Self-adaptive cleaning control method for accumulated dust in roadway

Abstract

The invention relates to a roadway accumulated dust self-adaptive cleaning control method, and belongs to the field of coal mine roadway cleaning. The method comprises the three steps of accumulated dust thickness monitoring, cleaning effect evaluation and self-adaptive cleaning control. The thickness of the accumulated dust in the roadway is monitored in real time by means of line laser scanning and the like to obtain an accumulated dust distribution rule and a settlement rule. And a relation function between the wet-type / wet-type cleaning effect and factors such as the walking speed of the carrying platform, the distance between the carrying platform and the left side and the distance between the carrying platform and the right side is established, and the walking speed of the carrying platform, the distance between the carrying platform and the two sides and the posture and action of the cleaning mechanical arm are automatically adjusted according to the accumulated dust thickness and the cleaning effect evaluation result. And according to the cleaning effect evaluation result, the walking speed of the carrying platform, the distance between the carrying platform and the two sides and the posture and action of the cleaning mechanical arm are adjusted, and self-adaptive cleaning is achieved. The operation parameters of the cleaning equipment are automatically adjusted according to the thickness of the accumulated dust in the roadway and the cleaning effect, efficient and accurate roadway cleaning is achieved, and the accumulated dust in the roadway is reduced.

Description

Technical Field

[0001] The invention belongs to the field of coal mine tunnel cleaning and relates to a tunnel dust accumulation adaptive cleaning control method. Background Art

[0002] The seriousness of the dust accumulation problem in coal mine tunnels cannot be ignored in mine safety production. For a long time, dust accumulation has been one of the key factors affecting mine safety production. Specifically, the dust accumulation problem in coal mine tunnels is mainly manifested in the following aspects:

[0003] Affecting ventilation effect: Dust accumulation in the tunnel will reduce the air circulation speed and lead to poor ventilation. This will not only affect the air quality inside the mine, but may also lead to an increase in the concentration of harmful gases in the mine, posing a threat to the health of miners.

[0004] Safety hazards: Dust accumulation in tunnels can easily lead to gas explosions, coal dust explosions and other safety accidents. When the dust reaches a certain thickness, it is very likely to explode once it encounters a fire source or high temperature, bringing serious consequences to mine safety production.

[0005] Insufficient traditional cleaning methods: Currently, coal mine tunnel cleaning mainly relies on manual cleaning or water spraying. These methods have the following disadvantages: a. Low efficiency: Manual cleaning is slow and labor-intensive, and it is difficult to meet the production needs of the mine. b. High labor intensity: Miners bend over and carry heavy loads for a long time during the cleaning process, which can easily lead to occupational diseases such as lumbar muscle strain. c. Poor cleaning effect: Water spraying can easily cause water accumulation in the tunnel, affecting the normal production of the mine.

[0006] Limitations of existing cleaning equipment: The cleaning equipment currently on the market generally has the following problems: a. Lack of dust thickness perception: Existing cleaning equipment cannot accurately determine the thickness of dust accumulation in the tunnel, making it difficult to ensure the cleaning effect. b. Unable to evaluate the cleaning effect: During the cleaning process, existing equipment cannot monitor the cleaning effect in real time, making it difficult to ensure that the dust in the tunnel is effectively removed.

[0007] In summary, the solution to the dust accumulation problem in coal mine tunnels is imminent. In order to improve the safety level of mine production and reduce the labor intensity of miners, it is necessary to develop an adaptive cleaning control method for tunnel dust accumulation to achieve efficient perception of dust thickness and real-time evaluation of cleaning effect, thereby ensuring mine safety production. Summary of the invention

[0008] In view of this, an object of the present invention is to provide a method for adaptively cleaning and controlling dust accumulation in a laneway.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] The method for adaptive cleaning control of dust accumulation in a roadway comprises the following steps:

[0011] Dust thickness monitoring: using line laser scanning to monitor the dust thickness in the tunnel in real time, and conducting data analysis based on the monitoring results to derive the distribution and settlement laws of dust accumulation;

[0012] Cleaning effect evaluation: establish the relationship function between the damp / wet cleaning effect and the walking speed of the carrier platform, the distance from the left side, and the distance from the right side. According to the dust thickness and the cleaning effect evaluation results, automatically adjust the walking speed of the carrier platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm.

[0013] Adaptive cleaning control adjusts the walking speed and distance of the carrier platform from the two gangs, as well as the posture and movement of the cleaning robot arm according to the cleaning effect evaluation results to achieve adaptive cleaning.

[0014] Furthermore, the dust thickness is monitored by line laser scanning, and the monitoring data is transmitted to a control center for data analysis.

[0015] Furthermore, the cleaning effect evaluation establishes a relationship function between the tidal / wet cleaning effect and the walking speed of the carrying platform, the distance from the left side, and the distance from the right side, and automatically adjusts the walking speed of the carrying platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm according to the dust thickness and the cleaning effect evaluation results, wherein the relationship function between the walking speed of the carrying platform, the distance from the left side, the distance from the right side and the cleaning effect is F(f1,f2)=X(V,L1,L2), wherein F is the tidal / wet cleaning effect, V is the walking speed of the carrying platform, L1 is the distance from the left side, and L2 is the distance from the right side.

[0016] Furthermore, the adaptive cleaning control includes adjusting the walking speed of the carrying platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm, wherein the adjustment range of the walking speed of the carrying platform is 0.5m / s to 2.0m / s, and the adjustment range of the distance from the left side and the distance from the right side is 0.5mm to 2.0mm.

[0017] Furthermore, the posture and movement of the cleaning robot arm include the extension, rotation and swinging movement of the cleaning arm, and the rotation and swinging movement of the cleaning brush.

[0018] A self-adaptive cleaning control system for dust accumulation in a laneway comprises a dust thickness monitoring module, a cleaning effect evaluation module and a self-adaptive cleaning control module, wherein the dust thickness monitoring module is used for real-time monitoring of dust thickness in the laneway and transmitting the monitoring data to the cleaning effect evaluation module; the cleaning effect evaluation module is used for establishing a relationship function between tidal / wet cleaning effect and factors such as the walking speed of a carrier platform, the distance from the left side and the distance from the right side, and automatically adjusting the walking speed of the carrier platform and the distance from the two sides, as well as the posture and movement of a cleaning robot arm, according to the dust thickness and the cleaning effect evaluation results; the self-adaptive cleaning control module is used for adjusting the walking speed of the carrier platform and the distance from the two sides, as well as the posture and movement of a cleaning robot arm, according to the cleaning effect evaluation results, to achieve self-adaptive cleaning.

[0019] A tunnel dust cleaning device comprises a transport platform and a cleaning robot arm. The transport platform is used to carry the cleaning robot arm and move in the tunnel; the cleaning robot arm is used to perform cleaning operations and adjust posture and movement according to instructions of an adaptive cleaning control module.

[0020] The beneficial effects of the present invention are:

[0021] (1) Improve cleaning efficiency

[0022] According to the dust thickness and cleaning effect evaluation results, the walking speed of the carrier platform, the distance from the two sides, and the posture and movement of the cleaning robot arm are automatically adjusted to achieve efficient cleaning.

[0023] Plan the cleaning path according to the distribution and sedimentation rules of dust accumulation to avoid repeated cleaning and improve cleaning efficiency.

[0024] (2) Improve cleaning accuracy

[0025] Line laser scanning and other means are used to monitor the dust thickness in the tunnel in real time, and data analysis is performed based on the monitoring results to derive the distribution and sedimentation laws of dust accumulation and achieve precise cleaning.

[0026] According to the cleaning effect evaluation results, the walking speed of the carrier platform, the distance from the two sides, and the posture and movement of the cleaning robot arm are precisely controlled to ensure the cleaning effect.

[0027] (3) Reduce labor intensity

[0028] Realize automated cleaning, reduce manual labor intensity and improve work efficiency.

[0029] The cleaning process can be monitored in real time through the remote monitoring system, reducing the number of manual inspections.

[0030] (4) Improved safety

[0031] Clear dust from tunnels promptly to reduce the risk of safety accidents such as gas explosions.

[0032] Reduce the risk of manual operation and ensure personnel safety.

[0033] (5) Cost savings

[0034] Improve cleaning efficiency and reduce cleaning costs.

[0035] Reduce equipment wear and extend equipment service life.

[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] Through on-site investigation, test analysis and laboratory test methods, the influence of the adaptive walking speed of the carrier platform and the distance from the two sides on the damp / wet cleaning effect of the dust accumulation of the power / non-power facilities in the roadway is obtained, and the relationship function is established. The PLC programming control method is used to establish an adaptive cleaning model for dust accumulation in coal mine roadways, providing a basis for the adaptive cleaning execution of roadway dust accumulation cleaning mechanisms or devices. The specific technical routes are as follows: Figure 1 shown.

[0044] like Figure 2 As shown in the figure, in the established comprehensive excavation simulation test and analysis system laboratory, a dust cleaning effect and carrier platform posture control strategy test system is built; the orthogonal test method is used to study the relationship function X(V, L1, L2) between the cleaning effect F(f1, f2) and the carrier platform posture, F(f1, f2) = k1·V+k2·L1+k3·L2+C), where F is the damp / wet cleaning effect, V2 is the carrier platform walking speed, L1 is the distance from the left side, L2 is the distance from the right side, k1, k2 and k3 are the influence coefficients of walking speed, distance from the left side and distance from the right side on the cleaning effect, and C is a constant term. These parameters can be obtained through historical cleaning data and machine learning algorithms.

[0045] Table 1 is the design table of the orthogonal test table for the influence of the carrier platform posture on the cleaning effect.

[0046] Table 1

[0047]

[0048] Example 1

[0049] Dust thickness monitoring: Install a line laser scanner in the tunnel to monitor the dust thickness in real time.

[0050] Cleaning effect evaluation: establish a relationship function between the tidal / wet cleaning effect and the walking speed of the carrier platform, the distance from the left side, the distance from the right side and other factors, and automatically adjust the walking speed of the carrier platform to 0.7m / s, the distance from the left side to 0.8mm, and the distance from the right side to 0.8mm according to the dust thickness and the cleaning effect evaluation results.

[0051] Adaptive cleaning control: According to the cleaning effect evaluation results, the walking speed of the carrier platform and the distance from the two gangs, as well as the posture and movement of the cleaning robot arm are adjusted. The telescopic arm of the cleaning robot arm extends 1m, the cleaning brush rotates at 100rpm, and the swing speed is 10Hz.

[0052] Example 2

[0053] Dust thickness monitoring: Install a line laser scanner in the tunnel to monitor the dust thickness in real time.

[0054] Cleaning effect evaluation: establish a relationship function between the tidal / wet cleaning effect and the walking speed of the carrier platform, the distance from the left side, the distance from the right side and other factors, and automatically adjust the walking speed of the carrier platform to 1.1m / s, the distance from the left side to 1.1mm, and the distance from the right side to 1.1mm according to the dust thickness and the cleaning effect evaluation results.

[0055] Adaptive cleaning control: According to the cleaning effect evaluation results, the walking speed of the carrier platform and the distance from the two gangs, as well as the posture and movement of the cleaning robot arm are adjusted. The telescopic arm of the cleaning robot arm extends 1.2m, the cleaning brush rotates at 150rpm, and the swing speed is 15Hz.

[0056] Example 3

[0057] Dust thickness monitoring: Install a line laser scanner in the tunnel to monitor the dust thickness in real time.

[0058] Cleaning effect evaluation: establish a relationship function between the tidal / wet cleaning effect and the walking speed of the carrier platform, the distance from the left side, the distance from the right side and other factors, and automatically adjust the walking speed of the carrier platform to 1.5m / s, the distance from the left side to 1.4mm, and the distance from the right side to 1.4mm according to the dust thickness and the cleaning effect evaluation results.

[0059] Adaptive cleaning control: According to the cleaning effect evaluation results, the walking speed of the carrier platform and the distance from the two gangs, as well as the posture and movement of the cleaning robot arm are adjusted. The telescopic arm of the cleaning robot arm extends 1.5m, the cleaning brush rotates at 200rpm, and the swing speed is 20Hz.

[0060] 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. A method for adaptive cleaning control of dust accumulation in lanes, characterized in that: The method comprises the following steps: Dust thickness monitoring: using line laser scanning to monitor the dust thickness in the tunnel in real time, and conducting data analysis based on the monitoring results to derive the distribution and settlement laws of dust accumulation; Cleaning effect evaluation: establish the relationship function between the damp / wet cleaning effect and the walking speed of the carrier platform, the distance from the left side, and the distance from the right side. According to the dust thickness and the cleaning effect evaluation results, automatically adjust the walking speed of the carrier platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm. Adaptive cleaning control adjusts the walking speed and distance of the carrier platform from the two gangs, as well as the posture and movement of the cleaning robot arm according to the cleaning effect evaluation results to achieve adaptive cleaning.

2. The method for adaptive cleaning control of dust accumulation in lanes according to claim 1, characterized in that: The dust accumulation thickness is monitored by line laser scanning, and the monitoring data is transmitted to a control center for data analysis.

3. The method for adaptive cleaning control of dust accumulation in lanes according to claim 1, characterized in that: The cleaning effect evaluation establishes a relationship function between the tidal / wet cleaning effect and the walking speed of the carrying platform, the distance from the left side, and the distance from the right side, and automatically adjusts the walking speed of the carrying platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm according to the dust thickness and the cleaning effect evaluation results, wherein the relationship function between the walking speed of the carrying platform, the distance from the left side, the distance from the right side and the cleaning effect is F(f1,f2)=X(V,L1,L2), wherein F is the tidal / wet cleaning effect, V is the walking speed of the carrying platform, L1 is the distance from the left side, and L2 is the distance from the right side.

4. The method for adaptive cleaning control of dust accumulation in lanes according to claim 1, characterized in that: The adaptive cleaning control includes adjusting the walking speed of the carrying platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm. The adjustment range of the walking speed of the carrying platform is 0.5m / s to 2.0m / s, and the adjustment range of the distance from the left side and the distance from the right side is 0.5mm to 2.0mm.

5. The method for adaptive cleaning control of dust accumulation in lanes according to claim 1, characterized in that: The posture and movement of the cleaning robot arm include the extension, rotation and swing movement of the cleaning arm, and the rotation and swing movement of the cleaning brush.

6. An adaptive cleaning control system for roadway dust accumulation, characterized in that: It includes a dust thickness monitoring module, a cleaning effect evaluation module, and an adaptive cleaning control module. The dust thickness monitoring module is used to monitor the dust thickness in the lane in real time and transmit the monitoring data to the cleaning effect evaluation module; The cleaning effect evaluation module is used to establish a relationship function between the tidal / wet cleaning effect and the walking speed of the carrying platform, the distance from the left side, and the distance from the right side, and automatically adjusts the walking speed of the carrying platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm according to the dust thickness and the cleaning effect evaluation results; the adaptive cleaning control module is used to adjust the walking speed of the carrying platform and the distance from the two sides, as well as the posture and movement of the cleaning robot arm according to the cleaning effect evaluation results to achieve adaptive cleaning.

7. A roadway dust cleaning device, characterized in that: It includes a transport platform and a cleaning robot arm. The transport platform is used to carry the cleaning robot arm and move in the lane; the cleaning robot arm is used to perform cleaning operations and adjust posture and movement according to the instructions of the adaptive cleaning control module.

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