Coal mining machine precision positioning system and intelligent comprehensive coal mining system

Abstract

The application provides a coal mining machine accurate positioning system and an intelligent comprehensive coal mining system. The coal mining machine accurate positioning system comprises a reset switch, a pulse encoder and a counter. The reset switch is used to reset the error of the pulse encoder when the coal mining machine runs to a preset position each time. The preset position is a fixed position of a working face where the coal mining machine mines. The pulse encoder is installed on a traction motor of the coal mining machine and is used to generate a pulse signal and output when the coal mining machine runs. The counter is used to receive the pulse signal output by the pulse encoder and count, and send the recorded real-time pulse number to a CPU of the coal mining machine. The CPU of the coal mining machine is arranged on the coal mining machine and is used to position the coal mining machine based on the pulse number to obtain the accurate position of the coal mining machine. According to the embodiment of the application, the accuracy of positioning the coal mining machine is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining equipment, and particularly relates to a precise positioning system of a coal mining machine and an intelligent comprehensive coal mining system. BACKGROUND

[0002] Precise positioning of the coal mining machine is a key point for realizing intelligent mining of the working face, and is a basis for realizing path planning, automatic compensation of the top and bottom plates, three-dimensional modeling of the working face, automatic turning of the coal mining machine, automatic following of the coal mining machine and moving of the support, etc.

[0003] At present, the coal mining machine is positioned by using an infrared emitter or a radio frequency emitter, the positioning precision of the positioning method is low, the signal is easy to be shielded or lost, the real-time position of the coal mining machine cannot be accurately reflected, and the precise positioning in a true sense cannot be realized. SUMMARY

[0004] The present application provides a precise positioning system of a coal mining machine and an intelligent comprehensive coal mining system, and aims to solve the problem of low positioning precision of the coal mining machine in the prior art.

[0005] In a first aspect, the present application provides a precise positioning system of a coal mining machine, comprising a reset switch, a pulse encoder and a counter.

[0006] The reset switch is used to reset the error of the pulse encoder when the coal mining machine runs to a preset position each time, and the preset position is a fixed position of a working face where the coal mining machine mines coal.

[0007] The pulse encoder is installed on a traction motor of the coal mining machine, and is used to generate a pulse signal and output when the coal mining machine runs.

[0008] The counter is connected with the pulse encoder, and is used to receive the pulse signal output by the pulse encoder and count, and send the recorded real-time pulse quantity to a CPU of the coal mining machine.

[0009] The CPU of the coal mining machine is arranged on the coal mining machine, and is used to position the coal mining machine based on the pulse quantity, so as to obtain the position of the coal mining machine.

[0010] Optionally, the precise positioning system of the coal mining machine further comprises a magnet, the reset switch is a magnetic reset switch, and the magnet is installed at a position corresponding to the preset position, and is used to start the magnetic reset switch when the coal mining machine runs to the preset position, so as to reset the error of the pulse encoder.

[0011] Optionally, the preset position is a center position of a cable outlet slot in the middle of the working face scraper conveyor, and the magnet is installed at the center position of the cable outlet slot.

[0012] Optionally, the coal mining machine precision positioning system further comprises an industrial control platform, and the industrial control platform is configured to receive the position of the coal mining machine sent by the CPU of the coal mining machine.

[0013] Optionally, the industrial control platform further comprises a host computer, and the host computer is configured to display the position of the coal mining machine.

[0014] Optionally, the coal mining machine precision positioning system further comprises a main console of the coal mining machine, and the main console of the coal mining machine is in communication connection with the coal mining machine and is configured to remotely control the coal mining machine.

[0015] Optionally, the coal mining machine further comprises a gyroscope, and the gyroscope is configured to acquire the longitudinal advancing position, the transverse advancing position, the transverse inclination and the longitudinal inclination of the coal mining machine and send the acquired information to the industrial control platform.

[0016] Optionally, the gyroscope is in communication connection with the industrial control platform and is configured to send the information acquired by the gyroscope to the industrial control platform.

[0017] Optionally, the magnet is a rubidium magnet.

[0018] In a second aspect, the application provides an intelligent comprehensive coal mining system, which comprises the coal mining machine precision positioning system according to any one of the above.

[0019] The coal mining machine precision positioning system provided by the application sets a reset switch, and each time the coal mining machine runs to a preset position, the reset switch is used to perform a reset operation. When the coal mining machine continues to run, the error generated in the front will not affect the positioning in the back. Compared with the prior art which only uses infrared or radio frequency for positioning, the embodiment of the application improves the positioning accuracy of the coal mining machine through the reset switch. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0021] Figure 1 FIG. 1 is a structural schematic diagram of a coal mining machine precision positioning system according to an embodiment of the application;

[0022] Figure 2 FIG. 2 is a structural schematic diagram of a coal mining machine precision positioning system according to another embodiment of the application;

[0023] Figure 3 FIG. 3 is a structural schematic diagram of a coal mining machine precision positioning system combined with a working face according to still another embodiment of the application;

[0024] Figure 4 A structure diagram of a precise positioning system of a coal mining machine according to another embodiment of the present application is provided.

[0025] Figure 5 A structure diagram of a precise positioning system of a coal mining machine according to another embodiment of the present application is provided.

[0026] Figure 6 A structure diagram of a precise positioning system of a coal mining machine according to another embodiment of the present application is provided.

[0027] Figure 7 A structure diagram of a precise positioning system of a coal mining machine according to another embodiment of the present application is provided.

[0028] Figure 8 A structure diagram of a precise positioning system of a coal mining machine according to another embodiment of the present application is provided.

[0029] Figure 9 A structure diagram of a precise positioning system of a coal mining machine according to another embodiment of the present application is provided.

[0030] In the figure: coal mining machine 100, pulse encoder 101, reset switch 102, gyroscope 104, counter 105, magnet 200, industrial control platform 300, host computer 301, main console 400, repeater 500, first switch 600, main switch 700, support controller group 800, second switch 900, controller 1000, coal mining machine CPU 103. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application are described clearly and completely below. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor also belong to the scope of protection of the present application.

[0032] Figure 1 A precise positioning system of a coal mining machine according to an embodiment of the present application is shown. As shown in Figure 1 The precise positioning system of the coal mining machine includes: pulse encoder 101, reset switch 102 and counter 105.

[0033] The reset switch 102 is used to reset the error generated by the pulse encoder 101 when the coal mining machine 100 runs to a preset position each time, and the preset position is a fixed position where the working face of the coal mining machine is located.

[0034] The pulse encoder 101 is installed on the traction motor of the coal mining machine 100, and is used to generate and output pulse signals when the coal mining machine 100 is running.

[0035] The counter 105 is connected with the pulse encoder 101, and is used to receive and count the pulse signals output by the pulse encoder 101, and send the recorded real-time pulse number to the coal mining machine CPU 103.

[0036] The coal mining machine CPU 103 is arranged on the coal mining machine 100, and is used to position the coal mining machine 100 based on the pulse number, so as to obtain the position of the coal mining machine 100.

[0037] Since the time point of resetting the error generated by the pulse encoder 101 by the reset switch 102 is when the coal mining machine 100 runs to the preset position each time, therefore, before work, the above-mentioned preset position needs to be determined on the working face of the coal mining machine in advance.

[0038] During work, the coal mining machine 100 moves along the working face and performs coal cutting operation, at the same time, the pulse encoder 101 generates and outputs pulse signals, and at the same time, the counter 105 receives and counts the pulse signals output by the pulse encoder 101.

[0039] The counter 105 records the pulse number generated by the pulse encoder 101 in the running process of the coal mining machine 100 in real time, and sends it to the coal mining machine CPU 103 in real time, and the coal mining machine CPU 103 calculates the current position of the coal mining machine 100 according to the received pulse number.

[0040] Further, when the coal mining machine 100 runs to the preset position, the counter 105 records the pulse number generated by the pulse encoder 101 when the coal mining machine 100 runs to the preset position, and sends the pulse number to the coal mining machine CPU. The coal mining machine CPU 103 calculates the pulse error generated when running to the preset position based on the pulse number, and sends the pulse error to the reset switch 102, and the reset switch 102 performs error reset operation on the pulse encoder 101, so as to reduce the accumulation of error in the subsequent work process, thereby improving the positioning accuracy of the coal mining machine 100.

[0041] In addition, it also needs to be explained here that the position of the coal mining machine 100 can be the position of the coal mining machine 100 relative to the coal mining working face, or the position relative to the support.

[0042] In addition, it should be noted that the pulse error is mainly caused by the fact that the number of pulses is calculated by the straight-line distance of the running of the coal mining machine 100 in theory, while in actual conditions, the working face is generally undulating, resulting in a difference between the actual running distance and the theoretical straight-line distance, thereby causing an error. The specific calculation of the error will be described below, and will not be described in detail here.

[0043] From the above, the coal mining machine precise positioning system shown in the embodiments of the present application sets a reset switch, which performs a reset operation each time the coal mining machine runs to a preset position. The reset operation is used to reset the pulse error, so that when the coal mining machine continues to run, the error generated in the front will not affect the positioning in the back. Compared with the positioning of the coal mining machine by the track mileage positioning technology in the prior art, the embodiments of the present application improve the accuracy of the positioning of the coal mining machine.

[0044] The pulse encoder 101 is installed on the traction motor of the coal mining machine 100, and further installed on the rotating shaft of the traction motor. When the coal mining machine 100 is running, the mechanical rotation angle of the motor can be measured and converted into an electric pulse, and the electric pulse signal is output.

[0045] The method of measuring the mechanical rotation angle of the motor will not be described here.

[0046] Optionally, referring to Figure 2 , the coal mining machine precise positioning system further comprises a magnet 200, and the reset switch 102 is a magnetic reset switch. The magnet 200 is installed at a position corresponding to the preset position, and is used to start the magnetic reset switch 102 when the coal mining machine 100 runs to the preset position, thereby achieving error reset of the pulse encoder 101.

[0047] Since the magnet has magnetism, it can be inducted by the corresponding magnetic material in the magnetic reset switch 102, thereby achieving error reset. In this way, no additional reset circuit or other circuit device is needed, and error reset can be achieved through the magnetism between them, which not only saves cost, but also eliminates complex circuits, making the entire device simple and easy to use.

[0048] Further, the error calculation of the number of pulses is described as follows. Optionally, referring to Figure 3 , the following definitions are made before the coal mining machine 100 is positioned.

[0049] 1. The length of the working face is defined as L.

[0050] 2. The number of pulses generated by the pulse encoder 101 when the coal mining machine 100 walks 1 meter is defined as F.

[0051] 3. The center distance of the working face support is 1750mm.

[0052] 4, define the distance between the center of the coal mining machine 100 and the center of the drum (the drum of the coal mining machine 100) as A;

[0053] 5, define the cutting through distance of the coal mining machine 100 as the distance of the drum center passing through the coal wall line 100mm;

[0054] 6, define the distance between the center line of the coal mining machine 100 and the cable dragging device as B;

[0055] In addition, it needs to be pointed out that the above-mentioned letters or the following letters not only include the number, but also contain the unit corresponding to the number. Among them, the unit can be determined according to the convenience of actual calculation, which is not limited here.

[0056] Therefore, when the coal mining machine cuts through the machine head and the tail, the coal mining machine pulling distance: Z = L + 200 - 2A

[0057] Since the cable outlet slot and the magnet are installed at the position closest to the center position of the walking distance of the dragging device, but not the absolute center. Therefore, in actual use, the installation position of the cable outlet slot and the magnet is determined according to the actual walking distance of the dragging device.

[0058] Alternatively, the cable outlet slot is installed at the center position of the walking distance of the dragging device, and the magnet is installed at the center position of the cable outlet slot.

[0059] Further, after determining the installation position of the magnet, define the cutting through left crossheading pulling distance of the coal mining machine 100 as C, and the cutting through right crossheading pulling distance of the coal mining machine 100 as D, with the magnet as the center; then Z = C + D.

[0060] Therefore, from the above description, the following contents can be known:

[0061] 1, for the machine head, when the coal mining machine 100 cuts through the working face (the drum center passes through the coal wall line 100mm), the corresponding support offset distance of the center of the coal mining machine 100 is E1. Similarly, for the tail, when the coal mining machine 100 cuts through the working face (the drum center passes through the coal wall line 100mm), the center of the coal mining machine 100 and the corresponding support offset distance E2;

[0062] 2, in normal traction production, the center of the support is calculated, the actual traction number of the whole support is N, when the center of the coal mining machine is offset to the middle of the working face E1 and E2 are negative, when offset to both ends E1 and E2 are negative. That is, the actual traction distance of the coal mining machine is: Z = N * 1750 + E1 + E2.

[0063] 3, the real-time position of the coal mining machine 100 in the traction process can be obtained according to the pulse number generated by the pulse encoder 101 and the theoretical position of the support, so that the real-time position of the coal mining machine 100 can be obtained by the following two methods:

[0064] Real-time position of the shearer relative to the working face = Real-time pulse number ÷ F + A

[0065] Real-time position of the shearer relative to the support = Shearer head cutting-through position + (total pulse number ÷ F)

[0066] ÷ 1.75 (integer).

[0067] 4. The center position of the shearer 100 when the shearer 100 cuts through the working face head (100 mm of the drum center through the coal wall) is defined as the absolute zero position of the working face, and the theoretical distance between the absolute zero position and the magnet is calculated. Through the theoretical distance and F, the theoretical pulse number of the shearer 100 passing through the reset magnet can be calculated, that is:

[0068] Theoretical pulse number = Theoretical distance * F

[0069] However, in actual use, uneven working face will cause walking error and error accumulation. In order to avoid this problem, the shearer 100 resets the error generated by the magnet reset switch 102 each time it passes through the magnet position, so as to eliminate the error and achieve the purpose of accurate positioning. The generated pulse error is:

[0070] Generated pulse error = Actual pulse number - Theoretical distance * F.

[0071] Exemplarily, referring to Figure 3 , it is assumed that the shearer 100 moves along the working face from the head to the tail direction. If the difference between the pulse number and the theoretical number caused by the uneven working face is not considered, the error of the pulse number will become larger and larger due to continuous accumulation after several rounds. However, when each passes through the magnet position, the magnet reset switch triggers to reset the pulse number error caused by the uneven working face, so as to obtain accurate pulse number and further obtain accurate position of the shearer 100.

[0072] Exemplarily, taking the single-pass coal cutting of the shearer 100 as an example, it is assumed that L = 300 meters, F = 30, and the magnet is installed at the position of (L / 2). When the shearer 100 runs to the magnet installation position, the theoretical pulse number is: Theoretical pulse number = (L / 2) * 30 = 4500. However, the actual pulse number detected by the counter is 4590. That is, there are 90 pulse errors.

[0073] If the reset switch is not used for resetting, the existing position error is 90 / 30 = 3 meters. This is only the error generated by the first running to the magnet position. If the error is not reset, the error will become larger and larger with the accumulation of time, and the positioning accuracy of the shearer 100 will become lower and lower.

[0074] Optionally, still referring to Figure 3 , the preset position is the center position of the cable outlet slot in the middle of the working face scraper conveyor, and the magnet 200 is installed at the center position of the cable outlet slot.

[0075] Compared with installing the magnet 200 at the edge of the working face, when the magnet 200 is installed at the center position of the cable outlet slot, the pulse error generated can be eliminated in time, and the number of pulses is reduced.

[0076] Optionally, referring to Figure 4 , the magnet 200 is a rubidium magnet.

[0077] The magnetic force of the rubidium magnet is stronger than that of other magnets, which can effectively ensure the normal work of the magnetic force reset switch 102, so as to ensure error reset.

[0078] Of course, the magnet 200 can also be other types of magnets, as long as it can ensure the normal work of the magnetic force reset switch 102, and the embodiments of the present application do not limit this.

[0079] Optionally, referring to Figure 5 , the coal mining machine accurate positioning system further comprises an industrial control platform 300, and the industrial control platform 300 is used to receive the position of the coal mining machine 100 sent by the CPU 103 of the coal mining machine.

[0080] In addition, the industrial control platform 300 can also control the start, stop and other operations of the coal mining machine 100.

[0081] Optionally, referring to Figure 6 , the industrial control platform 300 further comprises a host computer 301, and the host computer 301 is used to display the position of the coal mining machine 100.

[0082] When the position of the coal mining machine 100 is displayed through the host computer 301, the position of the coal mining machine 100 can be clearly observed by the staff.

[0083] Optionally, referring to Figure 7 , the coal mining machine accurate positioning system further comprises a coal mining machine main console 400, and the coal mining machine main console 400 is in communication connection with the coal mining machine 100 and is used to remotely control the coal mining machine 100.

[0084] Optionally, referring to Figure 8 , the coal mining machine 100 further comprises a gyroscope 104, and the gyroscope 104 is used to obtain the longitudinal advancing position, the transverse advancing position, the transverse inclination and the longitudinal inclination of the coal mining machine 100 and send them to the industrial control platform.

[0085] It should be noted here that the above is mainly the positioning of the coal mining machine 100 in the horizontal direction, and the gyroscope 104 is used for positioning in other directions. For example, the positioning perpendicular to the working face.

[0086] Further, the cutting coal curve of the coal mining machine 100, the full length position curve of the conveyance, the position curve of the scraper conveyer can be inferred according to the longitudinal advancing position, the transverse advancing position, the transverse inclination angle and the longitudinal inclination angle.

[0087] Optionally, referring to Figure 9 , the coal mining machine precision positioning system further comprises a repeater 500, a first switch 600, a second switch 900, a main switch 700, a support controller group 800 and a controller 1000.

[0088] The second switch 900 is a working face switch.

[0089] Further, the repeater 500 is connected with the coal mining machine 100 through a digital subscriber line (DSL) communication line, and the repeater 500 is used for retransmitting or forwarding the data signal sent by the coal mining machine 100 to expand the distance of network transmission.

[0090] Further, for the positioning of the coal mining machine 100 along the direction of the working face, the connection relationship and the transmission of information are as follows: the repeater 500 is connected with the main console 400 of the coal mining machine through a DSL communication line, the main console 400 of the coal mining machine is connected with the first switch 600 through a network, the first switch 600 is connected with the main switch 700 through an optical cable, and the main switch 700 is connected with the industrial control platform 300 through an optical cable. In this way, the data sent by the CPU 103 of the coal mining machine can be gradually transmitted to the industrial control platform 300, and displayed through the upper computer, so that the staff can timely understand the state of the coal mining machine 100.

[0091] Further, for the positioning of the coal mining machine 100 in other directions, the devices used and the connection modes are as follows: the gyroscope 104 is connected with the controller 1000, the controller 1000 is connected with the support controller group 800 through a radio frequency transmitter, the support controller group 800 is connected with the second switch 900 through an optical cable, and the second switch 900 is connected with the main switch 700 through an optical cable, so that the information sent by the gyroscope 104 can be transmitted to the industrial control platform 300, and displayed and controlled through the industrial control platform 300.

[0092] The embodiment of the application further provides an intelligent comprehensive coal mining system, which comprises the coal mining machine precision positioning system according to any one of the above.

[0093] The intelligent comprehensive coal mining system can further integrate and calculate the obtained coal mining machine positioning data and gyroscope positioning data to obtain the precise position of the coal mining machine in the running process, and compensate the cutting data according to the real-time state of the coal mining machine.

[0094] From the above, the intelligent comprehensive coal mining system shown in the embodiments of the present application includes any one of the above-mentioned accurate positioning systems of the coal mining machine. Since the accurate positioning system of the coal mining machine is provided with a reset switch, each time the coal mining machine runs to the preset position, the reset operation is performed through the reset switch, and when the coal mining machine continues to run, the error generated in the front will not affect the positioning in the rear. Compared with the prior art which only uses an absolute encoder for positioning, the embodiments of the present application improve the positioning accuracy of the coal mining machine.

[0095] Finally, it should be noted that the contents not described in the technical solutions of the present application can be implemented using the prior art. In addition, the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A precision positioning system for a coal mining machine, characterized by, The application relates to a coal mining machine precision positioning system. The reset switch is used for resetting the error generated by the pulse encoder when the coal mining machine runs to a preset position each time, and the preset position is a fixed position of a working face where the coal mining machine mines coal. The pulse encoder is installed on a traction motor of the coal mining machine and is used for generating and outputting pulse signals when the coal mining machine runs. The counter is connected with the pulse encoder and is used for receiving the pulse signals output by the pulse encoder and counting, and sending the recorded real-time pulse quantity to a coal mining machine CPU. The coal mining machine CPU is arranged on the coal mining machine and is used for performing operation positioning on the coal mining machine based on the pulse quantity to obtain the position of the coal mining machine. The coal mining machine CPU is also used for calculating the pulse error generated when the coal mining machine runs to the preset position based on the pulse quantity, and sending the pulse error to the reset switch, and the reset switch performs error resetting operation on the pulse encoder. The coal mining machine precision positioning system further comprises a magnet, the reset switch is a magnetic reset switch, the magnet is installed at a position corresponding to the preset position, and the magnet is used for starting the magnetic reset switch when the coal mining machine runs to the preset position to realize error resetting of the pulse encoder. The preset position is the center position of a cable outlet slot of a working face scraper conveyor, and the magnet is installed at the center position of the cable outlet slot. The coal mining machine precision positioning system further comprises an industrial control platform, and the industrial control platform is used for receiving the position of the coal mining machine sent by the coal mining machine CPU.

2. The precision positioning system for a coal mining machine of claim 1, wherein, The industrial control platform further comprises an upper computer, and the upper computer is used for displaying the position of the coal mining machine.

3. A precision positioning system for a coal mining machine as claimed in claim 2, characterised in that, The coal mining machine precision positioning system further comprises a coal mining machine main console, the coal mining machine main console is in communication connection with the coal mining machine and is used for remotely controlling the coal mining machine.

4. The precision positioning system for a coal mining machine of claim 1, wherein, The coal mining machine further comprises a gyroscope, and the gyroscope is used for obtaining the longitudinal advancing position, the transverse advancing position, the transverse inclination angle and the longitudinal inclination angle of the coal mining machine and sending the same to the industrial control platform.

5. The precision positioning system for a coal mining machine of claim 2, wherein, The gyroscope is in communication connection with the industrial control platform and is used for sending the information obtained by the gyroscope to the industrial control platform so that the industrial control platform receives and processes the information.

6. A precision positioning system for a coal mining machine as claimed in claim 5 wherein, The magnet is a rubidium magnet.

7. The precision positioning system for a coal mining machine of claim 1 wherein, The intelligent comprehensive coal mining system comprises the coal mining machine precision positioning system according to any one of claims 1-7.

8. An intelligent integrated coal mining system, characterized in that, ​

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