WO2019007147A1 - 基于采煤机震源超前探测的采煤机自动调高装置及方法 - Google Patents

基于采煤机震源超前探测的采煤机自动调高装置及方法 Download PDF

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Publication number
WO2019007147A1
WO2019007147A1 PCT/CN2018/086134 CN2018086134W WO2019007147A1 WO 2019007147 A1 WO2019007147 A1 WO 2019007147A1 CN 2018086134 W CN2018086134 W CN 2018086134W WO 2019007147 A1 WO2019007147 A1 WO 2019007147A1
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WIPO (PCT)
Prior art keywords
shearer
fuselage
cylinder
coordinate system
coal
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PCT/CN2018/086134
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English (en)
French (fr)
Chinese (zh)
Inventor
刘送永
程诚
吴洪状
谢奇志
崔新霞
江红祥
韩玉辉
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中国矿业大学
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Application filed by 中国矿业大学 filed Critical 中国矿业大学
Publication of WO2019007147A1 publication Critical patent/WO2019007147A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
    • E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C27/00—Machines which completely free the mineral from the seam
    • E21C27/20—Mineral freed by means not involving slitting
    • E21C27/32—Mineral freed by means not involving slitting by adjustable or non-adjustable planing means with or without loading arrangements
    • E21C27/34—Machine propelled along the working face by cable or chain
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/08—Guiding the machine
    • E21C35/10—Guiding the machine by feelers contacting the working face
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
    • E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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;
  • the source sensor detects the source signal of the shearer
  • 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 );
  • 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
  • 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;
  • 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.
  • 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 ⁇ is set: when z Di -z T ⁇ ⁇ , the upper drum is lowered, otherwise the upper drum is up; when z di When -z t ⁇ ⁇ , the lower roller is adjusted upward, otherwise the lower roller is lowered;
  • 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.
  • FIG. 1 is a schematic view showing a working face of a coal mining machine automatic height adjusting device according to the present invention
  • FIG. 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.
  • 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 comprising the following steps:
  • 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;
  • 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.
  • 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 );
  • 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;

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
PCT/CN2018/086134 2017-07-04 2018-05-09 基于采煤机震源超前探测的采煤机自动调高装置及方法 WO2019007147A1 (zh)

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CN107091089A (zh) * 2017-07-04 2017-08-25 中国矿业大学 基于采煤机震源超前探测的采煤机自动调高装置及方法

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