CN116792157A - Intelligent monitoring-based self-adaptive control method and application of fully-mechanized coal mining equipment - Google Patents
Intelligent monitoring-based self-adaptive control method and application of fully-mechanized coal mining equipment Download PDFInfo
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- CN116792157A CN116792157A CN202310853792.6A CN202310853792A CN116792157A CN 116792157 A CN116792157 A CN 116792157A CN 202310853792 A CN202310853792 A CN 202310853792A CN 116792157 A CN116792157 A CN 116792157A
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- 238000005065 mining Methods 0.000 title claims abstract description 159
- 239000003245 coal Substances 0.000 title claims abstract description 140
- 238000012544 monitoring process Methods 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 61
- 230000008859 change Effects 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000008569 process Effects 0.000 claims abstract description 23
- 238000011217 control strategy Methods 0.000 claims abstract description 17
- 230000003044 adaptive effect Effects 0.000 claims abstract description 12
- 238000010223 real-time analysis Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 31
- 238000004891 communication Methods 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 24
- 238000004458 analytical method Methods 0.000 claims description 13
- 238000012806 monitoring device Methods 0.000 claims description 13
- 238000009412 basement excavation Methods 0.000 claims description 7
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000010295 mobile communication Methods 0.000 claims description 4
- 239000013307 optical fiber Substances 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 7
- 238000012546 transfer Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000007499 fusion processing Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000010687 lubricating oil Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application provides a self-adaptive control method and application of fully-mechanized coal mining equipment based on intelligent monitoring, and relates to the technical field of fully-mechanized coal mining. According to the application, the monitoring manipulator controls the position of the data information acquisition equipment through the acquisition manipulator, the sensor and the camera monitor the mining data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time, the data information is transmitted to the monitoring center for real-time analysis and processing, the monitoring center generates an adaptive control strategy for the fully-mechanized coal mining equipment, and the control instruction is transmitted to the fully-mechanized coal mining equipment, so that the adaptive control of the fully-mechanized coal mining equipment is realized, the problems of errors and potential safety hazards in the manual control coal mining process can be reduced, and the safety in the fully-mechanized coal mining process is improved.
Description
Technical Field
The application relates to the technical field of fully-mechanized coal mining, in particular to a self-adaptive control method and application of fully-mechanized coal mining equipment based on intelligent monitoring.
Background
Comprehensive coal mining refers to a method for comprehensively mining coal in a coal mine, and is also called comprehensive coal mining, comprehensive top coal caving, comprehensive working face caving and the like, coal resources of the coal mine are mined from underground layer by layer, and simultaneously control and support of a coal seam roof are carried out, so that high-efficiency and continuous coal mining is realized; in the traditional coal mining method, coal mining and supporting are carried out separately, namely, coal mining is carried out firstly and then supporting is carried out, the method is low in efficiency and has a large safety risk, the coal mining and supporting are organically combined together in the comprehensive coal mining method, and continuous coal mining and control supporting of a coal seam roof are realized through comprehensive construction mechanical equipment and process flows;
the fully-mechanized coal mining robot (manipulator) is a fully-mechanized coal mining device commonly used in the fully-mechanized coal mining process, the fully-mechanized coal mining robot (manipulator) can greatly improve the fully-mechanized coal mining efficiency of the coal mine, in the prior art, the operation of the fully-mechanized coal mining device of the coal mine needs to be manually controlled, namely the fully-mechanized coal mining device of the coal mine is manually controlled according to the excavation condition and the change condition of the surrounding environment, the control mode needs to manually judge the condition of an operation area according to experience, and errors exist in manual judgment, so that errors and potential safety hazards exist in the manual control coal mining process.
For example: chinese application patent: CN201510996174.2, disclosed is a remote control virtual training system for fully mechanized coal mining face, the specification of which discloses: because the operators need to observe more parameters in the remote control, the difficulty of implementing manual intervention decision by means of videos, equipment state parameters and the like is high, a certain potential safety hazard exists in the existing remote control system. The above patent can be used to demonstrate the drawbacks of the prior art.
Therefore, the self-adaptive control method and the application of the fully-mechanized coal mining equipment based on intelligent monitoring are provided for improvement.
Disclosure of Invention
The application aims at: the method aims at the problems that the operation of the existing fully-mechanized coal mining equipment of the coal mine needs to be controlled manually, and errors exist in manual judgment, so that errors and potential safety hazards exist in the manual control coal mining process.
In order to achieve the aim of the application, the application provides an adaptive control method and application of coal mine fully-mechanized coal mining equipment based on intelligent monitoring so as to solve the problems.
The application is specifically as follows:
an intelligent monitoring-based self-adaptive control method for fully-mechanized coal mining equipment comprises the following steps:
the monitoring manipulator is used for installing the data information acquisition equipment and realizing the movement of the data information acquisition equipment;
the data information acquisition equipment is arranged on the monitoring manipulator and comprises a sensor and a camera, and is used for monitoring the mining data of the fully-mechanized coal mining robot and the change information of the surrounding environment in real time;
the network communication module is used for transmitting the mining data of the fully mechanized coal mining robot and the change information of the surrounding environment to the monitoring center;
the monitoring control center is used for receiving, analyzing and processing the data information acquired by the data information acquisition equipment, analyzing and processing the data information, and controlling the fully-mechanized coal mining robot according to the analysis result;
the method also comprises the following steps:
the monitoring manipulator controls the position of the data information acquisition equipment through the acquisition manipulator, the sensor and the camera monitor the excavation data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time, the data information is transmitted to the monitoring center for real-time analysis and processing, the monitoring center generates a self-adaptive control strategy for the fully-mechanized coal mining equipment, and the control instruction is transmitted to the fully-mechanized coal mining equipment, so that the self-adaptive control of the fully-mechanized coal mining equipment is realized.
As the preferable technical scheme of the application, the sensor of the data information acquisition equipment monitors the temperature, humidity and gas concentration data of the working environment of the fully mechanized coal mining equipment in real time;
the camera of the data information acquisition device is used for capturing images and mining data of ores in real time and is used for monitoring characteristics and mining data of the ores analyzed by the control center.
As the preferable technical scheme of the application, the application further comprises a sensor data preprocessing module, wherein the sensor data preprocessing module is used for carrying out filtering, calibration and fusion processing on the data acquired by the sensor, so that the accuracy and the reliability of the data are improved.
The application also comprises a real-time image processing module, wherein the real-time image processing module is used for carrying out real-time processing and analysis on the ore image captured by the camera, extracting key characteristics and mining data and providing visual guidance and optimization strategies for the mining process.
As a preferred technical solution of the present application, the network communication module is a wireless communication module, a mobile communication module, an ethernet module, a lowwan module, an NB-IoT module, a satellite communication module or an optical fiber communication module.
As a preferred technical solution of the present application, a monitoring control center includes:
the analysis module is used for analyzing mining data of the fully mechanized mining equipment and surrounding environment change information acquired by the sensor and the camera in real time and extracting key features;
the decision module is used for generating a self-adaptive control strategy based on the key characteristics provided by the analysis module;
the control instruction generation module is used for transmitting corresponding control instructions to the fully-mechanized coal mining equipment according to the self-adaptive control strategy generated by the decision module;
and the feedback loop is used for receiving the state feedback information from the fully-mechanized coal mining equipment and adjusting and optimizing the control strategy in real time according to the feedback information.
The application of the self-adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring is applied to the detection of the self-adaptive control of the fully-mechanized coal mining equipment, and the self-adaptive control method comprises a monitoring device, wherein the monitoring device comprises a plurality of driving mechanisms, and a plurality of connecting seats are connected between the driving mechanisms;
the driving mechanism comprises a first supporting seat, two sides of the first supporting seat are respectively provided with an adjustable supporting part, and a limiting part is arranged between the adjustable supporting parts and the first supporting seat.
As a preferable technical scheme of the application, the adjustable supporting part comprises two first supporting shafts which are respectively arranged on two sides of a first supporting seat in a rotating way through bearings, turntables are fixedly sleeved on the outer surfaces of the first supporting shafts, two second rotating shafts are respectively arranged on one sides of the two turntables, which are far away from each other, through bearings, connecting rods are fixedly connected to one ends of the second rotating shafts, which are far away from the turntables, connecting plates are fixedly connected to the end parts of the connecting rods, a third supporting shaft is fixedly arranged on the two connecting plates, a second supporting seat is rotatably connected between one ends, which are close to each other, of the two supporting shafts through bearings, a motor is arranged in the second supporting seat, a transmission shaft is connected to an output shaft of the motor, and one end of the transmission shaft extends out of the second supporting seat and is fixedly connected with a transmission wheel;
a transmission crawler belt is rotationally connected between the outer surfaces of the driving wheels in the plurality of adjustable supporting parts, and a plurality of connecting seats are respectively and fixedly connected between the first supporting seats in the plurality of adjustable supporting parts;
a limiting rod is fixedly connected to one side, close to the driving wheel, of the first supporting seat, two first supporting plates are fixedly arranged on the inner side of the second supporting seat, a fourth supporting shaft is fixedly arranged between the first supporting plates and the inner side of the second supporting seat, an adapter rod positioned between the first two supporting plates is sleeved on the outer surface of the fourth supporting shaft, and a first hydraulic cylinder is hinged between the adapter rod and the limiting rod;
a second sliding groove is formed in one side, close to each other, of each first supporting plate, a stop lever is connected between the second sliding grooves in a sliding manner, a containing cavity is formed in each stop lever, flowing media are stored in the containing cavity, and one side of each containing cavity is obliquely arranged;
an arc-shaped groove is formed between every two connecting plates, positioning rods are connected in the two arc-shaped grooves in a sliding mode, and one ends, close to each other, of the two positioning rods are fixedly connected with the second supporting seat.
As the preferable technical scheme of the application, the limiting part comprises two sliding grooves III which are respectively arranged on two sides of the supporting seat I, the inside of each sliding groove III is connected with a baffle disc in a sliding way, a driving cylinder is connected between each baffle disc and the inside of the supporting seat I, one sides of the two turntables, which are far away from each other, are respectively provided with a positioning groove, positioning columns are respectively connected in the two positioning grooves in a sliding way, and one ends of the two positioning columns, which are far away from each other, are respectively fixedly connected with the two baffle discs;
two spout one with arc groove intercommunication has all been seted up on the connecting plate, every equal sliding connection has the limiting plate in the spout one, the one end and the locating lever contact of limiting plate, the other end fixedly connected with gag lever post of limiting plate, one end that the limiting plate was kept away from to the gag lever post passes one of them connecting rod and contacts with the fender dish.
As the preferable technical scheme of the application, two sides of each connecting seat are fixedly provided with a second hydraulic cylinder, the bottom end of the second hydraulic cylinder is connected with a base plate, and two sides of each connecting seat are fixedly provided with the second hydraulic cylinder;
the monitoring mechanism comprises a notch formed in the middle of the connecting seat and a second supporting plate hinged to the top of the connecting seat, a third hydraulic cylinder is hinged between the notch and the second supporting plate, a motor is also installed in the second supporting plate, an output shaft of the motor extends out of the second supporting plate and is connected with the third supporting plate, a monitoring camera is arranged on one side, close to the notch, of the third supporting plate, and a light supplementing lamp and a monitoring sensor are installed on the monitoring camera.
Compared with the prior art, the application has the beneficial effects that:
in the scheme of the application:
1. in order to solve the problems that in the prior art, the operation of the fully-mechanized coal mining equipment needs to be controlled manually and errors exist in manual judgment, so that errors and potential safety hazards exist in the manual control coal mining process, the monitoring manipulator is used for controlling the position of the data information acquisition equipment through the acquisition manipulator, the sensor and the camera are used for monitoring the mining data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time and transmitting the data information to the monitoring center for real-time analysis and processing, the monitoring center generates an adaptive control strategy aiming at the fully-mechanized coal mining equipment and transmits control instructions to the fully-mechanized coal mining equipment, so that the adaptive control of the fully-mechanized coal mining equipment is realized, the problems of errors and potential safety hazards in the manual control coal mining process can be reduced, and the safety in the fully-mechanized coal mining process is improved;
2. through the monitoring device, the driving mechanism in the monitoring device and the connecting seat are matched to drive the monitoring mechanism to move, and the monitoring mechanism can automatically monitor the excavation data of the operation area and the change information of the surrounding environment, so that the safety in the monitoring process can be improved, the monitoring device can also change the structural form, a conveying structure is formed, objects can be temporarily conveyed for emergency use, and the functionality of the monitoring device is improved;
3. through the monitoring device, when monitoring is carried out, the height of the monitoring mechanism can be adjusted through the arrangement of the adjustable supporting part, the monitoring range is improved, and when an object is conveyed, the adjustable supporting part is rotated upwards to be erected, so that the transmission crawler belt is driven to move, the position of the transmission crawler belt is adjusted, and the transmission crawler belt can convey the object;
4. the monitoring mechanism is arranged, so that the monitoring mechanism can monitor the tunneling data and the surrounding environment change information, and the monitoring mechanism can clean the transmission crawler when conveying objects, namely, the monitoring mechanism has different functions in different states, so that the functionality of the application is improved;
5. in the monitoring process, the turntable can be fixed by inserting the positioning column into the positioning groove, so that the turntable cannot rotate, at the moment, the first hydraulic cylinder can realize the adjustment of the first height of the supporting seat when being telescopic, and after the positioning groove is separated from the positioning column, the hydraulic cylinder can drive the turntable to rotate when being telescopic again, so that the switching of the forms is realized, and when the positioning column is inserted into the positioning groove, the baffle plate can limit the limiting plate through the limiting rod, so that the limiting plate can limit the positioning rod, the second supporting seat is prevented from rotating, and after the positioning groove is separated from the positioning column, the baffle plate releases the limitation of the limiting rod, at the moment, the second supporting seat can rotate around the third supporting shaft, so that the change of the forms is realized, and different use requirements are met;
6. the setting of pin can carry out spacingly to the transfer pole at monitoring in-process, can avoid the transfer pole rotatory, and when the connecting rod upwards rotates to the time of erectting, spout two levels, and the flow of flowing medium makes the weight of pin one side be greater than the weight of opposite side, and the pin slides along spout two this moment to remove the spacing to the transfer pole, the support seat is rotated to support seat a middle part this moment, thereby realizes the switching of the position of transmission track, thereby can carry out the transport of object.
Drawings
FIG. 1 is a schematic diagram of a monitoring device according to the present application;
fig. 2 is a schematic structural view of a driving wheel provided by the application;
FIG. 3 is a schematic view of an adjustable support according to the present application;
fig. 4 is a schematic structural diagram of a first hydraulic cylinder according to the present application;
FIG. 5 is a schematic view of a first support plate according to the present application;
FIG. 6 is a schematic view of a partially cut-away structure of a first support seat according to the present application;
FIG. 7 is a schematic diagram of a positioning slot according to the present application;
FIG. 8 is a schematic view of the structure of a stop lever provided by the present application;
FIG. 9 is a schematic cross-sectional view of a stop lever provided by the present application;
FIG. 10 is a schematic view of the monitoring device according to the present application;
FIG. 11 is a schematic view of the structure of the driving wheel in FIG. 10 according to the present application;
fig. 12 is a schematic diagram of an adaptive control method of coal mine fully-mechanized coal mining equipment based on intelligent monitoring.
The figures indicate:
1. a driving mechanism; 101. a first supporting seat; 102. a first supporting shaft; 103. a turntable; 104. a second rotating shaft; 105. a connecting rod; 106. a connecting plate; 107. a third supporting shaft; 108. a second supporting seat; 109. a transmission shaft; 110. a driving wheel; 111. an arc-shaped groove; 112. a positioning rod; 113. a first chute; 114. a limiting plate; 115. a limit rod; 116. a first supporting plate; 117. a support shaft IV; 118. a transfer rod; 119. a first hydraulic cylinder; 120. a second chute; 121. a stop lever; 122. a cavity; 123. a flowing medium; 124. a chute III; 125. a driving cylinder; 126. a baffle disc; 127. a positioning groove; 128. positioning columns; 2. a drive track; 3. a connecting seat; 4. a second hydraulic cylinder; 5. a backing plate; 6. a monitoring mechanism; 601. a notch; 602. a second supporting plate; 603. a hydraulic cylinder III; 604. monitoring a camera; 605. monitoring a sensor; 606. and a support plate III.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
As described in the background art, the fully-mechanized coal mining robot (manipulator) is a fully-mechanized coal mining device commonly used in the fully-mechanized coal mining process, the fully-mechanized coal mining robot (manipulator) can greatly improve the fully-mechanized coal mining efficiency of the coal mine, in the prior art, the operation of the fully-mechanized coal mining device needs to be manually controlled, namely, the fully-mechanized coal mining device is manually controlled according to the excavation condition and the change condition of the surrounding environment, the control mode needs to manually judge the condition of an operation area according to experience, and errors exist in manual judgment, so that errors and potential safety hazards exist in the manual control coal mining process.
In order to solve the technical problem, the application provides an intelligent monitoring-based self-adaptive control method and application of fully-mechanized coal mining equipment, which are applied to realizing self-adaptive control of the fully-mechanized coal mining equipment and improving safety in the fully-mechanized coal mining process.
Specifically, referring to fig. 1-3, the adaptive control method for the fully mechanized coal mining equipment based on intelligent monitoring specifically comprises the following steps:
the monitoring manipulator is used for installing the data information acquisition equipment and realizing the movement of the data information acquisition equipment;
the data information acquisition equipment is arranged on the monitoring manipulator and comprises a sensor and a camera, and is used for monitoring the mining data of the fully-mechanized coal mining robot and the change information of the surrounding environment in real time;
the network communication module is used for transmitting the mining data of the fully mechanized coal mining robot and the change information of the surrounding environment to the monitoring center;
the monitoring control center is used for receiving, analyzing and processing the data information acquired by the data information acquisition equipment, analyzing and processing the data information, and controlling the fully-mechanized coal mining robot according to the analysis result;
the method also comprises the following steps:
the monitoring manipulator controls the position of the data information acquisition equipment through the acquisition manipulator, the sensor and the camera monitor the excavation data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time, the data information is transmitted to the monitoring center for real-time analysis and processing, the monitoring center generates a self-adaptive control strategy for the fully-mechanized coal mining equipment, and the control instruction is transmitted to the fully-mechanized coal mining equipment, so that the self-adaptive control of the fully-mechanized coal mining equipment is realized.
According to the self-adaptive control method for the fully-mechanized coal mining equipment based on intelligent monitoring, the position of the data information acquisition equipment is controlled by the monitoring manipulator, the sensor and the camera monitor the mining data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time and transmit the data information to the monitoring center for real-time analysis and processing, the monitoring center generates a self-adaptive control strategy for the fully-mechanized coal mining equipment and transmits control instructions to the fully-mechanized coal mining equipment, so that the self-adaptive control of the fully-mechanized coal mining equipment is realized, the problems of errors and potential safety hazards in the manual control coal mining process can be reduced, and the safety in the fully-mechanized coal mining process is improved.
In order to make the person skilled in the art better understand the solution of the present application, the technical solution of the embodiment of the present application will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that, under the condition of no conflict, the embodiments of the present application and the features and technical solutions in the embodiments may be combined with each other.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Example 1
Referring to fig. 12, the method for adaptively controlling fully-mechanized coal mining equipment based on intelligent monitoring comprises the following steps:
the monitoring manipulator is used for installing the data information acquisition equipment, realizing the movement of the data information acquisition equipment, and adjusting the position of the data information acquisition equipment through the monitoring manipulator so as to facilitate the acquisition of the data information;
the data information acquisition equipment is arranged on the monitoring manipulator and comprises a sensor and a camera, and is used for monitoring the mining data of the fully-mechanized coal mining robot and the change information of the surrounding environment in real time;
the network communication module is used for transmitting the mining data of the fully mechanized coal mining robot and the change information of the surrounding environment to the monitoring center so as to realize data transmission;
the monitoring control center is used for receiving, analyzing and processing the data information acquired by the data information acquisition equipment and analyzing and processing the data information, and controlling the fully-mechanized coal mining robot according to the analysis result, namely, the potential safety hazard existing in the process of manually controlling the fully-mechanized coal mining robot can be reduced;
the method also comprises the following steps:
the monitoring manipulator controls the position of the data information acquisition equipment through the acquisition manipulator, the sensor and the camera monitor the mining data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time, the data information is transmitted to the monitoring center for real-time analysis and processing, the monitoring center generates a self-adaptive control strategy for the fully-mechanized coal mining equipment, and the control instruction is transmitted to the fully-mechanized coal mining equipment, so that the self-adaptive control of the fully-mechanized coal mining equipment is realized, the problems of errors and potential safety hazards in the manual control coal mining process can be reduced, and the safety in the fully-mechanized coal mining process is improved.
Further, a sensor of the data information acquisition equipment monitors temperature, humidity and gas concentration data of the working environment of the fully mechanized coal mining equipment in real time;
the camera of the data information acquisition equipment is used for capturing images and mining data of ores in real time and is used for monitoring characteristics and mining data of ores analyzed by the control center, so that comprehensive mining equipment of the coal mine can be controlled conveniently.
Further, the sensor data preprocessing module is further included, and is used for conducting filtering, calibration and fusion processing on data acquired by the sensor, so that accuracy and reliability of the data are improved.
Further, the mining system also comprises a real-time image processing module, wherein the real-time image processing module is used for carrying out real-time processing and analysis on ore images captured by the camera, extracting key features and mining data, providing visual guidance and optimization strategies for the mining process, and improving the accuracy and safety of mining.
Further, the network communication module is:
a wireless communication module: such as Wi-Fi (IEEE 802.11 standard), bluetooth (Bluetooth), zigbee, etc., for wireless data transmission and communication in a short distance range;
and a mobile communication module: mobile communication technologies such as 4G LTE, 5G, etc. for high-speed data transmission and remote communication over a wide area;
an Ethernet module: the network interface module based on the Ethernet protocol is used for connecting to a local area network or the Internet in a wired mode to realize high-speed data transmission and remote control;
LoRaWAN module: a wireless communication technology based on a low-power-consumption wide area network (Low Power Wide Area Network, LPWAN), which is applicable to long-distance, low-power-consumption and low-rate Internet of things applications;
NB-IoT module: a narrowband internet of things (Narrowband Internet of Things, NB-IoT) communication module adapted for low power, wide coverage internet of things device connection;
satellite communication module: the satellite is used for remote communication and data transmission, and is suitable for remote areas or areas which cannot be covered, so that communication connection in the global range is realized;
and (3) an optical fiber communication module: a communication module for transmitting data using optical fibers provides high-speed, high-bandwidth data transmission and communication capabilities.
Example 2
The method for adaptively controlling the fully-mechanized coal mining equipment based on intelligent monitoring provided in embodiment 1 is further optimized, and specifically, the monitoring control center comprises:
the analysis module is used for analyzing mining data of the fully mechanized mining equipment and surrounding environment change information acquired by the sensor and the camera in real time and extracting key features;
the decision module is used for generating a self-adaptive control strategy based on the key characteristics provided by the analysis module;
the control instruction generation module is used for transmitting corresponding control instructions to the fully-mechanized coal mining equipment according to the self-adaptive control strategy generated by the decision module;
and the feedback loop is used for receiving the state feedback information from the fully-mechanized coal mining equipment and adjusting and optimizing the control strategy in real time according to the feedback information.
Example 3
Referring to fig. 1-11, an application of an adaptive control method of fully-mechanized coal mining equipment based on intelligent monitoring is applied to detection of adaptive control of fully-mechanized coal mining equipment, and the adaptive control method comprises a monitoring device, wherein the monitoring device comprises a plurality of driving mechanisms 1, a plurality of connecting seats 3 are connected between the driving mechanisms 1, and the connecting seats 3 are used for connecting the driving mechanisms 1 together;
the driving mechanism 1 comprises a first supporting seat 101, two sides of the first supporting seat 101 are respectively provided with an adjustable supporting part, a limiting part is arranged between the adjustable supporting parts and the first supporting seat 101, and the limiting part is used for limiting the adjustable supporting parts.
Further, as shown in fig. 1-7, the adjustable supporting portion includes two first supporting shafts 102 which are respectively rotatably arranged at two sides of the first supporting seat 101 through bearings, a turntable 103 is fixedly sleeved on the outer surfaces of the first supporting shafts 102, the first supporting shafts 102 are used for supporting the turntable 103, the turntable 103 can rotate around the first supporting shafts 102, two second rotating shafts 104 are respectively arranged at one sides of the second rotating shafts 103, which are far away from each other, through bearings, a connecting rod 105 is fixedly connected to one end of each second rotating shaft 104, which is far away from the turntable 103, a connecting plate 106 is fixedly connected to the end of each connecting rod 105, wherein a third supporting shaft 107 is fixedly arranged on each of the two connecting plates 106, a second supporting seat 108 is rotatably connected between one ends, which are close to each other, of the third supporting shafts 107, through bearings, a motor is arranged in the second supporting seat 108, an output shaft 109 of the motor is connected with the transmission shaft 109, one end of the transmission shaft 109 extends out of the second supporting seat 108 and is fixedly connected with a transmission wheel 110, and the motor can drive the transmission wheel 110 to rotate through the transmission shaft 109;
the outer surfaces of the driving wheels 110 in the adjustable supporting parts are rotationally connected with the driving crawler belt 2, the connecting seats 3 are respectively and fixedly connected between the supporting seats 101 in the adjustable supporting parts, the driving wheels 110 can be driven to integrally move through the driving crawler belt 2 when rotating in the state of fig. 1, and the driving wheels 110 can realize the conveying of objects through the driving crawler belt 2 when rotating in the state of fig. 10;
a limiting rod 115 is fixedly connected to one side, close to the driving wheel 110, of the first supporting seat 101, two first supporting plates 116 are fixedly arranged on the inner side of the second supporting seat 108, a fourth supporting shaft 117 is fixedly arranged between the two first supporting plates 116 and the inner side of the second supporting seat 108, an adapter rod 118 positioned between the two first supporting plates 116 is sleeved on the outer surface of the fourth supporting shaft 117, a first hydraulic cylinder 119 is hinged between the adapter rod 118 and the limiting rod 115, and the first hydraulic cylinder 119 can adjust the height of the first supporting seat 101 when the first hydraulic cylinder 119 stretches out and stretches back in the state of FIG 1;
the two support plates 116 are close to each other, the two slide grooves 120 are formed in one side, which is close to each other, of the two support plates 116, the stop lever 121 is connected between the two slide grooves 120 in a sliding manner, the accommodating cavity 122 is formed in the stop lever 121, the flowing medium 123 is accommodated in the accommodating cavity 122, one side of the accommodating cavity 122 is obliquely arranged, the flowing medium 123 can adopt liquid mercury which is the liquid with the largest density, when the connecting rod 105 rotates upwards to be erected, the slide grooves 120 are horizontal, the flowing medium 123 flows to enable the weight of one side of the stop lever 121 to be greater than that of the other side, at the moment, the stop lever 121 slides along the slide grooves 120, so that the limit of the transfer rod 118 is relieved, at the moment, the second support seat 108 rotates towards the middle of the first support seat 101, the position of the transmission crawler belt 2 is switched, accordingly, objects can be conveyed, lubricating oil is coated between the stop lever 121 and the slide grooves 120, the sliding of the stop lever 121 is smoother, and necessary, and the movement of the stop lever 121 can also be pushed by adopting structures such as manual pushing or electric pushing rods.
An arc-shaped groove 111 is formed between every two connecting plates 106, positioning rods 112 are slidably connected in the two arc-shaped grooves 111, one ends, close to each other, of the two positioning rods 112 are fixedly connected with the second supporting seat 108, the second supporting seat 108 can rotate along the third supporting shaft 107, and the positioning rods 112 slide in the arc-shaped grooves 111 when the second supporting seat 108 rotates.
Further, as shown in fig. 6-7, the limiting part comprises two sliding grooves three 124 respectively arranged on two sides of the first supporting seat 101, the two sliding grooves three 124 are internally and slidably connected with a baffle disc 126, a driving cylinder 125 is connected between the two baffle discs 126 and the inside of the first supporting seat 101, positioning grooves 127 are respectively arranged on one sides of the two rotating discs 103 far away from each other, positioning columns 128 are slidably connected in the two positioning grooves 127, one ends of the two positioning columns 128 far away from each other are respectively fixedly connected with the two baffle discs 126, the positioning columns 128 are inserted into the positioning grooves 127 to fix the rotating discs 103, so that the first supporting seat 101 can be adjusted in height when the first hydraulic cylinder 119 stretches out and draws back, the first hydraulic cylinder 119 can drive the rotating discs 103 to rotate after the positioning grooves 127 are separated from the positioning columns 128, when the first hydraulic cylinder 119 stretches out and draws back again, thereby switching of the forms is realized, and when the positioning columns 128 are inserted into the positioning grooves 127, the baffle disc 126 can limit the limiting plates 114 through limiting rods 115, so that the limiting rods 112 can be limited by the limiting plates 114, the second supporting seats 108 can be prevented from rotating, the second supporting seats 108, the positioning columns 127 can be separated from the second supporting seats and the third supporting seat 107 can not rotate, and the requirement of the two supporting seats can not be met, and the requirement of the limiting discs can be removed from the rotation;
the two connecting plates 106 are also provided with first sliding grooves 113 communicated with the arc grooves 111, each first sliding groove 113 is internally and slidably connected with a limiting plate 114, one end of each limiting plate 114 is in contact with the corresponding locating rod 112, the other end of each limiting plate 114 is fixedly connected with a limiting rod 115, one end, far away from each limiting plate 114, of each limiting rod 115 penetrates through one connecting rod 105 and is in contact with the corresponding baffle disc 126, the outer surface of each limiting rod 115 can be provided with a spring located in each first sliding groove 113, and when the limiting rods 115 are separated from the corresponding baffle disc 126, acting force of each spring can pull the corresponding limiting plate 114 to be separated from the corresponding locating rod 112.
Further, as shown in fig. 1, two sides of each connecting seat 3 are fixedly provided with a hydraulic cylinder two 4, the bottom end of each hydraulic cylinder two 4 is connected with a base plate 5, two sides of each connecting seat 3 are fixedly provided with a hydraulic cylinder two 4, a monitoring manipulator is a monitoring mechanism 6, a data information acquisition device consists of a monitoring camera 604 and a monitoring sensor 605, the sensor is a monitoring sensor 605, and the camera is a monitoring camera 604
The monitoring mechanism 6 comprises a notch 601 formed in the middle of the connecting seat 3 and a second supporting plate 602 hinged to the top of the connecting seat 3, a third hydraulic cylinder 603 is hinged between the notch 601 and the second supporting plate 602, a motor is also installed in the second supporting plate 602, an output shaft of the motor extends out of the second supporting plate 602 and is connected with a third supporting plate 606, one side, close to the notch 601, of the third supporting plate 606 is provided with a monitoring camera 604, a light supplementing lamp and a monitoring sensor 605 are installed on the monitoring camera 604, the third supporting plate 606 can be driven to rotate through the motor, and accordingly the orientation of the monitoring camera 604 and the monitoring sensor 605 can be adjusted, and detection and use are facilitated.
The self-adaptive control method and application process of the coal mine fully-mechanized mining equipment based on intelligent monitoring provided by the application are as follows:
referring to fig. 1, a motor drives a monitoring camera 604 to drive a support plate three 606 to rotate, the orientation of the monitoring camera 604 and a monitoring sensor 605 is regulated according to actual conditions, a hydraulic cylinder three 603 drives a support plate two 602 to rotate and adjusts the angle of the support plate two 602, a first hydraulic cylinder 119 pulls a second support seat 108 through a switching rod 118 to regulate the height of the first support seat 101 when being telescopic, after the adjustment, a motor in the second support seat 108 drives a driving wheel 110 to rotate through a driving shaft 109, the rotation of the driving wheel 110 drives a driving crawler 2 to rotate to realize integral movement, in the moving process, the monitoring camera 604 and the monitoring sensor 605 are used for monitoring the excavation data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time, the data information is transmitted to a monitoring center for real-time analysis and processing, the monitoring center generates a self-adaptive control strategy for the fully-mechanized coal mining equipment, and the control instruction is transmitted to the fully-mechanized coal mining equipment, and the self-adaptive control of the fully-mechanized coal mining equipment is realized;
when an object is conveyed, the second hydraulic cylinder 4 pushes the backing plate 5 to extend so as to separate the transmission track 2 from the ground, the motor in the second supporting plate 602 drives the third supporting plate 606 to rotate and reset, the third hydraulic cylinder 603 drives the second supporting plate 602 to move towards the third hydraulic cylinder 603, the driving cylinder 125 drives the baffle disc 126 to move so as to separate the baffle disc 126 from the limiting rod 115, the positioning column 128 is separated from the positioning groove 127, the first hydraulic cylinder 119 pushes the second supporting seat 108 so as to enable the turntable 103 to rotate around the first supporting shaft 102, the turntable 103 drives the connecting rod 105 to rotate to be erected, the second sliding groove 120 is horizontal, the flow of the flowing medium 123 enables the weight of one side of the baffle disc 121 to be larger than the weight of the other side, at the moment, the baffle disc 121 slides along the second sliding groove 120, and therefore limiting of the transfer rod 118 is released, at the moment, the second supporting seat 108 rotates towards the middle part of the first supporting seat 101 around the third supporting shaft 107, so that the position of the transmission track 2 is switched, the necessary movement of the baffle disc 121 can also be pushed manually or by adopting structures such as an electric push rod 127 at the moment, the whole form is switched from FIG. 10, the motor in the second supporting seat 108 drives the driving wheel 110 to rotate through the driving wheel 110, the driving rod 110 to drive the driving wheel 2 to rotate, the third supporting plate 606 is driven by the third supporting plate 2 to rotate, and the third supporting plate 606 can be contacted with the transmission track 2 in the transmission track 2, and the transmission track 602 is cleaned by the third supporting plate 602;
when the overall form is required to be switched from fig. 10 to fig. 1, the first hydraulic cylinder 119 is contracted to drive the second supporting seat 108 and the turntable 103 to rotate, the second supporting seat 108 rotates around the third supporting shaft 107 in the rotating process, the second hydraulic cylinder 4 is contracted to drive the first supporting seat 101 to descend, so that the transmission crawler 2 is in contact with the ground, the transmission crawler 2, the connecting plate 106 and the connecting rod 105 are kept horizontal, the driving cylinder 125 pushes the baffle disc 126 to extend out, the positioning column 128 is inserted into the positioning groove 127, the baffle disc 126 pushes the limiting plate 114 to reset through the limiting rod 115, the first supporting plate 116 is vertical, the stop rod 121 slides downwards under the action of gravity to limit the switching rod 118 again, and the form switching can be completed.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It is apparent that the above-described embodiments are only some embodiments of the present application, but not all embodiments, and the preferred embodiments of the present application are shown in the drawings, which do not limit the scope of the patent claims. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the scope of the application.
Claims (10)
1. The self-adaptive control method for the fully mechanized coal mining equipment based on intelligent monitoring is characterized by comprising the following steps:
the monitoring manipulator is used for installing the data information acquisition equipment and realizing the movement of the data information acquisition equipment;
the data information acquisition equipment is arranged on the monitoring manipulator and comprises a sensor and a camera, and is used for monitoring the mining data of the fully-mechanized coal mining robot and the change information of the surrounding environment in real time;
the network communication module is used for transmitting the mining data of the fully mechanized coal mining robot and the change information of the surrounding environment to the monitoring center;
the monitoring control center is used for receiving, analyzing and processing the data information acquired by the data information acquisition equipment, analyzing and processing the data information, and controlling the fully-mechanized coal mining robot according to the analysis result;
the method also comprises the following steps:
the monitoring manipulator controls the position of the data information acquisition equipment through the acquisition manipulator, the sensor and the camera monitor the excavation data of the fully-mechanized coal mining equipment and the change information of the surrounding environment in real time, the data information is transmitted to the monitoring center for real-time analysis and processing, the monitoring center generates a self-adaptive control strategy for the fully-mechanized coal mining equipment, and the control instruction is transmitted to the fully-mechanized coal mining equipment, so that the self-adaptive control of the fully-mechanized coal mining equipment is realized.
2. The self-adaptive control method for fully-mechanized coal mining equipment based on intelligent monitoring according to claim 1, wherein the sensor of the data information acquisition equipment monitors temperature, humidity and gas concentration data of the working environment of the fully-mechanized coal mining equipment in real time;
the camera of the data information acquisition device is used for capturing images and mining data of ores in real time and is used for monitoring characteristics and mining data of the ores analyzed by the control center.
3. The adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring according to claim 2, further comprising a sensor data preprocessing module, wherein the sensor data preprocessing module is used for filtering, calibrating and fusing data acquired by the sensor.
4. The self-adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring according to claim 3, further comprising a real-time image processing module, wherein the real-time image processing module is used for carrying out real-time processing and analysis on ore images captured by a camera, extracting key characteristics and mining data, and providing visual guidance and optimization strategies for the mining process;
the network communication module is a wireless communication module, a mobile communication module, an Ethernet module, a LoRaWAN module, an NB-IoT module, a satellite communication module or an optical fiber communication module;
the monitoring control center includes:
the analysis module is used for analyzing mining data of the fully mechanized mining equipment and surrounding environment change information acquired by the sensor and the camera in real time and extracting key features;
the decision module is used for generating a self-adaptive control strategy based on the key characteristics provided by the analysis module;
the control instruction generation module is used for transmitting corresponding control instructions to the fully-mechanized coal mining equipment according to the self-adaptive control strategy generated by the decision module;
and the feedback loop is used for receiving the state feedback information from the fully-mechanized coal mining equipment and adjusting and optimizing the control strategy in real time according to the feedback information.
5. The application of the self-adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring is applied to the detection of the self-adaptive control of the fully-mechanized coal mining equipment, and is characterized by comprising a monitoring device, wherein the monitoring device comprises a plurality of driving mechanisms (1), and a plurality of connecting seats (3) are connected between the driving mechanisms (1);
the driving mechanism (1) comprises a first supporting seat (101), two sides of the first supporting seat (101) are respectively provided with an adjustable supporting part, and a limiting part is arranged between the adjustable supporting parts and the first supporting seat (101).
6. The application of the self-adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring according to claim 5, wherein the adjustable supporting part comprises two first supporting shafts (102) which are respectively arranged on two sides of a first supporting seat (101) in a rotating mode through bearings, rotary discs (103) are fixedly sleeved on the outer surfaces of the first supporting shafts (102), two second rotating shafts (104) are respectively arranged on one sides of the two rotary discs (103) far away from each other through bearings, connecting rods (105) are respectively fixedly connected to one end of each second rotating shaft (104) far away from the rotary discs (103), connecting plates (106) are respectively fixedly connected to the end portions of each connecting rod (105), third supporting shafts (107) are respectively fixedly arranged on the two connecting plates (106), second supporting seats (108) are respectively connected between the ends of the two third supporting shafts (107) close to each other through bearings in a rotating mode, motors are arranged in the second supporting seats (108), output shafts of the motors are connected with transmission shafts (109), and one ends of the transmission shafts (109) extend out of the second supporting seats (108) and are fixedly connected with driving wheels (110);
the outer surfaces of the driving wheels (110) in the adjustable supporting parts are rotationally connected with a driving crawler belt (2), and the connecting seats (3) are respectively and fixedly connected between the first supporting seats (101) in the adjustable supporting parts.
7. The application of the adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring according to claim 6, wherein one side, close to a driving wheel (110), of a first supporting seat (101) is fixedly connected with a limiting rod (115), two first supporting plates (116) are fixedly arranged on the inner side of a second supporting seat (108), a fourth supporting shaft (117) is fixedly arranged between the two first supporting plates (116) and the inner side of the second supporting seat (108), an adapter rod (118) positioned between the two first supporting plates (116) is sleeved on the outer surface of the fourth supporting shaft (117), and a first hydraulic cylinder (119) is hinged between the adapter rod (118) and the limiting rod (115);
two spout two (120) have all been seted up to one side that backup pad one (116) are close to each other, two sliding connection has pin (121) between spout two (120), set up in pin (121) hold chamber (122), hold chamber (122) in hold chamber (122) memory have flowing medium (123), one side that holds chamber (122) is the slope setting.
8. The application of the self-adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring according to claim 7, wherein an arc-shaped groove (111) is formed between every two connecting plates (106), positioning rods (112) are slidably connected in the two arc-shaped grooves (111), and one ends, close to each other, of the two positioning rods (112) are fixedly connected with a second supporting seat (108).
9. The application of the self-adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring according to claim 8, wherein the limiting part comprises two sliding grooves three (124) which are respectively arranged on two sides of a first supporting seat (101), a baffle disc (126) is slidably connected in each sliding groove three (124), a driving cylinder (125) is connected between each baffle disc (126) and the inside of the first supporting seat (101), positioning grooves (127) are respectively arranged on one sides, far away from each other, of each turntable (103), positioning columns (128) are slidably connected in each positioning groove (127), and one ends, far away from each other, of each positioning column (128) are fixedly connected with each baffle disc (126);
two runner I (113) with arc wall (111) intercommunication have still been seted up on connecting plate (106), every all sliding connection has limiting plate (114) in runner I (113), the one end and the locating lever (112) contact of limiting plate (114), the other end fixedly connected with gag lever post (115) of limiting plate (114), one end that limiting plate (114) was kept away from to gag lever post (115) passes one of them connecting rod (105) and contacts with baffle (126).
10. The application of the self-adaptive control method of the fully-mechanized coal mining equipment based on intelligent monitoring according to claim 9, wherein two sides of each connecting seat (3) are fixedly provided with a second hydraulic cylinder (4), the bottom end of the second hydraulic cylinder (4) is connected with a base plate (5), and two sides of each connecting seat (3) are fixedly provided with the second hydraulic cylinder (4);
the utility model discloses a monitoring mechanism, including setting up breach (601) at connecting seat (3) middle part and articulated backup pad two (602) at connecting seat (3) top, articulated have pneumatic cylinder three (603) between breach (601) and backup pad two (602), also install the motor in backup pad two (602), the output shaft of motor stretches out backup pad two (602) and is connected with backup pad three (606), and one side that backup pad three (606) is close to breach (601) is provided with monitoring camera (604), install light filling lamp and monitoring sensor (605) on monitoring camera (604).
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|---|---|---|---|
| CN202310853792.6A CN116792157A (en) | 2023-07-12 | 2023-07-12 | Intelligent monitoring-based self-adaptive control method and application of fully-mechanized coal mining equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117565087A (en) * | 2024-01-16 | 2024-02-20 | 陕西开来机电设备制造有限公司 | AI vision mining fixed monitoring robot and monitoring method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117565087A (en) * | 2024-01-16 | 2024-02-20 | 陕西开来机电设备制造有限公司 | AI vision mining fixed monitoring robot and monitoring method thereof |
| CN117565087B (en) * | 2024-01-16 | 2024-03-29 | 陕西开来机电设备制造有限公司 | AI vision mining fixed monitoring robot and monitoring method thereof |
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