Self-adaptive damp-type wiping control method for accumulated dust of roadway electric power facilities

Abstract

The invention relates to a self-adaptive damp-type wiping control method for accumulated dust of roadway electric power facilities, and belongs to the field of coal mine roadway cleaning. The method comprises the steps of accumulated dust thickness monitoring, a self-adaptive cleaning algorithm, PLC control, carrying platform self-adaptive walking and the like. According to the method, the thickness of accumulated dust on the surface of the roadway electric power facility is monitored in real time through a two-dimensional line laser scanner, the function relation between the damp-type cleaning effect and influence factors is established according to the thickness of the accumulated dust and cleaning parameters of a drum-type brush, and self-adaptive adjustment of the cleaning parameters of the drum-type brush is achieved through a PLC programming control method; the walking speed of the carrying platform and the distance between the carrying platform and the two sides are controlled, and stable operation and the cleaning effect of the cleaning mechanism are guaranteed. The cleaning efficiency can be effectively improved, the cleaning effect is ensured, the labor intensity is reduced, the safety is improved, water resources are saved, the maintenance cost is reduced, the equipment reliability is improved, and the cleaning device is suitable for cleaning electric power facilities in environments such as coal mine tunnels.

Description

Technical Field

[0001] The invention belongs to the field of coal mine tunnel cleaning and relates to an adaptive tidal wiping control method for dust accumulation of tunnel power facilities. Background Art

[0002] The environment in coal mine tunnels is harsh and dust pollution is serious. Long-term operation of power facilities such as cables and sensors will accumulate a lot of dust, affecting the safety and service life of the facilities, and even causing safety accidents such as fires. Traditional cleaning methods mainly rely on manual wiping or flushing, which has the following problems:

[0003] Manual cleaning is inefficient and cannot meet the cleaning needs of a large number of power facilities in the alleys.

[0004] Manual cleaning poses safety risks such as electric shock and falling, and the equipment may be damaged during the cleaning process.

[0005] Traditional cleaning methods cannot completely remove dust and are prone to cause secondary pollution.

[0006] In order to solve the above problems, researchers have developed a variety of automated cleaning equipment, such as robots, vacuum cleaners, etc. However, existing cleaning equipment still has the following shortcomings:

[0007] The environment in the tunnel is complex, with uneven walls and various facilities, and existing cleaning equipment is difficult to adapt to.

[0008] Existing cleaning equipment mostly uses vacuuming or dry wiping, which cannot effectively remove stubborn dust on the surface of power facilities.

[0009] Existing cleaning equipment cannot be adaptively adjusted according to the thickness and type of dust accumulation, and the cleaning effect is difficult to guarantee. Summary of the invention

[0010] In view of this, an object of the present invention is to provide an adaptive tidal wiping control method for dust accumulation in laneway power facilities, which can effectively solve the problem of cleaning dust accumulation in laneway power facilities and improve cleaning efficiency and safety performance.

[0011] In order to achieve the above object, the present invention provides the following technical solutions:

[0012] An adaptive tidal wiping control method for dust accumulation in laneway power facilities comprises the following steps:

[0013] Use a two-dimensional line laser scanner to monitor the dust thickness on the surface of the tunnel power facilities in real time and output the dust thickness data;

[0014] Use the data acquisition module to collect the spray volume, rotation speed, distance from the cleaning surface and moving speed of the roller brush;

[0015] Using a model calculation module to calculate the functional relationship between the tidal cleaning effect and the influencing factors according to the dust accumulation thickness data and the parameters collected by the data collection module, and output the control parameters;

[0016] Using a parameter control module to control the spray volume, rotation speed, distance from the cleaning surface and movement speed of the roller brush according to the control parameters output by the model calculation module to achieve adaptive cleaning;

[0017] Use the sensor module to detect the walking speed of the carrier platform and the distance from the two gangs, and output the detection data;

[0018] A control algorithm module is used to control the walking speed of the carrying platform and the distance from the two sides according to the detection data output by the sensor module, so as to ensure the stable operation and cleaning effect of the cleaning mechanism.

[0019] Furthermore, the scanning angle range of the two-dimensional line laser scanner is 180°.

[0020] Furthermore, the adaptive cleaning control unit calculates the functional relationship between the tidal cleaning effect and the influencing factors based on the dust thickness data and the parameters collected by the data acquisition module, and controls the spray volume, rotation speed, distance from the cleaning surface and moving speed of the drum brush so that the tidal cleaning effect reaches a preset target.

[0021] Furthermore, the carrying platform control unit controls the traveling speed of the carrying platform and the distance from the two sides according to the detection data output by the sensor module, so that the traveling speed of the carrying platform and the distance from the two sides are maintained within a preset range.

[0022] Furthermore, the dust thickness monitoring device and the adaptive cleaning control unit transmit data via wireless communication.

[0023] Furthermore, the adaptive cleaning control unit and the carrier platform control unit transmit data via wired communication.

[0024] Furthermore, the adaptive cleaning control unit and the carrier platform control unit are integrated into the same controller.

[0025] Furthermore, the adaptive cleaning control unit and the carrier platform control unit are independently arranged in different controllers.

[0026] Furthermore, the adaptive cleaning control unit uses a multivariate regression analysis model to calculate the functional relationship between the tidal cleaning effect and the influencing factors.

[0027] Furthermore, the carrier platform control unit uses a laser ranging sensor or an ultrasonic sensor to detect the travel speed of the carrier platform and the distance from the two sides.

[0028] The beneficial effects of the present invention are:

[0029] (1) The adaptive cleaning algorithm can adjust the cleaning parameters in real time according to the thickness of the dust accumulation, and efficiently clean the dust accumulation of different thicknesses, avoiding over-cleaning or under-cleaning and improving cleaning efficiency.

[0030] (2) By precisely controlling the spray volume, rotation speed, distance from the cleaning surface, moving speed and other parameters of the roller brush, as well as the travel speed of the carrier platform and the distance from the two sides, the cleaning effect is guaranteed, ensuring that the surface of the power facilities is clean and dust-free without affecting the normal operation and safety of the equipment.

[0031] (3) Automated cleaning, no need for manual wiping or flushing, reduces labor intensity, improves the working environment, and improves work efficiency.

[0032] (4) Reduce the risk of manual entry into dangerous areas and improve operational safety.

[0033] (5) Compared with the traditional wet flushing cleaning method, the damp wiping cleaning method can save water resources and reduce environmental pollution.

[0034] (6) Automated cleaning can reduce the frequency of manual cleaning, extend the service life of power facilities, and reduce maintenance costs.

[0035] (7) Clean and dust-free power facilities can improve equipment reliability, reduce failure rates, and ensure production safety.

[0036] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0038] Figure 1 The strategy algorithm diagram for the impact of the carrier platform posture on the cleaning effect;

[0039] Figure 2 This is a schematic diagram of the algorithm of the present invention. DETAILED DESCRIPTION

[0040] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0041] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0042] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0043] Aiming at the demand for dust sensing and adaptive cleaning technology and equipment in the auxiliary lanes of rubber-wheeled vehicles in coal mines, the project adopts theoretical analysis, numerical simulation, experimental simulation, field testing and other research methods, and a dust wiping cleaning algorithm for lanes, and develops a dust cleaning robot for the auxiliary lanes of rubber-wheeled vehicles in coal mines, so as to achieve the goals of adaptive cleaning of dust in the auxiliary lanes of rubber-wheeled vehicles in coal mines and reduce manpower, increase safety and improve efficiency. The specific overall research methods are as follows: Figure 1 shown.

[0044] like Figure 2 As shown in the figure, a tunnel dust tidal cleaning test system was built in the established comprehensive excavation simulation test and analysis system laboratory; the orthogonal test method was used to study the tidal cleaning effect. 1 (d 1 ) and the relationship function y between the influencing factors 1 (q 1 ,ω 1 , l 1 , v 1 ), f 1 (d1 )=y 1 (q 1 ,w 1 ,l 1 ,v 1 ):f 1 For wet cleaning effect, d 1 is the dust accumulation thickness, q 1 is the spray volume of the roller brush, ω 1 is the speed of the roller brush, l 1 is the distance between the roller brush and the cleaning surface, v 1 is the moving speed of the roller brush. Table 1 is the orthogonal test table design table affecting the dust damp cleaning effect.

[0045] Table 1

[0046]

[0047] Example 1

[0048] Dust thickness monitoring: Use a two-dimensional line laser scanner (model: a certain brand of two-dimensional line laser scanner) to monitor the dust thickness on the surface of the tunnel power facilities in real time, with a scanning angle range of 180°.

[0049] Data collection: Collect parameters such as the spray volume (3L / min), rotation speed (400rpm), distance from the cleaning surface (150mm), and moving speed (0.7m / s) of the roller brush.

[0050] Model calculation: Use the multiple regression analysis model to calculate the functional relationship between the tidal cleaning effect and the influencing factors based on the dust thickness data and the collected parameters, and output the control parameters.

[0051] Parameter control: adjust the spray volume to 5L / min, the rotation speed to 500rpm, the distance from the cleaning surface to 200mm, and the moving speed to 1.1m / s.

[0052] Carrying platform control: Use a laser ranging sensor to detect the carrying platform's walking speed and the distance from the two sides, and control the carrying platform's walking speed and the distance from the two sides, so that the carrying platform's walking speed is maintained at 0.5m / s and the distance from the two sides is maintained at 1.0m.

[0053] Example 2

[0054] Dust thickness monitoring: Use a two-dimensional line laser scanner (model: a certain brand of two-dimensional line laser scanner) to monitor the dust thickness on the surface of the tunnel power facilities in real time, with a scanning angle range of 180°.

[0055] Data collection: Collect parameters such as the spray volume (7L / min), rotation speed (600rpm), distance from the cleaning surface (250mm), and moving speed (1.5m / s) of the roller brush.

[0056] Model calculation: Use the multiple regression analysis model to calculate the functional relationship between the tidal cleaning effect and the influencing factors based on the dust thickness data and the collected parameters, and output the control parameters.

[0057] Parameter control: adjust the spray volume to 9L / min, the rotation speed to 700rpm, the distance from the cleaning surface to 300mm, and the moving speed to 2.0m / s.

[0058] Carrying platform control: Use ultrasonic sensors to detect the carrying platform's walking speed and the distance from the two sides, and control the carrying platform's walking speed and the distance from the two sides, so that the carrying platform's walking speed is maintained at 0.8m / s and the distance from the two sides is maintained at 1.5m.

[0059] Example 3

[0060] Dust thickness monitoring: Use a two-dimensional line laser scanner (model: a certain brand of two-dimensional line laser scanner) to monitor the dust thickness on the surface of the tunnel power facilities in real time, with a scanning angle range of 180°.

[0061] Data collection: Collect parameters such as the spray volume (9L / min), rotation speed (700rpm), distance from the cleaning surface (300mm), and moving speed (2.0m / s) of the roller brush.

[0062] Model calculation: Use the multiple regression analysis model to calculate the functional relationship between the tidal cleaning effect and the influencing factors based on the dust thickness data and the collected parameters, and output the control parameters.

[0063] Parameter control: adjust the spray volume to 9L / min, the rotation speed to 700rpm, the distance from the cleaning surface to 300mm, and the moving speed to 2.0m / s.

[0064] Carrying platform control: Use laser ranging sensors to detect the carrying platform's walking speed and the distance from the two sides, and control the carrying platform's walking speed and the distance from the two sides, so that the carrying platform's walking speed is maintained at 1.0m / s and the distance from the two sides is maintained at 2.0m.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. An adaptive tidal wiping control method for dust accumulation in laneway power facilities, characterized by: The method comprises the following steps: Use a two-dimensional line laser scanner to monitor the dust thickness on the surface of the tunnel power facilities in real time and output the dust thickness data; Use the data acquisition module to collect the spray volume, rotation speed, distance from the cleaning surface and moving speed of the roller brush; Using a model calculation module to calculate the functional relationship between the tidal cleaning effect and the influencing factors according to the dust accumulation thickness data and the parameters collected by the data collection module, and output the control parameters; Using a parameter control module to control the spray volume, rotation speed, distance from the cleaning surface and movement speed of the roller brush according to the control parameters output by the model calculation module to achieve adaptive cleaning; Use the sensor module to detect the walking speed of the carrier platform and the distance from the two gangs, and output the detection data; A control algorithm module is used to control the walking speed of the carrier platform and the distance from the two gangs according to the detection data output by the sensor module, so as to ensure the stable operation and cleaning effect of the cleaning mechanism.

2. The method for controlling dust accumulation of laneway power facilities according to claim 1 is characterized by: The scanning angle range of the two-dimensional line laser scanner is 180°.

3. The method for controlling dust accumulation of laneway power facilities according to claim 1 is characterized by: The adaptive cleaning control unit calculates the functional relationship between the tidal cleaning effect and the influencing factors based on the dust thickness data and the parameters collected by the data acquisition module, and controls the spray volume, rotation speed, distance from the cleaning surface and moving speed of the drum brush so that the tidal cleaning effect reaches a preset target.

4. The method for controlling dust accumulation of laneway power facilities according to claim 1 is characterized by: The carrying platform control unit controls the traveling speed of the carrying platform and the distance from the two sides according to the detection data output by the sensor module, so that the traveling speed of the carrying platform and the distance from the two sides are maintained within a preset range.

5. The method for controlling dust accumulation of laneway power facilities according to claim 1 is characterized by: The dust thickness monitoring device and the adaptive cleaning control unit perform data transmission via wireless communication.

6. The method for controlling dust accumulation of laneway power facilities according to claim 1 is characterized by: The adaptive cleaning control unit and the carrier platform control unit perform data transmission via wired communication.

7. The method for controlling dust accumulation of laneway power facilities according to claim 1 is characterized by: The adaptive cleaning control unit and the carrier platform control unit are integrated into the same controller.

8. The method for controlling dust accumulation of laneway power facilities according to claim 1 is characterized by: The adaptive cleaning control unit and the carrying platform control unit are independently arranged in different controllers.

9. The method for controlling dust accumulation of laneway power facilities according to claim 1, characterized in that: The self-adaptive cleaning control unit uses a multivariate regression analysis model to calculate the functional relationship between the tidal cleaning effect and the influencing factors.

10. The method for controlling dust accumulation of laneway power facilities according to claim 1, characterized in that: The carrying platform control unit uses a laser distance sensor or an ultrasonic sensor to detect the walking speed of the carrying platform and the distance from the two sides.

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