiple times, the straightening process is only adjusted as far as possible, the rest deviation amount is straightened in the next coal cutter, and the specific step-by-step straightening process comprises the following steps: the main control computer of the gate way takes each coal cutter as a stage, each stage executes the second and third steps of frame moving actions, and the straightening process is continued until the straightening process is finished
d=d max -d min ≤D。
Fourthly, the worker crossheading main control computer sends a moving target value to each hydraulic support controller of the working face through a CAN bus; after the hydraulic support controller receives the target frame moving value, entering a frame moving and straightening process: the hydraulic support controller is used for moving the support according to the target value d g And the actual position d of the hydraulic support reported by the respective inertial navigation units is judged, and when the actual position d of the hydraulic support and the target position d are met g When approaching, the bracket controller controls the speed reducing valve and the action switch of the hydraulic bracket to reduce and stop the movement of the bracket so as to control the hydraulic bracket to stop to d g In the position of (a); the algorithm for controlling the deceleration valve and the action switch of the hydraulic support to decelerate and stop the movement of the support can adopt a general PID algorithm, and the detailed description is omitted here.
Example 2
The embodiment provides a coal mine fully mechanized coal mining face automatic straightening system based on a hydraulic support inertial navigation system, which comprises a support controller, an inertial navigation device, a stroke sensor and a down-trough main control computer;
the inertial navigation device is connected with the stroke sensor and the support controller, and the support controller is in communication connection with the gate main control computer and used for executing the automatic alignment method of the coal mine fully mechanized coal mining face of the hydraulic support inertial navigation system in the embodiment 1.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (6)
1. A coal mine fully mechanized coal mining face automatic straightening method based on a hydraulic support inertial navigation system is characterized by comprising the following steps:
configuring a system device: a bracket controller is arranged on each hydraulic bracket, an inertial navigation device is arranged on a base of each hydraulic bracket, and a stroke sensor is arranged in a displacement jack of each hydraulic bracket;
the inertial navigation device is connected with the stroke sensor and the bracket controller at the same time, so as to carry out combined navigation according to the data of the stroke sensor and calculate the current position and deflection angle of the hydraulic bracket, and report the data of the stroke sensor, the position data of the inertial navigation device and the deflection angle data to the bracket controller in real time through serial port communication;
each bracket controller reports the received information to the crossheading main control computer through a CAN bus;
issuing a straightening parameter to each bracket controller by a crossheading main control computer, and performing a centralized straightening process:
aligning the hydraulic supports on the working face before use, and constructing a two-dimensional plane datum line; calibrating the inertial navigation devices to enable the coordinate system of each inertial navigation device to be in the same direction, and establishing an initial coordinate system;
in the normal coal mining process of a working face, the inertial navigation devices on the hydraulic supports report the advancing distances of the hydraulic supports relative to the datum line;
and when the frame moving action is executed each time, the controller of the hydraulic support performs the frame moving action according to the position information of the hydraulic support, the advancing distance of the hydraulic support moving through the adjacent frame and the reference line, so that the hydraulic support is aligned with the adjacent hydraulic support moving through the frame.
2. The automatic alignment method for the fully mechanized coal mining face based on the hydraulic support inertial navigation system according to claim 1, wherein the method for aligning the hydraulic support of the face and constructing the two-dimensional plane datum line comprises the following steps: and taking a line parallel to the coal wall as a datum line, controlling the push rod structure of the hydraulic supports, and adjusting the front and back positions of each hydraulic support to be aligned with the datum line so as to enable the hydraulic supports on the whole working surface to be positioned on the datum line.
3. The automatic alignment method for the coal mine fully mechanized coal mining face based on the hydraulic support inertial navigation system according to claim 2, wherein the method for establishing the initial coordinate system comprises the following steps:
initializing inertial navigation devices arranged on a hydraulic support of the whole working surface, and resetting the position of each inertial navigation device to a zero point;
and establishing an initial coordinate system by taking the position of the first hydraulic support as a coordinate origin, the front and back direction of the hydraulic support as an x direction, the left and right offset direction of the hydraulic support as a y direction and the height direction of the hydraulic support as a z direction.
4. The automatic alignment method for the coal mine fully mechanized mining face based on the hydraulic support inertial navigation system according to claim 3, wherein a support moving action is executed to align the hydraulic support with an adjacent hydraulic support which has moved through the support:
entering a normal coal mining working flow, reporting the current position to a support controller by each inertial navigation system in real time, and reporting position information to an upper computer of a centralized control system by each support controller;
the main control computer of the crossheading sets the minimum alignment error as D, sets D max The position of the working surface closest to the fore-carriage, d min The position of the most lagging bracket of the working face;
when the maximum position of the hydraulic support on the working faceOffset of the device
d=d max -d min When the current value is larger than D, starting to execute a straightening process;
after entering the straightening flow, setting the maximum distance D of the single frame moving of the hydraulic support max Minimum distance D for single carriage movement min Calculating a target value d of the moving frame g =d min +D max If d is g ＜d+D min And d is the current position of the hydraulic support, the target value of the moving support of the hydraulic support is d g =d+d min Otherwise d g =d min +D max ；
Then, the worker crossheading main control computer sends a moving target value to each hydraulic support controller of the working face through a CAN bus;
after the hydraulic support controller receives the target frame moving value, entering a frame moving and straightening process: the hydraulic support controller is used for moving the support according to the target value d g And the actual position d of the hydraulic support reported by the respective inertial navigation units is judged, and when the actual position d of the hydraulic support and the target position d are met g When approaching, the bracket controller controls the speed reducing valve and the action switch of the hydraulic bracket to reduce and stop the movement of the bracket so as to control the hydraulic bracket to stop to d g In the position of (a).
5. The automatic straightening method for the fully mechanized coal mining face based on the hydraulic support inertial navigation system according to claim 4, characterized in that when a hydraulic support exists on the face, d g ＜d+D min Then, also executing:
taking each coal cutter as a stage by the main control computer for the crossheading, executing a frame moving action at each stage, and continuously carrying out a straightening process until all coal cutters are straightened
d=d max -d min ≤D。
6. The utility model provides a colliery is combined and is adopted working face automatic alignment system based on hydraulic support is used to lead system which characterized in that: the system comprises a bracket controller, an inertial navigation device, a travel sensor and a forward groove main control computer;
the inertial navigation device is connected with the stroke sensor and is also connected with the bracket controller, and the bracket controller is in communication connection with the gate main control computer and is used for executing the automatic alignment method of the coal mine fully mechanized coal mining working face of the hydraulic bracket inertial navigation system in any claim 1-5.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113227531A (en) * | 2018-11-16 | 2021-08-06 | 斯伦贝谢技术有限公司 | Optical tool joint assist for iron roughneck |
| WO2024119999A1 (en) * | 2022-12-06 | 2024-06-13 | 华为技术有限公司 | Group hydraulic support, fully-mechanized coal mining face system, and control method for group hydraulic support |
| WO2024119998A1 (en) * | 2022-12-06 | 2024-06-13 | 华为技术有限公司 | Hydraulic support, grouped support, and method for controlling hydraulic support |
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2022
- 2022-08-01 CN CN202210916686.3A patent/CN115288765A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113227531A (en) * | 2018-11-16 | 2021-08-06 | 斯伦贝谢技术有限公司 | Optical tool joint assist for iron roughneck |
| WO2024119999A1 (en) * | 2022-12-06 | 2024-06-13 | 华为技术有限公司 | Group hydraulic support, fully-mechanized coal mining face system, and control method for group hydraulic support |
| WO2024119998A1 (en) * | 2022-12-06 | 2024-06-13 | 华为技术有限公司 | Hydraulic support, grouped support, and method for controlling hydraulic support |
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Address after: No.167, 9th Street, Zhengzhou Economic and Technological Development Zone, Henan Province, 450016 Applicant after: Zhengzhou Hengda Intelligent Control Technology Co.,Ltd. Applicant after: Zhengzhou Coal Machinery Intelligent Control Technology Innovation Center Co.,Ltd. Address before: 450016 No. 167, 9th Street, Zhengzhou area (Economic Development Zone), Henan pilot Free Trade Zone, Zhengzhou City, Henan Province Applicant before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Applicant before: Zhengzhou Coal Machinery Intelligent Control Technology Innovation Center Co.,Ltd. |