WO2019007147A1

WO2019007147A1 - Advanced seismic source detection-based coal shearer automatic height adjustment device and method

Info

Publication number: WO2019007147A1
Application number: PCT/CN2018/086134
Authority: WO
Inventors: 刘送永; 程诚; 吴洪状; 谢奇志; 崔新霞; 江红祥; 韩玉辉
Original assignee: 中国矿业大学
Priority date: 2017-07-04
Filing date: 2018-05-09
Publication date: 2019-01-10
Also published as: AU2018296041A1; CN107091089A; RU2707218C1; AU2018296041B2; GB201905658D0; CN107091089B; GB2569739B; GB2569739A; WO2019007439A1

Abstract

An advanced seismic source detection-based coal shearer automatic height adjustment device is provided. The device comprises a coal shearer side signal collection device, a workface side signal collection device (2), and a height adjustment control module. The coal shearer side signal collection device acquires a seismic source signal of a coal shearer (1) and calculates an absolute orientation parameter of the coal shearer (1) in a mine coordinate system and geographic coordinates of center points of an upper and lower roller of the coal shearer. The workface side signal collection device collects the seismic source signal of the coal shearer reflected at a wave impedance interface and calculates an absolute orientation parameter of the machine body in an absolute mine coordinate system. The height adjustment control module performs, according to the received signal, automatic height adjustment on the upper and lower roller of the coal shearer (1). The device has high accuracy, good reliability, is economical and provides a basis for realizing intelligent extraction at a workface. An automatic height adjustment method of the device is further disclosed.

Description

Automatic height adjusting device and method for coal mining machine based on advanced detection of shearer source

Technical field

The invention relates to a coal mining machine automatic height adjusting device and method based on the advanced detection of a shearer source, belonging to an automatic mining equipment technology.

Background technique

China is a major mining and consumption country for coal mines, and coal mining machines are the main equipment for coal mining. The traditional mining face is mainly operated manually. It is not only labor-intensive, low-efficiency, but also has a very poor working environment and a high degree of danger. Therefore, it is an irresistible trend to develop automated and intelligent mining equipment, in which automatic adjustment of the shearer is realized. The high problem is the key to realizing the intelligence of the mining face. At present, the automatic height adjustment methods of shearers mainly include dozens of methods such as cutting force response, natural gamma ray, radar, temperature, and image. Among them, the methods based on cutting force response and natural gamma ray-based methods are widely used. The methods are all in the research stage, but the method based on the cutting force response requires that the coal rock has different Platts coefficients. The method based on natural gamma ray requires the top plate to have strong radioactivity, so the use is limited. The existing automatic height adjustment technology of shearer is mainly based on the identification of coal-rock interface. The application range is limited and the error is large. The overall situation cannot fully meet the requirements of actual production.

Summary of the invention

OBJECT OF THE INVENTION In order to overcome the deficiencies in the prior art, the present invention provides an automatic height adjusting device and method for a coal mining machine based on the detection of a shearer source, which can cancel the automatic adjustment of the coal mining interface by the shearer The dependence can realize the prediction of the front working face, high reliability and good economy, and can provide conditions for the construction of unmanned mining face.

Technical Solution: In order to achieve the above object, the technical solution adopted by the present invention is:

An automatic height adjusting device for a coal mining machine based on the advanced detection of a shearer source, when the working face is recovered, the shearer in the three-machine supporting mining equipment mainly composed of a shearer, a scraper and a hydraulic support is used. Automatic height adjustment; characterized by: including a coal mining machine side signal acquisition device, a working surface side signal acquisition device and a height adjustment control module;

The shearer side signal collecting device comprises a strapdown inertial navigation module II, a shaft encoder, a source sensor and an embedded system II; the strapdown inertial navigation module II is installed on the shearer fuselage, and the shearer is detected in the mine Absolute pose parameter in the coordinate system; the shaft encoder is mounted on the rocker arm to collect the swing angle data of the rocker arm; the source sensor is fixed on the shearer body to detect the source signal of the shearer; the embedded system II is installed On the shearer fuselage, according to the absolute pose parameters of the shearer in the mine coordinate system and the swing angle data of the rocker arm, calculate and store the geographical coordinates of the center point of the upper and lower drums of the shearer, and store the shearer at Absolute pose parameters in the mine coordinate system;

The working surface side signal collecting device comprises a fuselage, an adjusting mechanism, a strapdown inertial navigation module I, a three-component detector and a pressure sensor, the fuselage is mounted on the scraper by a sliding shoe, and the three-component detector and the pressure sensor are adjusted The mechanism is installed on the fuselage, and the pressure sensor detects whether the three-component detector is in close contact with the coal wall of the working face; the strapdown inertial navigation module I is installed on the fuselage to detect the absolute pose parameter of the fuselage in the mine coordinate system; The three-component detector detects the source signal of the shearer after being reflected by the wave impedance interface;

The height control module includes an embedded system III, and the embedded system III is installed on the shearer by flameproofing. The embedded system III is simultaneously connected with the embedded system II and the strapdown inertial module I, and the embedded system III Store and process the source signal of the shearer, the source signal of the shearer after the wave impedance interface reflection, the absolute pose parameter of the shearer in the mine coordinate system, and the absolute pose parameter of the fuselage in the mine coordinate system The transverse longitudinal wave velocity model and the 3D seismic profile in the close range of the front working face are constructed, and the 3D geological model of the next cutting cycle working face is continuously updated, and the upper and lower drums of the shearer are controlled to be automatically adjusted.

Specifically, the adjustment mechanism in the working surface side signal collecting device comprises a swing angle cylinder, a support plate and a shifting cylinder, the three-component detector and the pressure sensor are fixed on the support plate; one end of the shifting cylinder is hinged to the fuselage, and the other end is Fixed to the support plate; one end of the swing angle cylinder is hinged to the fuselage, and the other end is hinged to the side of the shift cylinder; the linear movement of the support plate is controlled by the telescopic expansion of the cylinder, and the angle of the support plate is controlled by the swing angle cylinder.

Specifically, the swing angle cylinder and the shift cylinder are provided with two groups to jointly drive the support plate; the embedded system I controls the expansion and expansion of the swing cylinder and the shift cylinder to make the three-component detector closely close to the coal wall of the working face. Contact and feedback adjustment via pressure sensor.

A method for automatically detecting a coal mining machine based on advanced detection of a shearer source comprises the following steps:

(a) The working surface side signal collecting device is statically placed at the tail of the scraper machine and does not affect the normal operation of the shearer;

(b) The first cutting cycle is performed manually by the shearer before the automatic cutting of the shearer;

(c) When the shearer is working, the source sensor detects the source signal of the shearer, and the Strapdown Inertial Navigation Module II and the shaft encoder work in real time to solve the absolute pose parameters and shake of the shearer in the mine coordinate system. The swing angle data of the arm, the geographic coordinates of the center point of the upper and lower drums of the shearer are solved by the embedded system II, and the geographical position of the center point of the upper drum of the shearer is marked as (x _T , y _T , z _T ), the shearer The geographical position of the lower roller center point is marked as (x _t , y _t , z _t );

(d) the working surface side signal collecting device travels to the set position on the scraper and stops;

(e) Adjusting the angle between the support plate and the working face through the swinging cylinder, and adjusting the distance between the support plate and the working face through the shifting cylinder to realize the rapid arrangement of the three-component detector on the working face; the Strapdown Inertial Module I works in real time. Solving the absolute pose parameters of the fuselage in the mine coordinate system;

(f) The three-component detector in close contact with the coal wall of the working face detects the source signal of the shearer after the reflection of the impedance of the wave impedance, and the source signal of the embedded system III to the shearer and the reflection after the wave impedance interface After the seismic signal of the coal machine is subjected to conventional seismic wave processing including signal denoising, equivalent normalization and longitudinal and transverse wave separation, velocity analysis and depth migration, the transverse longitudinal wave velocity model and three-dimensional in the close range of the front working surface are constructed. The seismic section identifies the distribution of coal and rock in the depth of the next cutting cycle drum in advance, and combines the absolute pose parameters of the shearer in the mine coordinate system with the absolute pose parameters of the fuselage in the mine coordinate system. a three-dimensional geological model of the next cutting cycle face;

(g) Adjusting the shifting cylinder and the swinging angle cylinder, so that the three-component detector is separated from the mining working surface, and the supporting plate returns to the initial position; the driving working surface side signal collecting device stops walking along the walking direction of the shearer and stops, repeating the steps (e)~(f), until the construction of the 3D geological model of the next cutting cycle working face is completed; the driving working surface side signal collecting device is moved back to the end of the scraper machine to stop;

(h) After the coal cutter completes the cutting, the hydraulic support pushes the slide frame to carry out the next cutting cycle; the height control module extracts the top curve and the bottom plate curve of the 3D geological model at the next working interface, and is equally spaced. Obtain a series of top and bottom plate elevation values (z _D1 , z _D2 , z _D3 ,...,z _Dn ) and (z _d1 ,z _d2 ,z _d3 ,...,z _dn ), respectively, with the corresponding shearer The center point elevation z _T and z _t of the drum are compared, the height of the upper and lower drums of the shearer is determined and controlled, and the threshold δ is set: when z _Di -z _T ≤ δ, the upper drum is lowered, otherwise the upper drum is up; when z _di When -z _t ≤ δ, the lower roller is adjusted upward, otherwise the lower roller is lowered;

(i) Repeat steps (c) to (h) to complete the automatic cutting of the mining face.

The utility model provides the automatic height adjusting device and method of the coal mining machine based on the advanced detection of the shearer source, and the method for constructing the horizontal and vertical waves in the close range of the working face of the shearer based on the method of detecting the source of the coal mining machine The model and the 3D geological model are automatically adjusted according to the geological model, with high reliability and high detection accuracy. The traditional automatic height adjustment technology is relied on the coal rock identification technology, and the signal emitted by the shearer itself is used as the source signal. The active source is obtained by blasting, tapping, etc., and the economy is good; the invention can also be combined with the height adjustment method based on the coal rock identification method to further improve the detection accuracy, real-time and reliability.

DRAWINGS

1 is a schematic view showing a working face of a coal mining machine automatic height adjusting device according to the present invention;

2 is a schematic diagram of a working surface side signal collecting device of the present invention;

Figure 3 is a block diagram showing the structure and function of the system of the present invention;

In the picture: 1, coal mining machine, 2, working surface side signal acquisition device, 2-1, fuselage, 2-2, sliding shoes, 2-3, swing angle cylinder, 2-4, support plate, 2-5 , three-component detector, 2-6, pressure sensor, 2-7, shift cylinder, 3, scraper, 4, hydraulic support.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

FIG. 1 is a schematic view showing the working face of the automatic shearing device of the coal mining machine of the present invention, and the automatic height adjusting device of the coal mining machine based on the advanced detection of the shearer source of the present invention is mainly used for mining the working face. The coal mining machine 1 in the three-machine supporting mining equipment composed of the coal machine 1, the scraper 3 and the hydraulic support 4 is automatically adjusted; the characteristic is that the signal collecting device of the shearer side and the signal collecting device of the working surface side are included 2 And increase the control module.

The shearer side signal collecting device comprises a strapdown inertial navigation module II, a shaft encoder, a source sensor and an embedded system II; the strapdown inertial navigation module II is installed on the shearer fuselage, and the shearer 1 is detected Absolute pose parameter in the mine coordinate system; the shaft encoder is mounted on the rocker arm to collect the swing angle data of the rocker arm; the source sensor is fixed on the shearer body to detect the source signal of the shearer 1; the embedded system II is installed on the shearer fuselage, according to the absolute pose parameter of the shearer 1 in the mine coordinate system and the swing angle data of the rocker arm, calculate and store the geographical coordinates of the center point of the upper and lower drum of the shearer, and store the mining The absolute pose parameter of coal machine 1 in the mine coordinate system.

The working surface side signal collecting device 2 is as shown in FIG. 2, and includes a body 2-1, an adjusting mechanism, a strapdown inertial navigation module I, a three-component detector 2-5, and a pressure sensor 2-6, and the body 2 1 is mounted on the scraper 3 via the shoe 2-2, the three-component detector 2-5 and the pressure sensor 2-6 are mounted on the fuselage by an adjustment mechanism, and the three-component detector 2 is detected by the pressure sensor 2-6 5 is in close contact with the coal wall of the working face; the strapdown inertial navigation module I is installed on the fuselage 2-1 to detect the absolute pose parameter of the fuselage 2-1 in the mine coordinate system; the three-component detector 2-5 detects The source signal of the shearer 1 after being reflected by the wave impedance interface. The adjustment mechanism includes a swing angle cylinder 2-3, a support plate 2-4 and a shift cylinder 2-7, and the three-component detector 2-5 and the pressure sensor 2-6 are fixed on the support plate 2-4; the shift cylinder 2 - One end of the hinge 7 is hinged to the body 2-1, and the other end is fixed to the support plate 2-4; one end of the swing angle cylinder 2-3 is hinged to the body 2-1, and the other end is hinged to the side of the shift cylinder 2-7; The linear movement of the telescopic control support plate 2-4 of the shift cylinder 2-7 controls the angular rotation of the support plate 2-4 through the swing cylinder 2-3. The swing angle cylinder 2-3 and the shift cylinder 2-7 are provided with two groups to jointly drive the support plate 2-4; the embedded system I controls the expansion and contraction of the swing cylinder 2-3 and the shift cylinder 2-7 The three-component detector 2-5 is brought into close contact with the coal wall of the working face and is feedback-adjusted by the pressure sensor 2-6.

The height control module includes an embedded system III, and the embedded system III is installed on the shearer 1 by flameproofing, and the embedded system III is simultaneously connected with the embedded system II and the strapdown inertial module I, embedded System III stores and processes the source signal of the shearer 1, the source signal of the shearer 1 after the wave impedance interface reflection, the absolute pose parameter of the shearer 1 in the mine coordinate system, and the fuselage 2-1 in the mine The absolute pose parameters in the coordinate system are used to construct the transverse longitudinal wave velocity model and the 3D seismic profile in the close range of the front working face, and continuously update the 3D geological model of the next cutting cycle working face, and control the upper and lower drums of the shearer. Automatically increase.

A method for automatically adjusting a coal mining machine based on advanced detection of a shearer source, as shown in FIG. 3, comprising the following steps:

(a) The working surface side signal collecting device 2 is statically placed at the tail of the scraper machine 3, and does not affect the normal operation of the shearer 1;

(b) The first cutting cycle is performed manually by the shearer before the automatic cutting of the shearer 1;

(c) When the shearer is working, the source sensor detects the source signal of the shearer 1, and the strapdown inertial navigation module II and the shaft encoder work in real time to calculate the absolute pose parameters of the shearer 1 in the mine coordinate system. And the swing angle data of the rocker arm, the geographic coordinates of the center point of the upper and lower drums of the shearer are solved by the embedded system II, and the geographical coordinates of the center point of the upper drum of the shearer are marked as (x _T , y _T , z _T ). The geographical position of the center point of the lower drum of the coal machine is marked as (x _t , y _t , z _t );

(d) the working surface side signal collecting device 2 travels to the set position on the scraper 3 and stops;

(e) Adjusting the angle of the support plate 2-4 and the working face through the swing angle cylinder 2-3, adjusting the distance between the support plate (2-4) and the working face by the shifting cylinder 2-7, and realizing the three-component detector 2-5 Rapid layout on the mining work surface; the Strapdown Inertial Navigation Module I works in real time to solve the absolute pose parameters of the fuselage 2-1 in the mine coordinate system;

(f) The three-component detector 2-5 in close contact with the coal wall of the working face detects the source signal of the shearer 1 reflected by the wave impedance interface, and the source signal and the wave impedance of the shearer 1 of the embedded system III The source signal of the shearer 1 after the interface reflection is subjected to conventional seismic wave processing including signal denoising, equivalent normalization and longitudinal and transverse wave separation, velocity analysis and depth migration, and the front working surface is constructed within a short range. The transverse longitudinal wave velocity model and the 3D seismic profile identify the distribution of coal and rock in the depth of the next cutting cycle drum, combined with the absolute pose parameters of the shearer 1 in the mine coordinate system and the fuselage 2-1 in the mine coordinates. Absolute pose parameters under the system, continuously updating the 3D geological model of the next cutting cycle working face;

(g) adjusting the shifting cylinder 2-7 and the swinging cylinder 2-3 to disengage the three-component detector 2-5 from the recovery working surface, the support plate 2-4 returns to the initial position; and driving the working surface side signal collecting device 2 After the coal machine 1 travels in the walking direction, the set distance is stopped, and steps (e) to (f) are repeated until the construction of the 3D geological model of the next cutting cycle working face is completed; the driving working surface side signal collecting device (2) is moved back to The scraper (3) stops at the end of the machine;

(h) After the shearer 1 completes the cutting, the hydraulic support 4 pushes the slide frame to perform the next cutting cycle; the height control module extracts the top curve and the floor curve of the 3D geological model at the next working interface, etc. Interval sampling yields a series of top and bottom plate elevation values (z _D1 , z _D2 , z _D3 ,...,z _Dn ) and (z _d1 ,z _d2 ,z _d3 ,...,z _dn ), respectively, corresponding to the coal mining The upper and lower drum center point elevations z _T and z _t are compared, and the upper and lower drum heights of the shearer are determined and controlled, and the threshold δ is set: when z _Di -z _T ≤ δ, the upper drum is lowered, otherwise the upper drum is up-regulated; When z _di -z _t ≤δ, the lower roller is adjusted upward, otherwise the lower roller is lowered;

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

An automatic height adjusting device for a coal mining machine based on advanced detection of a shearer source, and three machines consisting mainly of a shearer (1), a scraper (3) and a hydraulic support (4) when recovering the working face The coal mining machine (1) in the supporting mining equipment is automatically adjusted; the characteristic is: including the coal mining machine side signal collecting device, the working surface side signal collecting device (2) and the height adjusting control module;

The shearer side signal collecting device comprises a strapdown inertial navigation module II, a shaft encoder, a source sensor and an embedded system II; the strapdown inertial navigation module II is installed on the shearer fuselage, and the shearer is detected (1) Absolute pose parameter in the mine coordinate system; the shaft encoder is mounted on the rocker arm to collect the swing angle data of the rocker arm; the source sensor is fixed on the shearer fuselage to detect the source signal of the shearer (1) The embedded system II is installed on the shearer fuselage. According to the absolute pose parameters of the shearer (1) in the mine coordinate system and the swing angle data of the rocker, the center points of the upper and lower drums of the shearer are calculated and stored. Geographical coordinates, storing the absolute pose parameters of the shearer (1) in the mine coordinate system;

The working surface side signal collecting device (2) comprises a fuselage (2-1), an adjusting mechanism, a strapdown inertial navigation module I, a three component detector (2-5), and a pressure sensor (2-6), the body (2-1) Mounted on the scraper (3) by the shoe (2-2), the three-component detector (2-5) and the pressure sensor (2-6) are mounted on the fuselage through the adjustment mechanism, The pressure sensor (2-6) detects whether the three-component detector (2-5) is in close contact with the coal wall of the working face; the strapdown inertial module I is mounted on the fuselage (2-1) and detects the fuselage (2-1) The absolute pose parameter in the mine coordinate system; the three-component detector (2-5) detects the source signal of the shearer (1) after being reflected by the wave impedance interface;

The height control module includes an embedded system III, and the embedded system III is installed on the shearer (1) by flameproofing, and the embedded system III is simultaneously connected with the embedded system II and the strapdown inertial module I. The embedded system III stores and processes the source signal of the shearer (1), the source signal of the shearer (1) after the wave impedance interface reflection, and the absolute pose parameter of the shearer (1) in the mine coordinate system. The absolute pose parameters of the fuselage (2-1) in the mine coordinate system, the transverse longitudinal wave velocity model and the 3D seismic profile in the close range of the front working face are constructed, and the 3D geology of the next cutting cycle working face is continuously updated. The model controls the upper and lower drums of the shearer to automatically increase.
The automatic shearer automatic height adjusting device based on the coal mining machine source detection according to claim 1, wherein the adjusting mechanism in the working surface side signal collecting device (2) comprises a swing angle cylinder (2-3) ), support plate (2-4) and shift cylinder (2-7), three-component detector (2-5) and pressure sensor (2-6) fixed on support plate (2-4); shift cylinder (2 One end of -7) is hinged to the fuselage (2-1), and the other end is fixed to the support plate (2-4); one end of the swing angle cylinder (2-3) is hinged to the fuselage (2-1), and the other end is The side of the shift cylinder (2-7) is hinged; the linear movement of the support plate (2-4) is controlled by the telescopic cylinder (2-7), and the support plate is controlled by the swing cylinder (2-3) (2-4) The angle of rotation.
The automatic shearing machine height adjusting device based on the coal mining machine source detection according to claim 2, wherein the swing angle cylinder (2-3) and the shifting cylinder (2-7) are provided with two groups. The driving of the support plate (2-4) is completed together; the embedded system I makes the three-component detector (2-5) work by controlling the expansion and contraction of the swing cylinder (2-3) and the shift cylinder (2-7). The face coal wall is in close contact and is feedback regulated by a pressure sensor (2-6).
A method for automatically detecting a coal mining machine based on advanced detection of a shearer source, characterized in that the method comprises the following steps:

(a) The working surface side signal collecting device (2) is placed at the tail of the scraper (3) and does not affect the normal operation of the shearer (1);

(b) Before the automatic cutting of the shearer (1), the first cutting cycle is carried out by manual operation;

(c) When the shearer is working, the source sensor detects the source signal of the shearer (1), and the Strapdown Inertial Navigation Module II and the shaft encoder work in real time to solve the shearer (1) in the mine coordinate system. Absolute pose parameters and swing angle data of the rocker arm, the geographic coordinates of the center point of the upper and lower drums of the shearer are solved by the embedded system II, and the geographical position of the center point of the upper drum of the shearer is marked as (x T , y T , z T ), the geographical position of the center point of the lower drum of the shearer is (x t , y t , z t );

(d) the working surface side signal collecting device (2) walks to the set position on the scraper (3) and stops;

(e) Adjust the angle between the support plate (2-4) and the working face through the swing angle cylinder (2-3), and adjust the distance between the support plate (2-4) and the working face through the shifting cylinder (2-7) to realize three The rapid placement of the component detector (2-5) on the working face; the strapdown inertial module I works in real time to solve the absolute pose parameters of the fuselage (2-1) in the mine coordinate system;

(f) The three-component detector (2-5) in close contact with the coal wall of the working face detects the source signal of the shearer (1) after reflection by the wave impedance interface, and the embedded system III is for the shearer (1) The source signal and the source signal of the shearer (1) reflected by the wave impedance interface are subjected to conventional seismic wave processing including signal denoising, equivalent normalization, longitudinal and transverse wave separation, velocity analysis, and depth migration, and then constructed. The transverse longitudinal wave velocity model and the 3D seismic profile in the close range of the front working face, the coal and rock distribution in the depth of the next cutting cycle drum are identified in advance, and the absolute position of the shearer (1) in the mine coordinate system is combined. The parameters and the absolute pose parameters of the fuselage (2-1) in the mine coordinate system, continuously update the 3D geological model of the next cutting cycle working face;

(g) Adjust the shift cylinder (2-7) and the swing angle cylinder (2-3) to disengage the three-component detector (2-5) from the recovery working face, and return the support plate (2-4) to the initial position; drive work The surface signal collecting device (2) stops after walking along the walking direction of the shearer (1), and repeats steps (e) to (f) until the construction of the 3D geological model of the next cutting cycle working surface is completed; The working surface side signal collecting device (2) is moved back to the end of the scraper (3) to stop;

(h) After the shearer (1) completes the cutting, the hydraulic support (4) pushes the slide frame to carry out the next cutting cycle; the height control module extracts the top curve of the 3D geological model at the next working interface and The bottom plate curve, equally spaced sampling to obtain a series of top and bottom plate elevation values (z D1 , z D2 , z D3 ,..., z Dn ) and (z d1 , z d2 , z d3 ,..., z dn ), respectively Corresponding coal mining machine upper and lower drum center point elevation z T , z t comparison, decision and control the upper and lower drum height of the shearer, set the threshold δ: when z Di -z T ≤ δ, the upper drum is lowered, otherwise The drum is up-regulated; when z di -z t ≤ δ, the lower drum is adjusted upward, otherwise the lower drum is lowered;

(i) Repeat steps (c) to (h) to complete the automatic cutting of the mining face.