Intelligent identification and autonomous control method of working conditions of solid filling scraper conveyor in coal mines

Abstract

The present invention discloses a method for intelligent identification and autonomous control of the working condition of a solid filling scraper conveyor in a coal mine, comprising the following steps: obtaining a characterization object based on the structural characteristics and typical working conditions of the solid filling scraper conveyor; establishing a coordinate system based on the characterization object; wherein the coordinate system includes a local coordinate system and a global coordinate system; obtaining a characterization index based on the characterization object and the coordinate system; constructing a posture morphology equation based on the characterization index; constructing a transportation state characterization equation based on the additional friction and additional impact force between the characterization objects; obtaining a critical condition based on an abnormal working condition discrimination index and a discrimination criterion; completing intelligent identification of the working condition of the solid filling scraper conveyor based on the critical condition, the posture morphology equation and the transportation state characterization equation; completing autonomous control of the solid filling scraper conveyor based on intelligent identification. The present invention can effectively improve transportation efficiency, increase transportation capacity, and help realize solid intelligent filling mining.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent coal mining, and in particular relates to a method for intelligently identifying and autonomously regulating the working conditions of a coal mine solid filling scraper conveyor. Background Art

[0002] Coal currently occupies a dominant position in my country's primary energy and will continue to be the "stabilizer" and "ballast stone" for building a clean, low-carbon, safe and efficient energy system in the new era. However, problems such as surface subsidence, solid waste treatment and emissions caused by resource exploitation remain severe. Backfill mining, as a typical representative of green mining technology, can effectively control rock movement, treat solid waste emissions, etc. The demand for the application of its technology will continue to increase day by day. Efficiency and intelligence will inevitably be the mainstream trend of the future development of solid filling technology.

[0003] The traditional floor-standing coal-carrying scraper conveyors currently in use have made great progress in intelligent research such as intelligent speed regulation, real-time monitoring, and remote centralized control, and have basically realized intelligent coal transportation by scraper conveyors. However, for solid filling scraper conveyors, their working conditions are complex, and their working conditions are greatly affected by factors such as geological conditions and filling processes. They are prone to various complex working conditions or even abnormal working conditions, which affect the reliability of their operating conditions, and thus directly affect the efficiency and production capacity of solid filling technology. Therefore, the problems of intelligent identification of working conditions of solid filling scraper conveyors and high-reliability autonomous material transportation need to be solved urgently. Summary of the invention

[0004] The present invention aims to solve the deficiencies of the prior art and proposes a method for intelligently identifying and autonomously regulating the working conditions of a coal mine solid filling scraper conveyor to improve the solid filling mining efficiency.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The method for intelligent identification and autonomous control of working conditions of a coal mine solid filling scraper conveyor includes the following steps:

[0007] Based on the structural characteristics and typical working conditions of the solid filling scraper conveyor, the characterization object is obtained;

[0008] Based on the representation object, a coordinate system is established; wherein the coordinate system includes a local coordinate system and a global coordinate system;

[0009] Based on the representation object and the coordinate system, obtaining a representation index;

[0010] Based on the characterization index, constructing a posture morphology equation;

[0011] Based on the additional friction force and the additional impact force between the characterization objects, construct a transportation state characterization equation;

[0012] Based on the abnormal working condition identification index and identification criteria, critical conditions are obtained;

[0013] Based on the critical conditions, the posture morphology equation and the transport state characterization equation, intelligent identification of the working condition of the solid filling scraper conveyor is completed;

[0014] Based on the intelligent identification, autonomous regulation of the solid filling scraper conveyor is completed.

[0015] Preferably, the characterization objects include the middle trough of a single-section scraper conveyor, the overall posture of the solid filling scraper conveyor, the hanging chain, the scraper chain and the discharge port.

[0016] Preferably, the characterization indicators include:

[0017] The characterization indicators of the middle groove include position vector, pitch angle, yaw angle and roll angle;

[0018] The characterization indexes of the overall posture include cumulative offset and maximum cumulative bending angle;

[0019] The characterization indicators of the hanging chain include azimuth and modulus;

[0020] The characterization indexes of the scraper chain include the angle between the scraper and the groove side, the scraper spacing, and the gap between the scraper and the middle plate;

[0021] The characterizing index of the discharge port includes the opening length.

[0022] Preferably, the local coordinate system pose equation of the middle slot is:

[0023]

[0024] Where P ZBC is the middle slot pose vector, x, y, z are the position vectors, is the pitch angle, ψ is the yaw angle, γ is the roll angle, and j is the number;

[0025] The global coordinate system pose equation of the middle slot is:

[0026]

[0027] Preferably, the transport state characterization equation is the force equation of the scraper chain on the middle trough of a single-section solid filling scraper conveyor at position j:

[0028] W GBL (j) = [F tj ,F sj ,F kxj ]

[0029] In the formula, F tjF is the scraper chain traction force after considering the additional friction at the middle slot inlet of section j; sj F is the impact force at the concave or convex part between the middle grooves of the jth section and the j+1th section of the vertical curved section of the scraper conveyor; kxj It is the impact force generated when the scraper passes through the gap between the middle grooves of the jth section and the j+1th section.

[0030] Preferably, the judgment criteria are abnormal operating condition judgment criteria of the spatial posture, traction state, suspension state and unloading state of the solid filling scraper conveyor.

[0031] Preferably, the critical conditions and judgment criteria for abnormal working conditions of the spatial posture of the middle slot are:

[0032]

[0033] Where Δψ is the yaw angle difference between two adjacent middle slots, ψ max is the maximum yaw angle, μ is the safety factor, F z is the total value of the additional impact force and the scraper chain traction force, F zmax is the maximum value of the total value of the additional impact force and the scraper chain traction force, where F z =F t +F s +F kx , F t is the scraper chain traction force after considering the additional friction at the middle trough inlet, F s F is the impact force generated by the concave or convex part between the middle grooves. kx It is the impact force generated when the scraper passes through the middle groove gap.

[0034] Preferably, the path of autonomous regulation is sought based on influencing factors, and the path includes:

[0035] Path 1: If the number of middle slots carrying filling materials is reduced, the distance for carrying filling materials is reduced;

[0036] Path 2: If the mass per unit length of the scraper conveyor is reduced, the mass of the filling material is reduced;

[0037] Path 3: If the yaw angle is reduced, the scraper conveyor will be in a straight line;

[0038] Path 4: If the pitch angle decreases, the scraper conveyor remains horizontal.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention designs an accurate characterization of the posture and transportation status of the solid filling scraper conveyor, which is the basis for working condition status judgment, posture adjustment, and transportation status regulation, and is also the prerequisite for its intelligent realization; it constructs the judgment criteria and control path of abnormal working conditions during the execution of the filling process, and reveals the autonomous control mechanism of the transportation status of the solid filling scraper conveyor, which can effectively improve transportation efficiency, increase transportation capacity, and help realize solid intelligent filling mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 A schematic diagram representing the working state of an embodiment of the present invention;

[0042] Figure 2 It is a schematic diagram of the additional impact force of the vertical bending of the scraper according to the embodiment of the present invention;

[0043] Figure 3 This is a flow chart of a method for intelligent identification and autonomous control of working conditions of a coal mine solid filling scraper conveyor according to an embodiment of the present invention;

[0044] Description of reference numerals: 1 is a reference coordinate system; 2 is a global coordinate system; 3 is a hanging chain; 4 is a discharge port; 5 is a scraper chain; 6 is a middle groove; is the pitch angle; ψ is the yaw angle; γ is the roll angle; l is the length of the discharge port; v is the real-time stroke value of the discharge cylinder; ω is the angle between the scraper and the trough side; q is the scraper spacing; w is the gap between the scraper and the middle plate; F1, F2 are the traction forces of the scraper chain when the first and second middle troughs are running stably; β1, β2 are the differences in the pitch angles between the middle troughs. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Embodiment 1

[0048] like Figure 1 and Figure 3 As shown, the method for intelligent identification and autonomous control of the working condition of a coal mine solid filling scraper conveyor includes the following steps:

[0049] Step 1: Based on the structural characteristics and typical working conditions of the solid filling scraper conveyor, obtain the characterization object; a further implementation method is that the characterization object includes the middle trough 6 of the single-section scraper conveyor and the overall posture of the solid filling scraper conveyor, the hanging chain 3, the scraper chain 5 and the discharge port 4.

[0050] Step 2: Establish a coordinate system based on the representation object; Figure 1 In the figure, 1 is a reference coordinate system, wherein the coordinate system includes a local coordinate system and a global coordinate system 2; the local coordinate system represents the middle trough 6, the hanging chain 3, the discharge port 4 and the scraper chain 5 passing therethrough of the single-section scraper conveyor; the global coordinate system 2 establishes a connection between each local coordinate system through a certain conversion method for global representation.

[0051] Step 3: Based on the characterization object and the coordinate system, obtain the characterization index; the characterization index includes: the characterization index of the middle slot 6 includes the position vector, the pitch angle The yaw angle ψ and the roll angle γ (Euler angle); the overall attitude characterization indicators include the cumulative offset and the maximum cumulative bending angle; the characterization indicators of the hanging chain 3 include the azimuth angle α i , β i , δ i And the module length m i ; The characterization indicators of the scraper chain 5 include the angle ω between the scraper and the groove, the scraper spacing q, and the gap w between the scraper and the middle plate; the characterization indicators of the discharge port 4 include the opening length (lv).

[0052] Step 4: Construct the posture morphology equation based on the characterization index;

[0053] A further implementation method is that the posture morphology equation includes: the posture equation of the middle trough 6 of the single-section solid filling scraper conveyor at any filling position under any filling process, taking the position numbered j as an example, see formula (1):

[0054]

[0055] Where P ZBC is the middle slot 6 pose vector, x, y, z are the position vectors, is the pitch angle, ψ is the yaw angle, γ is the roll angle, and j is the number;

[0056] The middle groove 6 at position j+1 adjacent to position j can be represented by formula (2):

[0057]

[0058] The equation established in the local coordinate system is converted to the global coordinate system 2. The position equation of the middle trough 6 of the single-section solid filling scraper conveyor at any filling position in any filling process in the global coordinate system 2 is shown in equation (3):

[0059]

[0060] The spacing and angle between two adjacent middle grooves 6 can be expressed by formula (4):

[0061]

[0062] Wherein, Δx, Δy, Δz are the spacings between adjacent middle slots 6 in three position vector components, m; Δψ, Δγ are the differences in pitch angle, yaw angle, and roll angle between adjacent middle slots 6, in degrees; Δl is the gap distance between adjacent middle slots 6, in m; and L is the length of the middle slot 6, in m.

[0063] The overall posture characterization formula of the solid filling scraper conveyor is shown in formula (5).

[0064]

[0065] Where ΔX, ΔY, and ΔZ are the maximum offset distances of the three position vector components on the curved section of the conveyor, m; ΔΦ, ΔΨ, and ΔΥ are the maximum cumulative pitch angle, yaw angle, and roll angle on the curved section, degrees.

[0066] The posture state characterization method (posture morphology equation) of the conveyor hanging chain 3, scraper chain 5 and discharge port 4 is shown in formula (6) by taking the position numbered j as an example.

[0067]

[0068] Where:

[0069] P DGL is the 3D pose vector of the hanging chain, α i , β i and δ i is the azimuth of the vector, m i is the modulus length, where i is 1, 2, 3, 4;

[0070] P GBL is the scraper chain 5 pose vector;

[0071] P XLK Indicates the opening length of the discharge port 4.

[0072] Step 5: Based on the additional friction and additional impact force between the characterization objects, construct the transport state characterization equation;

[0073] The traction force includes an additional friction force. In a further embodiment, the additional friction force is as shown in formula (7) at the inlet of the middle groove 6 of the (n+1)th section:

[0074]

[0075] Additional impact forces include:

[0076] like Figure 2 As shown in the figure, F1 and F2 are the traction forces of the scraper chain 5 when the first and second middle grooves 6 are running stably, and the impact force F at the concave and convex parts is s1 , F s2 They are:

[0077]

[0078]

[0079] When the scraper passes through the gap in the middle groove 6, the impact force F kx for:

[0080]

[0081] In the formula, Δl j is the gap distance between the middle slot 6 of the jth section and the j+1th section, L is the length of the middle slot 6, F i It is the traction force of the scraper chain 5 when the middle groove 6 runs stably.

[0082] A further implementation method is that the transport state characterization equation is the force equation of the scraper chain 5 on the middle trough of the single-section solid filling scraper conveyor at position j:

[0083] W GBL (j) = [F tj ,F sj ,F kxj ] (11)

[0084] In the formula, F tj F is the scraper chain traction force after considering the additional friction at the middle slot inlet of section j; sj F is the impact force at the concave or convex part between the middle grooves of the jth section and the j+1th section of the vertical curved section of the scraper conveyor; kxj It is the impact force generated when the scraper passes through the gap between the middle grooves of the jth section and the j+1th section.

[0085] Step 6: Based on the abnormal operating condition judgment index and judgment criteria, the critical conditions are obtained; the judgment criteria are the abnormal operating condition judgment criteria of the spatial posture, traction state, suspension state and unloading state of the solid filling scraper conveyor.

[0086] A further embodiment is that

[0087] (1) Critical conditions and judgment criteria for abnormal spatial posture of solid filling scraper conveyor

[0088] For the abnormal overlap state of adjacent middle grooves of scraper conveyor, the relative yaw angle, relative pitch angle and gap distance of adjacent middle grooves are mainly used as standards. The middle groove is limited by the horizontal positioning size of the dumbbell pin. The yaw angle difference Δψ between two adjacent middle grooves i There will be a maximum limit, which is generally 0 to 1° when no large deformation occurs. Set the maximum yaw angle ψ max =1°. Due to the existence of relative pitch angle and gap distance, the total value of additional force and scraper chain traction force F will be generated z for:

[0089] F z =F t +F s +F kx (12)

[0090] In the formula, F t is the scraper chain traction force after considering the additional friction at the middle trough inlet, F s F is the impact force generated by the concave or convex part between the middle grooves. kx It is the impact force generated when the scraper passes through the middle groove gap.

[0091] According to the connection strength between the middle grooves of the scraper, F can be determined z The maximum value of and set the safety factor μ, then the judgment criterion is:

[0092]

[0093]

[0094] For the overall posture of the scraper conveyor, the maximum vertical offset of the curved section of the scraper conveyor and the traction force F of the whole machine are used. t0 , that is, the traction force of the middle groove chain at the driving sprocket is used as the basis for judgment. The maximum critical value F of the traction force can be calculated by formula (15) t0max :

[0095]

[0096] In the formula, η is the mechanical efficiency of the reducer; N is the motor power, kW; v is the scraper chain running speed, m / s; k r k is the drag coefficient of the scraper chain passing around the driving sprocket, r =0.03~0.045.

[0097] The criterion for judging the abnormal working condition of the overall posture of the conveyor is:

[0098]

[0099]

[0100] (2) Critical conditions and judgment criteria for abnormal traction state of solid filling scraper conveyor

[0101] For the traction state of the scraper conveyor, the scraper spacing and chain traction are mainly used as the judging indicators. The critical value q of the scraper spacing and traction is determined according to the scraper chain strength and mechanism parameters. max With F tmax , and its judgment criteria are:

[0102]

[0103]

[0104] (3) Critical conditions and judgment criteria for abnormal hanging state of solid filling scraper conveyor

[0105] For the suspension state of the hanging chain 3, the critical length m of the four hanging chains 3 is determined according to the strength of the hanging chain 3, the mechanism parameters and the height of the filling body. max and m min , the criteria for judging abnormal working conditions of the hanging state are established as follows:

[0106]

[0107] (4) Critical conditions and judgment criteria for abnormal unloading conditions of solid filling scraper conveyors

[0108] For the unloading state of the scraper conveyor, the real-time stroke value of the unloading cylinder is used as the judgment index, and its critical value v is determined according to the parameters of the scraper conveyor unloading port 4. min , the judgment criteria are:

[0109]

[0110] Step 7: Based on critical conditions, posture morphology equations and transport state characterization equations, complete the intelligent identification of the working conditions of the solid filling scraper conveyor;

[0111] Step 8: Based on intelligent identification, complete autonomous control of the solid filling scraper conveyor.

[0112] A further implementation method is to seek a path for autonomous regulation based on influencing factors, including:

[0113] Path 1: n decreases, the number of slots in the middle of the filling material is reduced, that is, the distance of filling material transportation is reduced;

[0114] Path 2: q b Reduce, the scraper conveyor unit length bearing mass is reduced, that is, the mass of the filling material is appropriately reduced;

[0115] Path 3: ψ decreases and the yaw angle decreases, that is, the scraper conveyor is kept in a straight line as much as possible;

[0116] Path 4: Reduce, the pitch angle decreases, that is, try to ensure that the scraper conveyor remains level.

[0117] The regulation pathway is further parameterized by changing n and q b , ψ and By performing parameterized expression, the parameterized formula of the demodulation path is obtained as follows:

[0118]

[0119] The specific steps for autonomous control of working conditions are as follows:

[0120] Step A. Based on the main technical parameters of the scraper conveyor, the geological conditions and the actual conditions of the working surface are perceived in real time, and the control mechanism determines the critical value of the abnormal working condition identification index, and then enters step B;

[0121] Step B. By reading the basic database and the real-time sensed data set, using the abnormal working condition discrimination criteria, the abnormal working condition is discriminated, and then the process proceeds to step C;

[0122] Step C. If it is determined to be an abnormal working condition, the above-mentioned method of seeking an autonomous control path is used to autonomously select the optimal control path, adjust the corresponding posture parameters through the cylinder drive, and then enter step D;

[0123] Step D. Repeat steps A to B. If the working condition is judged to be normal, the corresponding filling process is automatically executed and the next process is entered, and steps A to D are still executed.

[0124] When the working surface is long, it is easy to generate a large horizontal offset and additional friction, resulting in excessive horizontal bending and abnormal traction state; or there is a bending section in the vertical direction of the working surface, causing the single-section middle groove scraper chain 5 to be abnormal and the overall traction state of the conveyor to be abnormal. After the abnormal working condition is identified, the mechanism will autonomously adjust and control. For the problem of large additional friction, the mechanism will determine that the scraper unit length bearing mass q should be reduced through paths 2 and 3 of formula 22. bThe specific action is that the main control system controls the sliding cylinder to push and pull the top beam of the conveyor, and adjusts the yaw angle ψ to within the normal range; for the problem of excessive vertical bending of the scraper, it can be known from the abnormal working condition of the scraper that the vertical bending angle should be mainly regulated to ensure the horizontal posture of the scraper conveyor, that is, the pitch angle of the middle trough of each section is reduced through the path 4 of formula 22. The performance in actual working conditions is that the program controls the telescopic cylinders of the hydraulic support columns to lower the support to a certain height, retain part of the top coal, and maintain the horizontal bending of the solid filling scraper conveyor within a reasonable range.

[0125] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A method for intelligent identification and autonomous control of working conditions of a coal mine solid filling scraper conveyor, characterized in that: The following steps are involved: Based on the structural characteristics and typical working conditions of the solid filling scraper conveyor, the characterization objects are obtained; the characterization objects include: the middle trough of the single-section scraper conveyor, the overall posture of the solid filling scraper conveyor, the hanging chain, the scraper chain and the discharge port; Based on the representation object, a coordinate system is established; wherein the coordinate system includes a local coordinate system and a global coordinate system; Based on the representation object and the coordinate system, a representation index is obtained; the representation index includes: The characterization indicators of the middle groove include position vector, pitch angle, yaw angle and roll angle; The characterization indexes of the overall posture include cumulative offset and maximum cumulative bending angle; The characterization indicators of the hanging chain include azimuth and modulus; The characterization indexes of the scraper chain include the angle between the scraper and the groove side, the scraper spacing, and the gap between the scraper and the middle plate; The characterization indexes of the discharge port include the opening length; Based on the characterization index, a posture morphology equation is constructed; the posture morphology equation of the local coordinate system of the middle slot is: Where P ZBC is the middle slot pose vector, x, y, z are the position vectors, is the pitch angle, ψ is the yaw angle, γ is the roll angle, and j is the number; The global coordinate system pose equation of the middle slot is: Based on the additional friction force and the additional impact force between the characterization objects, construct a transportation state characterization equation; Based on the abnormal working condition identification index and identification criteria, critical conditions are obtained; Based on the critical conditions, the posture morphology equation and the transport state characterization equation, intelligent identification of the working condition of the solid filling scraper conveyor is completed; Based on the intelligent identification, autonomous regulation of the solid filling scraper conveyor is completed.

2. The method for intelligent identification and autonomous control of working conditions of a coal mine solid filling scraper conveyor according to claim 1 is characterized in that: The transport state characterization equation is the force equation of the scraper chain on the middle trough of a single-section solid filling scraper conveyor at position j: W GBL (j)=[F tj ,F sj ,F kxj ] In the formula, F tj F is the scraper chain traction force after considering the additional friction at the middle slot inlet of section j; sj F is the impact force at the concave or convex part between the middle grooves of the jth section and the j+1th section of the vertical curved section of the scraper conveyor; kxj It is the impact force generated when the scraper passes through the gap between the middle grooves of the jth section and the j+1th section.

3. The method for intelligent identification and autonomous control of working conditions of a coal mine solid filling scraper conveyor according to claim 1 is characterized in that: The judgment criteria are abnormal working condition judgment criteria of the spatial posture, traction state, suspension state and unloading state of the solid filling scraper conveyor.

4. The method for intelligent identification and autonomous control of working conditions of a coal mine solid filling scraper conveyor according to claim 3 is characterized in that: The critical conditions and judgment criteria for abnormal working conditions of the spatial posture of the middle slot are as follows: Where Δψ is the yaw angle difference between two adjacent middle slots, ψ max is the maximum yaw angle, μ is the safety factor, F z is the total value of the additional impact force and the scraper chain traction force, F zmax is the maximum value of the total value of the additional impact force and the scraper chain traction force, where F z =F t +F s +F kx , F t is the scraper chain traction force after considering the additional friction at the middle trough inlet, F s F is the impact force generated by the concave or convex part between the middle grooves. kx It is the impact force generated when the scraper passes through the middle groove gap.

5. The method for intelligent identification and autonomous control of working conditions of a coal mine solid filling scraper conveyor according to claim 1 is characterized in that: Seeking the path of autonomous regulation based on influencing factors, the path includes: Path 1: If the number of middle slots carrying filling materials is reduced, the distance for carrying filling materials is reduced; Path 2: If the mass per unit length of the scraper conveyor is reduced, the mass of the filling material is reduced; Path 3: If the yaw angle is reduced, the scraper conveyor will be in a straight line; Path 4: If the pitch angle decreases, the scraper conveyor remains horizontal.

Images