CN115526060A - Method for evaluating space straightness of fully mechanized coal mining face under complex coal seam condition - Google Patents
Method for evaluating space straightness of fully mechanized coal mining face under complex coal seam condition Download PDFInfo
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Abstract
The invention relates to an evaluation method of the space straightness of a fully mechanized coal mining face under a complex coal seam condition, which is characterized in that based on the influence of coal seam fluctuation on the space straightness of the fully mechanized coal mining face, according to the motion characteristic of a scraper conveyor in the propelling process and the influence of the coal seam fluctuation on the track of the scraper conveyor and a hydraulic support group, space straightness evaluation models are respectively established by analyzing the space straightness density of the track of the equipment group, and the influence of the motion characteristic of a floating connecting mechanism of the hydraulic support group and the scraper conveyor on the cooperative propelling of the fully mechanized coal mining face is taken into consideration, so that the analysis of the space straightness of the fully mechanized coal mining face based on the factor influencing the cooperative propelling of the fully mechanized coal mining face under the complex coal seam condition is realized.
Description
Technical Field
The invention relates to the technical field of coal mining control, in particular to a method for evaluating the space straightness of a fully mechanized coal mining face under a coal seam condition.
Background
The straightness of the fully mechanized coal mining face plays an important role in guaranteeing the production efficiency and safety of a coal mine, if the straightness cannot be well met, the cutting resistance of a coal mining machine and the running resistance of a scraper conveyor can be greatly increased, the service life of equipment is shortened, and serious production accidents can be caused in serious cases. Along with the development of coal mine intellectualization, a coal seam transparentization technology is also improved to a certain extent, the requirement for three-dimensional translation of a fully mechanized coal mining face in the mining process is also improved from a two-dimensional space to a three-dimensional space, but the description of the space straightness of the fully mechanized coal mining face is still fuzzy at present. Therefore, a method for describing the flatness of the fully mechanized coal mining face in the whole mining process from a three-dimensional space is provided in combination with the influence of fluctuation of the coal seam.
The patent document of application number 202111399857.1 defines the space straightness of a hydraulic support group, adopts a three-dimensional laser radar to obtain point cloud of the hydraulic support, adopts a point cloud processing related algorithm to extract a key point set of the hydraulic support, and adopts a least square method to fit the space straight line and calculate a distance error to realize the space straightness measurement of the hydraulic support group.
The patent document of application number 202011070660.9 discloses a hydraulic support straightness detection device and a working method thereof, wherein an additional device, namely a linear slide rail and a pulley assembly, is mounted on a hydraulic support, a displacement sensor is mounted on one side of the linear slide rail and used for detecting the sliding position of a pulley on the linear slide rail, and the straightness detection of the hydraulic support on a working face can be realized by detecting the position of the pulley assembly on the hydraulic support through the displacement sensor.
The patent document of application number 201710442811.0 discloses a method for measuring the pose and the straightness of an underground hydraulic support group based on a multi-image sequence, wherein a square positioning mark is arranged on a hydraulic support, a camera is used for acquiring a target image of the hydraulic support, and the positioning mark in the preprocessed image is extracted; performing edge straight line fitting on each positioning identifier, calculating a normal vector of each positioning identifier, and determining the pose of each hydraulic support through the normal vector; and calculating the straightness of the hydraulic support group according to the relation between the positioning identifier and the scraper.
The patent document of application number 201711232670.6 provides a vision-based straightness detection method for a fully mechanized mining face, and a vision system is mounted on a quick inspection platform of the working face. The video is shot in the process of quickly moving the inspection platform, and the track of the traveling mechanism of the inspection platform is ensured to be always in the shot picture as stably as possible. When the routing inspection platform walking mechanism circulates along the working face at a high speed, the walking track of the routing inspection platform walking mechanism is shot, and then the motion track of the routing inspection platform walking mechanism is calculated based on a visual algorithm, so that the straightness of the fully mechanized mining face is detected, and the automatic alignment of the fully mechanized mining face is realized.
The deficiencies in the above studies are as follows: 1) When the straightness of the fully mechanized mining face is researched, the definition and control of the straightness of a single equipment group are mostly considered, and the overall straightness is not considered comprehensively due to the cooperation among multi-level equipment. 2) When the straightness of the fully mechanized coal mining face is analyzed and researched at present, the straightness is mostly analyzed and researched under an ideal coal seam condition, and the straightness analysis under the complex coal seam condition is closer to the actual working condition. 3) When the influence of coal seam fluctuation on the straightness of the fully mechanized coal mining face is considered, the analysis of the straightness of the fully mechanized coal mining face also needs to be transited from a two-dimensional space to a three-dimensional space, and the establishment of a straightness model of the fully mechanized coal mining face in the three-dimensional space is realized. Therefore, the straightness of the fully mechanized coal mining face is analyzed in consideration of the influence of fluctuation of the coal seam, and a spatial straightness evaluation model of the fully mechanized coal mining face under the complex coal seam condition is established.
Disclosure of Invention
The invention aims to provide an evaluation method of the space straightness of a fully mechanized coal mining face under a complex coal seam condition, which aims at the problem of the space straightness in the propelling process of the fully mechanized coal mining face under the complex coal seam condition, establishes a fully mechanized coal mining face space straightness evaluation model from a three-dimensional angle and analyzes the space straightness of the fully mechanized coal mining face. And segmenting the coal seam according to the coal seam fluctuation condition determined by the coal seam detection information, and analyzing the space straightness of the hydraulic support group and the scraper conveyor from the walking direction of the coal mining machine and the advancing direction of the fully mechanized coal face to realize the evaluation of the whole space straightness in the operation process of the fully mechanized coal face.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method for evaluating the space straightness of a fully mechanized coal mining face under the condition of a complex coal seam comprises the following steps:
firstly, detecting fluctuation of a coal seam at the mining initial stage of a fully mechanized mining face, and segmenting the coal seam according to the fluctuation condition of the coal seam determined by detection data;
step two, establishing a scraper conveyor space straightness evaluation model facing each discrete coal seam section, comprising the following steps of:
(1) Establishing a geometric model of a scraper conveyor track and (2) establishing a discrete space pose error model of the scraper conveyor;
wherein, scraper conveyor discrete space position appearance error model includes:
(1) a space straightness error model of the scraper conveyer along the walking direction of the coal mining machine, and the model obtains the space straightness error density rho of the transverse propulsion of the scraper conveyer s ，
And (2) a scraper conveyor space direction error model along the integral propelling direction of the fully mechanized mining face, wherein the model obtains the straightness error density rho of the longitudinal propelling space of the scraper conveyor d ；
Step three, establishing a hydraulic support group space straightness evaluation model facing each discrete coal seam section, comprising the following steps of:
(1) Establishing a hydraulic support group track geometric model and (2) establishing a hydraulic support group discrete space pose error model;
wherein, hydraulic support crowd discrete space position appearance error model includes:
(1) a hydraulic support group space straightness error model along the traveling direction of the coal mining machine, and the model obtains error density rho representing the transverse propulsion space straightness of the hydraulic support group s H ，
And (2) a space direction error model of the hydraulic support group along the overall propulsion direction of the fully mechanized mining face, wherein the model obtains error density rho representing the straightness of the longitudinal propulsion space of the hydraulic support group d (H) ；
Establishing a comprehensive mining working face space straightness evaluation model facing each discrete coal seam section;
on the basis of the construction of a scraper conveyor space straightness evaluation model and a hydraulic support group space straightness evaluation model, the whole space straightness of the fully mechanized coal mining face is defined in combination with the motion characteristic of a floating connecting mechanism; when the hydraulic support group, the propulsion space linearity error density of the scraper conveyer and the pushing pose consistency index rho of the floating connecting mechanism of the scraper conveyer and the hydraulic support group are in the same state F When the formula (23) is satisfied, the fully mechanized mining face meets the requirement of space straightness during mining;
analyzing the space straightness of the fully mechanized coal mining face facing the whole coal seam;
splicing and analyzing the hydraulic support group corresponding to each discrete coal seam, the propulsion space linearity error density of the scraper conveyor and the pushing pose consistency index of the floating connecting mechanism of the scraper conveyor and the hydraulic support group to finally obtain the floating connecting mechanism facing the whole coal seam
Fully mechanized coal mining ofThe working face space straightness is required to be as in formula (27):
wherein, the first and the second end of the pipe are connected with each other,
showing discrete coal intervals at the junction of the coal seam peak bottom,
the discrete coal intervals without considering the junction of the coal bed peak and the bottom are shown, and s is the coal interval.
Further, in the first step, processing is performed through interpolation and prediction according to the detection data to obtain a coal seam trajectory curve F (x, y, z) =0; the method for dividing the coal seam section comprises the following steps: dividing along the x-axis direction by taking the peak-bottom point of the coal seam curve as a dividing point, analyzing the partial derivative of the coal seam trajectory curve, solving the partial derivative in the x direction, and further analyzing the posture of the scraper conveyor on the divided coal seam section; the coal bed segmentation principle is shown as a formula:
and sigma represents a curved surface of the coal bed, x represents a serial number of the coal bed point collected along the coal bed trend, y represents the overall pushing amount of the fully mechanized coal mining face along the coal bed inclination direction, and z represents the height of the coal bed under a specified coordinate system o-xyz.
Further, in the second step, the method for establishing the geometric model of the track of the scraper conveyor comprises the following steps:
an absolute reference coordinate system (O (x, y, z)) is established at the junction of the roadway and the fully mechanized coal mining face, and a local reference coordinate system family is established on each section of middle groove
The coordinate system of the propelling process of the scraper conveyor is
Three-level system, { O } is an absolute coordinate system,
the system is a whole propulsion coordinate system,
a local reference coordinate system, k is the pushing times, and i is the serial number of the middle tank; along the middle groove A of the scraper conveyor i The pose changes of the advancing direction and the cutting direction of the coal mining machine are respectively used as vectors
And
indicating that the attitude angle of the middle slot with respect to the global propulsion coordinate system is (α) j ,β j ,γ j ) Middle groove A of scraper conveyer j Relative to the global propulsion coordinate system
Is denoted as Γ t The formula is as follows:
r for coordinate track of each middle groove relative to the whole propulsion coordinate system i Indicating, local reference coordinate system
Relative to the global propulsion coordinate system
Has the coordinates of
[R 0j ]For a local reference coordinate system
Relative to the global propulsion coordinate system
The angle transformation matrix of (1);
in the local reference coordinate system, a straight line passing through an arbitrary point parallel to the axis of the central groove in the lateral advancing direction has a dihedral angle (α) in the direction of the straight line j ',β j ') for the unit vector p of the straight line in the local reference coordinate system j Represents;
p j ＝[sinα j 'cosβ j ',sinα j 'sinβ j ',cosα j '] T ,(j＝1…n) (4)
in summary, the discrete trajectory of each central slot in the overall propulsion coordinate system forms a trajectory of Γ t As discrete directrices, p i Sigma discrete surface for bus St ；
Where n is the number of discrete units of the scraper conveyor, i.e. the number of middle grooves, and j is the j-th section of middle groove.
Further, in the second step, the method for establishing the space straightness error model of the scraper conveyor along the walking direction of the coal mining machine comprises the following steps:
in the overall propulsion coordinate system, the difference between the discrete curve segment set and the corresponding fitting ideal straight line is a space straightness error, and the space straightness error is used as an evaluation index for measuring the space straightness of the scraper conveyor;
wherein R is l 0 For gathering discrete points of a scraper conveyor in a coordinate system
Fitting of the corresponding points on an ideal straight line, p 2 Position and attitude information of points on the middle tank on the local reference coordinate system, x is a parameterized model of each middle tank on the local reference coordinate system,
is a spatial linearity error, R j As points on discrete paths in an absolute coordinate system, R 0 In an absolute coordinate system
The coordinates of (a);
defining a rotating body which takes a discrete surface of a scraper conveyor as a symmetrical surface as a standard discrete body; taking a fitted ideal straight line as an axis, and taking a rotator with each middle groove discrete alignment line as a bus as an error discrete body; defining the error density rho of the transverse propulsion space straightness of the scraper conveyor s The mass-to-volume ratio of the error discrete body to the standard discrete body is specifically defined as shown in formula (8):
transverse propulsion space straightness error density rho of scraper conveyor s Reflecting the average spatial straightness error, rho, of the scraper conveyor s The smaller the value, the better the spatial straightness of the face conveyor is represented.
Further, in the second step, the method for establishing the error model of the scraper conveyor in the space direction along the overall propelling direction of the fully mechanized coal mining face comprises the following steps:
by making use of spherical curvesWill now be described
Unit vector of arbitrary straight line represented
Conversion to a global propulsion coordinate system
And then the vector end point tracks are all positioned on the same spherical surface,
in a fixed coordinate system, the following is represented:
in the propelling process of the scraper conveyor, a direction exists to enable the radius of the enveloping sphere to be minimum, the direction is defined as the minimum error direction in longitudinal propelling, the influence of the fluctuation of the cutting bottom plate on the space straightness of the scraper conveyor in the coal seam inclination direction is minimum, and a direction error model delta S of the whole scraper conveyor in the propelling direction of the fully mechanized mining face is obtained according to the direction d As follows:
where x is relative to the absolute reference coordinate system { o; x; y; z } the minimum dihedral angle parameter,
for the dihedral angle (delta) corresponding to the middle groove of each segment 1 (j) ,δ 2 (j) ) Vector under parameter, Δ S d The minimum direction error model is delta S for the direction error model of the whole scraper conveyor in the fully mechanized mining face advancing direction d (x)；
At the establishment of the target separationDirection error model delta S of scattered point set d Then, determining the straightness error density rho of the longitudinal propulsion space of the scraper conveyor d ，ρ d Defined as the ratio of the mass of the spherical direction error to the area of the sphere, as shown in equation (11),
longitudinal propulsion space linearity error density rho of scraper conveyor d Reflects the influence degree of the fluctuation of the coal bed bottom plate on the pitch attitude of the scraper conveyor, rho d The smaller the value, the less the effect of the undulation of the coal seam floor on the spatial straightness of the scraper conveyor.
Further, in the third step, the method for establishing the track geometric model of the hydraulic support group comprises the following steps:
an absolute reference coordinate system { o; x; y; z, establishing a local reference coordinate system group { o } at the gravity center position of each hydraulic support when the hydraulic support is completely supported iH ；x iH ；y iH ；z iH }；
The coordinate system of the propelling process of the hydraulic support group is
Three-level system, { O } is an absolute coordinate system,
is an integral propulsion coordinate system of the hydraulic support group,
is a local reference coordinate system; the pose changes along the advancing direction of a single hydraulic support and the cutting direction of the coal mining machine are respectively used as vectors
And
it is shown that the process of the present invention,single hydraulic support H j The attitude angle relative to the overall propulsion coordinate system is (alpha) j H ,β j H ,γ j H ) Then a single hydraulic support H j Relative to the global propulsion coordinate system
Is denoted as Γ t (H) The formula is as follows:
for coordinate trajectory of each hydraulic support relative to the global propulsion coordinate system
Indicating, local reference coordinate system
Relative to the global propulsion coordinate system
Has the coordinates of
[R 0j H ]For a local reference coordinate system
Relative to the global propulsion coordinate system
The angle transformation matrix of (1);
in the local reference coordinate system, the attitude of each hydraulic support needs to be described as well, passing through the center of the base of the hydraulic support in the transverse propelling directionA straight line of any point where the lines are parallel, the dihedral angle in the direction of the straight line being (alpha) j ' (H) ,β j ' (H) ) The unit vector of the straight line in the local reference coordinate system is represented by p i It is shown that,
p j (H) ＝[sinα j ' (H) cosβ j ' (H) ,sinα j ' (H) sinβ j ' (H) ,cosα j ' (H) ] T ,(j＝1…n) (14)
in summary, discrete tracks of the hydraulic supports in the overall propulsion coordinate system form a reverse t H As discrete directrices, p j (H) The discrete surface S being a busbar t H 。
Wherein n is the number of discrete units of the hydraulic support, namely the number of the middle grooves, and j is the jth hydraulic support.
Further, in the third step, the method for establishing the space straightness error model of the hydraulic support group along the walking direction of the coal mining machine comprises the following steps:
in the overall propulsion coordinate system, the difference between the discrete curve segment set and the corresponding fitting ideal straight line is a space straightness error, and can be used as an evaluation index for measuring the space straightness of the hydraulic support group;
wherein R is l 0(H) For the discrete point set of the hydraulic support in the coordinate system
Corresponding on an ideal straight line of fitPoint, p 2 H Position and attitude information of points on the middle tank on the local reference coordinate system, x is a parameterized model of each middle tank on the local reference coordinate system,
for spatial straightness error, R H j As points on discrete tracks in an absolute coordinate system, R 0 (H) In an absolute coordinate system
The coordinates of (a);
defining a rotating body which takes a discrete surface at the gravity center position of the single-machine hydraulic support as a symmetrical surface as a standard discrete body of the hydraulic support; taking an ideal fitting straight line as an axis, and a rotator with a discrete alignment line of each hydraulic support as a bus as an error discrete body of the hydraulic support; defining the linearity error density rho of the transverse propulsion space of the hydraulic support group s H The mass-to-volume ratio of the error discrete body of the hydraulic bracket to the standard discrete body of the hydraulic bracket is specifically defined as shown in formula (18):
hydraulic support group transverse propulsion space straightness error density rho s H The average space straightness error of the hydraulic support group is reflected, and the integral space straightness characteristic of the hydraulic support group is also reflected; rho s H The smaller the value, the better the spatial straightness of the hydraulic mount group.
Further, in the third step, the method for establishing the spatial direction error model of the hydraulic support group along the overall propulsion direction of the fully mechanized coal mining face comprises the following steps:
described by a spherical curve, will
Unit vector of arbitrary straight line represented
Conversion to a global propulsion coordinate system
And then the vector end point tracks are all positioned on the same spherical surface,
in a fixed coordinate system, the following is represented:
in the process of propelling the hydraulic support group, a direction exists to enable the radius of the spherical curve to be minimum, the direction is defined as the minimum error direction when the hydraulic support group is propelled longitudinally, the space straightness of the hydraulic support group is minimally influenced by the fluctuation of the cutting bottom plate in the coal seam inclination direction, and a direction error model delta S of the whole hydraulic support group in the propelling direction of the fully mechanized mining face is obtained according to the direction d (H) As follows:
where x is relative to an absolute reference coordinate system { o; x; y; z } the minimum dihedral angle parameter,
is dihedral angle (delta) 1 (j)H ,δ 2 (j)H ) Vector under parameter, Δ S d (H) A direction error model of the whole hydraulic support group in the advancing direction of the fully mechanized coal mining face, wherein the minimum direction error model is delta S d (H) (x)；
Establishing a directional error model Delta S for a hydraulic support d (H) Then, determining the straightness error density rho of the longitudinal propulsion space of the hydraulic support group d (H) ，ρ d (H) Defined as errors in the orientation of the sphereThe ratio of the mass to the area of the sphere is shown in equation (21).
Hydraulic support group longitudinal propulsion space straightness error density rho d (H) Reflects the influence degree of the fluctuation of the coal bed bottom plate on the pitching attitude of the hydraulic support group, rho d (H) The smaller the value, the less the influence of the fluctuation of the coal bed floor on the space straightness of the hydraulic support group is represented.
Furthermore, in step four, the movement of the floating connection mechanism includes the extension of the piston rod, the yaw movement and the pitch movement of the pushing rod, and the yaw movement of the connecting head. On the basis of ensuring the space linearity of the hydraulic support and the scraper conveyor, the integral space linearity condition of the hydraulic support group and the scraper conveyor can be obtained according to the motion characteristic of the floating connecting mechanism. Global motion characteristic M through floating connection<d i ,θ 2 ,θ 3 ,θ 4 >Evaluation of wherein d i Indicating the displacement amount of the piston rod in the floating coupling mechanism, theta 2 Shows the pitch angle of the pusher jack and theta 3 Indicating the yaw angle of the pusher shoe, and theta 4 Represents the yaw angle of the connector, as shown in equation (22),
ρ F the index of the consistency of the pushing poses of the floating connecting mechanism of the scraper conveyor and the hydraulic support group is expressed, the value is between 0 and 1, the similarity of the hydraulic support group track and the scraper conveyor track relative to the space straightness is reflected, and rho F The larger the value is, the more consistent the spatial linearity between the hydraulic support group and the scraper conveyor is, and the higher the satisfaction degree of the overall spatial linearity between the hydraulic support group and the scraper conveyor is.
And further, in the fifth step, on the basis that the space straightness of the fully mechanized mining face corresponding to each discrete coal seam body is met, m sections of middle grooves and corresponding hydraulic supports are respectively selected from the coal seam peak bottom point to two sides, and the whole space straightness of the fully mechanized mining face is analyzed. Wherein the peak bottom point satisfies formula (24):
respectively selecting m sections of middle grooves and corresponding hydraulic supports from the coal seam peak bottom point to two sides, and respectively obtaining the transverse propulsion space straightness error density rho of the scraper conveyor at the splicing position of two discrete coal seam sections at the coal seam peak bottom point by using formulas (8), (11), (18), (21) and (22) s Transverse propulsion space straightness error density rho of hydraulic support group s H Longitudinal propulsion space linearity error density rho of scraper conveyor d Longitudinal propulsion space straightness error density rho of hydraulic support group d (H) Push pose consistency index rho of floating connection mechanism of scraper conveyor and hydraulic support group F And the pushing pose consistency index rho of the floating connecting mechanism of the scraper conveyor and the hydraulic support group F As in equation (25),
the value m is determined according to the number a of the equipment paved on the discrete coal seam section and the number b of middle grooves involved when the coal cutter cuts the triangular coal, and m = max (a, b);
judging the spatial straightness accuracy of the fully mechanized coal mining face at the peak bottom point according to the calculation result,
if the coal seam after the coal seam peak bottom splicing in the mining process
A scraper conveyor andand (3) the key parameter value of the space straightness of the track of the hydraulic support group meets the formula (26), and the fully mechanized coal mining face meets the requirement of the space straightness.
The invention provides a method for describing the space straightness of a fully mechanized coal mining face under the condition of a complex coal seam, which has the following advantages and prominent innovation points:
(1) Based on the influence of coal seam fluctuation on the space straightness of the fully mechanized coal face, the influence of the coal cutter cutting and the influence of the coal seam fluctuation on the cutting of the coal cutter and the whole pushing direction of the fully mechanized coal face are respectively analyzed on the space straightness of the fully mechanized coal face, a space straightness evaluation model is established, and a theoretical basis is laid for the straightening research of the fully mechanized coal face under the complex coal seam condition.
(2) The motion characteristics of the scraper conveyor in the propelling process and the influence of coal seam fluctuation on the scraper conveyor and the hydraulic support group track are fully considered, spatial linearity evaluation models are respectively established by analyzing the spatial linearity density of the equipment group track, and the function of taking the scraper conveyor spatial linearity and the hydraulic support group spatial linearity as the important analysis standard of the fully-mechanized mining face spatial linearity is fully exerted.
(3) The analysis of the space straightness of the fully mechanized coal face based on the factors influencing the cooperative propulsion between fully mechanized coal face equipment under the condition of a complex coal seam is realized by taking the influence of the motion characteristics of the floating connecting mechanism of the hydraulic support group and the scraper conveyer on the cooperative propulsion of the fully mechanized coal face into consideration and evaluating the space straightness of the fully mechanized coal face through evaluating the motion characteristics of the floating connecting mechanism on the basis of analyzing the space straightness of the hydraulic support group and the scraper conveyer.
(4) A space straightness analysis model of the fully mechanized coal mining face equipment track transition part at the coal seam peak bottom is established, and the establishment of the analysis model covering the space straightness of the fully mechanized coal mining face under the whole coal seam fluctuation condition is realized by combining the space straightness analysis models of the fully mechanized coal mining face of each discrete coal seam section, so that an evaluation standard is provided for ensuring the three flatness and the one time flatness of the fully mechanized coal mining face.
Drawings
FIG. 1 is a frame for analyzing spatial straightness of a fully mechanized coal mining face;
FIG. 2 is a schematic diagram of coal seam parameterization;
FIG. 3 is a schematic view of a geometric model of a scraper conveyor path facing discrete coal intervals;
FIG. 4 is a schematic diagram of a model analysis of a discrete spatial pose error of a scraper conveyor facing a discrete coal seam section;
FIG. 5 is a schematic diagram of a hydraulic support group trajectory geometric model facing a discrete coal interval;
FIG. 6 is a schematic diagram of an analysis of a discrete spatial pose error of a hydraulic support group facing a discrete coal seam section;
FIG. 7 is a schematic diagram of analysis of a comprehensive mining face space straightness evaluation model facing discrete coal seam sections;
FIG. 8 is a schematic diagram of analysis of a model for evaluating the straightness of a fully mechanized coal mining face space at the coal seam peak bottom.
Detailed Description
The technical solution of the present invention will be further described in more detail with reference to the following embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and 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, shall fall within the protection scope of the present invention.
As shown in fig. 1, the analysis framework for spatial straightness of the fully mechanized coal mining face is used for dividing a coal seam according to fluctuation conditions of the coal seam on the basis of parameterization of the coal seam, analyzing spatial straightness of a hydraulic support group and a scraper conveyor on each discrete coal seam section respectively, analyzing the spatial straightness of the fully mechanized coal mining face by combining motion characteristics of a floating connecting mechanism of the hydraulic support group and the scraper conveyor on the basis, and finally analyzing the overall spatial straightness of the fully mechanized coal mining face by comprehensively considering the spatial straightness conditions of an equipment group at the bottom of a coal seam peak. The specific process is as follows:
the method comprises the following steps: coal seam fluctuation segmenting method
In the process of forming the coal seam, due to factors such as crust movement and the like, complex geology such as height fluctuation and the like may exist under the condition that the floor of the coal seam has an inclination angle. Due to the influence of the long length of the fully mechanized mining face and the tendency fluctuation along the coal seam, when the spatial pose of the scraper conveyor is analyzed, the error of the pose analysis directly caused by the long laying length of the scraper conveyor and the fluctuation of the coal seam is large. As shown in fig. 2, in the early mining stage of the fully mechanized mining face, the fluctuation of the coal seam is detected, and the detection data is processed through interpolation and prediction to obtain a coal seam trajectory curve F (x, y, z) =0. The method for dividing the coal seam section comprises the following steps: the method comprises the steps of dividing the coal seam curve along the x-axis direction by taking the peak-bottom point of the coal seam curve as a dividing point, analyzing the partial derivative of the coal seam track curve, solving the partial derivative in the x direction, further analyzing the posture of the scraper conveyor on the divided coal seam, and enabling the dividing principle to be as shown in a formula.
And sigma represents a curved surface of the coal bed, x represents a serial number of the coal bed point collected along the coal bed trend, y represents the overall pushing amount of the fully mechanized coal mining face along the coal bed inclination direction, and z represents the height of the coal bed under a specified coordinate system o-xyz. The method selects any section of coal seam after the segmentation to analyze the space straightness model of the scraper conveyor.
Step two: establishment of scraper conveyor straightness evaluation model facing each discrete coal seam section
Establishment of trajectory geometric model of scraper conveyor
As shown in fig. 3, an absolute reference coordinate system { o; x; y; z, establishing a local reference coordinate system group { o } on each section of middle groove i ；x i ；y i ；z i }。
The geometric model of the track of the scraper conveyor is a model for describing the pose of the scraper conveyor, and the spatial pose of the scraper conveyor is represented by discrete surfaces and lines. The coordinate system of the propelling process of the scraper conveyor is
Three-level system, { O } is an absolute coordinate system,
is a whole-body propulsion coordinate system, and comprises a propulsion coordinate system,
is a local reference coordinate system. Along the middle groove A of the scraper conveyor i The pose changes along the advancing direction and the cutting direction of the coal mining machine are respectively used as vectors
And
indicating that the attitude angle of the middle slot with respect to the global propulsion coordinate system is (α) j ,β j ,γ j ) Then middle groove A of scraper conveyor j Relative to the global propulsion coordinate system
Is denoted as f t The formula is as follows:
r for coordinate track of each middle groove relative to the whole propulsion coordinate system i Representing, local reference coordinate system
Relative to the global propulsion coordinate system
Has the coordinates of
[R 0j ]For a local reference coordinate system
Relative to the global propulsion coordinate system
The angle transformation matrix of (2).
In the local reference coordinate system, the attitude of each of the central grooves needs to be described as well, and a straight line passing through an arbitrary point parallel to the central groove axis in the lateral advancing direction, in which the dihedral angle is (α) j ',β j ') for the unit vector p of the straight line in the local reference coordinate system j And (4) showing.
p j ＝[sinα j 'cosβ j ',sinα j 'sinβ j ',cosα j '] T ,(i＝1…n) (4)
In summary, the discrete trajectory of each central slot in the overall propulsion coordinate system forms a trajectory of Γ t As discrete directrix, p j Sigma discrete surface for bus St 。
Where n is the number of discrete units of the scraper conveyor, i.e. the number of middle grooves, and j is the j-th section of middle groove.
Establishment of discrete space pose error model of scraper conveyor
(1) Space straightness error model of scraper conveyor along walking direction (transverse propulsion) of coal mining machine
As shown in FIG. 4 (a), a discrete coal interval S is selected i When the scraper conveyor is pushed in an ideal state, the trajectory of the scraper conveyor is an ideal straight line. In practical situations, due to fluctuation of a coal bed and the pushing error of the pushing mechanism of the hydraulic support, the track of the scraper conveyor is approximately in a space curve mode, and due to the fact that a gap exists between two adjacent sections when the middle groove is connected, the scraper conveyor is in a space curve modeThe conveyor path appears in the spatial position in the form of a set of discrete curved segments that are not collinear.
In the overall propulsion coordinate system, the difference between the discrete curve segment set and the corresponding fitting ideal straight line is a space straightness error, and the space straightness error can be used as an evaluation index for measuring the space straightness of the scraper conveyor.
Wherein R is l 0 For gathering discrete points of scraper conveyer in coordinate system
Fitting the corresponding point on the ideal straight line, p 2 The pose information of the points on the middle grooves on the local reference coordinate system, x is a parameterized model of each middle groove on the local reference coordinate system,
is a spatial linearity error, R j As points on discrete tracks in an absolute coordinate system, R 0 In an absolute coordinate system
The coordinates of (a).
In order to describe the overall space straightness characteristic of the scraper conveyor, the transverse propulsion space straightness error density rho of the scraper conveyor is introduced s . The invention defines a rotator which takes a discrete surface of a scraper conveyor as a symmetrical surface as a standard discrete body; and taking the fitted ideal straight line as an axis, and taking the rotary body with each middle groove discrete guideline as a bus as an error discrete body. The invention defines the error density of the space linearity as the mass-volume ratio of an error discrete body to a standard discrete body. The specific definition is shown in formula (8):
transverse propulsion space straightness error density rho of scraper conveyor s The average straightness error of the scraper conveyor is reflected, and the overall space straightness characteristic of the scraper conveyor is reflected. Rho s The smaller the value, the better the spatial straightness of the face conveyor is represented.
(2) Model for error of scraper conveyor in space direction along overall propulsion direction (longitudinal propulsion) of fully mechanized coal mining face
In discrete coal seam section S i Bottom, flight conveyor dispersion surface ∑ S t The spatial straightness characteristic of (2) can be obtained from the content of the step (1), but when the posture model is constructed, the characteristic in the advancing direction of the working face reflects the pitching characteristic of the scraper conveyor and the cutting and rolling condition of the coal seam bottom plate, and the characteristic is called the direction characteristic of the middle trough. The present invention describes this characteristic using spherical curves as shown in FIG. 4 (b), which will be described
Unit vector of arbitrary straight line represented
Conversion to a global propulsion coordinate system
And then the vector end point tracks are all positioned on the same spherical surface,
in a fixed coordinate system, the following is represented:
when the coal seam cutting bottom plate is an ideal straight surface, the tracks of the scraper conveyor along the advancing direction of the fully mechanized coal mining face are always kept parallel, and the tracks of the middle grooves
The values are the same, but in the actual mining process, the coal seam cutting bottom plate is not straight after being influenced by the fluctuation of the coal seam substrate and the cutting of a coal mining machine, so the coal seam cutting bottom plate is not straight
Conversion to a global propulsion coordinate system
The resulting spherical curve is then a set of non-coincident discrete points. However, during the advancement of the face conveyor, there is a direction that minimizes the radius of the enveloping sphere, which is defined as the direction of minimum error in longitudinal advancement, where the spatial straightness of the face conveyor is minimally affected by the undulation of the cutting floor in the direction of coal seam inclination. According to the direction, a direction error model delta S of the whole scraper conveyor in the advancing direction of the fully mechanized coal mining face can be obtained d As follows:
where x is the minimum dihedral angle parameter relative to the absolute reference coordinate system o,
a dihedral angle delta corresponding to each section of the middle groove 1 (j) ,δ 2 (j) ) Vector under parameter, Δ S d The minimum direction error model is delta S for the direction error model of the whole scraper conveyor in the fully mechanized mining face advancing direction d (x)。
In the process of fully mechanized mining face propulsion, the flatness of the scraper conveyor is expected to be guaranteed, so that the mining process is safely and efficiently carried out, and the whole direction error of the scraper conveyor needs to be judged. After establishing the directional error model for the discrete point set, it is therefore necessary to determine the directional error density model ρ for the scraper conveyor d 。ρ d Defined as the ratio of the mass of the spherical orientation error to the area of the sphere, as shown in equation (11).
ρ d The method reflects the influence degree of the fluctuation of the coal bed bottom plate on the pitching attitude of the scraper conveyor for the error density of the longitudinal propulsion space straightness of the scraper conveyor. ρ is a unit of a gradient d The smaller the value, the less the effect of the floor relief representing the coal seam on the spatial straightness of the scraper conveyor.
Step three: establishment of hydraulic support group space straightness evaluation model facing each discrete coal seam section
Establishment of track geometric model of hydraulic support group
As shown in fig. 5, an absolute reference coordinate system { o; x; y; z, establishing a local reference coordinate system group { o } at the gravity center position of each hydraulic support when the hydraulic support is completely supported iH ；x iH ；y iH ；z iH }。
The geometric model of the track of the hydraulic support group is a model for describing the pose of the scraper conveyor, and the spatial pose of the scraper conveyor is represented by discrete surfaces and lines. The coordinate system of the propelling process of the hydraulic support group is
Three-level system, { O } is the absolute coordinate system,
is an integral propulsion coordinate system of the hydraulic support group,
is a local reference coordinate system. The pose changes along the advancing direction of a single hydraulic support and the cutting direction of the coal mining machine are respectively used as vectors
And
showing, single hydraulic support H j The attitude angle relative to the overall propulsion coordinate system is (alpha) j H ,β j H ,γ j H ) Then one hydraulic support H j Relative to the global propulsion coordinate system
Is denoted as Γ (referred to herein as a discrete trajectory) t (H) The formula is as follows:
for coordinate trajectories of the hydraulic supports relative to the global propulsion coordinate system
Indicating, local reference coordinate system
Relative to the global propulsion coordinate system
Has the coordinates of
[R 0j H ]For a local reference coordinate system
Relative to the global propulsion coordinate system
Angle change ofAnd (5) changing the matrix.
In the local reference coordinate system, the attitude of each hydraulic support needs to be described as well, and the straight line passing through any point parallel to the center line of the base of the hydraulic support in the transverse propelling direction has a dihedral angle (alpha) in the direction of the straight line j ' (H) ,β j ' (H) ) Unit vector of the straight line in local reference coordinate system is represented by p i And (4) showing.
p j (H) ＝[sinα j ' (H) cosβ j ' (H) ,sinα j ' (H) sinβ j ' (H) ,cosα j ' (H) ] T ,(j＝1…n) (14)
In conclusion, discrete tracks of the hydraulic supports in the integral propulsion coordinate system form a reverse curve t H As discrete directrix, p i (H) The discrete surface S being a busbar t H 。
Wherein n is the number of discrete units of the hydraulic support, namely the number of the middle grooves, and j is the jth hydraulic support.
Establishment of hydraulic support group discrete space pose error model
(1) Hydraulic support group space straightness error model along traveling direction (transverse propulsion) of coal mining machine
Similar to the spatial straightness requirements of the scraper conveyor, in a discrete coal seam section S as shown in FIG. 6 (a) 1 And the hydraulic support group needs to keep the space straightness in the process of pushing the fully mechanized mining face to meet the requirement so as to ensure the space straightness of the scraper conveyor after pushing action is executed. In practical situations, however, due to the fluctuation of the coal seam and the execution error of the hydraulic oil cylinder, the track of the hydraulic support group is approximately presented in a space curve mode, and due to the gap between two adjacent hydraulic supports, the hydraulic support group is also presented in a non-collinear discrete curve segment set mode in the space position.
In the overall propulsion coordinate system, the difference between the discrete curve segment set and the corresponding fitting ideal straight line is a space straightness error, and the space straightness error can be used as an evaluation index for measuring the space straightness of the hydraulic support group.
Wherein R is l 0(H) For the discrete point set of the hydraulic support in the coordinate system
Fitting of the corresponding points on an ideal straight line, p 2 H The pose information of the points on the middle grooves on the local reference coordinate system, x is a parameterized model of each middle groove on the local reference coordinate system,
for spatial straightness error, R H j As points on discrete tracks in an absolute coordinate system, R 0 (H) In an absolute coordinate system
The coordinates of (c).
In order to describe the integral straightness characteristics of the hydraulic support group, the invention introduces the space straightness error density rho of the hydraulic support group s H . The invention defines a rotating body which takes a discrete surface at the gravity center position of a single-machine hydraulic support as a symmetric surface as a standard discrete body of the hydraulic support; and the rotator taking the ideal fitting straight line as an axis and the discrete alignment line of each hydraulic bracket as a bus is an error discrete body of the hydraulic bracket. The invention defines the space straightness error density as the mass-volume ratio of the error discrete body of the hydraulic support to the standard discrete body of the hydraulic support. The specific definition is shown in formula (18):
hydraulic support group transverse propulsion space straightness error density rho s H The average space straightness error of the hydraulic support group is reflected, and the integral space straightness characteristic of the hydraulic support group is also reflected. Rho s H The smaller the value, the better the spatial straightness of the hydraulic mount group.
(2) Spatial direction error model of hydraulic support group along integral propulsion direction (longitudinal propulsion) of fully mechanized coal mining face
As shown in fig. 6 (b), in the discrete coal seam section S 1 When constructing the pose model of the hydraulic support group, the characteristics in the working face thrust direction reflect the pitch characteristics of the hydraulic support group and the cutting and heaving conditions of the coal seam floor, and in this section, the characteristics are referred to as the directional characteristics of the hydraulic support group. The present invention describes this characteristic using spherical curves, which will be described
Unit vector of arbitrary straight line represented
Conversion to a global propulsion coordinate system
And then the vector end point tracks are all positioned on the same spherical surface,
in a fixed coordinate system, the following is represented:
when the coal seam cutting bottom plate is an ideal flat surface, the tracks of the hydraulic supports along the advancing direction of the fully mechanized coal mining face are always kept parallel, and the tracks of the hydraulic supports are all parallel
The values are the same, but in the actual mining process, the coal seam cutting bottom plate is not straight after being influenced by the fluctuation of the coal seam substrate and the cutting of a coal mining machine, so the coal seam cutting bottom plate is not straight
Integral propulsion coordinate system converted to hydraulic support group
The resulting spherical curve is then a set of non-coincident discrete points. However, in the advancing process of the hydraulic support group, a direction exists to enable the radius of the spherical curve to be minimum, the direction is defined as the minimum error direction when the hydraulic support group is longitudinally advanced, and the influence of the undulation of the cutting bottom plate on the straightness of the hydraulic support group in the coal seam inclination direction is minimum. According to the direction, a direction error model delta S of the whole hydraulic support group in the advancing direction of the fully mechanized mining face can be obtained d (H) As follows:
where x is the minimum dihedral parameter relative to the absolute reference coordinate system o,
is the dihedral angle (delta) 1 (j)H ,δ 2 (j)H ) Vector under parameter, Δ S d (H) A direction error model of the whole hydraulic support group in the advancing direction of the fully mechanized coal mining face, wherein the minimum direction error model is delta S d (H) (x)。
In the process of fully mechanized mining face propulsion, the pitching propulsion of the hydraulic support group is expected to meet the requirements, so that the mining process is safely and efficiently carried out, and the integral direction error of the hydraulic support group needs to be judged. After establishing a direction error model for the hydraulic support, the hydraulic support group needs to be determinedDirection error density model ρ of d (H) 。ρ d (H) Defined as the ratio of the mass of the spherical orientation error to the area of the sphere, as shown in equation (21).
ρ d (H) And the error density of the longitudinal propulsion space straightness of the hydraulic support group is represented, and the influence degree of the fluctuation of the coal bed bottom plate on the pitching attitude of the hydraulic support group is reflected. Rho d (H) The smaller the value, the less the influence of the fluctuation of the coal seam floor on the space straightness of the hydraulic support group.
Step four: establishment of comprehensive mining working face space straightness evaluation model for discrete coal seam sections
On the basis of completing the construction of a space straightness evaluation model of the scraper conveyor and the hydraulic support group, the whole space straightness of the fully mechanized coal mining face needs to be defined by combining the motion characteristics of the floating connecting mechanism.
As shown in fig. 7, for discrete coal seam section S 1 And (3) carrying out spatial straightness analysis on the fully mechanized coal mining face:
the movement of the floating connecting mechanism comprises the extension of a piston rod, the yawing movement and pitching movement of a pushing rod and the yawing movement of a connecting head. On the basis of ensuring the space linearity of the hydraulic support and the scraper conveyor, the integral space linearity condition of the hydraulic support group and the scraper conveyor can be obtained according to the motion characteristic of the floating connecting mechanism. Global motion characteristic M through floating connection<d i ,θ 2 ,θ 3 ,θ 4 >Evaluation of wherein d i Shows the displacement amount of the piston rod in the floating connection mechanism, theta 2 Shows the pitch angle of the pusher jack and theta 3 Indicating the yaw angle of the pusher shoe, and theta 4 The yaw angle of the connector is expressed as shown in equation (22).
ρ F The index of the consistency of the pushing poses of the floating connecting mechanism of the scraper conveyor and the hydraulic support group is represented, the value is between 0 and 1, the similarity of the hydraulic support group track and the scraper conveyor track relative to the space straightness is reflected, the larger the value is, the more consistent the space straightness of the hydraulic support group and the scraper conveyor is, and the higher the satisfaction degree of the whole space straightness of the hydraulic support group and the scraper conveyor is.
When the propelling space straightness error density of the hydraulic support group and the scraper conveyor and the pushing pose consistency index of the floating connecting mechanism of the scraper conveyor and the hydraulic support group meet the formula (23), the space straightness requirement is met during mining of the fully mechanized mining face.
Step five: coal seam entirety-oriented fully-mechanized coal mining face space straightness analysis
After the analysis of the space straightness of the fully mechanized mining working face of the discrete coal seam section is completed, the space straightness of the fully mechanized mining working face is analyzed under the whole coal seam condition, and the hydraulic support group corresponding to each discrete coal seam body, the propulsion space straightness error density of the scraper conveyor and the pushing pose consistency index of the floating connecting mechanism of the scraper conveyor and the hydraulic support group are spliced and analyzed. As shown in fig. 8, to separate the coal seam section S 2 And S 3 And analyzing the coal seam section after splicing by taking the example. On the basis that the space straightness of the fully mechanized coal mining face corresponding to each discrete coal seam body is met, m sections of middle grooves and corresponding hydraulic supports are selected from the bottom of the coal seam peak to two sides respectively, and the whole space straightness of the fully mechanized coal mining face is analyzed. Wherein the peak bottom satisfies formula (24):
self-dispersing coal seam section S 2 And S 3 Respectively selecting 3 sections of middle grooves and corresponding hydraulic supports from the coal bed peak bottom point of the coal bed section to two sides after splicing, and respectively obtaining the transverse propulsion space straightness error density rho of the scraper conveyor at the splicing position of two discrete coal bed sections at the coal bed peak bottom point by using formulas (8), (11), (18), (21) and (22) s Transverse propulsion space straightness error density rho of hydraulic support group s H Longitudinal propulsion space linearity error density rho of scraper conveyor d Longitudinal propulsion space straightness error density rho of hydraulic support group d (H) Push pose consistency index rho of floating connection mechanism of scraper conveyor and hydraulic support group F And the pushing pose consistency index rho of the floating connection mechanism of the scraper conveyor and the hydraulic support group F As in equation (25).
And judging the spatial straightness accuracy of the fully mechanized coal mining face at the peak and the bottom points according to the calculation result. If the junction of the coal seam peak and the bottom is in the mining process
The key parameter value of the straightness of the tracks of the scraper conveyor and the hydraulic support group meets the formula (26), and then the fully mechanized coal mining face meets the requirement of space straightness.
Wherein the key parameter values of the space straightness comprise the error density rho of the transverse propulsion space straightness of the scraper conveyor s Transverse propulsion space straightness error density rho of hydraulic support group s H Longitudinal propulsion space linearity error density rho of scraper conveyor d Longitudinal propulsion space straightness error density rho of hydraulic support group d (H) Push pose consistency index rho of floating connection mechanism of scraper conveyor and hydraulic support group F Scraper conveyor and hydraulic supportAdvancing pose consistency index rho of frame group floating connecting mechanism F 。
Then facing the whole coal seam
The space straightness requirement of the fully mechanized mining face is as the following formula (27):
wherein the content of the first and second substances,
showing discrete coal intervals at the junction of the coal bed peak and bottom,
indicating discrete coal intervals without regard to coal seam peak-to-bottom junctions, and s indicates the coal interval in which it is located.
Claims (10)
1. The method for evaluating the space straightness of the fully mechanized coal mining face under the condition of the complex coal seam is characterized by comprising the following steps of:
firstly, detecting the fluctuation of a coal seam at the early mining stage of a fully mechanized mining face, and segmenting the coal seam according to the fluctuation condition of the coal seam determined by detection data;
step two, establishing a scraper conveyor space straightness evaluation model facing each discrete coal seam section, comprising the following steps of:
(1) Establishing a scraper conveyor track geometric model and (2) establishing a scraper conveyor discrete space pose error model;
wherein, scraper conveyor discrete space position appearance error model includes:
(1) a space straightness error model of the scraper conveyor along the walking direction of the coal mining machine, and the model obtains the space straightness error density rho of the transverse propulsion of the scraper conveyor s ，
And (2) a space direction error model of the scraper conveyor along the whole propelling direction of the fully mechanized mining face, wherein the space direction error model obtains the straightness of the longitudinal propelling space of the scraper conveyorError density ρ d ；
Step three, establishing a hydraulic support group space straightness evaluation model facing each discrete coal seam section, comprising the following steps of:
(1) Establishing a hydraulic support group track geometric model and (2) establishing a hydraulic support group discrete space pose error model;
wherein, hydraulic support crowd discrete space position appearance error model includes:
(1) a hydraulic support group space straightness error model along the traveling direction of the coal mining machine, and the model obtains error density rho representing the transverse propulsion space straightness of the hydraulic support group s H ，
And (2) a space direction error model of the hydraulic support group along the whole propelling direction of the fully mechanized mining face, wherein the space direction error model is used for obtaining error density rho representing the longitudinal propelling space straightness of the hydraulic support group d (H) ；
Establishing a comprehensive mining working face space straightness evaluation model facing each discrete coal seam section;
on the basis of the construction of a scraper conveyor space straightness evaluation model and a hydraulic support group space straightness evaluation model, the whole space straightness of the fully mechanized coal mining face is defined in combination with the motion characteristic of a floating connecting mechanism; when the hydraulic support group, the propulsion space linearity error density of the scraper conveyer and the pushing pose consistency index rho of the floating connecting mechanism of the scraper conveyer and the hydraulic support group F When the formula (23) is met, the fully mechanized mining face meets the requirement of space straightness during mining;
analyzing the space straightness of the fully mechanized coal mining face facing the whole coal seam;
splicing and analyzing the hydraulic support group corresponding to each discrete coal seam, the propulsion space linearity error density of the scraper conveyor and the pushing pose consistency index of the floating connecting mechanism of the scraper conveyor and the hydraulic support group to finally obtain the floating connecting mechanism facing the whole coal seam
The space straightness requirement of the fully mechanized coal mining face is as the following formula (27):
wherein, the first and the second end of the pipe are connected with each other,
showing discrete coal intervals at the junction of the coal bed peak and bottom,
the discrete coal intervals without considering the junction of the coal bed peak and the bottom are shown, and s is the coal interval.
2. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 1, wherein:
in the first step, processing is carried out through interpolation and prediction according to detection data to obtain a coal seam track curve F (x, y, z) =0 under an appointed coordinate system o-xyz; the method for dividing the coal seam section comprises the following steps: dividing along the x-axis direction by taking the peak-bottom point of the coal seam curve as a dividing point, analyzing the partial derivative of the coal seam trajectory curve, solving the partial derivative in the x direction, and further analyzing the posture of the scraper conveyor on the divided coal seam section; the coal bed segmentation principle is shown as the formula:
and sigma represents a curved surface of the coal bed, x represents a serial number of the coal bed point collected along the coal bed trend, y represents the overall pushing amount of the fully mechanized coal mining face along the coal bed inclination direction, and z represents the height of the coal bed under a specified coordinate system o-xyz.
3. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 2, wherein:
in the second step, the method for establishing the geometric model of the scraper conveyor track comprises the following steps:
an absolute reference coordinate system (O (x, y, z)) is established at the junction of the roadway and the fully mechanized coal mining face, and a local reference coordinate system family is established on each section of middle groove
The coordinate system of the propelling process of the scraper conveyor is
Three-level system, { O } is an absolute coordinate system,
the system is a whole propulsion coordinate system,
a local reference coordinate system, k is the pushing times, and i is the serial number of the middle tank; along the middle groove A of the scraper conveyor i The pose changes along the advancing direction and the cutting direction of the coal mining machine are respectively used as vectors
And
indicating that the attitude angle of the middle slot with respect to the global propulsion coordinate system is (α) j ,β j ,γ j ) Middle groove A of scraper conveyer j Relative to the global propulsion coordinate system
Is denoted as Γ t The formula is as follows:
r for coordinate trajectory of each middle slot relative to the overall propulsion coordinate system i Representing, local reference coordinate system
Relative to the global propulsion coordinate system
Has the coordinates of
[R 0j ]For a local reference coordinate system
Relative to the global propulsion coordinate system
The angle transformation matrix of (a);
in the local reference coordinate system, a straight line passing through an arbitrary point parallel to the axis of the central groove in the lateral advancing direction has a dihedral angle (α) in the direction of the straight line j ',β j ') for the unit vector p of the straight line in the local reference coordinate system j Representing;
p j ＝[sinα j 'cosβ j ',sinα j 'sinβ j ',cosα j ']T,(j＝1…n) (4)
in summary, the discrete locus of each central slot in the overall propulsion coordinate system forms a circle of r t As discrete directrices, p i Is a discrete surface sigma of a busbar St ；
Where n is the number of discrete units of the scraper conveyor, i.e. the number of middle grooves, and j is the j-th section of middle groove.
4. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 3, wherein:
in the second step, the method for establishing the space straightness error model of the scraper conveyor along the walking direction of the coal mining machine comprises the following steps:
in the overall propulsion coordinate system, the difference between the discrete curve segment set and the corresponding fitting ideal straight line is a spatial linearity error which is used as an evaluation index for measuring the spatial linearity of the scraper conveyor;
wherein R is l 0 For gathering discrete points of a scraper conveyor in a coordinate system
Fitting the corresponding point on the ideal straight line, p 2 The pose information of the points on the middle grooves on the local reference coordinate system, x is a parameterized model of each middle groove on the local reference coordinate system,
for spatial straightness error, R j As points on discrete paths in an absolute coordinate system, R 0 In an absolute coordinate system
Of (2)；
Defining a rotating body taking a discrete surface of the scraper conveyor as a symmetrical surface as a standard discrete body; taking a fitted ideal straight line as an axis, and taking a rotator with each middle groove discrete alignment line as a bus as an error discrete body; defining transverse propelling space linearity error density rho of scraper conveyor s The mass-to-volume ratio of the error discrete body to the standard discrete body is specifically defined as shown in formula (8):
transverse propulsion space straightness error density rho of scraper conveyor s Reflecting the average spatial straightness error, rho, of the scraper conveyor s The smaller the value, the better the spatial straightness of the representative flight conveyor.
5. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 4, wherein:
in the second step, the method for establishing the model of the error of the scraper conveyor in the space direction along the integral propelling direction of the fully mechanized coal mining face comprises the following steps:
described by a spherical curve, will
Unit vector of arbitrary straight line represented
Conversion to a global propulsion coordinate system
And then the vector end point tracks are all positioned on the same spherical surface,
in a fixed coordinate system, the following is represented:
in the process of propelling the scraper conveyor, a direction exists to enable the radius of the enveloping sphere to be minimum, the direction is defined as the minimum error direction in longitudinal propelling, the influence of the fluctuation of the cutting bottom plate on the space straightness of the scraper conveyor in the coal seam inclination direction is minimum, and a direction error model delta S of the whole scraper conveyor in the propelling direction of the fully mechanized mining face is obtained according to the direction d As follows:
where x is relative to an absolute reference coordinate system { o; x; y; z } the minimum dihedral angle parameter,
for the dihedral angle (delta) corresponding to the middle groove of each segment 1 (j) ,δ 2 (j) ) Vector under parameter, Δ S d The minimum direction error model is delta S for the direction error model of the whole scraper conveyor in the fully mechanized mining face advancing direction d (x)；
Establishing a directional error model deltaS for a discrete point set d Then, determining the straightness error density rho of the longitudinal propulsion space of the scraper conveyor d ，ρ d Defined as the ratio of the mass of the spherical direction error to the area of the sphere, as shown in equation (11),
space straightness error density rho of longitudinal propulsion of scraper conveyor d Reflects the influence degree of the fluctuation of the coal bed bottom plate on the pitch attitude of the scraper conveyor, rho d The smaller the value, the less the effect of the floor relief representing the coal seam on the spatial straightness of the scraper conveyor.
6. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 5, wherein: in the third step, the method for establishing the track geometric model of the hydraulic support group comprises the following steps:
an absolute reference coordinate system { o; x; y; z, establishing a local reference coordinate system group { o } at the gravity center position of each hydraulic support when the hydraulic support is completely supported iH ；x iH ；y iH ；z iH }；
The coordinate system of the propelling process of the hydraulic support group is { { O (x, y, z) }, { O iH ；x iH ；y iH ；z iH },
Three-level system, { O } is an absolute coordinate system,
is an integral propulsion coordinate system of the hydraulic support group,
is a local reference coordinate system; the pose changes along the advancing direction of a single hydraulic support and the cutting direction of the coal mining machine are respectively used as vectors
And
showing, single hydraulic support H j The attitude angle relative to the overall propulsion coordinate system is (alpha) j H ,β j H ,γ j H ) Then a single hydraulic support H j Relative to the global propulsion coordinate system
Is denoted as Γ t (H) The formula is as follows:
for coordinate trajectory of each hydraulic support relative to the global propulsion coordinate system
Indicating, local reference coordinate system
Relative to the global propulsion coordinate system
Has the coordinates of
[R 0j H ]For a local reference coordinate system
Relative to the global propulsion coordinate system
The angle transformation matrix of (1);
in the local reference coordinate system, the attitude of each hydraulic support needs to be described, and the dihedral angle in the straight line direction passing through any point parallel to the center line of the base of the hydraulic support in the transverse propelling direction is (alpha) j ' (H) ,β j ' (H) ) Unit vector of the straight line in local reference coordinate system is represented by p i It is shown that,
p j (H) ＝[sinα j ' (H) cosβ j ' (H) ,sinα j ' (H) sinβ j ' (H) ,cosα j ' (H) ] T ,(j＝1…n) (14)
in conclusion, discrete tracks of the hydraulic supports in the integral propulsion coordinate system form a reverse curve t H As discrete directrices, p j (H) The discrete surface S being a busbar t H ，
Wherein n is the number of discrete units of the hydraulic support, namely the number of the middle grooves, and j is the jth hydraulic support.
7. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 6, wherein:
in the third step, the method for establishing the space straightness error model of the hydraulic support group along the walking direction of the coal mining machine comprises the following steps:
in the overall propulsion coordinate system, the difference between the discrete curve segment set and the corresponding fitting ideal straight line is a space straightness error, and can be used as an evaluation index for measuring the space straightness of the hydraulic support group;
wherein R is l 0(H) For the discrete point set of the hydraulic support in the coordinate system
Fitting the corresponding point on the ideal straight line, p 2 H Is a point on the middle grooveThe pose information of the local reference coordinate system, x is a parameterized model of each middle groove on the local reference coordinate system,
for spatial straightness error, R H j As points on discrete tracks in an absolute coordinate system, R 0 (H) In an absolute coordinate system
The coordinates of (a);
defining a rotating body which takes a discrete surface at the gravity center position of the single-machine hydraulic support as a symmetrical surface as a standard discrete body of the hydraulic support; taking an ideal fitting straight line as an axis, and a rotator with a discrete alignment line of each hydraulic support as a bus as an error discrete body of the hydraulic support; defining the linearity error density rho of the transverse propulsion space of the hydraulic support group s H The mass-to-volume ratio of the error discrete body of the hydraulic bracket to the standard discrete body of the hydraulic bracket is specifically defined as shown in formula (18):
hydraulic support group transverse propulsion space straightness error density rho s H The average space straightness error of the hydraulic support group is reflected, and the integral space straightness characteristic of the hydraulic support group is also reflected; ρ is a unit of a gradient s H The smaller the value, the better the spatial straightness of the hydraulic mount group.
8. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 7, wherein:
in the third step, the method for establishing the space direction error model of the hydraulic support group along the overall propelling direction of the fully mechanized coal mining face comprises the following steps:
described by using a spherical curve, will
Unit vector of arbitrary straight line represented
Conversion to a global propulsion coordinate system
Then, the vector end point tracks are all positioned on the same spherical surface,
in a fixed coordinate system, the following is represented:
in the process of propelling the hydraulic support group, a direction exists to enable the radius of the spherical curve to be minimum, the direction is defined as the minimum error direction when the hydraulic support group is propelled longitudinally, the space straightness of the hydraulic support group is minimally influenced by the fluctuation of the cutting bottom plate in the coal seam inclination direction, and a direction error model delta S of the whole hydraulic support group in the propelling direction of the fully mechanized mining face is obtained according to the direction d (H) As follows:
where x is relative to an absolute reference coordinate system { o; x; y; z } the minimum dihedral angle parameter,
is dihedral angle (delta) 1 (j)H ,δ 2 (j)H ) Vector under parameter, Δ S d (H) The minimum direction error model is delta S for the direction error model of the whole hydraulic support group in the fully mechanized mining face advancing direction d (H) (x)；
Establishing a directional error model Delta S for a hydraulic support d (H) Then, determining the straightness error density rho of the longitudinal propulsion space of the hydraulic support group d (H) ，ρ d (H) Defined as the ratio of the mass of the spherical orientation error to the area of the sphere, as shown in equation (21),
hydraulic support group longitudinal propulsion space straightness error density rho d (H) Reflects the influence degree of the fluctuation of the coal bed bottom plate on the pitching attitude of the hydraulic support group, rho d (H) The smaller the value, the less the influence of the fluctuation of the coal seam floor on the space straightness of the hydraulic support group.
9. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 8, wherein:
in the fourth step, the movement of the floating connecting mechanism comprises the extension of a piston rod, the yawing movement and pitching movement of a pushing rod and the yawing movement of a connector, on the basis of ensuring the space straightness of the hydraulic support and the scraper conveyor, the whole space straightness condition of the hydraulic support group and the scraper conveyor can be obtained according to the movement characteristic of the floating connecting mechanism, and the whole movement characteristic M of the floating connecting mechanism<d i ,θ 2 ,θ 3 ,θ 4 >Evaluation of wherein d i Shows the displacement amount of the piston rod in the floating connection mechanism, theta 2 Shows the pitch angle theta of the push rod 3 Indicating the yaw angle of the pusher shoe, and theta 4 Represents the yaw angle of the connector, as shown in equation (22),
ρ F indicating scraper conveyer and hydraulic support groupThe consistency index of the shifting pose of the floating connecting mechanism is between 0 and 1, and reflects the similarity of the hydraulic support group track and the scraper conveyor track on the space straightness, rho F The larger the value is, the more consistent the spatial linearity between the hydraulic support group and the scraper conveyor is, and the higher the satisfaction degree of the overall spatial linearity between the hydraulic support group and the scraper conveyor is.
10. The method for evaluating the space straightness of the fully mechanized coal mining face under the complex coal seam condition according to claim 9, wherein:
in the fifth step, on the basis that the space straightness of the fully mechanized coal mining face corresponding to each discrete coal seam body is satisfied, m sections of middle grooves and corresponding hydraulic supports are respectively selected from the peak bottom point of the coal seam to two sides, and the whole space straightness of the fully mechanized coal mining face is analyzed, wherein the peak bottom point satisfies a formula (24):
respectively selecting m sections of middle grooves and corresponding hydraulic supports from the coal seam peak bottom point to two sides, and respectively obtaining the transverse propulsion space straightness error density rho of the scraper conveyor at the splicing position of two discrete coal seam sections at the coal seam peak bottom point by using formulas (8), (11), (18), (21) and (22) s Transverse propulsion space linearity error density rho of hydraulic support group s H Longitudinal propulsion space linearity error density rho of scraper conveyor d Longitudinal propulsion space straightness error density rho of hydraulic support group d (H) Push pose consistency index rho of floating connection mechanism of scraper conveyor and hydraulic support group F And the pushing pose consistency index rho of the floating connecting mechanism of the scraper conveyor and the hydraulic support group F As in equation (25),
the value m is determined according to the number a of equipment paved on discrete coal seam sections and the number b of middle grooves involved when the coal cutter cuts triangular coal, and m = max (a, b);
judging the spatial straightness accuracy of the fully mechanized coal mining face at the peak bottom point according to the calculation result,
if the coal seam after the coal seam peak bottom splicing in the mining process
The key parameter value of the straightness of the tracks of the scraper conveyor and the hydraulic support group meets the formula (26), and then the fully mechanized coal mining face meets the requirement of space straightness.
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