Method for automatically executing multiple processes in construction process of coal mine underground drilling machine
By quantitatively describing and using fuzzy theory to make decisions on the six main processes of underground drilling in coal mines, and combining them with incremental PID control algorithms, the automatic execution of multiple processes of the drilling rig was achieved, solving the problem of excessive manual intervention and improving the degree of automation and construction efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XIAN RES INST OF CHINA COAL TECH & ENG GRP CORP
- Filing Date
- 2023-07-15
- Publication Date
- 2026-07-03
Smart Images
Figure CN116838312B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of coal mine equipment automation, specifically relating to a method for automatically executing multiple processes during the construction of underground drilling rigs in coal mines. Background Technology
[0002] The intelligentization of coal mining equipment has been a major development direction in the coal manufacturing industry in recent years. Utilizing intelligent equipment can not only significantly reduce the workload of workers but also effectively achieve the goal of reducing manpower while increasing efficiency. Intelligent equipment will lead the coal industry to achieve high-quality development and represents a new direction for equipment development in the coal industry.
[0003] The intelligentization of underground drilling rigs in coal mines inevitably requires the installation of control systems with self-decision-making and execution functions. Specifically, such control systems can realize the automatic execution of drilling rig processes. In recent years, there has been little research on intelligent control of underground drilling rig processes in coal mines. Therefore, how to achieve automatic execution of multiple processes is an important technical problem that needs to be solved in the development of intelligent drilling rigs.
[0004] The automated execution of drilling operations in coal mines requires addressing the issues of defining the boundaries of drilling operations, ensuring the accurate execution of individual operations, and automatically switching between multiple operations. Defining the boundaries of these operations involves classifying and quantifying the actions performed during drilling operations, and is fundamental to resolving the latter two issues. Summary of the Invention
[0005] The purpose of this invention is to provide an automated method for multiple processes during the construction of underground drilling rigs in coal mines, in order to solve the problems of excessive manual intervention and low automation in existing drilling rig construction processes.
[0006] To achieve the above objectives, the present invention employs the following technical solution:
[0007] A method for automatically executing multiple processes during underground drilling in coal mines, specifically including the following steps:
[0008] Step 1: Describe the six procedures in the drilling process: adjusting azimuth angle, adjusting inclination angle, feeding and pulling, forward and reverse rotation, main clamp release, and clamp unloading and release, using L... i This represents the i-th process, where i = 1, ..., 6;
[0009] Step 2: Analyze the execution process of the six procedures in Step 1, divide the equipment required for each procedure into three types of equipment, modularize the equipment sets of the three types of equipment, extract attributes and then fuse them to obtain the fused perception attributes, control attributes and execution attributes of each procedure.
[0010] Step 3: Analyze the switching mechanism between processes during drilling rig construction. When process L... iUpon completion, calculate the expected perceived attributes for the next process.
[0011] Step 4: Analyze the accurate execution process of a single operation and use an incremental PID control algorithm for feedback control of the execution process of the single operation;
[0012] Step 5: Based on the description of the process, the decision-making process for switching between multiple processes, and the execution mechanism of a single process during the drilling rig construction process, conduct the automatic execution process of multiple processes in the unmanned drilling rig construction process.
[0013] Furthermore, in step 1, the six processes are described in detail as follows:
[0014] Azimuth adjustment: The drilling azimuth is adjusted by rotating the drilling rig main unit through a hydraulically driven rotary support. The azimuth adjustment range is -90° to +90°.
[0015] Inclination adjustment: The inclination angle is adjusted by rotating the drilling rig main unit through a hydraulically driven rotary bearing. The inclination angle adjustment range is 0° to +60°.
[0016] Feed and pull-out: The process of moving the drill head forward or backward by driving the hydraulic cylinder;
[0017] Forward and reverse rotation: The process of driving the active drill rod to rotate clockwise or counterclockwise via a hydraulic motor;
[0018] The main clamp releases, and the opening and closing of the two jaws in the clamp is controlled by a hydraulic cylinder.
[0019] Unclamping and loosening: The process of controlling the action of the unclamping equipment through a hydraulic cylinder.
[0020] Furthermore, step 2 specifically includes the following sub-steps:
[0021] Step 2.1: Analyze the mechanical equipment, hydraulic equipment, and electrical control equipment required for each process, and classify the above equipment to obtain the sensing equipment, control equipment, and execution equipment categories to which each process belongs;
[0022] Step 2.2: Modularize the equipment sets of the three equipment categories to which each process belongs and extract their attributes. Specifically, list process L. i The three equipment categories constitute the corresponding modules; and attributes are extracted from these equipment categories to obtain process L. i The attributes of the sensing module, control module, and execution module are as follows: the attribute of the sensing module is the dataset collected by the sensor; the attribute of the control module is the description of the control algorithm; and the attribute of the execution module is the description of the execution instructions of the process.
[0023] Step 2.3: Perform a fusion analysis on the attributes of the three types of modules extracted from each process. Specifically, for process L... i The attributes of each module are merged separately to obtain process L. i The sensory attribute O after fusion i Control attribute G i and execution attribute I i Among them, the perceptual attribute O i For the fused sensor dataset, the control attribute G i To describe the relationship between perceived attributes and execution attributes, execution attribute I i For process L i The fused execution instructions.
[0024] Further, the operation in step 2.1 is as follows: Analyze the equipment required for the implementation of each process, classify the information probes, hydraulic sensors, and other sensors such as displacement, speed, and proximity switches of the drilling rig electrical control system into the sensing equipment category; classify the drilling rig PLC and embedded equipment into the control equipment category; and classify the solenoid valves, hydraulic motors, and other actuators into the execution equipment category.
[0025] Furthermore, step 3 specifically includes the following sub-steps:
[0026] Step 3.1: Fuzzyen the range of perceived attributes for the current drilling operation and the expected range of perceived attributes for the next operation. Specifically, based on the description of each operation in Step 1, obtain the range of perceived attributes for each operation, and define the next operation L of the current operation. j The expected range of perceived attributes is Perform a fuzzification operation; the input for the fuzzification operation is the current process L. i Perceptual attribute O i (t k-1 ) and the next process L j The range of expected perceived attributes O i (t k-1 A blurred value o is obtained after blurring operation. i , The corresponding set is obtained after fuzzification.
[0027] Step 3.2: Evaluate the switching process to obtain the corresponding evaluation value. Specifically, use an exhaustive method to evaluate the combination. List them up to get n combinations; use Functions for the above combinations Obtained through separate evaluations The corresponding evaluation value ρ l Finally, ρ is obtained. i，j={ρ1, ..., ρ n}, where δ represents the working environment parameters of the coal mine drilling rig, and the evaluation function E is defined according to the construction objectives;
[0028] Step 3.3: Obtain the next process L j Expected perceived attributes Specifically, based on historical construction data and the current drilling conditions, ρ obtained from step 3.2... i，j Select the optimal evaluation value. And obtain the corresponding combination from the optimal value. This combination is the optimal strategy Next process L j The optimal evaluation value Perform deblurring to obtain the next process L. j Expected perceived attribute value
[0029] Furthermore, step 4 specifically includes the following sub-steps:
[0030] Step 4.1: For process L i Execution period [t] k , t k+1 Sampling is performed, and the sampling period is set to Δt = (t k+1 -t k ) / m, at t k +μΔt sampling time procedure L i The relevant attributes include the perception attribute O i，μ Execution attribute I i，μ Expected Perceived Attributes Among them, O i，μ The value comes from the sampling operation in step 4.1, I i，μ Of the values, those corresponding to μ being 1 and 2 are given empirically, while the remaining values are obtained through the operation in step 4.2. The value is determined by process L i The preceding process is obtained in step 3.3, and in [t] k , t k+1 [Remain unchanged during the period];
[0031] Step 4.2: For process L i The execution process employs an incremental PID control algorithm for real-time control. Specifically, the incremental PID control algorithm is used to control process L. i The execution process is feedback-based to achieve real-time control, in t k The perceptual attribute at time +(μ+2)Δt is O i，μ+2 Combine it with the expected perceived attributes Perform deviation calculation to obtain the deviation value e at the current time.μ+2 ; will t k +μΔt and t k The deviation value e at time +(μ+1)Δt μ and e μ+1 The input is fed into the incremental PID control algorithm to obtain the result at t k +(μ+2)Δt sampling time procedure L i Execution attribute value I i，μ+2 .
[0032] Furthermore, step 5 specifically includes the following sub-steps:
[0033] Step 5.1: Establish a state transition diagram between each process. In the state transition diagram, there are conditions between processes. These conditions include two aspects: the triggering condition of the next process and the expected output of the next process.
[0034] Step 5.2: Execution of the current process, specifically: if the time period [t] k-1 , t k [Middle process L] i Perceptual attribute error If the value exceeds the set threshold, then the current process L is considered to be... i The process was not completed and will be completed in the next time period [t]. k , t k+1 Continue executing process L i Process L i The specific execution process is as described in step 4; if the perceived attribute error is less than the set threshold, then process L is considered to be... i The process has been completed. The state transition diagram obtained in step 5.1 yields [t]. k , t k+1 The next process step to be performed is numbered L. j Proceed to step 5.3;
[0035] Step 5.3: Execution of subsequent processes, specifically: Given the previous time period [t] k-1 , t k Internal process L i The perception attribute value is O i (t k-1 ), and [t k , t k+1 Process L during the time period j The range of expected perceived attributes is Perform step 3 to obtain process L. j Expected perceived attribute value At this point, process L will be... j As the current process, proceed to step 5.2 to ensure that process L... j The execution results achieved the expected goals.
[0036] To address the issues of excessive manual intervention and low automation in existing drilling rig operations, this invention first quantifies the process flow of each step, providing a transformation diagram between steps. Based on this, fuzzy theory is used to determine the transformation conditions between steps, and an incremental PID algorithm is employed to control the execution of individual steps, thereby achieving unmanned drilling operations. This method overcomes the shortcomings of existing methods, transforming drilling rig operation from manual to automatic control. It achieves continuity and reliability in the automatic execution of multiple steps, reducing safety risks in underground construction and improving work efficiency. This further enhances the intelligence level of underground drilling rigs in coal mines. Attached Figure Description
[0037] Figure 1 This is a diagram showing the automatic switching of multiple processes during the construction of underground drilling rigs in coal mines.
[0038] Figure 2 This is a schematic diagram of the "perception-control-execution" division for a single process;
[0039] Figure 3 This is a schematic diagram of a fuzzy decision-making process involving multiple process switching.
[0040] Figure 4 This is a schematic diagram of a single-process execution.
[0041] The present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments. Detailed Implementation
[0042] This invention analyzes the specific operational steps involved in the construction process of underground drilling rigs in coal mines, and divides the process into six main steps: adjusting azimuth angle, adjusting inclination angle, feeding and pulling, forward and reverse rotation, main clamp loosening, unclamp loosening, and unclamp extension and retraction. The above steps are combined according to certain rules to form a complete multi-step automatic switching process for drilling construction.
[0043] The present invention provides a method for automatically executing multiple processes during the construction of underground drilling rigs in coal mines, which specifically includes the following steps:
[0044] Step 1: Describe the six main procedures in the drilling process: adjusting azimuth angle, adjusting inclination angle, feeding and pulling, forward and reverse rotation, releasing the main clamp, and unloading the clamp. And use L... i Let i represent the i-th process, where i = 1, ..., 6. Figure 1 This diagram illustrates the relationship between the various procedures involved in the construction of an underground drilling rig in a coal mine. Specifically:
[0045] 1) Azimuth adjustment: The drilling azimuth is adjusted by rotating the drilling rig main unit through the hydraulic drive rotary support. The azimuth adjustment range is -90° to +90°.
[0046] 2) Inclination adjustment: The inclination angle is adjusted by rotating the drilling rig main unit through the hydraulically driven rotary support. The inclination angle adjustment range is 0° to +60°.
[0047] 3) Feeding and pulling: The process of moving the drill head forward or backward by driving the hydraulic cylinder.
[0048] 4) Forward and reverse rotation: The process of driving the active drill rod to rotate clockwise or counterclockwise via a hydraulic motor.
[0049] 5) The main clamp is released, which is the process of opening and closing the two jaws in the clamp controlled by the hydraulic cylinder.
[0050] 6) Unclamping and loosening: The process of controlling the action of the unclamping equipment through hydraulic cylinders.
[0051] Step 2: Analyze the execution process of the six procedures in Step 1. Divide the equipment required for each procedure into three equipment categories. Modularize the equipment sets of these three categories, extract their attributes, and fuse them to obtain the fused perception attributes, control attributes, and execution attributes of each procedure. This includes the following sub-steps:
[0052] Step 2.1: Analyze the mechanical equipment, hydraulic equipment, and electrical control equipment required for each process. Based on the control logic of "sensing-control-execution", classify the above equipment to obtain the sensing equipment class, control equipment class, and execution equipment class to which each process belongs.
[0053] Specifically, such as Figure 2 As shown, the equipment required for each process is analyzed. Information probes and hydraulic sensors (including pressure and flow sensors in the hydraulic circuit), as well as other sensors such as displacement, speed, and proximity switches, are categorized as sensing devices in the drilling rig's electrical control system. The drilling rig's PLC and embedded devices are categorized as control devices; and solenoid valves, hydraulic motors, and other actuators are categorized as actuators. This achieves the classification of support equipment for all processes in coal mine underground drilling.
[0054] Step 2.2: Modularize the equipment sets of the three equipment categories to which each process belongs and extract their attributes.
[0055] Specifically, list the process L i The three equipment categories constitute the corresponding modules; and attributes are extracted from these equipment categories to obtain process L. i The attributes of the associated perception module, control module, and execution module. For example... Figure 2 As shown, the attribute of the sensing module is the dataset collected by the sensor; the attribute of the control module is the description of the control algorithm; and the attribute of the execution module is the description of the execution instructions of the process.
[0056] Step 2.3: Perform a fusion analysis on the attributes of the three types of modules extracted from each process.
[0057] Specifically, data clustering analysis methods are generally used to analyze process L. i The attributes of each module are fused separately, so that the fused attributes can describe the characteristics of the sensing module, control module, and execution module of each process, thus obtaining process L. i The sensory attribute O after fusion i Control attribute G i and execution attribute I i .like Figure 2 As shown, the perceptual attribute O i For the fused sensor dataset, the control attribute G i To describe the relationship between perceptual attributes and execution attributes (i.e., the fused control algorithm), execution attribute I i For process L i The fused execution instructions.
[0058] Step 3: Analyze the switching mechanism between procedures during drilling rig construction, in [t] k-1 , t k Procedure L is executed during the time period. i At this time L i The perception attribute is O i (t k-1 When process L i Upon completion, the calculation is performed on [t]. k , t k+1 Next process L in the time period j Expected perceived attributes The detailed implementation steps of this process are as follows:
[0059] Step 3.1: Blur the range of perceived attributes for the current drilling process and the expected range of perceived attributes for the next process.
[0060] Specifically, based on the description of each process in step 1, the range of the perceived attributes of each process is obtained, and the next process L of the current process is defined. j The expected range of perceived attributes is
[0061] Execution as Figure 3 The fuzzification operation shown uses the current process L as its input. i Perceptual attribute O i (t k-1 ) and the next process L j The range of expected perceived attributes O i (t k-1A blurred value o is obtained after blurring operation. i , The corresponding set is obtained after fuzzification. The blurring operation here specifically uses The discrete method is used to process the above data, where l = 1, 2, ..., n.
[0062] Step 3.2: Evaluate the switching process and obtain the corresponding evaluation value.
[0063] Specifically, such as Figure 3 As shown in the expert evaluation module. Since the number of values after the fuzzification operation in step 3.2 is finite, an exhaustive method is used here to combine them. Listing these combinations yields n possible combinations; these are then selected by the drilling experts. Functions for the above combinations Obtained through separate evaluations The corresponding evaluation value ρ l Finally, ρ is obtained. i，j ={ρ1, ..., ρ n}, where δ represents the working environment parameters of the coal mine drilling rig (such as the hardness of soft coal seams and hard rock layers, drilling depth, etc.), and the evaluation function E is defined according to the construction objectives.
[0064] Step 3.3: Obtain the next process L j Expected perceived attributes
[0065] Specifically, proceed as follows Figure 3 The optimal policy selection operation shown, the optimal policy The choice depends on the experience of experts.
[0066] During this selection process, based on historical construction data and the current drilling conditions, ρ obtained from step 3.2 is used... i，j Select the optimal evaluation value. And obtain the corresponding combination from the optimal value. This combination is the optimal strategy The optimal evaluation value is selected using the optimal strategy selection function. If the evaluation function E uses a risk function, then Optimize{} is an operation to select a minimum value; conversely, if the evaluation function E uses a return function, then Optimize{} is an operation to select a maximum value.
[0067] conduct Figure 3 The deblurring operation shown specifically involves the next process L... j The optimal evaluation value Deblurring is performed by reversing the fuzzing rules in step 3.1 to obtain the next step L. j Expected perceived attribute value
[0068] Step 4: Analyze the accurate execution process of a single operation, operation L. i In [t] k , t k+1 The perceptual attribute for the time period is O. i (t k ), while the expected perceived attribute is The execution process of this step employs incremental PID control algorithm for feedback control. It should be noted that step L in this process... i This refers to any single process to provide a general description of the single process in this step, and is related to the current process L in the switching mechanism in step 3. i Irrelevant. The control process is as follows:
[0069] Step 4.1: For process L i Execution period [t] k , t k+1 Sampling is performed, and the sampling period is set to Δt = (t k+1 -t k ) / m, at t k +μΔt sampling time procedure L i The relevant attributes include the perception attribute O i，μ Execution attribute I i，μ Expected Perceived Attributes Among them, O i，μ The value originates from the sampling operation in step 4.1 (i.e., the fusion of values obtained through sensor sampling in step 2), I i，μ Of the values, when μ is 1 and 2, it is given by the drilling rig operator based on experience; the remaining values are obtained through step 4.2. The value is determined by process L i The preceding process is obtained in step 3.3, and in [t] k , t k+1 It remains unchanged during the period.
[0070] Step 4.2: For process L i The execution process uses an incremental PID control algorithm for real-time control.
[0071] Specifically, process L i The execution is an open-loop process, and a feedback correction process is added on top of this. Here, an incremental PID control algorithm is used to control process L. i The execution process is feedback-based to achieve real-time control. The correction process is as follows: Figure 4 As shown, at t k The perceptual attribute at time +(μ+2)Δt is O i，μ+2 Combine it with the expected perceived attributes Perform deviation calculation to obtain the deviation value e at the current time. μ+2 . t k +μΔt and t k The deviation value e at time +(μ+1)Δt μ and e μ+1 The input is fed into the incremental PID control algorithm, which is shown in equation (1):
[0072] I i，μ+2 -I i，μ+1 =k p (e μ+2 -e μ+1 )+k i ×e μ+2 +k d (e μ+2 -2e μ+1 +e μ (1)
[0073] Here, the control engineer uses theoretical calculation tuning or engineering tuning to obtain the proportional coefficient k in equation (1) of the PID algorithm. p Integral coefficient k i and differential system k d The algorithm is used to output the attribute correction value Δε. μ+2 =I i，μ+2 -I i，μ+1 Thus by I i，μ+2 =I i，μ+1 +Δε μ+2 Get in t k +(μ+2)Δt sampling time procedure L i Execution attribute value I i，μ+2 .
[0074] Step 5: Based on the description of the work process, the decision-making process for switching between multiple work processes, and the execution mechanism of a single work process during the drilling rig construction process, the multi-work process of the unmanned drilling rig construction process is carried out, which includes the following steps.
[0075] Step 5.1: Establish a state transition diagram between each process.
[0076] Specifically, each stage of drilling operations requires the support of drilling procedures. This process includes the sequential execution of procedures and the parallel execution of multiple procedures; furthermore, triggering and termination conditions exist between procedures during both sequential and parallel execution. This step involves establishing a state transition diagram for the procedures based on the drilling operator's experience, such as... Figure 1As shown in the state transition diagram, there are conditions between processes. These conditions include two aspects: the triggering condition for the next process and the expected output of the next process. For example, process L... i and process L j For serial processing, the inter-process conditions represent process L. i The process has been completed, and the next step L has been given. j Expected perceived attributes If process L i and process L j For parallel processing, the inter-process conditions are to ensure process L i Given that the perceived attributes have reached the expected value, execute procedure L. j And provide the expected perceived attribute value. At this time, process L j As its parallel process L i The next step.
[0077] Step 5.2: Execution of the current process.
[0078] Specifically, if the time period [t] k-1 , t k [Middle process L] i Perceptual attribute error If the value exceeds the set threshold, then the current process L is considered to be... i The process was not completed and will be completed in the next time period [t]. k , t k+1 Continue executing process L i Process L i The specific execution process is as described in step 4; if the perceived attribute error is less than the set threshold, then process L is considered to be... i The process has been completed. The state transition diagram obtained in step 5.1 yields [t]. k , t k+1 The next process step to be performed is numbered L. j Proceed to step 5.3.
[0079] Step 5.3: Execution of subsequent processes.
[0080] Specifically, given the previous time period [t] k-1 , t k Internal process L i The perception attribute value is O i (t k-1 ), and [t k , t k+1 Process L during the time period j The range of expected perceived attributes is Perform step 3 to obtain process L. j Expected perceived attribute value At this point, process L will be... j As the current process, proceed to step 5.2 to ensure that process L... j The execution results achieved the expected goals.
[0081] As can be seen from the above, this invention decouples the construction process of underground coal mine drilling rigs into multiple related procedures, and uses a modular approach of "perception-control-execution" to abstractly describe these procedures. Based on this, research is conducted on the accurate execution of single procedures and the switching between multiple procedures. This invention transforms the drilling rig operation process from manual control to automatic control, which not only reduces the safety risks in underground construction but also improves its work efficiency.
Claims
1. A method for automatically performing multiple processes in a coal mine underground drilling machine construction process, characterized in that, Specifically, the steps include the following: Step 1: describes six procedures in the process of drilling rig construction: adjusting azimuth, adjusting inclination, feeding and pulling out, forward and reverse rotation, loosening main clamp and unclamping, and adopts represent the first procedure, ; Step 2: Analyze the execution process of the six procedures in Step 1, categorize the equipment required for each procedure into three types, modularize the equipment sets of each type, extract attributes, and then fuse them to obtain the fused perception attributes, control attributes, and execution attributes for each procedure; specifically including the following sub-steps: Step 2.1: Analyze the mechanical equipment, hydraulic equipment, and electrical control equipment required for each process, and classify the above equipment to obtain the sensing equipment, control equipment, and execution equipment categories to which each process belongs; Step 2.2: Modularize the equipment sets of the three equipment categories to which each process belongs and extract their attributes. Specifically, list the processes. The three equipment categories constitute the corresponding modules; and attributes are extracted from these equipment categories to obtain the respective processes. The attributes of the sensing module, control module, and execution module are as follows: the attribute of the sensing module is the dataset collected by the sensor; the attribute of the control module is the description of the control algorithm; and the attribute of the execution module is the description of the execution instructions of the process. Step 2.3: Perform a fusion analysis on the attributes of the three types of modules extracted from each process. Specifically, this involves: analyzing the process... The attributes of each module are merged separately to obtain the process. The sensory attributes after fusion Control attributes and execution attributes Among them, perceptual attributes For the fused sensor dataset, control attributes To describe the relationship between perceived attributes and execution attributes, execution attributes For the process The fused execution instructions; Step 3: Analyze the switching mechanism between processes during drilling rig construction. When a process... Upon completion, calculate the expected perceived attributes for the next process; this includes the following sub-steps: Step 3.1: Fuzzyen the range of perceived attributes for the current drilling operation and the expected range of perceived attributes for the next operation. Specifically, based on the description of each operation in Step 1, obtain the range of perceived attributes for each operation and define the next operation for the current operation. The expected range of perceived attributes is Perform a fuzzification operation; the input for the fuzzification operation is the current process. Perceptual attributes and the next process The range of expected perceived attributes ; A blurred value is obtained after blurring. , The corresponding set is obtained after fuzzification. ; Step 3.2: Evaluate the switching process to obtain the corresponding evaluation value. Specifically, use an exhaustive method to evaluate the combination. By listing them, we can obtain n A combination; using Functions for the above combinations Obtained through separate evaluations Corresponding evaluation value Finally obtained ,in, The evaluation function represents the working environment parameters of an underground coal mine drilling rig. Based on the definition of construction objectives; Step 3.3: Obtain the next process Expected perceived attributes Specifically, it involves: based on historical construction data and the current drilling conditions, derived from step 3.2... Select the optimal evaluation value. And obtain the corresponding combination from the optimal value. This combination is taken as the optimal strategy. ; the next process The optimal evaluation value Perform deblurring to obtain the next process. Expected perceived attribute value ; Step 4: Analyze the accurate execution process of a single operation and use an incremental PID control algorithm for feedback control of the single operation's execution process; specifically, this includes the following sub-steps: Step 4.1: Process Execution period Perform sampling, and set the sampling period to be [period]. ,exist Sampling time procedure The relevant attributes include perception attributes Execution attributes Expected Perceived Attributes , ;in, The value comes from the sampling operation in step 4.
1. Among the values, when μ The values corresponding to 1 and 2 are given based on experience; the remaining values are obtained through the operation in step 4.
2. The value is determined by the process. The preceding process is to obtain step 3.3, and in It remains unchanged during the period; Step 4.2: Process The execution process employs an incremental PID control algorithm for real-time control. Specifically, the incremental PID control algorithm is used to control the process... The execution process is feedback-based and corrected to achieve real-time control. The perceptual attribute of time is Combine it with the expected perceived attributes Perform deviation calculation to obtain the deviation value at the current time. ;Will and Deviation value at time and The input is fed into the incremental PID control algorithm to obtain the result. Sampling time procedure Execution attribute value ; Step 5: Based on the description of the drilling process, the switching decision-making for multiple processes, and the execution mechanism for a single process, implement the automated execution process of multiple processes in the unmanned drilling operation; specifically, it includes the following sub-steps: Step 5.1: Establish a state transition diagram between each process. In the state transition diagram, there are conditions between processes. These conditions include two aspects: the triggering condition of the next process and the expected output of the next process. Step 5.2: Execution of the current process, specifically: if the time period intermediate process Perceptual attribute error If the value exceeds the set threshold, the current process is considered to be... The process is not yet complete and will be completed in the next time slot. Continue executing the process process The specific execution process is as described in step 4; if the perceived attribute error is less than the set threshold, then the process is considered complete. The process has been completed, and the state transition diagram obtained in step 5.1 is used as an example. The next process number to be executed is defined as follows: Proceed to step 5.3; Step 5.3: Execution of subsequent processes, specifically: given the previous time period... Internal processes The perceived attribute value is ,as well as Process during the time period The range of expected perceived attributes is Perform step 3 to obtain the process. Expected perceived attribute value At this point, the process will be... As the current process, proceed to step 5.2 to ensure the process is in operation. The execution results achieved the expected goals.
2. The method for automatic execution of multiple processes during the construction of underground drilling rigs in coal mines as described in claim 1, characterized in that, In step 1, the six processes are described in detail as follows: Azimuth adjustment: The drilling azimuth is adjusted by rotating the drilling rig main unit through a hydraulically driven rotary support. The azimuth adjustment range is -90° to +90°. Inclination adjustment: The inclination angle is adjusted by rotating the drilling rig main unit through a hydraulically driven rotary bearing. The inclination angle adjustment range is 0° to +60°. Feed and pull-out: The process of moving the drill head forward or backward by driving the hydraulic cylinder; Forward and reverse rotation: The process of driving the active drill rod to rotate clockwise or counterclockwise via a hydraulic motor; The main clamp releases, and the opening and closing of the two jaws in the clamp is controlled by a hydraulic cylinder. Unclamping and loosening: The process of controlling the action of the unclamping equipment through a hydraulic cylinder.
3. The method for automatic execution of multiple processes during the construction of underground drilling rigs in coal mines as described in claim 1, characterized in that, Step 2.1 is performed as follows: Analyze the equipment required for the implementation of each process, classify the information probes, hydraulic sensors, and other sensors such as displacement, speed, and proximity switches of the drilling rig electrical control system as sensing devices; classify the drilling rig PLC and embedded devices as control devices; and classify solenoid valves, hydraulic motors, and other actuators as actuators.