A method and device for guiding and positioning anchor arm of continuous mining machine

Abstract

The present invention discloses a method and device for guiding and positioning the anchor arm of a continuous miner, which relates to the technical field of anchor arm positioning. The main purpose is to achieve precise control of the anchor arm of a continuous miner, so that the insertion position of the anchor is highly consistent with the process design, and the support quality of the excavation working face is improved. The method comprises: when a displacement signal is received, switching to a coarse adjustment mode; according to the displacement signal, adjusting the span width of the anchor arm so that the span width of the anchor arm reaches a preset threshold range; when a coordinate signal is received, switching to a fine adjustment mode; according to the coordinate signal, adjusting the span width of the anchor arm, and accurately positioning the span width of the anchor arm to the preset threshold. The present invention is suitable for guiding and positioning the anchor arm of a continuous miner.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor arm guiding and positioning, and in particular to a method and a device for guiding and positioning an anchor arm of a continuous miner. Background Art

[0002] After coal mining, in order to support and reinforce the working face tunnel, a special anchor bolter is required to insert anchor bolts. With the continuous improvement of underground equipment functions, in order to solve the problem that anchor bolters and tunneling equipment are not easy to miss in narrow tunnels, in recent years, most tunneling machines and continuous mining machines have integrated anchor bolt support devices, which can immediately reinforce the top of the working face after tunneling, realizing the integration of equipment and greatly improving the support efficiency. Among them, the body of the continuous mining machine is much larger than that of the tunneling machine, with the characteristics of large body size, high mining efficiency, supporting facilities and complete functions. On the continuous mining machine, more detection, control and action devices can be designed to automatically complete more complex mining processes. At the same time, the larger body can also provide storage and placement space for tools and materials, and provide a more stable, spacious and comfortable working platform for workers. Therefore, the continuous mining machine is generally equipped with an automatic anchor bolt support device with more complete functions, which can automatically drive the anchor bolt into the coal mining face to reinforce the tunnel, simplify the support process, and make the mining construction safer and more convenient.

[0003] At present, in the bolt support process of the mining face, the bolt arm of the continuous miner is usually used to directly push the bolt into the top of the tunnel. The position of the bolt into the top of the tunnel is determined by the arm span width of the bolt arm support. The width is controlled by the operator through the remote control or button, and the alignment position of the bolt arm is selected and judged by vision, experience or mechanical positioning grooves. Therefore, the actual insertion point of the bolt has a large error with the process design, and the support effect cannot reach the optimal level. Summary of the invention

[0004] In view of this, the present invention provides a method and device for guiding and positioning the anchor arm of a continuous miner, the main purpose of which is to solve the problem of large error between the actual insertion point of the anchor and the process design, and poor support effect.

[0005] According to one aspect of the present invention, a method for guiding and positioning an anchor arm of a continuous miner is provided, comprising:

[0006] When receiving the displacement signal, it switches to the coarse adjustment mode;

[0007] According to the displacement signal, the span width of the anchor arm is adjusted so that the span width of the anchor arm reaches within a preset threshold range;

[0008] When receiving the coordinate signal, switch to fine adjustment mode;

[0009] The span width of the anchor arm is adjusted according to the coordinate signal, and the span width of the anchor arm is accurately positioned to the preset threshold.

[0010] Further, adjusting the span width of the anchor arm according to the displacement signal so that the span width of the anchor arm reaches within a preset threshold range includes:

[0011] The received displacement signal is processed according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve;

[0012] The hydraulic cylinder solenoid valve is controlled by utilizing the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

[0013] Further, the hydraulic cylinder solenoid valve is controlled by using a preset hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode, the hydraulic cylinder solenoid valve duty cycle and a preset sampling period in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range, including:

[0014] The product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode is determined as the hydraulic cylinder solenoid valve opening time in the coarse adjustment mode. The hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode includes:

[0015] t open1 =t total1 ·k

[0016] Among them, t open1 Indicates the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode, t total1 represents the sampling period in the preset coarse adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve;

[0017] The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

[0018] Further, adjusting the span width of the anchor arm according to the coordinate signal to accurately position the span width of the anchor arm to the preset threshold includes:

[0019] The received coordinate signal is processed according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve;

[0020] The hydraulic cylinder solenoid valve is controlled by utilizing the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value.

[0021] Further, the hydraulic cylinder solenoid valve is controlled by using the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold, including:

[0022] The product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode is determined as the hydraulic cylinder solenoid valve opening time in the fine adjustment mode. The hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode includes:

[0023] t open2 =t total2 ·k

[0024] Among them, t open2 Indicates the opening time of the hydraulic cylinder solenoid valve in fine adjustment mode, t total2 represents the sampling period in the preset fine adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve;

[0025] The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value.

[0026] Optionally, before the received coordinate signal is processed according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve, the method further includes:

[0027] According to the preset centroid algorithm, the acquired photosensitive tube signal is processed to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system;

[0028] The coordinates of the center point of the light spot are filtered using a preset Kalman filter algorithm to obtain a coordinate signal.

[0029] Optionally, the step of processing the acquired photosensitive tube signal according to a preset centroid algorithm to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system includes:

[0030] According to a preset center of gravity algorithm, a preset mass weight of the center of gravity of the photosensitive tube, and the horizontal coordinate of the photosensitive tube obtained through inspection, the center point coordinates of the light spot projected in the photosensitive tube coordinate system are obtained. The preset center of gravity algorithm includes:

[0031]

[0032] Where: x represents the coordinate of the center point of the light spot projected in the photosensitive tube coordinate system, m and n represent the number of rows and columns of the photosensitive tube array, i and j represent the row and column coordinates of the photosensitive tube currently inspected, τ ijIndicates the mass weight of the center of gravity of the current photosensitive tube, x ij represents the horizontal coordinate of the photosensitive tube column currently being inspected, and s represents the total number of photosensitive tubes currently being irradiated by the laser.

[0033] According to two aspects of the present invention, a guiding and positioning device for an anchor arm of a continuous miner is provided, comprising:

[0034] A coarse adjustment unit, configured to switch to a coarse adjustment mode upon receiving a displacement signal; and to adjust the span width of the anchor arm according to the displacement signal so that the span width of the anchor arm reaches within a preset threshold range;

[0035] The fine-tuning unit is used to switch to the fine-tuning mode when receiving the coordinate signal; according to the coordinate signal, the span width of the anchor arm is adjusted to accurately position the span width of the anchor arm to the preset threshold.

[0036] Furthermore, the coarse adjustment unit comprises:

[0037] A first processing module is used to process the received displacement signal according to a PID control algorithm to obtain a duty cycle of the hydraulic cylinder solenoid valve;

[0038] The first adjustment module is used to control the hydraulic cylinder solenoid valve by using the hydraulic cylinder solenoid valve duty cycle algorithm, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

[0039] Further, the first adjustment module is specifically used to determine the product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode as the hydraulic cylinder solenoid valve opening time in the coarse adjustment mode, and the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode includes:

[0040] t open1 =t total1 ·k

[0041] Among them, t open1 Indicates the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode, t total1 represents the sampling period in the preset coarse adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve;

[0042] The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

[0043] Furthermore, the fine adjustment unit comprises:

[0044] A second processing unit is used to process the received coordinate signal according to a PID control algorithm to obtain a duty cycle of the hydraulic cylinder solenoid valve;

[0045] The second adjustment unit is used to control the hydraulic cylinder solenoid valve by using the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value.

[0046] Further, the second adjustment unit is specifically used to determine the product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode as the hydraulic cylinder solenoid valve opening time in the fine adjustment mode, and the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode includes:

[0047] t open1 =t total1 ·k

[0048] Among them, t open1 Indicates the opening time of the hydraulic cylinder solenoid valve in fine adjustment mode, t total1 represents the sampling period in the preset fine adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve;

[0049] The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value.

[0050] Optionally, the device further comprises:

[0051] A third processing unit is used to process the acquired photosensitive tube signal according to a preset center of gravity algorithm to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system;

[0052] The fourth processing unit is used to filter the coordinates of the center point of the light spot using a preset Kalman filter algorithm to obtain a coordinate signal.

[0053] The third processing unit is specifically used to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system according to a preset center of gravity algorithm, a preset photosensitive tube center of gravity mass weight, and the photosensitive tube horizontal coordinate obtained through inspection, and the preset center of gravity algorithm includes:

[0054]

[0055] Where: x represents the coordinate of the center point of the light spot projected in the photosensitive tube coordinate system, m and n represent the number of rows and columns of the photosensitive tube array, i and j represent the row and column coordinates of the photosensitive tube currently inspected, τ ij Indicates the mass weight of the center of gravity of the current photosensitive tube, x ij represents the horizontal coordinate of the photosensitive tube column currently being inspected, and s represents the total number of photosensitive tubes currently being irradiated by the laser.

[0056] The present invention provides a method and device for guiding and positioning the anchor arm of a continuous miner. Compared with the prior art in which the anchor arm of the continuous miner is used to directly push the anchor, the position where the anchor is pushed into the top of the tunnel is determined by the arm span width of the anchor arm support, and the width is controlled by the operator by operating a remote control or a button, and the alignment position of the anchor arm is selected and judged by vision, experience or mechanical positioning grooves, the present invention switches to a coarse adjustment mode when a displacement signal is received; adjusts the arm span width of the anchor arm according to the displacement signal, so that the arm span width of the anchor arm reaches a preset threshold range; switches to a fine adjustment mode when a coordinate signal is received; adjusts the arm span width of the anchor arm according to the coordinate signal, and accurately positions the arm span width of the anchor arm to the preset threshold. Thus, the anchor arm can be guided to accurately position to the design index, so as to reduce the error between the actual insertion point of the anchor and the process design, and improve the anchor support effect.

[0057] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0059] Figure 1 A flow chart of a method for guiding and positioning an anchor arm of a continuous miner provided by an embodiment of the present invention is shown;

[0060] Figure 2 A flow chart of another method for guiding and positioning the bolt arm of a continuous miner provided by an embodiment of the present invention is shown;

[0061] Figure 3 A signal schematic diagram provided by an embodiment of the present invention is shown;

[0062] Figure 4 A schematic diagram of a photosensitive tube coordinate system provided by an embodiment of the present invention is shown;

[0063] Figure 5 A control structure diagram provided by an embodiment of the present invention is shown;

[0064] Figure 6 A schematic diagram of a coarse adjustment-fine adjustment parameter switcher provided by an embodiment of the present invention is shown;

[0065] Figure 7 A timing diagram of a valve switch duty cycle controller provided by an embodiment of the present invention is shown;

[0066] Figure 8 A structural schematic diagram of a guide and positioning device for an anchor arm of a continuous miner provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0067] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0068] As described in the background technology, currently, in the bolt support process of the mining face, the bolt arm of the continuous miner is usually used to directly push the bolt into the top of the tunnel. The position where the bolt is pushed into the top of the tunnel is determined by the arm span width of the bolt arm support. The width is controlled by the operator through the operation of the remote control or button, and the alignment position of the bolt arm is selected and judged by vision and experience or mechanical positioning grooves. Therefore, the actual insertion point of the bolt has a large error with the process design, and the support effect cannot reach the optimal level.

[0069] In order to solve the above problems, the embodiment of the present invention provides a method for guiding and positioning the bolt arm of a continuous miner, such as Figure 1 As shown, the method includes:

[0070] 101. When receiving a displacement signal, switch to coarse adjustment mode.

[0071] Specifically, the displacement signal can be detected by a wire displacement sensor installed on the anchor arm of the continuous miner. The displacement signal can be used to display the anchor arm span width value, so as to determine whether the anchor arm span width is close to a preset threshold. The coarse adjustment mode is an anchor arm adjustment method in an embodiment of the present invention, and its execution subject can be a PLC logic control terminal. Compared with the fine adjustment mode, in the coarse adjustment mode, the span width can be adjusted using the received displacement signal. Since the span width only needs to reach a threshold range in the coarse adjustment mode, rather than being accurately adjusted to a point, a longer signal sampling period can be set during the adjustment process than the fine adjustment mode, so as to quickly adjust the anchor arm of the continuous miner to a preset threshold.

[0072] It should be noted that in actual application scenarios, the coarse adjustment mode and the fine adjustment mode can be switched according to the currently received signal. If only the displacement signal fed back by the wire displacement sensor is currently received, it will automatically switch to the coarse adjustment mode, and the parameters such as the sampling period preset in the coarse adjustment mode will be configured to the corresponding processing unit, thereby realizing the coarse adjustment control of the bolt arm of the continuous miner.

[0073] 102. According to the displacement signal, adjust the span width of the anchor arm so that the span width of the anchor arm is within a preset threshold range.

[0074] Among them, the preset threshold value can be a floating range of the process design value of the span width of the anchor arm of the continuous miner. For example, if the process design value of the span width of the anchor arm is the coordinate (10, 12), then in the coarse adjustment mode, the preset threshold value can be set to an interval value of the coordinate, such as {[5, 15], [7, 17]}, that is, the vertical coordinate is adjusted to the interval range of [5, 15], and the horizontal coordinate is adjusted to the interval range of [7, 17], so that the span width of the anchor arm is close to the preset threshold value, so as to facilitate subsequent fine-tuning control within the preset threshold value range.

[0075] 103. When receiving the coordinate signal, switch to the fine adjustment mode.

[0076] Among them, the coordinate signal can be specifically generated by a laser receiver installed on the anchor arm after receiving the laser emitted by the laser guide device. The coordinate signal can be used to accurately guide and position the anchor arm. The fine-tuning mode is an anchor arm adjustment method in an embodiment of the present invention, and its execution subject can be a PLC logic control terminal. In the fine-tuning mode, the received coordinate signal can be used to adjust the arm span width. Since the fine-tuning mode requires the anchor arm to be accurately guided and positioned to the process design value, a shorter signal sampling period can be set during the adjustment process to achieve precise positioning.

[0077] It should be noted that in actual application scenarios, the coarse adjustment mode and the fine adjustment mode can be switched according to the currently received signal. If the displacement signal fed back by the wire displacement sensor is received while the coordinate signal fed back by the laser receiver is also received, the fine adjustment mode can be automatically switched to, and the sampling period and other parameters preset in the fine adjustment mode are configured to the corresponding processing unit, thereby realizing the fine adjustment control of the bolt arm of the continuous miner.

[0078] 104. According to the coordinate signal, adjust the span width of the anchor arm to accurately position the span width of the anchor arm to the preset threshold.

[0079] The preset threshold value may be a process design value of the span width of the bolt arm of the continuous miner. For example, if the bolt arm is to be adjusted to the coordinate (10, 12), after adjustment in the coarse adjustment mode, the current bolt arm has been adjusted to the coordinate (8, 13), then at this time, the bolt arm span width can be controlled by adjusting the opening and closing of the solenoid valve hydraulic cylinder installed on the bolt arm, and the bolt arm can be adjusted to the preset threshold value.

[0080] The embodiment of the present invention provides another method for guiding and positioning the bolt arm of a continuous miner, such as Figure 2 As shown, the method includes:

[0081] 201. When a displacement signal is received, switch to a coarse adjustment mode.

[0082] This step and Figure 1 The method of step 101 shown is the same and will not be repeated here.

[0083] 202. According to the displacement signal, adjust the span width of the anchor arm so that the span width of the anchor arm is within a preset threshold range.

[0084] This step and Figure 1 The method of step 102 is the same as shown and will not be repeated here.

[0085] For the embodiment of the present invention, the step 202 may specifically include: processing the received displacement signal according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve; using the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode to control the hydraulic cylinder solenoid valve to adjust the span width of the anchor arm to within the preset threshold range.

[0086] Among them, the PID control algorithm is a linear adjustment algorithm, which can form a control quantity by linearly combining the ratio (P), integral (I), and differential (D) of the deviation between the given value and the actual output value to control the control object. The PID control algorithm is a common algorithm in the field of automatic control, and the embodiment of the present invention is not specifically described here. The duty cycle of the hydraulic cylinder solenoid valve can specifically be the opening percentage of the hydraulic cylinder solenoid valve, that is, the proportion of the opening time of the hydraulic cylinder solenoid valve relative to the total time in a pulse cycle. According to the duty cycle of the hydraulic cylinder solenoid valve, the hydraulic cylinder solenoid valve can be controlled to adjust the span width of the anchor arm to a value close to the preset threshold. Specifically, by using the PID control algorithm, taking the displacement signal as the input, the output quantity can be obtained as the duty cycle of the hydraulic cylinder solenoid valve. By using the hydraulic cylinder solenoid valve duty cycle algorithm and the hydraulic cylinder solenoid valve duty cycle, the hydraulic cylinder solenoid valve installed on the anchor arm can be controlled to adjust the span width of the anchor arm to a value close to the preset threshold.

[0087] For the embodiment of the present invention, the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode are used to control the hydraulic cylinder solenoid valve to adjust the span width of the anchor arm to within a preset threshold range. Specifically, it may include: determining the product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode as the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode; and controlling the hydraulic cylinder solenoid valve using the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

[0088] Wherein, the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode includes:

[0089] t open1 =t total1 ·k

[0090] Among them, t open1 Indicates the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode, t total1 represents the sampling period in the preset coarse adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve;

[0091] Specifically, the product of the coarse adjustment mode sampling period preset by the duty cycle of the hydraulic cylinder solenoid valve can be determined as the single opening time of the hydraulic cylinder solenoid valve, and the hydraulic cylinder solenoid valve can be controlled by using the single opening time of the hydraulic cylinder solenoid valve, thereby adjusting the span width of the anchor arm to close to the preset threshold.

[0092] 203. When receiving the coordinate signal, switch to the fine adjustment mode.

[0093] This step and Figure 1 The method of step 103 shown is the same and will not be repeated here.

[0094] 204. Process the acquired photosensitive tube signal according to a preset center of gravity algorithm to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system.

[0095] Among them, the center of gravity algorithm can be used to calculate the coordinates of the center point of the light spot. The photosensitive tube signal can be specifically fed back by a laser receiver installed on the anchor arm. The laser receiver can be a rectangular array formed by compactly arranging photosensitive tubes, wherein the position of the photosensitive tube located in the center is defined as the zero point of the laser receiver photosensitive tube coordinates, and the coordinates of the remaining photosensitive tubes conform to the coordinate rules of the plane rectangular coordinate system. Multiple photosensitive tube signals are transmitted to the inspection input bus of the single-chip microcomputer through latches, and the signal conduction status of each column of photosensitive tubes is read alternately under the control of the address bus of the single-chip microcomputer. The single-chip microcomputer inspection bus inspects by column, and the number of inspection sub-cycles is the horizontal coordinate of the photosensitive tube, and the position of the signal on the bus width is the vertical coordinate of the photosensitive tube. After one inspection cycle is completed, the single-chip microcomputer can read all the laser irradiation states of all photosensitive tubes in the photosensitive tube coordinate system. Figure 2 As shown, it shows a schematic diagram of the laser emitted by the laser guide device irradiating the laser receiver to form a light spot and the conduction status of the photosensitive tube. After each inspection cycle, the microcontroller solves the center point position of the light spot in the photosensitive tube coordinate system through an algorithm. The center point position can be calculated by the following formula:

[0096]

[0097] Where x represents the coordinate of the center point of the light spot in the photosensitive tube coordinate system; m and n represent the number of rows and columns of the photosensitive tube array, respectively; i and j represent the row and column coordinates of the photosensitive tube currently inspected, respectively; x ij represents the horizontal coordinate of the photosensitive tube column currently being inspected, and s represents the total number of photosensitive tubes currently being irradiated by the laser. ij Indicates the mass weight of the center of gravity of the current photosensitive tube. When a switch-type photosensitive tube is used, its value is 0 or 1, that is, when the photosensitive tube is irradiated by laser, the value is 1, and when the photosensitive tube is not irradiated by laser, the value is 0. When an intensity-type photosensitive tube is used, it is necessary to add a signal amplification circuit and an analog-to-digital circuit to the inspection sampling bus so that the microcontroller can receive the light intensity signal sampled by the photosensitive tube during inspection. At this time, τ ij The value should be equal to the sampling value of the photosensitive tube.

[0098] 205. Utilize a preset Kalman filter algorithm to filter the coordinates of the center point of the light spot to obtain a coordinate signal.

[0099] Among them, the Kalman filter algorithm is an algorithm that uses the linear system state equation to optimally estimate the system state through the system input and output observation data. For the embodiment of the present invention, in the actual application scenario, the laser beam will form a circular spot in the photosensitive tube coordinate system, but because the photosensitive tubes are arranged in a rectangular shape in the coordinate system, and their density cannot be infinite due to the welding process, the resolution of the photosensitive tube coordinate system cannot be very large. Therefore, the projection of the circular spot in the rectangular coordinate system with limited resolution cannot be a standard circle, and jagged parts will inevitably appear at its edge; because the photosensitive tube adopts the patrol mode to read the signal, due to the patrol bus clock cycle, the state reading time of photosensitive tubes in different columns is also slightly different. If the spot position moves in different working cycles of the patrol bus, then this sampling The final spot shape obtained by sampling will be different from the actual shape and position of the spot; when the laser is irradiated on the laser receiver, diffuse reflection will occur on the irradiated photosensitive tube, so that the nearby photosensitive tubes that were not originally irradiated by the laser will also receive the laser signal, causing measurement errors; at the same time, since the laser guide device and the laser receiver are both installed on the continuous miner, when the continuous miner is working, the vibration of the mechanical parts is transmitted to the laser parts, which will cause the light spot to move in the photosensitive tube coordinate system. The above two sampling effects are widely present in the sampling process of the laser receiver. Therefore, the center of the light spot cannot be simply equivalent to the geometric center of the circle formed by the projection of the light spot in the photosensitive tube coordinate system.

[0100] In order to deal with the main interference forms during the above-mentioned spot sampling and improve the sampling accuracy and stability of the laser spot center coordinates, the present invention uses a Kalman filter algorithm to filter the coordinate position of the spot center to reduce the detection error caused by interference. The algorithm is as follows:

[0101]

[0102] P k =AP k-1 A T +Q;

[0103]

[0104]

[0105]

[0106] in: represents the predicted value; Represents the posterior state estimate of the previous cycle; represents the posterior state estimate of the current cycle; H represents the transition matrix from state variables to measurements; H T represents the matrix transpose of the matrix H; Pk-1 represents the posterior estimated covariance of the previous period; P k represents the posterior estimated covariance of the current period; represents the prior estimated covariance of the current period; Z k Indicates the current input value; K k represents the Kalman gain matrix; A represents the state transfer matrix; A T represents the matrix transpose of matrix A; Q represents the covariance of noise interference; R represents the covariance of measurement interference; B represents the matrix converted from input to state; I represents the identity matrix.

[0107] In the embodiment of the present invention, since the dimension of the center coordinate value of the light spot of the system is 1, the dimension of the aforementioned matrix is ​​1, and the aforementioned formula can be calculated by algebraic calculation. In special cases, when the dimensions of A and B are 1 and their values ​​are constants, the aforementioned formula is equivalent to an inertial filter. Therefore, in engineering, when the computing resources of the single-chip microcomputer are insufficient, the aforementioned filter can be converted into an inertial filter by setting parameters. When the single-chip microcomputer has sufficient computing resources, the Kalman filter is used for operation. This design improves the adaptability of the system while taking into account the actual bearing capacity of the hardware resources. Moreover, it is simple to modify the parameters. Only the values ​​of A and B in the above formula need to be modified to complete the function conversion.

[0108] In addition, since the anchor arm rail has only one movement dimension, the photosensitive tube coordinate system only needs to feedback the horizontal coordinate of the center point of the light spot, without calculating the center of gravity of the vertical coordinate, which greatly reduces the amount of calculation of the laser receiver microcontroller and improves the sampling efficiency. When the anchor arm is equipped with a slide rail in the y-axis direction, the vertical coordinate of the center point of the light spot needs to be calculated and fed back, and the calculation and filtering method are the same as the horizontal coordinate. After the above-mentioned inspection sampling and filtering algorithm, the laser receiver microcontroller uses the CAN bus and the CAN isolation module to send the center coordinates of the light spot to the PLC as the current position feedback of the anchor arm for fine-tuning control.

[0109] 206. According to the coordinate signal, adjust the span width of the anchor arm to accurately position the span width of the anchor arm to the preset threshold.

[0110] This step and Figure 1 The method of step 104 is the same as shown and will not be repeated here.

[0111] For the embodiment of the present invention, the step 206 may specifically include: processing the received coordinate signal according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve; using the hydraulic cylinder solenoid valve duty cycle algorithm in the fine-tuning mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine-tuning mode to control the hydraulic cylinder solenoid valve to accurately position the span width of the anchor arm to the preset threshold.

[0112] The PID control algorithm may be executed by a PLC logic control terminal, which receives a sampling signal fed back by a laser receiver and calculates the sampling data through a PID control algorithm to obtain a duty cycle in a fine-tuning mode. Through the digital signal output module of the PLC, i.e., the DO module, a command may be issued to the hydraulic cylinder solenoid valve, thereby accurately positioning the span width of the anchor arm to the preset threshold. Preferably, the PLC may include a SYMC brand PLC.

[0113] The DO signal sent by the PLC is connected to the hydraulic cylinder solenoid valve, and the purpose of controlling the extension and retraction of the hydraulic cylinder is achieved by controlling the solenoid valve. This type of solenoid valve can be an on-off type solenoid valve, which has only two states: open and closed. Therefore, it is impossible to adjust its opening by sending an analog control signal to control the flow of hydraulic oil. The present invention achieves the purpose of equivalently controlling the flow of hydraulic oil by adjusting the opening and closing time of the solenoid valve. Its control algorithm is the same as the control algorithm in the coarse adjustment mode. Obviously, t total The smaller the value, the more accurate the modulation of the solenoid valve duty cycle per unit time, and thus the execution of the control quantity is more accurate. This effect is more significant when the modulation time is very short. However, since the working principle of the solenoid valve is to drive the armature to move back and forth through the coil, its frequent repeated opening has a significant wear effect on the armature and the sealing and blocking components of the valve core. At the same time, the opening and closing of the solenoid valve also requires a certain amount of action time. Frequent opening and closing of the solenoid valve will increase the proportion of action time. If this time accounts for too large a proportion in the sampling period, it will affect the control accuracy of the hydraulic cylinder solenoid valve. Therefore, in engineering practice, the sampling period t total It should not be too small to effectively extend the service life of the solenoid valve and achieve a balance in control accuracy. As a preferred solution, in the present invention, during the coarse adjustment process, t total 2 seconds is selected. Since the fine adjustment process requires a higher control accuracy of the solenoid valve and the total adjustment time is shorter, the wear of the solenoid valve is within an acceptable range, and a shorter sampling period can be appropriately selected. Therefore, in the fine adjustment process of the present invention, t total Select 0.5 seconds.

[0114] For the embodiment of the present invention, the hydraulic cylinder solenoid valve is controlled by using a preset hydraulic cylinder solenoid valve duty cycle algorithm and the hydraulic cylinder solenoid valve duty cycle to accurately position the span width of the anchor arm to the preset threshold value. Specifically, it may include: determining the opening time of the hydraulic cylinder solenoid valve as the product of the hydraulic cylinder solenoid valve duty cycle and a preset fine-tuning mode sampling period; and controlling the hydraulic cylinder solenoid valve by using the opening time of the hydraulic cylinder solenoid valve to accurately position the span width of the anchor arm to the preset threshold value.

[0115] The present invention provides a method for guiding and positioning the anchor arm of a continuous miner, which switches to a coarse adjustment mode when a displacement signal is received; adjusts the span width of the anchor arm according to the displacement signal, so that the span width of the anchor arm reaches a preset threshold range; switches to a fine adjustment mode when a coordinate signal is received; adjusts the span width of the anchor arm according to the coordinate signal, and accurately positions the span width of the anchor arm to the preset threshold. Thus, the anchor arm can be guided to accurately position to the design index, so as to reduce the error between the actual insertion point of the anchor and the process design, and improve the anchor support effect.

[0116] Further, as Figure 1 In a specific implementation, an embodiment of the present invention provides a guiding and positioning device for an anchor arm of a continuous miner, such as Figure 3 As shown, the device comprises: a coarse adjustment unit 31 and a fine adjustment unit 32.

[0117] The coarse adjustment unit 31 can be used to switch to a coarse adjustment mode when receiving a displacement signal; adjust the span width of the anchor arm according to the displacement signal so that the span width of the anchor arm reaches a preset threshold range;

[0118] The fine adjustment unit 32 can be used to switch to the fine adjustment mode when receiving the coordinate signal; adjust the span width of the anchor arm according to the coordinate signal, and accurately position the span width of the anchor arm to the preset threshold.

[0119] Furthermore, the coarse adjustment unit 31 comprises:

[0120] The first processing module 311 may be used to process the received displacement signal according to a PID control algorithm to obtain a duty cycle of the hydraulic cylinder solenoid valve;

[0121] The first adjustment module 312 can be used to control the hydraulic cylinder solenoid valve by using the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

[0122] Further, the first adjustment module 312 can be specifically used to determine the product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode as the hydraulic cylinder solenoid valve opening time in the coarse adjustment mode, and the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode includes:

[0123] t open1 =t total1 ·k

[0124] Among them, t open1 Indicates the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode, t total1 represents the sampling period in the preset coarse adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve;

[0125] The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

[0126] Furthermore, the fine adjustment unit 32 comprises:

[0127] The second processing unit 321 may be used to process the received coordinate signal according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve;

[0128] The second adjustment unit 322 can be used to control the hydraulic cylinder solenoid valve by utilizing the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold.

[0129] Further, the second adjustment unit 322 can be specifically used to determine the product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode as the hydraulic cylinder solenoid valve opening time in the fine adjustment mode, and the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode includes:

[0130] t open2 =t total2 ·k

[0131] Among them, t open2 Indicates the opening time of the hydraulic cylinder solenoid valve in fine adjustment mode, t total2 represents the sampling period in the preset fine adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve;

[0132] The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value.

[0133] Optionally, the device further comprises:

[0134] The third processing unit 33 may be used to process the acquired photosensitive tube signal according to a preset center of gravity algorithm to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system;

[0135] The fourth processing unit 34 may be configured to perform filtering processing on the coordinates of the center point of the light spot using a preset Kalman filtering algorithm to obtain a coordinate signal.

[0136] The third processing unit 33 can be specifically used to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system according to a preset center of gravity algorithm, a preset photosensitive tube center of gravity mass weight, and the photosensitive tube horizontal coordinate obtained through inspection. The preset center of gravity algorithm includes:

[0137]

[0138] Where: x represents the coordinate of the center point of the light spot projected in the photosensitive tube coordinate system, m and n represent the number of rows and columns of the photosensitive tube array, i and j represent the row and column coordinates of the photosensitive tube currently inspected, τ ij Indicates the mass weight of the center of gravity of the current photosensitive tube, x ij represents the horizontal coordinate of the photosensitive tube column currently being inspected, and s represents the total number of photosensitive tubes currently being irradiated by the laser.

[0139] It should be noted that for other corresponding descriptions of the functional modules involved in the anchor arm guiding and positioning device for a continuous miner provided in an embodiment of the present invention, reference can be made to Figure 1 The corresponding description of the method shown will not be repeated here.

[0140] Through the technical solution of the present invention, it is possible to switch to the coarse adjustment mode when a displacement signal is received; adjust the span width of the anchor arm according to the displacement signal so that the span width of the anchor arm reaches a preset threshold range; switch to the fine adjustment mode when a coordinate signal is received; adjust the span width of the anchor arm according to the coordinate signal, and accurately position the span width of the anchor arm to the preset threshold value, thereby guiding the anchor arm to be accurately positioned to the design indicator, so as to reduce the error between the actual insertion point of the anchor and the process design, and improve the anchor support effect.

[0141] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0142] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for guiding and positioning an anchor arm of a continuous miner, characterized in that: include: When receiving the displacement signal, it switches to the coarse adjustment mode; According to the displacement signal, the span width of the anchor arm is adjusted so that the span width of the anchor arm reaches within a preset threshold range; When receiving the coordinate signal, switch to fine adjustment mode; According to the coordinate signal, the span width of the anchor arm is adjusted to accurately position the span width of the anchor arm to the preset threshold; The adjusting of the span width of the anchor arm according to the displacement signal so that the span width of the anchor arm reaches within a preset threshold range includes: The received displacement signal is processed according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve; Using the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode, the product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode is determined as the hydraulic cylinder solenoid valve opening time in the coarse adjustment mode; The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

2. The method according to claim 1, characterized in that The hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode includes: t open1 =t total1 ·k Among them, t open1 Indicates the opening time of the hydraulic cylinder solenoid valve in the coarse adjustment mode, t total1 represents the sampling period in the preset coarse adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve.

3. The method according to claim 1, characterized in that The step of adjusting the span width of the anchor arm according to the coordinate signal to accurately position the span width of the anchor arm to the preset threshold value includes: The received coordinate signal is processed according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve; The hydraulic cylinder solenoid valve is controlled by utilizing the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value.

4. The method according to claim 3, characterized in that The method of controlling the hydraulic cylinder solenoid valve by using the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value includes: The product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode is determined as the hydraulic cylinder solenoid valve opening time in the fine adjustment mode. The hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode includes: t open2 =t total2 ·k Among them, t open2 Indicates the opening time of the hydraulic cylinder solenoid valve in fine adjustment mode, t total2 represents the sampling period in the preset fine adjustment mode, and k represents the duty cycle of the hydraulic cylinder solenoid valve; The hydraulic cylinder solenoid valve is controlled by utilizing the opening time of the hydraulic cylinder solenoid valve in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold value.

5. The method according to claim 3, characterized in that: Before the received coordinate signal is processed according to the PID control algorithm to obtain the duty cycle of the hydraulic cylinder solenoid valve, the method further includes: According to the preset centroid algorithm, the acquired photosensitive tube signal is processed to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system; The coordinates of the center point of the light spot are filtered using a preset Kalman filter algorithm to obtain a coordinate signal.

6. The method according to claim 5, characterized in that The method of processing the acquired photosensitive tube signal according to a preset centroid algorithm to obtain the center point coordinates of the light spot projected in the photosensitive tube coordinate system includes: According to a preset center of gravity algorithm, a preset mass weight of the center of gravity of the photosensitive tube, and the horizontal coordinate of the photosensitive tube obtained through inspection, the center point coordinates of the light spot projected in the photosensitive tube coordinate system are obtained. The preset center of gravity algorithm includes: Where: x represents the coordinate of the center point of the light spot projected in the photosensitive tube coordinate system, m and n represent the number of rows and columns of the photosensitive tube array, i and j represent the row and column coordinates of the photosensitive tube currently inspected, τ ij Indicates the mass weight of the center of gravity of the current photosensitive tube, x ij represents the horizontal coordinate of the photosensitive tube column currently being inspected, and s represents the total number of photosensitive tubes currently being irradiated by the laser.

7. A guiding and positioning device for an anchor arm of a continuous miner, characterized in that: include: A coarse adjustment unit, used to switch to a coarse adjustment mode when receiving a displacement signal; According to the displacement signal, the span width of the anchor arm is adjusted so that the span width of the anchor arm reaches within a preset threshold range; A fine adjustment unit, configured to switch to a fine adjustment mode upon receiving a coordinate signal; adjust the span width of the anchor arm according to the coordinate signal, and accurately position the span width of the anchor arm to the preset threshold; Wherein, the coarse adjustment unit comprises: A first processing module is used to process the received displacement signal according to a PID control algorithm to obtain a duty cycle of the hydraulic cylinder solenoid valve; The first adjustment module is used to use the hydraulic cylinder solenoid valve duty cycle algorithm in the coarse adjustment mode to determine the product of the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the coarse adjustment mode as the hydraulic cylinder solenoid valve opening time in the coarse adjustment mode; and to control the hydraulic cylinder solenoid valve using the hydraulic cylinder solenoid valve opening time in the coarse adjustment mode to adjust the span width of the anchor arm to within a preset threshold range.

8. The device according to claim 7, characterized in that The fine adjustment unit comprises: A second processing unit is used to process the received coordinate signal according to a PID control algorithm to obtain a duty cycle of the hydraulic cylinder solenoid valve; The second adjustment module is used to control the hydraulic cylinder solenoid valve by using the hydraulic cylinder solenoid valve duty cycle algorithm in the fine adjustment mode, the hydraulic cylinder solenoid valve duty cycle and the preset sampling period in the fine adjustment mode to accurately position the span width of the anchor arm to the preset threshold.

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