Coal mining machine posture detection method and device and computer readable storage medium

Abstract

The application discloses a kind of posture detection method, device and computer readable storage medium of coal mining machine, wherein method includes: based on the first sensor installed in the rocker arm of coal mining machine and the second sensor installed on the electric control box of coal mining machine, multiple angle information of rocker arm and multiple angle information of electric control box are collected;Based on multiple angle information of rocker arm, the angle trend information of rocker arm is calculated, and based on multiple angle information of electric control box, the angle trend information of electric control box is calculated;According to the angle trend information of rocker arm and the angle trend information of electric control box, the first relative angle trend information of rocker arm relative to electric control box is calculated, and / or the second relative angle trend information of electric control box relative to rocker arm is calculated, and the relative motion relationship of rocker arm and electric control box is calculated based on the first relative angle trend information and / or the second relative angle trend information, as the posture of coal mining machine.The posture of coal mining machine can be accurately detected using low-precision devices such as MEMS.

Description

Technical Field

[0001] This invention belongs to the field of coal mining machine technology, and particularly relates to a method, device and computer-readable storage medium for detecting the attitude of a coal mining machine. Background Technology

[0002] In existing technologies, inertial measurement units (IMUs) are typically used to detect the attitude of coal mining machines and to locate their positions. While IMUs are expensive and their accuracy far exceeds that of MEMS devices, they are susceptible to vibration and shock from the coal mining machine. Therefore, they are primarily used for position detection and have limited application in attitude detection. Furthermore, they require calibration upon startup, resulting in long waiting times. In contrast, using MEMS devices can significantly reduce detection costs. MEMS devices are small, easy to install, and have short startup and calibration times, allowing for immediate use upon power-up. However, for attitude detection of underground coal mining equipment, MEMS devices have low detection accuracy and are highly susceptible to vibration and shock. Using MEMS devices makes it difficult to accurately detect the attitude of the coal mining machine, and the resulting inaccurate data cannot be effectively utilized by other equipment on the working face. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to accurately detect the attitude of a coal mining machine using low-precision devices such as MEMS, and to provide a coal mining machine attitude detection method, device and computer-readable storage medium.

[0004] The present invention solves the above-mentioned technical problems through the following technical solution:

[0005] According to one aspect of this disclosure, a method for detecting the attitude of a coal mining machine is provided, comprising: acquiring multiple angle information of the rocker arm and multiple angle information of the electrical control box based on a first sensor installed on the rocker arm of the coal mining machine and a second sensor installed on the electrical control box of the coal mining machine; calculating angle trend information of the rocker arm based on the multiple angle information of the rocker arm, and calculating angle trend information of the electrical control box based on the multiple angle information of the electrical control box; calculating a first relative angle trend information of the rocker arm relative to the electrical control box based on the angle trend information of the rocker arm and the angle trend information of the electrical control box, and / or calculating a second relative angle trend information of the electrical control box relative to the rocker arm; and calculating the relative motion relationship between the rocker arm and the electrical control box based on the first relative angle trend information and / or the second relative angle trend information, as the attitude of the coal mining machine.

[0006] In some embodiments, the step of “calculating the angle trend information of the rocker arm based on multiple angle information of the rocker arm, and calculating the angle trend information of the electrical control box based on multiple angle information of the electrical control box” includes: using a grey regression algorithm to calculate the angle trend information of the rocker arm and the angle trend information of the electrical control box.

[0007] In some embodiments, before the step of "calculating the angle trend information of the rocker arm based on the multiple angle information of the rocker arm", the method further includes: detecting the current vibration information of the rocker arm and adjusting the multiple angle information of the rocker arm according to the vibration information.

[0008] In some embodiments, before the step of "calculating the angle trend information of the rocker arm based on the multiple angle information of the rocker arm", the method further includes: detecting the load type of the cut portion of the rocker arm, and adjusting the multiple angle information of the rocker arm according to preset rocker arm vibration data corresponding to the load type.

[0009] In some embodiments, the step of "calculating the relative motion relationship between the rocker arm and the electrical control box" includes: using a Kalman filter fusion algorithm to calculate the relative motion relationship between the rocker arm and the electrical control box.

[0010] In some embodiments, the method may further include: controlling the movement of the rocker arm based on the difference between the posture of the coal mining machine and a preset equilibrium state.

[0011] In some embodiments, the method may further include: controlling the cutting section of the rocker arm to work based on the difference between the posture of the coal mining machine and a preset equilibrium state.

[0012] According to another aspect of this disclosure, a coal mining machine attitude detection device is provided, comprising: a first sensor installed on the rocker arm of the coal mining machine and a second sensor installed on the electrical control box of the coal mining machine, for collecting multiple angle information of the rocker arm and multiple angle information of the electrical control box; an angle trend calculation module for calculating angle trend information of the rocker arm based on the multiple angle information of the rocker arm and calculating angle trend information of the electrical control box based on the multiple angle information of the electrical control box; and an attitude calculation module for calculating a first relative angle trend information of the rocker arm relative to the electrical control box, and / or calculating a second relative angle trend information of the electrical control box relative to the rocker arm, based on the angle trend information of the rocker arm and / or the angle trend information of the electrical control box, and calculating the relative motion relationship between the rocker arm and the electrical control box based on the first relative angle trend information and / or the second relative angle trend information, as the attitude of the coal mining machine.

[0013] According to another aspect of this disclosure, a control device is provided, including a processor and a storage device, the storage device being adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by the processor to perform the aforementioned coal mining machine attitude detection method.

[0014] According to another aspect of this disclosure, a computer-readable storage medium is provided, wherein a plurality of program codes are stored, the program codes being adapted to be loaded and run by a processor to perform the aforementioned coal mining machine attitude detection method.

[0015] The positive and progressive effects of this invention are as follows: Compared with the prior art, instead of using MEMS and other types of sensors in isolation, the sensors are respectively set on the rocker arm and the electrical control box of the coal mining machine. The angle trend information of the rocker arm and the electrical control box is calculated by using the angle information of the rocker arm and the electrical control box, and then the relevant motion relationship between the rocker arm and the electrical control box is analyzed to reflect the attitude of the coal mining machine. In the highly vibrating environment in which the coal mining machine is located, the collected angle information of the rocker arm and the electrical control box is affected by vibration, and the calculated angle trend information is also affected by vibration. However, by calculating the relative motion relationship between the rocker arm and the electrical control box, the two angle trend information are compared with each other to cancel out the influence of vibration. Thus, the attitude of the coal mining machine can be accurately reflected by the relative motion relationship. Attached Figure Description

[0016] Figure 1 A flowchart of a coal mining machine attitude detection method according to an alternative embodiment of the present disclosure is shown.

[0017] Figure 2 A flowchart of a coal mining machine attitude detection method according to an alternative embodiment of the present disclosure is shown.

[0018] Figure 3 A block diagram of a coal mining machine attitude detection device according to an alternative embodiment of the present disclosure is shown. Detailed Implementation

[0019] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0020] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0021] The voltage phase sequence detection system for a four-quadrant frequency converter according to embodiments of the present disclosure will be described in detail below.

[0022] Figure 1 A flowchart illustrating an optional embodiment of a coal mining machine attitude detection method according to an embodiment of the present disclosure is shown. The method includes:

[0023] Step S110: Based on the first sensor installed on the rocker arm of the coal mining machine and the second sensor installed on the electrical control box of the coal mining machine, collect multiple angle information of the rocker arm and multiple angle information of the electrical control box.

[0024] In this embodiment, the first and second sensors can be MEMS devices or other types of sensors. When using MEMS devices, it is necessary to use the MEMS chip detection range and vibration and shock test data to perform sensitive calibration on the MEMS devices used in the geological environment of the coal mining machine, so as to facilitate the unified reference detection of the two-dimensional angles of the coal mining machine by the MEMS devices. The raw quaternion values ​​output by the MEMS devices are normalized to convert the data into angle information.

[0025] Step S120: Calculate the angle trend information of the rocker arm based on multiple angle information of the rocker arm, and calculate the angle trend information of the electric control box based on multiple angle information of the electric control box.

[0026] In this embodiment, multiple consecutive angle information reflects the angle change trends of the rocker arm and the electrical control box. Specifically, a grey regression algorithm can be used to calculate the angle trend information of the rocker arm and the electrical control box, that is, to perform grey regression calculation using multiple consecutive sets of information to obtain the angle trend information.

[0027] Step S130: Based on the angle trend information of the rocker arm and the angle trend information of the electrical control box, calculate the first relative angle trend information of the rocker arm relative to the electrical control box, and / or calculate the second relative angle trend information of the electrical control box relative to the rocker arm. Calculate the relative motion relationship between the rocker arm and the electrical control box based on the first relative angle trend information and / or the second relative angle trend information, as the attitude of the coal mining machine.

[0028] In this embodiment, the relative motion relationship can refer to the angular trend of a certain position on the rocker arm relative to the electrical control box, or the angular trend of the electrical control box relative to one end of the rocker arm. When calculating the relative motion relationship between the rocker arm and the electrical control box, it is necessary to compare and calculate the difference between their angular trend information. During the comparison process, the vibration-induced characteristics of both angular trend information will cancel each other out. Specifically, a Kalman filter fusion algorithm can be used to calculate the relative motion relationship between the rocker arm and the electrical control box. In this embodiment, a Kalman filter fusion model is used for calculation. By correcting the iteration boundary, effective convergence constraints are achieved. Finally, the processed attitude information is output to obtain accurate and reliable attitude data information. According to the technical solution of this embodiment, in the highly vibrating environment of the coal mining machine, the collected angular information of the rocker arm and the electrical control box is affected by vibration, and the calculated angular trend information is also affected by vibration. However, by calculating the relative motion relationship between the rocker arm and the electrical control box, the vibration effect is canceled out when the two angular trend information are compared, so the attitude of the coal mining machine can be accurately reflected by the relative motion relationship.

[0029] Figure 2 A flowchart illustrating an optional embodiment of a coal mining machine attitude detection method according to an embodiment of the present disclosure is shown. The method includes:

[0030] Step S210: Based on the first sensor installed on the rocker arm of the coal mining machine and the second sensor installed on the electrical control box of the coal mining machine, multiple angle information of the rocker arm and multiple angle information of the electrical control box are collected.

[0031] Step S220: Detect the current vibration information of the rocker arm, and adjust multiple angle information of the rocker arm according to the vibration information.

[0032] In this embodiment, when MEMS devices are used for the sensors of the rocker arm and the electrical control box, vibration information can be collected simultaneously through MEMS, and the angle information can be corrected based on the vibration information to eliminate the influence of vibration on the collected angle when the coal mining machine is working.

[0033] Step S230: Detect the load type of the cutting part of the rocker arm, and adjust multiple angle information of the rocker arm according to the preset rocker arm vibration data corresponding to the load type.

[0034] In this embodiment, the vibration of the coal mining machine is closely related to the working condition of its cutting section. The vibration generated when cutting coal and cutting rock are significantly different. Therefore, based on whether the load type of the cutting section is coal or rock, the vibration of the current coal mining machine is quickly analyzed, and the angle information is corrected accordingly to eliminate the influence of the vibration of the coal mining machine on the acquisition angle.

[0035] Step S240: Calculate the angle trend information of the rocker arm based on multiple angle information of the rocker arm, and calculate the angle trend information of the electric control box based on multiple angle information of the electric control box.

[0036] In this embodiment, based on the angle information and time elapsed between two detections, the angle trend information of the rocker arm and the electrical control box can be calculated. After continuous detection of the rocker arm and the electrical control box, an angle trend information can be calculated based on each pair of consecutive angle information. Multiple angle trend information can be obtained based on multiple consecutive angle information. At this time, the average value of multiple angle trend information is taken as the final angle trend information.

[0037] Step S250: Based on the angle trend information of the rocker arm and the angle trend information of the electrical control box, calculate the first relative angle trend information of the rocker arm relative to the electrical control box, and / or calculate the second relative angle trend information of the electrical control box relative to the rocker arm. Calculate the relative motion relationship between the rocker arm and the electrical control box based on the first relative angle trend information and / or the second relative angle trend information, as the attitude of the coal mining machine.

[0038] Step S260: Control the movement of the rocker arm based on the difference between the posture of the coal mining machine and the preset balance state.

[0039] In this embodiment, when the current posture of the coal mining machine affects the overall balance, the rocker arm is controlled to move to change the posture of the coal mining machine to ensure that it maintains its balance.

[0040] Step S270: Control the cutting section of the rocker arm to work based on the difference between the attitude of the coal mining machine and the preset balance state.

[0041] In this embodiment, the imbalance of the coal mining machine is often related to the working condition of the cutting section. When the current posture of the coal mining machine affects the overall balance, the work of the cutting section is stopped or the working efficiency of the cutting section is reduced. This can effectively reduce the impact on the overall posture of the coal mining machine when cutting coal and rock, and avoid the coal mining machine from becoming unbalanced.

[0042] According to the technical solution of this embodiment, MEMS devices are used for coal mining machine attitude detection. By installing multiple MEMS devices on the rocker arm and electrical control box of the same coal mining machine, a unified attitude detection network is formed, realizing unified attitude detection of large equipment by MEMS. At the same time, the hierarchical scoring and weight settings of the expert system can be used, combined with gray prediction and Kalman filtering, to solve the problem of inaccurate numerical detection caused by vibration and shock of MEMS.

[0043] Figure 3 A block diagram of a coal mining machine attitude detection device according to an alternative embodiment of the present disclosure is shown. The device includes:

[0044] The first sensor 310 installed on the rocker arm of the coal mining machine and the second sensor 320 installed on the electrical control box of the coal mining machine collect multiple angle information of the rocker arm and multiple angle information of the electrical control box.

[0045] In this embodiment, the first sensor and the second sensor can be MEMS devices or other types of sensors. Multiple sensors can be used for both the first and second sensors to further improve the stability of angle information acquisition.

[0046] The angle trend calculation module 330 calculates the angle trend information of the rocker arm based on multiple angle information of the rocker arm, and calculates the angle trend information of the electric control box based on multiple angle information of the electric control box.

[0047] The attitude calculation module 340 calculates the first relative angle trend information of the rocker arm relative to the electrical control box based on the angle trend information of the rocker arm and the angle trend information of the electrical control box, and / or calculates the second relative angle trend information of the electrical control box relative to the rocker arm. Based on the first relative angle trend information and / or the second relative angle trend information, it calculates the relative motion relationship between the rocker arm and the electrical control box as the attitude of the coal mining machine.

[0048] The coal mining machine attitude detection device in this embodiment selects its main control, power supply, and interface chips based on the MEMS device interface and model calculation capabilities. Through a mining-grade structural design, it achieves an intrinsically safe circuit that meets the relevant requirements of GB3836 (a circuit standard). The designed circuit board is encapsulated, the cables are properly laid out for protection, and the interface of the sensors and modules is reinforced, resulting in a coal mining machine attitude detection device adapted to the operating conditions of the coal mining machine. On the software side, a parameter tuning interface is developed to address the needs of MEMS device sensitivity calibration and regression filter parameter tuning and verification. This allows direct modification of the tuning model through parameter settings, achieving efficient data processing applications. Similarly, response software interfaces are provided for communication and power supply settings to ensure the application compatibility of the detection device and achieve reliable detection and data transmission.

[0049] According to the technical solution of this embodiment, in the high vibration environment where the coal mining machine is located, the angle information of the rocker arm and the electrical control box is affected by vibration, and the calculated angle trend information is also affected by vibration. However, by calculating the relative motion relationship between the rocker arm and the electrical control box, the two angle trend information are compared with each other and the vibration effect is canceled out. Thus, the attitude of the coal mining machine can be accurately reflected by the relative motion relationship.

[0050] An optional embodiment of the control device disclosed herein includes a processor and a storage device. The storage device is adapted to store a plurality of program codes, which are adapted to be loaded and executed by the processor to perform the aforementioned coal mining machine attitude detection method. An optional embodiment of the computer-readable storage medium disclosed herein stores a plurality of program codes, which are adapted to be loaded and executed by a processor to perform the aforementioned coal mining machine attitude detection method.

[0051] According to the technical solution of this embodiment, in the high vibration environment where the coal mining machine is located, the angle information of the rocker arm and the electrical control box is affected by vibration, and the calculated angle trend information is also affected by vibration. However, by calculating the relative motion relationship between the rocker arm and the electrical control box, the two angle trend information are compared with each other and the vibration effect is canceled out. Thus, the attitude of the coal mining machine can be accurately reflected by the relative motion relationship.

[0052] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A method for detecting the attitude of a coal mining machine, characterized in that, include: Based on a first sensor installed on the rocker arm of the coal mining machine and a second sensor installed on the electrical control box of the coal mining machine, multiple angle information of the rocker arm and multiple angle information of the electrical control box are collected. The angle trend information of the rocker arm is calculated based on multiple angle information of the rocker arm, and the angle trend information of the electrical control box is calculated based on multiple angle information of the electrical control box. Based on the angle trend information of the rocker arm and the angle trend information of the electrical control box, calculate the first relative angle trend information of the rocker arm relative to the electrical control box, and / or calculate the second relative angle trend information of the electrical control box relative to the rocker arm. Based on the first relative angle trend information and / or the second relative angle trend information, calculate the relative motion relationship between the rocker arm and the electrical control box as the attitude of the coal mining machine. The angle trend information of the rocker arm and the angle trend information of the electrical control box are calculated based on the angle information detected twice and the time elapsed. After continuously collecting the angle information of the rocker arm and the angle information of the electrical control box, a single angle trend information is calculated based on each pair of consecutive angle information, and multiple angle trend information is calculated based on multiple consecutive angle information. The average value of the multiple angle trend information is taken as the final angle trend information.

2. The coal mining machine attitude detection method as described in claim 1, characterized in that, The steps of "calculating the angle trend information of the rocker arm based on multiple angle information of the rocker arm, and calculating the angle trend information of the electrical control box based on multiple angle information of the electrical control box" include: The angle trend information of the rocker arm and the angle trend information of the electrical control box are calculated using the grey regression algorithm.

3. The method for detecting the attitude of a coal mining machine as described in claim 1, characterized in that, Before the step of "calculating the angular trend information of the rocker arm based on multiple angular information of the rocker arm", the method further includes: The current vibration information of the rocker arm is detected, and multiple angle information of the rocker arm is adjusted according to the vibration information.

4. The method for detecting the attitude of a coal mining machine as described in claim 1, characterized in that, Before the step of "calculating the angular trend information of the rocker arm based on multiple angular information of the rocker arm", the method further includes: The load type of the cutting part of the rocker arm is detected, and multiple angle information of the rocker arm is adjusted according to the preset rocker arm vibration data corresponding to the load type.

5. The method for detecting the attitude of a coal mining machine as described in claim 1, characterized in that, The steps for "calculating the relative motion relationship between the rocker arm and the electrical control box" include: The relative motion relationship between the rocker arm and the electrical control box is calculated using a Kalman filter fusion algorithm.

6. The method for detecting the attitude of a coal mining machine as described in claim 1, characterized in that, Also includes: The movement of the rocker arm is controlled based on the difference between the posture of the coal mining machine and the preset equilibrium state.

7. The method for detecting the attitude of a coal mining machine as described in claim 1, characterized in that, Also includes: The cutting section of the rocker arm is controlled to work based on the difference between the posture of the coal mining machine and the preset balance state.

8. A coal mining machine attitude detection device, characterized in that, include: A first sensor installed on the rocker arm of the coal mining machine and a second sensor installed on the electrical control box of the coal mining machine collect multiple angle information of the rocker arm and multiple angle information of the electrical control box; An angle trend calculation module calculates the angle trend information of the rocker arm based on multiple angle information of the rocker arm, and calculates the angle trend information of the electrical control box based on multiple angle information of the electrical control box; The attitude calculation module calculates the first relative angle trend information of the rocker arm relative to the electrical control box based on the angle trend information of the rocker arm and the angle trend information of the electrical control box, and / or calculates the second relative angle trend information of the electrical control box relative to the rocker arm. Based on the first relative angle trend information and / or the second relative angle trend information, it calculates the relative motion relationship between the rocker arm and the electrical control box as the attitude of the coal mining machine. The angle trend information of the rocker arm and the angle trend information of the electrical control box are calculated based on the angle information detected twice and the time elapsed. After continuously collecting the angle information of the rocker arm and the angle information of the electrical control box, a single angle trend information is calculated based on each pair of consecutive angle information, and multiple angle trend information is calculated based on multiple consecutive angle information. The average value of the multiple angle trend information is taken as the final angle trend information.

9. A control device, comprising a processor and a storage device, said storage device being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the coal mining machine attitude detection method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the coal mining machine attitude detection method according to any one of claims 1 to 7.

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