Mining hydraulic crawler chassis deviation correction system and control method

Abstract

The invention belongs to the technical field of chassis deviation correction system control, and provides a mining hydraulic crawler chassis deviation correction system and a control method. The system comprises a crawler chassis and an ultrasonic sensor, a proportional valve, and a controller installed on a crawler chassis platform; the control method collects the distance from the walls on both sides of the tunnel through the ultrasonic sensor to judge the deviation direction of the hydraulic crawler chassis, controls the duty cycle of the proportional valve according to the deviation direction, and then controls the motor hydraulic oil flow, detects the deviation of the crawler chassis in real time, and achieves the effect of real-time correction of the crawler deviation, and can control the straight-line deviation displacement of the crawler chassis within the range of 240 mm; the invention is applied to a mining hydraulic crawler vehicle to automatically adjust its driving direction so as not to deviate from the center line of the tunnel, and ensure that it does not have a collision accident in a narrow tunnel.

Description

Technical Field

[0001] The invention belongs to the technical field of chassis deviation correction system control, and in particular relates to a mining hydraulic crawler chassis deviation correction system and a control method. Background Art

[0002] Deviation is a common problem of crawler chassis in actual use, that is, the crawler chassis automatically deviates from the forward direction during driving. In the underground tunnels of coal mines, the tunnel width is narrow, and the accuracy of the hydraulic crawler chassis's walking direction is required to be higher. Therefore, a control method for a hydraulic crawler chassis deviation correction system for mining is needed to correct the crawler's driving direction in real time.

[0003] The patent "CN202010454794.4 Walking deviation correction method, device, rotary drilling rig and readable storage medium" discloses a walking deviation correction method, in which an angular displacement encoder is set in the gear disc of the left and right walking motors and the pilot pressure of the left and right foot valves is obtained. The current walking direction is calculated according to the signal of the encoder, and the target walking direction is calculated according to the pilot pressure of the left and right foot valves. Then the deviation between the current walking direction and the target walking direction is calculated, and the operating parameters of the walking motor are adjusted based on this to correct the walking direction.

[0004] The patent "CN201510385893.0 Crawler Walking Synchronous Control Method" discloses a crawler walking synchronous control method. The speeds n1 and n2 of the left and right walking motors are measured by encoders, and the speeds are transmitted to the controller to obtain the speed deviation △n, and the absolute value of the speed deviation |△n| is compared with the set deviation X to adjust the walking motor speed. According to the direction of the speed deviation △n, the hydraulic oil flow of the left motor or the right motor is reduced.

[0005] The above prior art has the following problems:

[0006] 1) When driving on uneven roads, the encoder installed on the travel motor is affected by vibration and has low measurement accuracy;

[0007] 2) The method of correcting the deviation by measuring the motor speed difference cannot intuitively obtain the actual deviation of the crawler chassis.

[0008] In underground tunnel environments, due to the narrow width of the tunnel, the hydraulic crawler chassis is very likely to run off the track and cause the risk of hitting the wall. Existing chassis correction control methods are mostly used for motor-driven crawler chassis control. For hydraulically driven crawler chassis, the current common correction method is to collect the motion signals of the two drive motors and then compare and correct them, which cannot intuitively obtain the real-time offset of the crawler chassis. For crawler chassis driving in narrow tunnels, the main purpose of correction is to prevent the crawler chassis from hitting the wall. Existing correction methods cannot achieve real-time correction of crawler offset. Summary of the invention

[0009] Based on the above problems, the present invention provides a mining hydraulic crawler chassis correction system and control method, which are specifically used for automatic correction of the hydraulic crawler chassis walking in underground coal mine tunnels to ensure that it does not collide with the tunnel walls.

[0010] A mining hydraulic crawler chassis deviation correction system comprises: a crawler chassis and an ultrasonic sensor, a proportional valve and a controller installed on the crawler chassis platform. The ultrasonic sensor is connected to the controller via RS485, and the proportional valve is electrically connected to the controller. The distance to the tunnel wall is collected by ultrasonic wave, and the angle of crawler deviation is calculated according to the distance. The flow of the proportional valve is controlled according to the angle to adjust the forward and reverse movement of the hydraulic motor to realize the correction of the driving direction.

[0011] The number of the proportional valves is four, two in a group, for controlling the forward and reverse rotation of the hydraulic motor; the number of the ultrasonic sensors is six, symmetrically installed at equal intervals on both sides of the crawler chassis, for detecting the distance from the ultrasonic sensor to the tunnel wall.

[0012] The system also includes a remote control receiver, which communicates with the controller via a CANOPEN bus; an operator controls the controller remotely by operating the remote control; the controller and the remote control receiver are installed in an explosion-proof electric control box, and the controller uses S7-1200PLC.

[0013] A control method for a hydraulic crawler chassis deviation correction system for mining is implemented based on the hydraulic crawler chassis deviation correction system for mining, and the method comprises:

[0014] Step 1: Collect the distances L1, L2, L3, L4, L5, and L6 from the tunnel wall in real time, and calculate the offset angle according to formulas (1) to (6):

[0015]

[0016]

[0017]

[0018]

[0019]

[0020]

[0021] Wherein, L1, L2, L3, L4, L5, L6 represent the distance values ​​detected by the first, second, third, fourth, fifth, and sixth ultrasonic sensors, respectively, where the first, second, and third ultrasonic sensors are located on the same side, and the fourth, fifth, and sixth ultrasonic sensors are located on the other side; α1 to α6 represent six different offset angles; L represents the distance between two adjacent ultrasonic sensors on the same side;

[0022] Step 2: Determine the deviation direction of the hydraulic crawler chassis according to the distance value;

[0023] When any three of the conditions L1>L2, L2>L3, L4<L5, L5<L6 are met, it is determined that the driving direction of the crawler chassis is biased toward the side where the fourth, fifth, and sixth ultrasonic sensors are located;

[0024] When any three of the conditions L1<L2, L2<L3, L4>L5, L5>L6 are met, it is determined that the driving direction of the crawler chassis is biased toward the side where the first, second, and third ultrasonic sensors are located;

[0025] Step 3: Correct the travel direction of the hydraulic crawler chassis by controlling the proportional valve;

[0026] Eliminate the maximum and minimum values ​​of α1, α2, α3, α4, α5, and α6, and calculate the average value of the remaining four angles.

[0027] Setting the Angle Threshold Set the distance threshold μ;

[0028] when Or when |L1-L6|≥μ, the flow of the four proportional valves is controlled to adjust the forward and reverse movement of the two travel drive motors to correct the travel direction.

[0029] The beneficial effects of the present invention are:

[0030] The present invention proposes a mining hydraulic crawler chassis deviation correction system and control method, which detects the deviation of the crawler chassis in real time through an ultrasonic sensor, realizes the effect of real-time correction of the crawler deviation, and can control the straight-line displacement of the crawler chassis within 240mm. The present invention is applied to mining hydraulic crawler vehicles to automatically adjust their driving direction so as not to deviate from the center line of the lane, ensuring that no collision accidents occur in narrow lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the hydraulic crawler chassis deviation correction system for mining in the present invention;

[0032] Figure 2 This is the layout diagram of the explosion-proof electric control box in the present invention;

[0033] Figure 3 It is a schematic diagram of the installation of six ultrasonic sensors in the present invention;

[0034] Figure 4 It is a wiring schematic diagram of the hydraulic crawler chassis deviation correction system for mining in the present invention;

[0035] Figure 5 The schematic diagram of the present invention for detecting the driving deviation direction according to the distance value, wherein (a) is a schematic diagram of distance sampling when driving along the center line of the lane, and (b) is a schematic diagram of solving the deviation angle when the driving direction deviates;

[0036] Figure 6 It is a flow chart of the control method of the hydraulic crawler chassis deviation correction system for mining in the present invention;

[0037] In the figure, 1. Ultrasonic sensor 1; 2. Ultrasonic sensor 2; 3. Ultrasonic sensor 3; 4. Ultrasonic sensor 4; 5. Ultrasonic sensor 5; 6. Ultrasonic sensor 6; 7. Valve group; 8. Explosion-proof electric control box; 9. Crawler chassis platform; 10. Controller (S7-1200PLC); 11. Remote control receiver. DETAILED DESCRIPTION

[0038] The invention will be further described below with reference to the accompanying drawings and specific implementation examples.

[0039] like Figures 1-2 As shown, a mining hydraulic crawler chassis deviation correction system includes: ultrasonic sensor 1 1, ultrasonic sensor 2 2, ultrasonic sensor 3 3, ultrasonic sensor 4 4, ultrasonic sensor 5 5, ultrasonic sensor 6 6 are installed on the crawler chassis platform 9; wherein, ultrasonic sensor 1 1, ultrasonic sensor 2 2, ultrasonic sensor 3 3 are a group, ultrasonic sensor 4 4, ultrasonic sensor 5 5, ultrasonic sensor 6 6 are a group, and the installation diagram of six ultrasonic sensors is as shown in Figure 3 As shown; the valve group 7 is composed of 4 proportional valves, which respectively control the forward and reverse rotation of the two travel drive motors; an explosion-proof electric control box 8 is provided on the crawler chassis platform 9, with a built-in controller 10 and a remote control receiver 11.

[0040] The wiring schematic diagram of the system is shown in Figure 4As shown, ultrasonic sensor 1, ultrasonic sensor 2, ultrasonic sensor 3, ultrasonic sensor 4, ultrasonic sensor 5, and ultrasonic sensor 6 are electrically connected to the controller (Siemens S7-1200PLC) 10 through RS485 to upload the collected distance data; 4 proportional valves are connected to the Siemens S7-1200PLC to output analog quantities; the remote control receiver 11 communicates with the Siemens S7-1200PLC through the CANOPEN bus to complete the two-way transmission of data signals.

[0041] like Figure 6 As shown, a control method for a hydraulic crawler chassis deviation correction system for mining is implemented based on the hydraulic crawler chassis deviation correction system for mining, and the method includes:

[0042] Step 1: Ultrasonic sensor 1, ultrasonic sensor 2, ultrasonic sensor 3, ultrasonic sensor 4, ultrasonic sensor 5, ultrasonic sensor 6 collects the distance L1, L2, L3, L4, L5, L6 from the tunnel wall in real time. Figure 5 As shown, according to the trigonometric function relationship, the following formula is used:

[0043]

[0044]

[0045]

[0046]

[0047]

[0048]

[0049] The six offset angles α1, α2, α3, α4, α5 and α6 are obtained by calculation;

[0050] Wherein, L1, L2, L3, L4, L5, L6 represent the distance values ​​detected by the first, second, third, fourth, fifth, and sixth ultrasonic sensors, respectively, where the first, second, and third ultrasonic sensors are located on the same side, and the fourth, fifth, and sixth ultrasonic sensors are located on the other side; α1 to α6 represent six different offset angles; L represents the distance between two adjacent ultrasonic sensors on the same side;

[0051] Step 2: Compare the four sets of distance data L1, L2, L2, L3, L4, L5, L5, L6, and determine the deviation direction of the hydraulic crawler chassis according to the distance values;

[0052] When three of the following conditions are met: L1>L2, L2>L3, L4<L5, L5<L6, it is determined that the direction of the crawler chassis is biased toward the side where the fourth, fifth, and sixth ultrasonic sensors are located (in the case of Figure 5 (b) shows that the track chassis is traveling in the right direction);

[0053] When three of the following conditions are met: L1<L2, L2<L3, L4>L5, L5>L6, it is determined that the driving direction of the crawler chassis is biased toward the side where the first, second, and third ultrasonic sensors are located (in the case of Figure 5 (b) shows that the track chassis is traveling in a leftward direction);

[0054] Step 3: Correct the travel direction of the hydraulic crawler chassis by controlling the proportional valve;

[0055] Set the track to start correcting when the track angle deflection is ≥5°;

[0056] Through the bubbling method, the maximum and minimum values ​​of α1, α2, α3, α4, α5, and α6 are eliminated, and the average value of the remaining four angles is taken. when When the deviation correction control starts;

[0057] Set the deviation correction control to start when |L1-L6|≥200mm;

[0058] like Figure 6 As shown in the figure, after the crawler chassis deviation direction is determined, the deviation trigger condition is Or |L1-L6|≥200mm, when one of the conditions is met, deviation correction is started, and the forward and reverse movement and speed of the two driving motors are adjusted by controlling the flow of the four proportional valves, and then the driving direction is corrected. When right deviation occurs, proportional valves 1 and 4 are controlled to adjust the duty ratio, and when left deviation occurs, proportional valves 2 and 3 are controlled to adjust the duty ratio, among which proportional valve 1 is used to control the forward speed of the right crawler motor, proportional valve 2 is used to control the forward speed of the left crawler motor, proportional valve 3 is used to control the reverse speed of the right crawler motor, and proportional valve 4 is used to control the reverse speed of the left crawler motor.

[0059] Practice has proved that the mining hydraulic crawler chassis deviation correction system and control method provided by the present invention can control the straight-line displacement of the crawler chassis within 240 mm. The present invention can be applied to mining hydraulic crawler vehicles to automatically adjust their driving direction so as not to deviate from the center line of the lane, thereby ensuring that no collision accidents occur in narrow lanes.

Claims

1. A hydraulic crawler chassis deviation correction system for mining, characterized in that: include: The crawler chassis and the ultrasonic sensor, proportional valve and controller installed on the crawler chassis. The ultrasonic sensor is connected to the controller via RS485, and the proportional valve is electrically connected to the controller. The distance to the tunnel wall is collected by ultrasonic wave, and the angle of crawler deviation is calculated according to the distance. The flow of the proportional valve is controlled according to the angle to adjust the forward and reverse movement of the hydraulic motor to realize the correction of the driving direction. The proportional valves are arranged in four groups, two in each group, for controlling the forward and reverse rotation of the hydraulic motor; the ultrasonic sensors are arranged in six groups, symmetrically installed at equal intervals on both sides of the crawler chassis, for detecting the distance from the ultrasonic sensor to the tunnel wall; A method for controlling a hydraulic crawler chassis deviation correction system for a mine is implemented by using a hydraulic crawler chassis deviation correction system for a mine, and the method comprises: Step 1: Collect the distances L1, L2, L3, L4, L5, and L6 from the tunnel wall in real time, and calculate the offset angle according to formulas (1) to (6): Wherein, L1, L2, L3, L4, L5, L6 represent the distance values ​​detected by the first, second, third, fourth, fifth, and sixth ultrasonic sensors, respectively, where the first, second, and third ultrasonic sensors are located on the same side, and the fourth, fifth, and sixth ultrasonic sensors are located on the other side; α1 to α6 represent six different offset angles; L represents the distance between two adjacent ultrasonic sensors on the same side; Step 2: Determine the deviation direction of the hydraulic crawler chassis according to the distance value; When any three of the conditions L1>L2, L2>L3, L4<L5, L5<L6 are met, it is determined that the driving direction of the crawler chassis is biased toward the side where the fourth, fifth, and sixth ultrasonic sensors are located; When any three of the conditions L1<L2, L2<L3, L4>L5, L5>L6 are met, it is determined that the driving direction of the crawler chassis is biased toward the side where the first, second, and third ultrasonic sensors are located; Step 3: Correct the travel direction of the hydraulic crawler chassis by controlling the proportional valve; Eliminate the maximum and minimum values ​​of α1, α2, α3, α4, α5, and α6, and calculate the average value of the remaining four angles. Setting the Angle Threshold Set the distance threshold μ; when or | L1-L6 | When ≥μ, the flow of the four proportional valves is controlled to adjust the forward and reverse movement of the two driving motors to correct the driving direction.

2. A mining hydraulic crawler chassis deviation correction system according to claim 1, characterized in that: The system also includes a remote control receiver, which communicates with the controller via a CANOPEN bus; an operator controls the controller remotely by operating the remote control; the controller and the remote control receiver are installed in an explosion-proof electric control box, and the controller uses S7-1200PLC.

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