SU899931A1 - Mining machine motion control system - Google Patents

Description

I

The invention relates to the mining industry, namely, to automate the processes of mine workings, mainly on curvilinear sections.

A known system for controlling the movement of a mining machine, comprising an optical direction adjuster, a modulator, a photodetector unit, passive deflecting elements, a range finder, a turn actuator, a measuring unit and a display unit 1.

The disadvantages of this system are its low reliability and short range.

A mining machine motion control system is also known, comprising a laser direction adjuster with a modulator, passive deflecting elements, a photoreceiver unit mounted on the machine, an active deflecting element including a range finder connected to a non-linear unit 2.

However, the known system does not provide high accuracy with increasing control range.

The purpose of the invention is to increase the control accuracy while simultaneously increasing the distance from the direction setter to the mining machine.

The goal is achieved by the fact that the active deflecting element is additionally equipped with a mirror loop galvanometer, a reflective prism, an electronic switch, a search unit, a signal generator, a control unit, an adder, a maximum distance setting unit and a second modulator and is installed between the machine and the last passive deflector an element, the photodetector unit being optically coupled to the direction adjuster through a reflective prism and a mirror loop galvanometer, the electrical input of which th through the electronic switch is connected to the search block and nonlinear block and an electron. A new switch is connected to a remote end, whose input is through an adder, a control unit, and a signal generator connected to a second modulator.

The drawing shows a block diagram.

The system comprises a direction setter 1, passive optical deflecting elements 2 installed at a certain distance from each other in the mine, an active deflecting element located between the last deflecting element 2 and the photodetector unit 3. The active deflecting element includes a reflective prism 4, a mirror loopback galvanometer 5 with a mirror 6, an automatic light distance meter 7 with a photodetector 8, a nonlinear block 9, which is used to establish a functional connection between the angle of rotation of the mirror 6 and the distance maschiny, the search unit 10, an electronic switch 11, input switching is performed yuschy galvanometer 5 output from the search unit 10 on the output of the nonlinear unit 9 to signal EDM 7.

The non-linear unit 9 is provided with a radius adjuster 12, which serves to set the radius of mine excavation. The active deflection element also includes a signaling channel consisting of an adder 13, a maximum distance setting device 14, a control unit 15 and a signal generator 16 with a radiation modulator 17.

An optical modulator 18 is installed at the output of the laser setting device 1, the input of which is connected to the generator 19 of modulating voltage. These elements serve to modulate the radiation of the setting device 1 according to the intensity of the operating frequency of the rangefinder 7. To return the modulated light flux from the mash to the photodetector 8 of the range finder 7, a retroreflector 20 is used, which is installed in the photodetector unit 3.

The system works as follows.

The laser radiation of the setting device 1 is directed using a passive deflecting element 2 to the reflective prism 4. The luminous flux reflected by the prism 4 falls on the mirror 6 of the slab galvanometer 5 and, reflected from it, is directed to the photodetector unit 3 of automatic control of the directional movement of the rock mashine . The reflecting prism 4 and the mirror 6 are arranged in such a way that in the absence of a signal in the coil of the galvanometer 5, the laser beam does not change its direction when passing through them.

When the machine is moving, the signal at the output of the ranging receiver 7 changes in proportion to the distance between the machine and the active deflection element. This signal through a non-linear unit 9 acts on the coil of the galvanometer 5, causing a rotation of its mirror 6 by ang, proportional to the value of the current in the coil. Mirror 6 deflects the luminous flux to the same angle. The current in the coil of galvanometer 5 is determined not only by the distance to the machine, but also by the radius of rounding of the mine workings. The required radius is introduced into the nonlinear block 9 by the setting device 12. Depending on the distance and the rounding radius, the nonlinear block 9 changes the voltage in the input circuit of the galvanometer 5 so that the laser beam propagates along a chord that arc and has a given radius measured by distance.

With the advancement of the mask, the laser beam approaches the wall of the excavation. To alert the machinist about the possibility of blocking the beam with the wall of the excavation, an audible alarm is used. Automatic activation is carried out by block 15

0 control, which, when the signals of the color spacer 7 and the maximum distance setting device 14 are equal, turns on the signal generator 16. The signal from the generator 16 is fed to an optical modulator 17, which modulates the laser light flux in intensity.

To install the mirror 6 in the working position when the system is turned on, the search mode of the retroreflector is provided. The system switches to this mode automatically if there is no luminous flux from the retroreflector 20 on the photodetector 8 of the range finder 7.

In the absence of a signal on the photodetector 8, the electronic switch 11 connects to the input of the galvanometer 5 a search block 10, which smoothly rotates the mirror 6 until the laser beam hits the retroreflector 20 and the output of the distance meter. 7 does not show the signal. This signal will cause the electronic switch 11 to disable the search block 10 and connect a nonlinear block 9 to the input of the galvanometer 5.

The invention improves the accuracy of maintaining mining machines on curved production areas, has high speed, has increased reliability and increases the range of the control system.

Claims (2)

1. USSR author's certificate number 201936, cl. E 02 C 9/20, 1961. 2. USSR author's certificate No. 682647, cl. E 21 C 35/24, 1974 (prototype).