Automatic leveling method for coal mining machine

Abstract

The present invention belongs to the technical field of coal mining machines, and specifically discloses a method for automatic leveling of coal mining machines, comprising: obtaining and solving the two-dimensional position trajectory and attitude signal of the coal mining machine based on the three-dimensional position data collected by inertial navigation and the cumulative running distance per unit time of the odometer by using a two-dimensional coordinate conversion algorithm; obtaining and judging the current coal mining process section based on the coal mining machine motion control parameters, two-dimensional position trajectory and attitude signal information collected by the coal mining machine centralized control system, and outputting parameter coordinate system control based on the current coal mining process section, wherein the coal mining machine motion control parameters include start and stop, direction, lifting and lowering, and speed parameters; matching the pre-recorded coalfield working face data with the parameter coordinate system control, outputting effective coal mining curve data, and realizing automatic leveling of the coal mining machine.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mining machines, and in particular relates to an automatic leveling method for coal mining machines. Background Art

[0002] The coal mining machine is the core equipment of the coal mining face, which dominates the intelligent coal mining process on the face. The current intelligent soft control technology of the coal mining machine realizes the "primary intelligence + remote intervention" operation through intelligent perception and real-time remote intervention. Usually, the drum cutting height perception is to measure the swing angle of the rocker arm relative to the machine body through the precision servo rotary potentiometer of the rotary angle sensor, and calculate the real-time cutting height; the position detection and traction speed perception is to detect the number of rotations and angles of the traction walking wheel through the rotary encoder, and calculate the distance and speed of the machine traction walking by regular sampling; the body inclination perception is to directly detect the body inclination state through the two-dimensional tilt sensor. The coal mining machine soft control program analyzes and records the cutting height, traction walking distance and speed, and body inclination of the coal mining machine to realize the automatic operation of the coal mining machine.

[0003] The current coal mining machines lack intelligent leveling programs, and the intelligent comprehensive mining working faces have not yet developed an automated leveling system corresponding to the actual geological changes of the working face. In the daily production process, after a small shift of production, if the working face is not intervened by personnel, the working face conveyor and coal wall may be uneven, and the "three levels and one straightness" required by the project quality cannot be achieved.

[0004] Therefore, the prior art needs to be further developed and improved. Summary of the invention

[0005] In view of the various deficiencies of the prior art, in order to solve the above problems, an automatic leveling method for a coal mining machine is now proposed. The present invention provides the following technical solutions:

[0006] A method for automatic leveling of a coal mining machine, comprising:

[0007] Obtain and solve the two-dimensional position trajectory and attitude signal of the coal mining machine using a two-dimensional coordinate conversion algorithm based on the three-dimensional position data collected by inertial navigation and the cumulative running distance per unit time of the odometer;

[0008] Obtain and judge the current coal mining process section based on the coal mining machine motion control parameters, two-dimensional position trajectory and attitude signal information collected by the coal mining machine centralized control system, and control the coordinate system based on the output parameters of the current coal mining process section, where the coal mining machine motion control parameters include start and stop, direction, lifting and lowering, and speed parameters;

[0009] The pre-entered coalfield working face data is matched with the parameter coordinate system control, and the effective coal mining curve data is output to realize the automatic leveling of the coal mining machine.

[0010] Furthermore, the two-dimensional coordinate conversion algorithm is

[0011] Furthermore, the two-dimensional position trajectory includes a horizontal trajectory and a vertical trajectory. The level of the working surface is controlled based on the projection of the vertical trajectory and the height of the coal mining machine drum, and the straightening of the working surface is controlled based on the horizontal trajectory.

[0012] Furthermore, the coal mining machine motion control parameters also include dynamic adjustment of the working face direction reference, and dynamic adjustment of the horizontal and vertical directions of the coal mining machine is achieved through changes in cutting height.

[0013] Furthermore, the coal mining process section includes three parts: left end coal mining, right end coal mining and middle section coal mining, which are divided based on the position of the coal mining machine on the entire coal mining face.

[0014] Furthermore, the pre-recorded coalfield working face data is to enter the geological information of the working face into the coal mining machine control system in the form of digital data through mathematical modeling, wherein the geological information of the working face includes the roof, floor, gangue position, coal hardness, coal seam height and inclination, and fault information of the working face.

[0015] Furthermore, the pre-recorded coalfield working face data is matched with the parameter coordinate system control. When the geological information of the working face does not meet the cutting requirements of the parameter coordinate system control, the cutting avoidance process is executed or an alarm is prompted for manual intervention.

[0016] Furthermore, executing the avoidance cutting process includes position shifting of the parameter coordinate system control, and re-matching the shifted parameter coordinate system control with the pre-recorded coalfield working face data until the cutting requirements are met.

[0017] Furthermore, when the avoidance cutting process is executed, an early warning message is sent to the user, prompting manual intervention to process the work surface of the avoidance part.

[0018] Furthermore, when the geological information of the working face does not meet the cutting requirements controlled by the parameter coordinate system, the coal mining machine stops mining and the alarm system issues an alarm reminder.

[0019] Beneficial effects:

[0020] 1. Combine the core control system of the coal mining machine with the real-time three-axis position signal of the inertial navigation device to realize the automatic change of the cutting route of the coal mining machine following the geological curve of the coal seam at the working face;

[0021] 2. According to user needs, cooperate with the support and the scraper control system of the working face geological three-dimensional information to adjust the system operating parameters to meet the requirements of "three levels and one straightness" of the coal mine working face;

[0022] 3. Reduce the labor intensity of workers, realize coal mine efficiency improvement with fewer people, less or no people operating in the coal mining face, and unmanned and remote monitoring of fixed positions underground;

[0023] 4. It is conducive to improving the intelligence level of coal mining machines and facilitating remote intervention;

[0024] 5. Automatically avoid the working face to avoid damage to the coal mining machine, use the avoidance cutting technology to mine coal uninterruptedly and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic flow chart of an automatic leveling method for a coal mining machine in a specific embodiment of the present invention;

[0026] Figure 2 It is a schematic diagram of a two-dimensional coordinate conversion algorithm in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0028] like Figure 1 As shown, a method for automatic leveling of a coal mining machine comprises:

[0029] Obtain and solve the two-dimensional position trajectory and attitude signal of the coal mining machine using a two-dimensional coordinate conversion algorithm based on the three-dimensional position data collected by inertial navigation and the cumulative running distance per unit time of the odometer;

[0030] Obtain and judge the current coal mining process section based on the coal mining machine motion control parameters, two-dimensional position trajectory and attitude signal information collected by the coal mining machine centralized control system, and control the coordinate system based on the output parameters of the current coal mining process section, where the coal mining machine motion control parameters include start and stop, direction, lifting and lowering, and speed parameters;

[0031] The pre-entered coalfield working face data is matched with the parameter coordinate system control, and the effective coal mining curve data is output to realize the automatic leveling of the coal mining machine.

[0032] The automatic leveling method of the coal mining machine is used to achieve automated control of the coal mining face, so as to improve the intelligence level of the coal mining machine, reduce the labor intensity of workers, and improve the production efficiency of the mine, thereby achieving the purpose of saving labor and increasing production output.

[0033] Usually, the cutting height of the drum of the coal mining machine is sensed by measuring the swing angle of the rocker arm relative to the machine body through the precision servo rotary potentiometer of the rotary angle sensor, and the real-time cutting height is calculated; the position detection and traction speed perception is to detect the number of rotations and angles of the traction wheel through the rotary encoder, and calculate the distance and speed of the machine traction travel by regular sampling; the machine body inclination angle perception is to directly detect the machine body inclination state through the two-dimensional tilt sensor. However, this process does not involve the leveling process, which means that after a period of automated production, relevant personnel need to intervene manually to level, otherwise the working face conveyor and coal wall may be uneven. Since the inertial navigation is installed on the coal mining machine, it can be combined with a high-precision odometer to calculate the cumulative running distance data per unit time to calibrate the position of the coal mining machine. Through the two-dimensional coordinate conversion algorithm, the two-dimensional position and posture of the coal mining machine are monitored in real time, and the two-dimensional position trajectory information in the coal mining machine coordinate system is provided. The projection of the trajectory in the horizontal direction can be used for automatic straightening of the working face, and the projection in the vertical direction combined with the height information of the coal mining machine drum can be used for horizontal control of the working face.

[0034] Furthermore, the two-dimensional coordinate conversion algorithm is

[0035] Where x' represents the actual horizontal direction, y' represents the actual vertical direction, x represents the horizontal direction after straightening, y represents the vertical direction after straightening, and α is the angle between the actual value and the theoretical value after straightening. Figure 2 shown.

[0036] Furthermore, the two-dimensional position trajectory includes a horizontal trajectory and a vertical trajectory. The level of the working surface is controlled based on the projection of the vertical trajectory and the height of the coal mining machine drum, and the straightening of the working surface is controlled based on the horizontal trajectory.

[0037] Furthermore, the shearer motion control parameters also include dynamic adjustment of the working face direction reference, and the horizontal and vertical directions of the shearer are dynamically adjusted by changing the cutting height. The control parameters sent by the centralized control are received in real time, such as start and stop, direction, lifting, speed, etc., including dynamic adjustment of the working face direction reference, and the horizontal and vertical directions of the shearer are dynamically adjusted by changing the cutting height.

[0038] Furthermore, the coal mining process section includes three parts: left end coal mining, right end coal mining and middle section coal mining, which are divided based on the position of the coal mining machine on the entire coal mining face. Since the coal mining machine will switch between different process sections, it is not guaranteed that the working face will be processed completely according to a fixed mode, and the parameters of different process sections need to be processed separately.

[0039] Furthermore, the pre-entered coalfield working face data is to enter the geological information of the working face into the coal mining machine control system in the form of digital data through mathematical modeling, wherein the geological information of the working face includes the top plate, bottom plate, gangue position, coal hardness, coal seam height and inclination, and fault information of the working face. The coal mining machine automatically selects the corresponding coal mining process program according to the position and running direction of the coal mining machine on the coal mining face transmitted by the inertial navigation system, and realizes the fully automatic coal cutting operation of the coal mining machine. Provide displacement control quantity for the hydraulic support to push the scraper conveyor, which is convenient for the straightening of the working face, and can also provide the required parameters for the horizontal control of the mining face.

[0040] Furthermore, the pre-recorded coalfield working face data is matched with the parameter coordinate system control. When the geological information of the working face does not meet the cutting requirements of the parameter coordinate system control, the cutting avoidance process is executed or an alarm is prompted for manual intervention.

[0041] The three-dimensional data of the entire coalfield working face, the height of each layer, the position of gangue, the height of the roof, the height of the bottom plate, the inclination, the position of the fault and other information are input into the centralized control computer. The coal mining machine compares the two-dimensional coordinate data of each cut of the working face with each group of two-dimensional data of the coalfield working face data input into the centralized control computer in advance, and determines the effective coal mining curve data to manually or automatically avoid abnormal coal mining such as cutting the top, cutting the bottom, and cutting gangue, automatically avoid working faces that are not suitable for automatic mining, avoid damage to the coal mining machine, use the avoidance cutting process to continuously mine coal, complete the efficient forward advancement of the coal mining machine, and improve production efficiency.

[0042] When the geological information of the working face does not meet the cutting requirements controlled by the parameter coordinate system, there are two processing methods for the user to choose in advance. One is to keep the machine running and switch to executing the avoidance cutting process. The other is to stop the machine and wait for manual intervention.

[0043] Furthermore, the execution of the avoidance cutting process includes position shifting of the parameter coordinate system control, and re-matching the offset parameter coordinate system control with the pre-entered coalfield working face data until the cutting requirements are met. Avoiding abnormal coal mining faces by changing the mining position is simple and effective, avoiding equipment damage and mining quality degradation, while ensuring long-term non-stop operation without human intervention, thereby improving coal mining efficiency.

[0044] Furthermore, when the avoidance cutting process is executed, an early warning message is sent to the user, prompting manual intervention to process the work surface of the avoided part. Since the automatic offset is a preset program, its offset amplitude cannot adapt to every work surface, so it is necessary to remind the manual in time to carry out targeted processing of the unprocessed work surface to meet the maximum mining requirements.

[0045] Furthermore, when the geological information of the working face does not meet the cutting requirements controlled by the parameter coordinate system, the coal mining machine stops mining and the alarm system issues an alarm reminder.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0047] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A method for automatic leveling of a coal mining machine, characterized in that: include: Obtain and solve the two-dimensional position trajectory and attitude signal of the coal mining machine using a two-dimensional coordinate conversion algorithm based on the three-dimensional position data collected by inertial navigation and the cumulative running distance per unit time of the odometer; Obtain and judge the current coal mining process section based on the coal mining machine motion control parameters, two-dimensional position trajectory and attitude signal information collected by the coal mining machine centralized control system, and control the coordinate system based on the output parameters of the current coal mining process section, where the coal mining machine motion control parameters include start and stop, direction, lifting and lowering, and speed parameters; The pre-recorded coalfield working face data is matched with the parameter coordinate system control, and the effective coal mining curve data is output to realize the automatic leveling of the coal mining machine. Among them, the pre-recorded coalfield working face data is matched with the parameter coordinate system control. When the geological information of the working face does not meet the cutting requirements of the parameter coordinate system control, the cutting avoidance process is executed or the alarm is prompted for manual intervention.

2. The automatic leveling method for a coal mining machine according to claim 1, characterized in that: The two-dimensional coordinate conversion algorithm is: Wherein, x' represents the actual horizontal direction, y' represents the actual vertical direction, x represents the horizontal direction after alignment, y represents the vertical direction after alignment, and α is the angle between the actual value and the theoretical value after alignment.

3. The automatic leveling method for a coal mining machine according to claim 2, characterized in that: The two-dimensional position trajectory includes a horizontal trajectory and a vertical trajectory. The level of the working surface is controlled based on the projection of the vertical trajectory and the height of the coal mining machine drum, and the straightening of the working surface is controlled based on the horizontal trajectory.

4. The automatic leveling method for a coal mining machine according to claim 1, characterized in that: The shearer motion control parameters also include dynamic adjustment of the working face trend reference, and dynamic adjustment of the horizontal and vertical directions of the shearer is achieved through changes in cutting height.

5. The automatic leveling method for a coal mining machine according to claim 1, characterized in that: The coal mining process section includes three parts: left end coal mining, right end coal mining and middle section coal mining, which are divided based on the position of the coal mining machine on the entire coal mining face.

6. The automatic leveling method for a coal mining machine according to claim 1, characterized in that: The pre-recorded coalfield working face data is to enter the geological information of the working face into the coal mining machine control system in the form of digital data through mathematical modeling, wherein the geological information of the working face includes the roof, floor, gangue position, coal hardness, coal seam height and inclination, and fault information of the working face.

7. The automatic leveling method for a coal mining machine according to claim 1, characterized in that: Executing the avoidance cutting process includes position shifting of the parameter coordinate system control, and re-matching the shifted parameter coordinate system control with the pre-entered coalfield working face data until the cutting requirements are met.

8. The automatic leveling method for a coal mining machine according to claim 1, characterized in that: When the avoidance cutting process is executed, an early warning message is sent to the user, prompting manual intervention to process the work surface of the avoidance part.

9. The automatic leveling method for a coal mining machine according to claim 1, characterized in that: When the geological information of the working face does not meet the cutting requirements controlled by the parameter coordinate system, the coal mining machine stops mining and the alarm system issues an alarm reminder.

Images