WO2023142631A1 - Procédé de redressement pour dispositif à nœuds multiples et dispositif correspondant - Google Patents

Procédé de redressement pour dispositif à nœuds multiples et dispositif correspondant Download PDF

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Publication number
WO2023142631A1
WO2023142631A1 PCT/CN2022/133608 CN2022133608W WO2023142631A1 WO 2023142631 A1 WO2023142631 A1 WO 2023142631A1 CN 2022133608 W CN2022133608 W CN 2022133608W WO 2023142631 A1 WO2023142631 A1 WO 2023142631A1
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WIPO (PCT)
Prior art keywords
brackets
bracket
information
cosine
target node
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PCT/CN2022/133608
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English (en)
Chinese (zh)
Inventor
陈冬阳
徐景辉
赵彦明
唐世豪
常志武
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华为技术有限公司
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Publication of WO2023142631A1 publication Critical patent/WO2023142631A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • 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]

Definitions

  • the present application relates to the field of computer technology, in particular to a method for straightening multi-node equipment and corresponding equipment.
  • the three coal-cutting machines in the fully mechanized mining face of the coal mine refer to the coal shearer, the hydraulic support and the scraper machine, and the scraper machine is also called the scraper conveyor.
  • Hundreds or hundreds of hydraulic supports are arranged according to requirements, and are respectively connected with the scraper machine to form the walking track of the coal mining machine.
  • the shearer moves along the track, while the drum of the shearer cuts coal.
  • the three machines in the fully mechanized mining face have strict requirements of "three straights and one leveling".
  • the three straights mainly refer to the straightness of the array of hydraulic supports, the straightness of the scraper machine, and the straightness of the coal face cut by the shearer.
  • the present application provides a method for straightening multi-node equipment, which is used for automatically straightening support arrays and/or scrapers in a fully mechanized mining face system.
  • Embodiments of the present application also provide corresponding devices, devices, computer-readable storage media, and computer program products.
  • the first aspect of the present application provides a method for straightening multi-node equipment.
  • the method is applied to a fully mechanized mining face system.
  • the fully mechanized mining face system includes a bracket array, a scraper machine and control equipment.
  • the bracket array includes A brackets, where A Each bracket in the brackets is connected to the scraper machine through a push rod, and A is an integer greater than 1.
  • a multi-node device refers to a plurality of devices that work together, or a device has multiple nodes, and the multiple nodes work together.
  • Multi-node devices can be rack arrays or scrapers.
  • the support array includes multiple supports, and the fully mechanized mining face system usually includes dozens or hundreds of supports, and each support can be understood as a node.
  • a scraper is usually a track connected to multiple node devices, and the part connected to a bracket can be understood as a node.
  • the support may be a hydraulic support, a pneumatic support or an electric support.
  • the supports in the fully mechanized mining face system are usually hydraulic supports.
  • control equipment can be computer equipment
  • control equipment in the fully mechanized mining face system refers to the equipment that controls the work of the three coal cutting machines in the fully mechanized mining face.
  • straightening may mean adjusting to a straight line, or not adjusting to an absolute straight line, and the allowable range of error can be understood as straightening.
  • the distribution of the B brackets on the A brackets at intervals refers to obtaining the position information and attitude angle information of a bracket at intervals of several brackets. It should be noted that the interval may be a uniform interval, for example, acquiring position information and attitude angle information of a support every M supports or every (M ⁇ 1) supports.
  • the interval can also be uneven intervals, for example: for the supports in the support array, some obtain the position information and attitude angle information of a support at intervals of (M-1) supports, and some obtain the position information and attitude of a support at intervals of P supports For the angle information, it is also possible to obtain the position information and attitude angle information of a bracket at intervals of Q brackets, and the specific interval method is not limited in this application.
  • the position includes information of one or more translational degrees of freedom among the three translational degrees of freedom.
  • the three translational degrees of freedom include x-axis translation, y-axis translation, and z-axis translation.
  • translation on one or two axes can also be included, such as: x-axis translation, x-axis translation And y-axis translation, in fact, the translation of one axis or two axes can also be understood as a special three-axis translation, except that the translation amount on the other two axes or one axis is 0.
  • the pose includes information on one or more of the three rotational degrees of freedom.
  • the three rotational degrees of freedom include x-axis rotation, y-axis rotation, and z-axis rotation. Of course, it can also include rotation on one or two axes, such as: x-axis rotation, x-axis rotation And y-axis rotation, in fact, the rotation of one axis or two axes can also be understood as a special three-axis rotation, except that the rotation amount on the other two axes or one axis is 0.
  • the information of the translation degree of freedom can be the coordinate information describing an object in the coordinate axis, for example: the position information of each support can be the coordinate of each support on at least one of the x-axis, y-axis and z-axis information.
  • the information of the degree of freedom of rotation can describe the rotation angle of an object around the coordinate axis, such as: heading angle, roll angle or pitch angle, for example, the attitude angle information of each support can include the heading angle information of each support, roll angle At least one of angle information and pitch angle information.
  • the attitude angle information of each support may include heading angle information, roll angle information and pitch angle information of each support.
  • straightening direction refers to the adjustment direction of each bracket in the B brackets and the scraper machine.
  • the straightening direction can be the y-axis direction or any other direction.
  • the straightening direction is not limited.
  • each of the B brackets will have a corresponding first target value.
  • the control device will combine the first target value and the attitude angle of the bracket Information to determine the first adjustment amount, so as to control each of the B brackets to move the bracket to a position corresponding to the first target value, and then straighten the bracket array.
  • the target node is the node connected to the push rod of the bracket on the scraper machine.
  • the attitude angle information of the push rod is the same as that of the bracket.
  • the length value of the push rod indicates the distance from the bracket to the target node. distance.
  • each target node will have a corresponding second target value.
  • the control device will combine the second target value and the attitude angle information of the bracket to determine the second adjustment. Amount, so as to control the push rod of each bracket in the B brackets to move the corresponding target node on the scraper machine, and then straighten the scraper machine.
  • both the first target value and the second target value are numerical values
  • the first target value represents the straightening target of the bracket in the straightening direction
  • the second target value represents the adjustment of the target node of the scraper machine in the straightening direction Straight target.
  • the automatic straightening of the bracket array and/or the scraper machine can be achieved through the control equipment, and the automation of straightening the bracket array and/or the scraper machine is realized.
  • the straightening of the bracket array and the The attitude angle information of the support is also fully considered during the /or scraper machine, which improves the alignment accuracy of the bracket array and/or the scraper machine.
  • each of the B brackets is provided with an inertial measurement unit (inertial measurement unit, IMU) and a stroke sensor, and the stroke sensor is arranged on the drive mechanism of the push rod;
  • IMU inertial measurement unit
  • the stroke sensor is arranged on the drive mechanism of the push rod;
  • the IMU It is used to measure the angular velocity information and acceleration information of the bracket, and the angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the bracket;
  • Pushing displacement information combined with attitude angle information and position information is used for control equipment to determine the coordinate information of the target node on the scraper machine.
  • the IMU can be used to measure the angular velocity information and acceleration information of the support, so that the control device can determine the attitude angle information and position information of the support according to the angular velocity information and acceleration information of the support, and the travel sensor can measure The frame displacement information and push displacement information of the support, so that the control device can determine the coordinate information of the target node on the scraper machine in combination with the frame displacement information, push displacement information, attitude angle information and position information.
  • each of the B brackets is provided with an inertial measurement unit (IMU) and a travel sensor. When B is not equal to A, other brackets may also be provided with an IMU or/and a travel sensor.
  • the control device is based on the position information and attitude angle information of each bracket in the B brackets, and the first position corresponding to each bracket in the B brackets in the straightening direction.
  • the target value is used to determine the first adjustment amount of each of the B brackets, including: the control device determines the position information of each of the B brackets in the straightening direction, and the position information of each of the B brackets in the straightening direction The first difference of the corresponding first target value; the control device determines the first difference between the first difference of each of the B brackets and the cosine data of each of the B brackets in the straightening direction as the first adjustment amount; wherein, the cosine data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine, and the first cosine is the straightening direction of each bracket in the B brackets The cosine of the heading angle, the second cosine is the cosine of the
  • the first difference is the difference between the first target value and the coordinate value of the bracket in the straightening direction, and the difference can be a positive or negative value, and a positive value means that it is the same as the straightening direction, Negative values indicate the opposite direction of straightening.
  • the coordinates of a bracket are (Xn, Yn, Zn)
  • the first adjustment value (Fn-Yn)/cosine data
  • the first cosine cos ⁇ ny
  • the second cosine cos ⁇ nz
  • the third cosine cos ⁇ nx
  • the cosine data can be cos ⁇ ny or cos ⁇ ny.cos ⁇ nz, cos ⁇ ny. cos ⁇ nx or cos ⁇ ny.cos ⁇ nz.cos ⁇ nx.
  • ".” represents the multiplication sign.
  • the method further includes: the control device determines a first curve according to the position information of each of the B brackets, and the first curve is used to describe the position distribution of the B brackets; If the maximum peak value or the maximum valley value in the straightening direction in the first curve exceeds the first threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the second threshold, the control device performs a determination of the first adjustment Quantitative steps.
  • the first curve may be a line connecting the coordinates of each of the B brackets, or may be a curve obtained by fitting the coordinates of each of the B brackets.
  • the first curve may describe the position distribution of the B brackets.
  • the first threshold and the second threshold may be preconfigured values, such as: 1 cm to 50 cm, or other values, if the maximum peak value or the maximum valley value in the straightening direction in the first curve does not exceed the first threshold value, or The difference between the maximum peak value and the maximum valley value in the straightening direction does not exceed the second threshold, which means that the current support array is relatively straight, and no straightening processing is required, which saves time for straightening and improves work efficiency.
  • the control device determines the second adjustment amount of each target node includes: the control device is based on the position information of each bracket in the B brackets, and the position information of each bracket in the B brackets The extended length value of the push rod of the B brackets, and the attitude angle information of each bracket in the B brackets, determine the coordinate information of each target node; the control device determines the coordinate information of each target node in the straightening direction, and The second difference of the second target value corresponding to each target node in the straightening direction; the control device calculates the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction Determined as the second adjustment amount; wherein, the cosine data includes the fourth
  • the second adjustment amount (En-bn)/cosine data
  • the fourth cosine cos ⁇ ny
  • the fifth cosine cos ⁇ nz
  • the sixth cosine cos ⁇ nx
  • the cosine data can be cos ⁇ ny, or cos ⁇ ny.cos ⁇ nz, cos ⁇ ny. cos ⁇ nx or cos ⁇ ny.cos ⁇ nz.cos ⁇ nx.
  • the present application takes into account various angle factors that may be affected by the push rod when calculating the second adjustment amount, so that the calculated second adjustment amount is more accurate, and further improves the straightening accuracy of the scraper machine.
  • the method further includes: the control device determines a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node; if the first In the second curve, the maximum peak value or the maximum valley value in the straightening direction exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the fourth threshold, then the control device performs determination of the second adjustment amount A step of.
  • the second curve may be a line connecting the coordinates of each target node in the straightening direction, or may be a curve obtained by fitting the coordinates of each target node in the straightening direction.
  • the second curve may describe the position distribution of each target node.
  • the third threshold and the fourth threshold can be pre-configured values, such as: 1 cm to 50 cm, or other values, if the maximum peak or maximum valley value in the second curve does not exceed the third threshold, or in the straightening direction The difference between the maximum peak value and the maximum valley value does not exceed the fourth threshold, which means that the current scraper is relatively straight and does not need to be straightened, which can save time for straightening and improve the working efficiency of the shearer .
  • the method further includes: the control device according to the measured value of the heading angle of each bracket in the straightening direction in the B brackets, and the target value of the heading angle in the straightening direction , to determine the compensation value of the heading angle of each bracket in the B brackets; the control device sends the compensation value of the corresponding heading angle to the adjacent brackets of each bracket in the B brackets, and the compensation value of the heading angle is used for the adjacent brackets to adjust B The position of each bracket in the B brackets, so as to adjust each bracket in the B brackets to the target value of the heading angle.
  • two adjacent brackets in the bracket array can push the other bracket to rotate by a certain angle through the driving mechanisms on both sides.
  • the straightening direction is the y-axis direction
  • the x-axis direction can The push rod of the stent is used to push the adjacent stent to rotate, so as to adjust the angular rotation of the stent in the stent array.
  • the compensation value of the heading angle in this possible implementation includes the compensation value of the angle and the displacement compensation value of the push rod that pushes the adjacent support. If the direction parallel to the coal surface is the x-axis, push the adjacent
  • the push rod of the bracket usually refers to the push rod in the x-axis direction.
  • the compensation value of the angle can be the difference between the target value of the heading angle and the measured value of the heading angle
  • the pushing compensation value of the push rod can be determined according to the length of the bottom plate of the bracket in the Y-axis direction and the compensation value of the angle. The distance that the bracket needs to move in the x-axis direction.
  • the second aspect of the application provides a support in the fully mechanized mining face system, the support is provided with an inertial measurement unit IMU and a travel sensor, the travel sensor is arranged on the drive mechanism of the push rod of the support; the IMU is used to measure the angular velocity information of the support And acceleration information, angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the bracket; the stroke sensor is used to measure the frame displacement information and push displacement information of the bracket, and the frame displacement information and push displacement information are combined with the attitude angle
  • the information and position information are used for the control equipment in the fully mechanized mining face system to determine the coordinate information of the target node on the scraper machine in the fully mechanized mining face system.
  • the target node is the connection point between the push rod of the support and the scraper machine.
  • the angular velocity information and acceleration information of the support can be measured through the IMU, so that the control device can determine the attitude angle information and position information of the support according to the angular velocity information and acceleration information of the support, and the travel sensor can measure the frame of the support Displacement information and push displacement information, so that the control device can determine the coordinate information of the target node on the scraper machine by combining the frame displacement information, push displacement information, attitude angle information and position information.
  • the control device can adjust the bracket array and the scraper machine according to the attitude angle information and position information of the bracket, and the coordinate information of the target node on the scraper machine.
  • the fully mechanized mining face system includes a support array, and the support is one of the support arrays; the attitude angle information and position information of the support are used for the control equipment to determine the first target value of the support in conjunction with The first adjustment amount of the bracket, the first adjustment amount is used to move the bracket to straighten the bracket array; the coordinate information of the target node is used to control the device combined with the second target value of the target node to determine the second adjustment amount of the target node , the second adjustment amount is used to push the push rod connected to the target node to straighten the scraper.
  • the support is a hydraulic support, a pneumatic support or an electric support.
  • the IMU is disposed on a base or a top beam of the bracket.
  • the direction of one axis of the IMU is the same as the orientation of the stroke sensor. If the orientation of the stroke sensor is the same as the y-axis direction of the IMU, of course, the stroke sensor can also have an angle with the y-axis. If there is an angle, when calculating the coordinates of the target node, it needs to be considered that the stroke sensor can also be in the same direction as the y-axis. There is an angle between the axes.
  • the third aspect of the present application provides a control device for straightening multi-node equipment.
  • the control device is included in the fully mechanized mining face system.
  • the fully mechanized mining face system also includes a bracket array and a scraper machine.
  • the bracket array includes A brackets, wherein , each of the A brackets is connected to the scraper machine through a push rod, A is an integer greater than 1, and the control equipment includes:
  • the processing unit is used to determine the position information and attitude angle information of each bracket in the B brackets obtained by the acquisition unit, and the first target value corresponding to each bracket in the B brackets in the straightening direction, and determine the position information of each bracket in the B brackets.
  • the second target value corresponding to the target nodes determines the second adjustment value of each target node, and the target node is the connection point between the push rod of each bracket in the B brackets and the scraper machine.
  • the sending unit is configured to send the first adjustment amount and/or the second adjustment amount determined by the corresponding processing unit to each of the B brackets, and the first adjustment amount is used for each bracket of the B brackets to perform adjustment in the straightening direction.
  • the pull frame moves to straighten the bracket array, and the second adjustment amount is used to push the push rod connected to each target node to straighten the scraper.
  • each of the B brackets is provided with an inertial measurement unit IMU and a stroke sensor, and the stroke sensor is arranged on the drive mechanism of the push rod;
  • the IMU is used to measure the angular velocity of the bracket Information and acceleration information, angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the bracket;
  • the travel sensor is used to measure the frame displacement information and push displacement information of the bracket, and the frame displacement information and push displacement information are combined with attitude
  • the angle information and position information are used for the control equipment to determine the coordinate information of the target node on the scraper machine.
  • the processing unit is configured to: determine the position information of each bracket in the straightening direction of the B brackets, and the position information corresponding to the straightening direction of each bracket in the B brackets The first difference of a target value; the first difference of each bracket in the B brackets, and the quotient of the cosine data of each bracket in the straightening direction in the B brackets are determined as the first adjustment amount; wherein, the cosine The data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine, and the first cosine is the cosine of the heading angle of each of the B supports in the straightening direction , the second cosine is the cosine of the roll angle of each of the B brackets in the straightening direction, the third cosine is the cosine of the pitch angle of each of the B brackets in the straightening direction, the heading angle, roll angle The roll angle and the pitch angle are included in the attitude
  • the processing unit is further configured to: determine a first curve according to the position information of each of the B brackets, where the first curve is used to describe the position distribution of the B brackets; if In the first curve, the maximum peak value or the maximum valley value in the straightening direction exceeds the first threshold value, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the second threshold value, then the determination of the first adjustment amount is performed. step.
  • the processing unit is configured to: according to the position information of each bracket in the B brackets, and the length value of the push rod of each bracket in the B brackets, and the B brackets
  • the attitude angle information of each bracket in the bracket determines the coordinate information of each target node; determines the coordinate information of each target node in the straightening direction, and the second target value corresponding to each target node in the straightening direction
  • the second difference; the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction is determined as the second adjustment amount;
  • the cosine data includes the fourth cosine, or , the product of the fourth cosine and at least one of the fifth cosine and the sixth cosine, the fourth cosine is the cosine of the heading angle of the push rod connected to each target node in the straightening direction, and the fifth cosine is The cosine of the roll angle of the push rod connected to each target node in the straighten
  • the processing unit is further configured to: determine a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node; if the second If the maximum peak value or the maximum valley value in the straightening direction of the curve exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the fourth threshold, the step of determining the second adjustment amount is executed.
  • the processing unit is further configured to: according to the measured value of the heading angle of each of the B brackets in the straightening direction and the target value of the heading angle in the straightening direction, Determine the compensation value for the heading angle of each of the B brackets.
  • the sending unit is also used to send the compensation value of the corresponding heading angle to the adjacent brackets of each bracket in the B brackets, and the compensation value of the heading angle is used for the adjacent brackets to adjust the position of each bracket in the B brackets, so that the B brackets Each bracket in the bracket is adjusted to the target value of the heading angle.
  • the control device has the function of implementing the first aspect or the method of any possible implementation manner of the first aspect.
  • This function may be implemented by hardware, or may be implemented by executing corresponding software on the hardware.
  • the hardware or software includes one or more modules corresponding to the above functions, such as the above: acquisition unit, processing unit and sending unit.
  • acquisition unit, processing unit and sending unit includes one or more modules corresponding to the above functions, such as the above: acquisition unit, processing unit and sending unit.
  • the relevant content of the third aspect or any possible implementation manner of the third aspect may be understood by referring to the first aspect and the relevant content of any possible implementation manner of the first aspect.
  • the fourth aspect of the present application provides a control device, the control device includes at least one processor, a memory, an input/output (input/output, I/O) interface, and a computer executable stored in the memory and operable on the processor Instructions, when the computer-executed instructions are executed by the processor, the processor executes the method according to the above first aspect or any possible implementation manner of the first aspect.
  • the fifth aspect of the present application provides a computer-readable storage medium storing one or more computer-executable instructions.
  • the computer-executable instructions are executed by a processor, the one or more processors execute any of the above-mentioned first aspect or first aspect.
  • the sixth aspect of the present application provides a computer program product that stores one or more computer-executable instructions.
  • the computer-executable instructions are executed by one or more processors, one or more processors execute the above-mentioned first aspect or first A method for any one of the possible implementations of the aspect.
  • the seventh aspect of the present application provides a chip system, the chip system includes at least one processor, at least one processor is used to support the control device to implement the functions involved in the first aspect or any possible implementation of the first aspect .
  • the system-on-a-chip may further include a memory, and the memory is used to store necessary program instructions and data for controlling the device.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • the eighth aspect of the present application provides a fully mechanized mining face system, including a support array, a scraper machine, a coal shearer and control equipment.
  • the support array includes A supports, wherein, each support in the A supports is connected to each other through a push rod.
  • the scraper machine is connected, the coal shearer runs on the scraper machine, A is an integer greater than 1, and the control device is used to implement the method of the first aspect or any one of the possible implementations of the first aspect.
  • Fig. 1 is a structural representation of the fully mechanized mining face system that the embodiment of the application provides;
  • Fig. 2 is another schematic structural view of the fully mechanized mining face system provided by the embodiment of the present application.
  • Fig. 3 is a schematic diagram of an embodiment of a method for straightening multiple node devices provided by an embodiment of the present application
  • Fig. 4A is a schematic structural view of the bracket provided by the embodiment of the present application.
  • Fig. 4B is another structural schematic diagram of the stent provided by the embodiment of the present application.
  • Fig. 5 is a schematic diagram of another embodiment of a method for aligning multiple node devices provided by the embodiment of the present application.
  • Fig. 6A is a schematic diagram of the three-dimensional coordinate system provided by the embodiment of the present application.
  • Fig. 6B is another schematic diagram of the three-dimensional coordinate system provided by the embodiment of the present application.
  • Fig. 7A is a schematic diagram of an example of the first curve provided by the embodiment of the present application.
  • Fig. 7B is a schematic diagram of an example of calculating the first difference provided by the embodiment of the present application.
  • FIG. 8A is a schematic diagram of an example of an alignment method for multiple node devices provided by an embodiment of the present application.
  • FIG. 8B is a schematic diagram of another example of a method for straightening multiple node devices provided by an embodiment of the present application.
  • Fig. 8C is another example schematic diagram of the method for straightening multiple node devices provided by the embodiment of the present application.
  • FIG. 8D is a schematic diagram of another example of a method for straightening multiple node devices provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of another example of an alignment method for multiple node devices provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a control device provided by an embodiment of the present application.
  • Fig. 11 is another schematic structural diagram of the control device provided by the embodiment of the present application.
  • the present application provides a method for straightening multi-node equipment, which is used for automatically straightening support arrays and/or scrapers in a fully mechanized mining face system.
  • Embodiments of the present application also provide corresponding devices, devices, computer-readable storage media, and computer program products. Each will be described in detail below.
  • the three machines of the fully mechanized mining face system in the coal mine include a shearer, a support array and a scraper conveyor, and the scraper conveyor is also called a scraper conveyor.
  • the supports in the support array may be hydraulic supports, pneumatic supports or electric supports. In the embodiment of the present application, a hydraulic support is taken as an example for introduction.
  • the structure of the fully mechanized mining face system in the embodiment of the present application can be understood by referring to a schematic structural diagram of the fully mechanized mining face system shown in FIG. 1 .
  • the three machines of the fully mechanized mining face system include a shearer 101, a hydraulic support 102 and a scraper conveyor 103, and the scraper conveyor is also called a scraper conveyor.
  • the scraper machine 103 is equivalent to the track of the coal shearer 101, and the coal shearer 101 walks from one end of the scraper machine 103 to the other end to complete a one-shot coal mining work. Then the hydraulic support 102 moves to the direction perpendicular to the coal face, and the scraper machine 103 is pushed to move also to the direction perpendicular to the coal face. coal work.
  • the fully mechanized mining face system includes not only the shearer 101, the hydraulic support 102, and the scraper machine 103 shown in Fig. 1, but also other equipment, including control equipment usually arranged in the control room.
  • the control device communicates with each bracket, and can obtain the position information and attitude angle information of the bracket from the bracket, and then send control information to the bracket, and then control the bracket to move or push.
  • the control equipment can be computer equipment.
  • the control equipment refers to the equipment that controls the work of the three coal cutting machines at the fully mechanized mining face.
  • rack moving and “pushing” can be understood as commonly used terms in the fully mechanized mining face system.
  • the moving of the rack refers to the movement after the support lowers the top beam
  • the pushing refers to the pushing and pulling of the scraper by the push rod. Machine, to realize the forward or backward of the scraper machine.
  • the embodiment of the present application provides a method for straightening multi-node equipment, which is applied to the fully mechanized mining face system shown in Figure 2 above, and the fully mechanized mining face system It includes a bracket array, a scraper machine and a control device.
  • the bracket array includes A brackets, wherein, each bracket in the A brackets is connected to the scraper machine through a push rod, and A is an integer greater than 1.
  • a multi-node device refers to multiple devices that work together, or a device has multiple nodes, and the multiple nodes work together. Multi-node devices can be rack arrays or scrapers.
  • the support array includes multiple supports, and the fully mechanized mining face system usually includes dozens or hundreds of supports, and each support can be understood as a node.
  • a scraper is usually a track connected to multiple node devices, and the part connected to a bracket can be understood as a node.
  • straightening may mean adjusting to a straight line, or not adjusting to a straight line in an absolute sense, and the allowable range of error can be understood as straightening.
  • an embodiment of the straightening method provided by the embodiment of the present application can be understood with reference to FIG. 3 .
  • an embodiment of the straightening method may include:
  • the control device acquires position information and attitude angle information of B brackets in the bracket array.
  • B A, or, B brackets are distributed among A brackets at intervals, and B is a positive integer.
  • the distribution of the B brackets on the A brackets at intervals refers to obtaining the position information and attitude angle information of a bracket at intervals of several brackets.
  • the interval may be a uniform interval, for example, acquiring position information and attitude angle information of a support every M supports or every (M ⁇ 1) supports.
  • the interval can also be uneven intervals, for example: for the supports in the support array, some obtain the position information and attitude angle information of a support at intervals of (M-1) supports, and some obtain the position information and attitude of a support at intervals of P supports
  • For the angle information it is also possible to obtain the position information and attitude angle information of a bracket at intervals of Q brackets, and the specific interval method is not limited in this application.
  • the position includes information of one or more translational degrees of freedom among the three translational degrees of freedom.
  • the three translational degrees of freedom include x-axis translation, y-axis translation, and z-axis translation.
  • translation on one or two axes can also be included, such as: x-axis translation, x-axis translation And y-axis translation, in fact, the translation of one axis or two axes can also be understood as a special three-axis translation, except that the translation amount on the other two axes or one axis is 0.
  • the pose includes information on one or more of the three rotational degrees of freedom.
  • the three rotational degrees of freedom include x-axis rotation, y-axis rotation, and z-axis rotation. Of course, it can also include rotation on one or two axes, such as: x-axis rotation, x-axis rotation And y-axis rotation, in fact, the rotation of one axis or two axes can also be understood as a special three-axis rotation, except that the rotation amount on the other two axes or one axis is 0.
  • the information of the translation degree of freedom can be the coordinate information describing an object in the coordinate axis, for example: the position information of each support can be the coordinate of each support on at least one of the x-axis, y-axis and z-axis information.
  • the information of the degree of freedom of rotation can describe the rotation angle of an object around the coordinate axis, such as: heading angle, roll angle or pitch angle, for example, the attitude angle information of each support can include the heading angle information of each support, roll angle At least one of angle information and pitch angle information.
  • the control device determines the first position of each bracket in the B brackets according to the position information and attitude angle information of each bracket in the B brackets, and the first target value corresponding to each bracket in the B brackets in the straightening direction.
  • the second target value of is used to determine the second adjustment value of each target node, and the target node is the connection point between the push rod of each bracket in the B brackets and the scraper machine.
  • each of the B brackets will have a corresponding first target value.
  • the control device will combine the first target value and the attitude angle information of the bracket to determine the first target value.
  • One adjustment amount so that each of the B brackets can be controlled to move to a position corresponding to the first target value, and then the bracket array can be straightened.
  • the target node is the node connected to the push rod of the support on the scraper machine.
  • the attitude angle information of the push rod is the same as that of the support.
  • the length value of the push rod represents the distance from the support to the target node.
  • each target node will have a corresponding second target value.
  • the control device will combine the second target value and the attitude angle information of the bracket to determine the second adjustment. Amount, so as to control the push rod of each bracket in the B brackets to move the corresponding target node on the scraper machine, and then straighten the scraper machine.
  • both the first target value and the second target value are numerical values
  • the first target value represents the straightening target of the bracket in the straightening direction
  • the second target value represents the adjustment of the target node of the scraper machine in the straightening direction Straight target.
  • the control device sends the corresponding first adjustment amount and/or the second adjustment amount to each of the B racks.
  • the first adjustment amount is used for each bracket of the B brackets to move in the straightening direction to straighten the bracket array
  • the second adjustment amount is used for pushing the push rod connected to each target node to straighten the scraper. trigger.
  • the rack moves according to the first adjustment amount to straighten the rack array, and/or pushes and slides according to the second adjustment amount to straighten the scraper.
  • the automatic straightening of the support array and/or the scraper machine can be realized through the control equipment, and the automation of the straightening of the support array and/or the scraper machine is realized.
  • the straightening of the support array and The attitude angle information of the support is also fully considered during the /or scraper machine, which improves the alignment accuracy of the bracket array and/or the scraper machine.
  • the method of obtaining the position information and attitude angle information of the B brackets in the bracket array in the above step 201 may be to obtain the angular velocity information and acceleration information of the brackets from each bracket in the B brackets, and then the control device determines the brackets according to the angular velocity information and acceleration information.
  • the attitude angle information and position information of the support may also be obtained directly by the control device from the attitude angle information and position information of the support calculated by the calculation unit on the support.
  • the angular velocity information and acceleration information of the bracket are measured by an inertial measurement unit (IMU) installed on the bracket.
  • IMU inertial measurement unit
  • a stroke sensor is also installed on the bracket, and the stroke sensor is arranged on the driving mechanism of the push rod. The stroke sensor is used to measure the frame displacement information and the push displacement information of the support.
  • the frame displacement information and the push displacement information are combined with the attitude angle information and
  • the position information is used by the control device to determine the coordinate information of the target node on the scraper machine.
  • each of the B brackets is provided with an inertial measurement unit (IMU) and a travel sensor.
  • IMU inertial measurement unit
  • other brackets may also be provided with an IMU or/and a travel sensor.
  • the embodiment of the present application also provides a support in a fully mechanized mining face system, the support is provided with an inertial measurement unit (IMU) and a travel sensor, and the travel sensor is provided on the drive mechanism of the push rod of the support;
  • the IMU is used for Measure the angular velocity information and acceleration information of the support, and the angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the support;
  • the stroke sensor is used to measure the frame displacement information and push displacement information of the support, and the frame displacement information and push displacement information Displacement information combined with attitude angle information and position information is used for the control equipment in the fully mechanized mining face system to determine the coordinate information of the target node on the scraper machine in the fully mechanized mining face system.
  • the target node is the connection point between the push rod of the support and the scraper machine.
  • the structure of the bracket in the bracket array provided by the embodiment of the present application can be understood with reference to FIG. 4A.
  • push rod 307 As shown in FIG. 306 , push rod 307 , side guard 308 , IMU 309 and stroke sensor 310 .
  • one end of the rear connecting rod 302, the front connecting rod 305 and the column 306 is respectively arranged on the base 301, and the push rod 307 is arranged on a driving mechanism of the base.
  • the base can be provided with multiple driving mechanisms, Such as: the drive mechanism in the x-axis direction, the drive mechanism in the y-axis direction, the drive mechanism in the z-axis direction, the push rod 307 in FIG.
  • the direction of motion of the driving mechanism in the axial direction is consistent.
  • the stroke sensor 310 is also disposed on the driving mechanism in the y-axis direction, and of course, the stroke sensor may also be disposed on the driving mechanism in other axis directions.
  • the stroke sensor 310 can measure the rack displacement information and push displacement information of the support.
  • the other end of the rear link 302 and the front link 305 is connected with the cover beam 303, the other end of the cover beam 303 and the column 306 is connected with the top beam 304, one end of the top beam 304 is connected with the cover beam 303, the middle position is connected with the column 306, and One end is connected to the side guard 308 .
  • the IMU 309 is installed on the base 301 .
  • the IMU 309 can also be installed on the top beam 304 .
  • the direction of one axis of the IMU is the same as the direction of the stroke sensor. If the orientation of the stroke sensor is the same as the y-axis direction of the IMU, of course, the stroke sensor can also have an angle with the y-axis. If there is an angle, when calculating the coordinates of the target node, it needs to be considered that the stroke sensor can also be in the same direction as the y-axis. There is an angle between the axes.
  • control device can control each bracket in the bracket array to straighten the bracket array and/or straighten the scraper. It may also be that the control device controls the spaced supports in the support array to perform straightening of the support array and/or straightening of the scraper. Introduce them separately below.
  • the control device controls each bracket in the bracket array to straighten the bracket array and/or straighten the scraper.
  • another embodiment of the method for straightening multi-node equipment includes:
  • the control device obtains the angular velocity information and acceleration information of the support measured by the IMU from each support in the support array, and the rack displacement information and push displacement information of the support measured by the travel sensor.
  • the control device determines the position information and attitude angle information of each support according to the angular velocity information and acceleration information of each support.
  • the position information of the bracket may be the three-dimensional coordinates of the bracket. Taking the nth bracket as an example, the three-dimensional coordinates of the nth bracket may be marked as (Xn, Yn, Zn).
  • the attitude angle information of the support can be the pitch angle, heading angle and roll angle of the support on the three-dimensional coordinate system. Taking the n-th support as an example, the attitude angle information of the n-th support can be expressed as ( ⁇ nx, ⁇ ny, ⁇ nz), where ⁇ nx is the pitch angle, ⁇ ny is the heading angle, and ⁇ nz is the roll angle.
  • the three-dimensional coordinate system in the embodiment of the present application can be understood by referring to FIG. 6A.
  • the direction parallel to the coal surface is defined as the x-axis
  • the direction perpendicular to the coal surface is defined as the y-axis
  • the x-axis and the y-axis The direction perpendicular to the plane is defined as the z-axis.
  • ⁇ x is the pitch angle, indicating the angle between the y-axis and the x-axis.
  • ⁇ y is the heading angle, indicating the angle between the z-axis and the y-axis.
  • ⁇ z is the roll angle, indicating the angle between the x-axis and the y-axis.
  • the attitude angle information ( ⁇ nx, ⁇ ny, ⁇ nz) of the bracket can also be expressed in another form, as shown in Figure 6B, using the angle between the projection of the bracket in the three-dimensional coordinate system and the three axes x, y, and z Indicates ⁇ nx, ⁇ ny, ⁇ nz.
  • the control device determines a first curve according to the position information of each support, where the first curve is used to describe the position distribution of each support.
  • the position information of each support is the coordinates of each support, and the coordinates of the nth support in the straightening direction can be expressed as (Xn, Yn, Zn).
  • the coordinates of each support on the y-axis can be expressed as (X1, Y1, Z1), (X2, Y2, Z2), . . . , (Xn, Yn, Zn).
  • the first curve may be a curve formed by connecting coordinate points of n supports.
  • the first curve can be understood with reference to FIG. 7A .
  • the coordinate points of each bracket can be connected by a straight line.
  • the first curve provided in the embodiment of the present application is not limited to the manner shown in FIG. 7A , and may also be a curve obtained by fitting the coordinates of each bracket.
  • the control device determines that each The position information of the bracket in the straightening direction, and the first difference between the first target value corresponding to each bracket in the straightening direction.
  • the step of determining the first difference and the first adjustment amount is not performed.
  • condition 1 the maximum peak value or maximum valley value in the straightening direction in the first curve exceeds the first threshold
  • condition 2 the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds second threshold.
  • condition 1 and condition 2 only one of condition 1 and condition 2 needs to be selected, and these two conditions can be a pre-configured one, and condition 1 is configured in the control device, and condition 1 is executed during operation.
  • Condition 2 is configured in the control device, and condition 2 is executed at runtime.
  • the first threshold and the second threshold may be preconfigured values, such as: 1 cm to 50 cm, or other values, if the maximum peak value or the maximum valley value in the straightening direction in the first curve does not exceed the first threshold value, or The difference between the maximum peak value and the maximum trough value in the straightening direction does not exceed the second threshold, which means that the current support array is relatively straight and does not need to perform straightening processing, which can save time for straightening and improve the shearer. work efficiency.
  • the first difference is the difference between the first target value and the coordinate value of the bracket in the straightening direction.
  • the difference can be positive or negative.
  • a positive value means the same as the straightening direction, and a negative value Indicates that it is opposite to the straightening direction.
  • the straightening direction as the y-axis as an example
  • the coordinate of the nth support in the y-axis direction is Yn
  • the corresponding first target value is Fn
  • the first target value of each bracket can also be represented by a straight line, as shown in Figure 7B, the straight line F represents the straight line where the first target value of each bracket is located, and the straight line F shown in Figure 7B is parallel to the x-axis Yes, in fact, the straight line F can also be angled with respect to the x-axis, not limited to the way shown in FIG. 7B.
  • the first difference of each bracket is the distance from the coordinate point of each bracket to the straight line F.
  • the control device determines the quotient of the first difference value of each support and the cosine data of each support in the straightening direction as the first adjustment amount.
  • the cosine data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine
  • the first cosine is the heading of each bracket in the straightening direction in the B brackets
  • the second cosine is the cosine of the roll angle of each bracket in the B brackets in the straightening direction
  • the third cosine is the cosine of the pitch angle of each bracket in the B brackets in the straightening direction
  • the heading Angle, roll angle, and pitch angle are included in the attitude angle information of each bracket in the B brackets.
  • the first adjustment amount (Fn-Yn)/cosine data
  • the first cosine cos ⁇ ny
  • the second cosine cos ⁇ nz
  • the third cosine cos ⁇ nx
  • the cosine data can be cos ⁇ ny or cos ⁇ ny.cos ⁇ nz, cos ⁇ ny.cos ⁇ nx or cos ⁇ ny.cos ⁇ nz.cos ⁇ nx, where ".” represents the multiplication sign.
  • the present application takes into account various angle factors that may be affected by the bracket, so that the calculated first adjustment amount is more accurate, and further improves the alignment accuracy of the bracket array.
  • the control device determines the coordinate information of each target node according to the position information of each support, the protruding length value of the push rod of each support, and the attitude angle information of each support.
  • the control device determines a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node.
  • the target node is the node connected with the push rod on the bracket on the scraper machine.
  • the second curve can be understood with reference to FIG. 7A of the first curve.
  • control device determines that every The second difference between the coordinate information of each target node in the straightening direction and the second target value corresponding to each target node in the straightening direction.
  • the step of determining the second difference and the second adjustment amount is not performed.
  • condition 3 the maximum peak value or maximum valley value in the straightening direction in the second curve does not exceed the third threshold
  • condition 4 the difference between the maximum peak value and the maximum valley value in the straightening direction
  • the fourth threshold is not exceeded.
  • condition 3 and condition 4 only one of condition 3 and condition 4 needs to be selected, and these two conditions can be a pre-configured one, and condition 3 is configured in the control device, and condition 3 is executed during operation.
  • Condition 4 is configured in the control device, and condition 4 is executed at runtime.
  • the third threshold and the fourth threshold can be pre-configured values, such as: 1 cm to 50 cm, or other values, if the maximum peak or maximum valley value in the second curve does not exceed the third threshold, or in the straightening direction.
  • the difference between the maximum peak value and the maximum valley value does not exceed the fourth threshold, which means that the current scraper is relatively straight and does not need to be straightened, which can save time for straightening and improve the working efficiency of the shearer .
  • the second difference is the difference (En-bn) between the second target value En and bn.
  • the difference can be positive or negative.
  • a positive value means the same direction as the straightening direction, and a negative value means Opposite to straightening direction.
  • the calculation method of the second difference can be understood by referring to the calculation method of the first difference, and can also be understood by referring to FIG. 7B .
  • the control device determines the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction as the second adjustment amount.
  • the cosine data includes the fourth cosine, or the product of the fourth cosine and at least one of the fifth cosine and the sixth cosine
  • the fourth cosine is the straightening direction of the push rod connected to each target node
  • the fifth cosine is the cosine of the roll angle of the push rod connected to each target node in the straightening direction
  • the sixth cosine is the roll angle of the push rod connected to each target node in the straightening direction
  • the cosine of the pitch angle, heading angle, roll angle, and pitch angle are included in the attitude angle information of the push rod connected to each target node
  • the attitude angle information of the push rod connected to each target node is the bracket where the push rod is located attitude angle information.
  • the fourth cosine is the same as the first cosine
  • the fifth cosine is the same as the second cosine
  • the sixth cosine is the same as the first cosine.
  • the three cosines are the same.
  • the fourth cosine cos ⁇ ny
  • the fifth cosine cos ⁇ nz
  • the sixth cosine cos ⁇ nx
  • the cosine data can be cos ⁇ ny, cos ⁇ ny.cos ⁇ nz, cos ⁇ ny.cos ⁇ nx or cos ⁇ ny.cos ⁇ nz.cos ⁇ nx.
  • the present application takes into account various angle factors that may be affected by the push rod when calculating the second adjustment amount, so that the calculated second adjustment amount is more accurate, and further improves the straightening accuracy of the scraper machine.
  • the control device sends the corresponding first adjustment amount and/or the second adjustment amount to each bracket.
  • the bracket moves according to the first adjustment amount to straighten the bracket array, and/or pushes and slides according to the second adjustment amount to straighten the scraper.
  • bracket array needs to be straightened, only the first adjustment amount needs to be determined, and the second adjustment amount does not need to be determined, and steps 406 to 409 do not need to be performed. If it is only necessary to straighten the scraper, only the second adjustment amount needs to be determined, and the first adjustment amount does not need to be determined, so steps 403 to 405 do not need to be performed. If it is necessary to straighten both the bracket array and the scraper, it is necessary to determine the first adjustment amount and the second adjustment amount.
  • two adjacent brackets in the bracket array can push the other bracket to rotate by a certain angle through the driving mechanisms on both sides.
  • the straightening direction is the y-axis direction
  • the x-axis direction can The push rod of the stent is used to push the adjacent stent to rotate, so as to adjust the angular rotation of the stent in the stent array.
  • This process can be that the control device determines the compensation value of the heading angle of each bracket according to the measured value of the heading angle of each bracket in the straightening direction and the target value of the heading angle in the straightening direction;
  • the adjacent brackets send the compensation value corresponding to the heading angle, which is used for the adjacent brackets to adjust the position of each bracket, so as to adjust each bracket to the target value of the heading angle.
  • the compensation value of the course angle includes the compensation value of the angle and the displacement compensation value of the push rod that pushes the adjacent support. If the direction parallel to the coal surface is the x-axis, the push rod of the adjacent support Push rods generally refer to push rods in the x-axis direction.
  • the compensation value of the angle can be the difference between the target value of the heading angle and the measured value of the heading angle, and the pushing compensation value of the push rod can be determined according to the length of the bottom plate of the bracket in the Y-axis direction and the compensation value of the angle. The distance that the bracket needs to move in the x-axis direction.
  • the embodiment of the present application can straighten the scraper machine and/or the bracket array and adjust the heading angle by monitoring the straightness of the target node of the support array and the scraper machine, as shown in Figure 8A to Figure 8D below Demonstrate the straightening and adjustment process.
  • brackets in the bracket array there are n brackets in the bracket array, and the position information of each bracket can be represented by three-dimensional coordinates, and the specific representation method can refer to the above introduction. It can be seen from the straightness monitoring stent array diagram that both the first curve and the second curve are curves. Then the scraper machine and/or bracket array can be straightened according to the previous scheme.
  • the above-mentioned adjustment process from Figure 8A to Figure 8D can be based on the coordinates (xn, yn, zn) of the control device, the three-dimensional posture ( ⁇ x, ⁇ y, ⁇ z), and the coordinates of the target node of the scraper (an, bn ,cn), to obtain the distribution state of the bracket array and the scraper machine in space.
  • This embodiment takes straightening in the Y-axis direction as an example, that is, fitting the straightness of the Y-axis coordinates of the target nodes of the bracket array and the scraper machine, and judging the maximum difference of the Y-axis coordinates, which are recorded as H and K respectively, to realize real-time alignment. Monitor directly.
  • the bracket array can be straightened by compensating with the machine, that is, the Y-axis coordinates of the bracket array are aligned, so that H ⁇ G, G is the target value of straightening, and the range can be 0 to 50cm .
  • Set the target Y-axis coordinate value calculate the difference L between the Y-axis coordinate of the support and the target value, and then obtain the compensation amount of the follower frame for each support.
  • the follower frame can adjust the positive and negative distances by lowering the frame and telescopic push rod.
  • the telescopic amount of the push rod (dns–dn) is equal to L divided by the cosine of the heading angle. When the ground is uneven, it must be further divided by the cosine of the roll and pitch angles.
  • the scraper machine can be straightened through the bracket pushing compensation, that is, the Y-axis coordinates of the scraper machine nodes are aligned, so that K ⁇ G, G is the target value of straightening, and the range can be 0 ⁇ 50cm.
  • Set the target Y-axis coordinate value calculate the difference T between the Y-axis coordinate of the scraper node and the target value, and then obtain the push rod push compensation amount of each scraper node.
  • the telescopic amount of the push rod (dnt–dn) is equal to T divided by the cosine of the heading angle. When the ground is uneven, it must be further divided by the cosine of the roll and pitch angles.
  • the solution provided by the embodiment of the present application can realize the automatic alignment of the bracket array and/or the scraper machine through the position information and attitude angle information of each bracket in the direct array, and the alignment accuracy is very high.
  • the control device controls the spaced brackets in the bracket array to perform straightening of the bracket array and/or the straightening of the scraper machine.
  • the IMU and the travel sensor can be installed at even intervals. As shown in FIG. 9 , the IMU and the travel sensor are installed on every M brackets, and the value of M usually ranges from 0 to 20. There are nM brackets in Figure 9, so that the position information and attitude angle information of n brackets can be obtained, and then the bracket array and/or the scraper machine can be straightened. For the specific straightening process, please refer to the previous part of Figure 5 to Figure 8D The introduction is understood, and the introduction will not be repeated here.
  • FIG. 9 uses uniform intervals as an example for introduction.
  • the method is not limited to uniform intervals, and may also be uneven intervals.
  • the method of installing the IMU and the stroke sensor at intervals provided by the embodiment of the present application can reduce the hardware cost and achieve the effect of straightening the bracket array and/or the scraper.
  • control device 50 provided by the embodiment of the present application is included in the fully mechanized mining face system, and the control device is included in the fully mechanized mining face system.
  • a bracket wherein, each bracket in the A brackets is connected to the scraper machine through a push rod, A is an integer greater than 1, and the control device includes:
  • the obtaining unit 501 may execute steps 201 and 401 in the foregoing method embodiments.
  • the processing unit 502 is configured to determine the B brackets according to the position information and attitude angle information of each bracket in the B brackets acquired by the acquisition unit 501, and the first target value corresponding to each bracket in the B brackets in the straightening direction
  • Up to the second target value corresponding to each target node, determine the second adjustment amount of each target node, the target node is the connection point between the push rod of each bracket in the B brackets and the scraper machine.
  • the processing unit 502 may execute steps 202 and 402-409 in the foregoing method embodiments.
  • the sending unit 503 is configured to send the first adjustment amount and/or the second adjustment amount determined by the corresponding processing unit 502 to each bracket in the B brackets, the first adjustment amount is used for each bracket in the B brackets in the straightening direction
  • the rack moves upwards to straighten the bracket array, and the second adjustment amount is used to push the push rods connected to each target node to straighten the scraper.
  • the sending unit 503 may execute steps 203 and 410 in the foregoing method embodiments.
  • the automatic straightening of the support array and/or the scraper machine can be realized through the control equipment, and the automation of the straightening of the support array and/or the scraper machine is realized.
  • the straightening of the support array and The attitude angle information of the support is also fully considered during the /or scraper machine, which improves the alignment accuracy of the bracket array and/or the scraper machine.
  • each bracket in the B brackets is provided with an inertial measurement unit IMU and a travel sensor, and the travel sensor is arranged on the drive mechanism of the push rod;
  • the IMU is used to measure the angular velocity information and acceleration information of the bracket, angular velocity information and acceleration
  • the information is used to control the equipment to determine the attitude angle information and position information of the bracket;
  • the travel sensor is used to measure the rack displacement information and push displacement information of the bracket, and the rack displacement information and push displacement information are combined with attitude angle information and position information to control the equipment Determine the coordinate information of the target node on the scraper.
  • the processing unit 502 is configured to: determine the position information of each of the B brackets in the straightening direction, and the first difference from the first target value corresponding to each of the B brackets in the straightening direction ; The first difference of each bracket in the B brackets, and the quotient of the cosine data of each bracket in the straightening direction in the B brackets are determined as the first adjustment amount; wherein the cosine data includes the first cosine, or , the product of the first cosine and at least one of the second cosine and the third cosine, the first cosine is the cosine of the heading angle of each bracket in the straightening direction in the B brackets, and the second cosine is the B brackets The cosine of the roll angle of each bracket in the straightening direction, the third cosine is the cosine of the pitch angle of each bracket in the B brackets in the straightening direction, the heading angle, roll angle, and pitch angle are included in B In the attitude angle information of each bracket in a
  • the processing unit 502 is further configured to: determine the first curve according to the position information of each bracket in the B brackets, the first curve is used to describe the position distribution of the B brackets; if the first curve is in the straightening direction If the maximum peak value or the maximum valley value exceeds the first threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the second threshold, the step of determining the first adjustment amount is executed.
  • the processing unit 502 is configured to: according to the position information of each bracket in the B brackets, and the length value of the push rod of each bracket in the B brackets, and the attitude angle of each bracket in the B brackets information, determine the coordinate information of each target node; determine the coordinate information of each target node in the straightening direction, and the second difference between the second target value corresponding to each target node in the straightening direction; each The quotient of the second difference corresponding to the target node and the cosine data of each target node in the straightening direction is determined as the second adjustment amount; wherein, the cosine data includes the fourth cosine, or the fourth cosine and the fifth cosine The product of at least one of the cosine and the sixth cosine, the fourth cosine is the cosine of the heading angle of the push rod connected to each target node in the straightening direction, and the fifth cosine is the The cosine of the roll angle of the stick in the straightening direction, the sixth cosine is
  • the processing unit 502 is further configured to: determine a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node; if the maximum in the straightening direction in the second curve If the peak value or the maximum valley value exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the fourth threshold, the step of determining the second adjustment amount is executed.
  • the processing unit 502 is further configured to: determine each of the B brackets according to the measured value of the heading angle of each bracket in the straightening direction and the target value of the heading angle in the straightening direction. The compensation value of the heading angle.
  • the sending unit 503 is also used to send the compensation value of the corresponding heading angle to the adjacent brackets of each bracket in the B brackets, and the compensation value of the heading angle is used for the adjacent brackets to adjust the position of each bracket in the B brackets, so that B Each of the two brackets is adjusted to the target value of the heading angle.
  • control device 50 provided in the embodiment of the present application can be understood by referring to the corresponding content in the foregoing method embodiment, and will not be repeated here.
  • FIG. 11 is a schematic diagram of a possible logical structure of the control device 60 provided by the embodiment of the present application.
  • the control device 60 includes: a processor 601 , a communication interface 602 , a memory 603 , a disk 604 and a bus 605 .
  • Processor 601, communication interface 602, memory 603, and disk 604 are connected to each other through bus 605.
  • the processor 601 is used to control and manage the actions of the control device 60 , for example, the processor 601 is used to execute the steps in the method embodiments in FIGS. 1 to 9 .
  • the communication interface 602 is used to support the control device 60 to communicate.
  • the memory 603 is used to store program codes and data of the control device 60 and provide memory space for processes or threads. Disk user stores physical pages swapped out from memory.
  • the processor 601 may be a central processing unit, a general processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute the various illustrative logical blocks, modules and circuits described in connection with the present disclosure.
  • the processor 601 may also be a combination that implements computing functions, for example, a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.
  • the bus 605 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus, etc.
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • a computer-readable storage medium is also provided, and computer-executable instructions are stored in the computer-readable storage medium.
  • the processor of the device executes the computer-executable instructions
  • the device executes the above-mentioned Figs. Steps performed by the control device in FIG. 9 .
  • a computer program product includes computer-executable instructions stored in a computer-readable storage medium; when the processor of the device executes the computer-executable instructions , the device executes the steps performed by the control device in FIGS. 1 to 9 above.
  • a chip system is further provided, and the chip system includes a processor, and the processor is used to control the device to implement the steps performed by the control device in the foregoing FIGS. 1 to 9 .
  • the system-on-a-chip may further include a memory, and the memory is used to store necessary program instructions and data for controlling the device.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • a unit described as a separate component may or may not be physically separated, and a component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments of the embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

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Abstract

Procédé de redressement pour un dispositif à nœuds multiples utilisé pour redresser automatiquement un réseau de supports hydrauliques et/ou redresser automatiquement un racleur dans un système de taille d'exploitation minière de charbon entièrement mécanisé. Le procédé consiste : à déterminer, par un dispositif de commande, une première quantité de réglage au moyen d'informations de position et d'informations d'angle d'orientation de supports hydrauliques et une première valeur cible de chaque support hydraulique dans un réseau de supports hydrauliques dans une direction de redressement, de telle sorte que chaque support hydraulique règle le réseau de supports hydrauliques en fonction de la première quantité de réglage, et/ou à déterminer, par le dispositif de commande, une seconde quantité de réglage au moyen des informations de position et des informations d'angle d'orientation des supports hydrauliques, la valeur de la longueur d'extension d'une tige de poussée de chaque support hydraulique et une seconde valeur cible d'un nœud cible sur le racleur relié à chaque tige de poussée, de telle sorte que chaque support hydraulique peut effectuer une opération de poussée sur le racleur au moyen de la tige de poussée de façon à redresser le racleur. Selon le procédé, les informations d'angle d'orientation des supports sont complètement prises en compte pendant le redressement du réseau de supports et/ou du racleur, ce qui permet d'améliorer la précision de redressement du réseau de supports et/ou du racleur.
PCT/CN2022/133608 2022-01-29 2022-11-23 Procédé de redressement pour dispositif à nœuds multiples et dispositif correspondant WO2023142631A1 (fr)

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