Cooperative automatic control method and device for cutting mechanism, loading mechanism and walking mechanism of cantilever type heading machine

Abstract

The invention provides a collaborative automatic control method and device for a cutting mechanism, a loading mechanism and a walking mechanism of a cantilever type roadheader, and the method comprises the steps: collecting the real-time data of each key component through collaborative monitoring; wherein the key element parts comprise various of a heading machine cutting mechanism, a loading mechanism and a walking mechanism; and constructing a motion relation and a cooperation mode among the key components through cooperative control, and fusing real-time data based on the cooperative control according to the motion relation and the cooperation mode so as to achieve automatic control of the key component system. On the basis of an intelligent sensing technology, real-time data of key components such as cutting, loading and walking of the heading machine are collected, and after the heading machine is started in a one-key mode in a heading period, the cutting mechanism, the loading mechanism and the walking mechanism cooperatively and autonomously act by constructing a motion relation and a cooperation mode among the key components and fusing the real-time data; and the machine can be automatically stopped after tunneling is completed.

Description

technical field [0001] The invention relates to the technical field of intelligent control of coal mine excavation equipment, in particular to a cooperative automatic control method and device for cutting, loading and traveling mechanisms of a cantilever type roadheader. Background technique [0002] The cantilever roadheader is a kind of coal mine excavation equipment including cutting, loading, walking and other mechanisms. At present, the more advanced control method is the combination of positioning cutting and manual loading and walking, that is, manually drive the roadheader to the front through the machine or remote control and position the body on the center line of the roadway, and then start positioning and cutting automatically After the cutting is completed, the roadheader is manually operated to retreat for anchor protection work. The main problems of this method are that the cutting row distance and the crawler walking distance are prone to mismatch, resulting...

AI Technical Summary

Problems solved by technology

The main problems with this method are that the cutting row distance and the crawler walking distance are prone to mismatch, resulting in low cutting efficiency; the slow manual operation leads to poor continuity between cutting and loading, which affects the driving speed, etc.

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