Filling face tamping control method and filling support system

Abstract

The invention relates to the technical field of mining equipment, in particular to a tamping control method for a filling working face and a filling support system.The tamping control method for the filling working face comprises the steps that posture information of a tamping mechanism is obtained; determining the current position condition of the tamping mechanism according to the attitude information of the tamping mechanism; and the tamping mechanism is controlled to execute the tamping action according to the current position condition. According to the scheme, the defects of uneven tamping, low efficiency and the like in the prior art are overcome, and uniform compaction and automatic and efficient operation of filling materials are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of mining equipment, and in particular to a filling working face tamping control method and a filling support system. Background Art

[0002] In the mining operation of the filling working face, the tamping mechanism is a key working component, and its role is to compact the filling material to ensure the stability of the goaf and reduce the impact of the roof pressure on the working face. Traditional tamping operations often rely on manual experience, which is not only labor-intensive, but also prone to uneven tamping, resulting in insufficient density of the filling body, affecting the subsequent mining safety and efficiency.

[0003] At present, when mechanized tamping is adopted, although the burden of manpower is reduced to a certain extent, due to the lack of effective posture monitoring means and intelligent control strategies, the tamping machine cannot flexibly adjust the tamping force and position according to the on-site conditions, which leads to poor compaction of filling materials and limited efficiency improvement. In particular, in the face of complex and changeable mine environments, traditional tamping equipment is difficult to adapt, which brings hidden dangers to safe production. Summary of the invention

[0004] The present invention provides a filling working surface tamping control method and a filling support system, which are used to solve the defects of the prior art such as uneven tamping and low efficiency, and realize uniform compaction of filling materials and automated and efficient operation.

[0005] The present invention provides a filling working surface tamping control method, comprising: acquiring tamping mechanism posture information; determining the current position condition of the tamping mechanism according to the tamping mechanism posture information; and controlling the tamping mechanism to perform tamping action according to the current position condition.

[0006] According to a filling working surface tamping control method of the present invention, the tamping mechanism posture information includes the tamping mechanism installation height information; the step of determining the current position condition of the tamping mechanism according to the tamping mechanism posture information includes: determining the installation height condition of the tamping mechanism according to the installation height information.

[0007] According to a filling working surface tamping control method of the present invention, the step of obtaining the tamping mechanism posture information includes: obtaining the filling material height information; determining the current height condition of the filling material according to the filling material height information; when the current height condition meets the requirements for triggering the tamping action, controlling the tamping mechanism to perform the tamping action.

[0008] According to a filling working face tamping control method of the present invention, it also includes: establishing a dynamic estimation mathematical model of the inclination sensor according to the actual CAD structure diagram; determining the relationship between the angle change and the action time according to the dynamic estimation mathematical model; and predicting the angle value of the tamping mechanism at the next moment according to the relationship.

[0009] According to a filling working surface tamping control method of the present invention, the relationship between the angle change and the action time is used to dynamically estimate the movement angle of the tamping mechanism at a certain moment in the future.

[0010] According to a filling working face tamping control method of the present invention, the step of obtaining the tamping mechanism posture information includes: processing sensor data in combination with a Kalman filter algorithm; determining the actual posture of the tamping mechanism based on the processed sensor data; and adjusting the movement angle of the tamping mechanism based on the actual posture.

[0011] A filling working face tamping control method according to the present invention includes: establishing a tamping control algorithm through the geometric relationship between the hydraulic support and the tamping mechanism; and adjusting the actual posture of the tamping mechanism in real time according to the tamping control algorithm.

[0012] According to a filling working face tamping control method of the present invention, it also includes: constructing an action control judgment model of the tamping mechanism; determining the triggering conditions for triggering the tamping action according to the action control judgment model; when the triggering conditions are met, controlling the tamping mechanism to perform the tamping action.

[0013] According to a filling working surface tamping control method of the present invention, the trigger condition is that the height of the filling material is higher than the height of the upper edge of the top plate at the tamping front end.

[0014] The present invention also provides a filling support system, including a hydraulic support, on which a tamping mechanism is installed, and the hydraulic support is provided with: an inclination sensor for monitoring the posture of the tamping mechanism; a top plate height sensor for obtaining the installation height information of the tamping mechanism; a millimeter wave ranging sensor for measuring the height of the filling material; and a controller for controlling the tamping action of the tamping mechanism according to the filling working surface tamping control method of the above-mentioned embodiment.

[0015] The filling working surface tamping control method and filling support system provided by the present invention can accurately determine the actual posture of the tamping mechanism by acquiring the posture information of the tamping mechanism, including but not limited to the installation height, the height of the filling material, etc., and combining the data processed by the inclination sensor and the Kalman filter algorithm. Based on this information, the control system can accurately determine the current position condition of the tamping mechanism, and adjust the action of the tamping mechanism in real time accordingly to ensure that the filling material can be compacted evenly and effectively. In addition, by establishing a dynamic estimation mathematical model of the inclination sensor and a tamping control algorithm, the system can also predict the future motion state of the tamping mechanism, thereby achieving a more stable and efficient tamping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of the filling stent system provided by the present invention.

[0018] Figure 2 It is a model schematic diagram of the transformation of the dynamic adjustment tamping mathematical model of the filling working face tamping control method provided by the present invention.

[0019] Figure 3 It is a model schematic diagram of the transformation of the triggering tamping mathematical model of the filling working face tamping control method provided by the present invention.

[0020] Figure 4 It is a schematic flow chart of the filling working face tamping control method provided by the present invention.

[0021] Reference numerals: 1. Hydraulic support body; 2. Front and rear top beam connecting shaft; 3. Support column; 4. Skylight telescopic cylinder; 5. Skylight device; 6. Millimeter wave radar sensor; 7. Tamping cylinder; 8. Tamping mechanism. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0024] like Figure 1 As shown, the top beam of the hydraulic support body 1 is connected to the support structure below through the front and rear top beam connecting shafts 2, and a support column 3 is provided between the base of the hydraulic support body 1 and the top beam. A skylight device 5 and a skylight telescopic cylinder 4 for controlling the skylight device 5, as well as a millimeter wave radar sensor 6 are provided at one end of the top beam. A tamping mechanism 8 is provided on the corresponding side of the base of the hydraulic support body 1, and a tamping cylinder 7 for adjusting the angle posture of the tamping mechanism 8 is provided between the base and the tamping mechanism 8.

[0025] Combine the following Figure 1-Figure 4 The specific implementation methods of the filling working face tamping control method and the filling support system of the present invention are described.

[0026] like Figure 4 As shown, the filling working surface tamping control method of the present invention comprises the following steps: Step 100: Obtain tamping mechanism posture information.

[0027] Specifically, through the inclination sensor, the millimeter wave radar sensor 6 and other sensors (such as accelerometers, gyroscopes, etc.) that may be installed on the tamping mechanism 8, the system can collect posture information about the tamping mechanism 8. Such information includes but is not limited to the inclination angle, installation height, and position relative to the surface of the filling material of the tamping mechanism 8. The millimeter wave radar sensor 6 is used to measure the height of the filling material to ensure that the system understands the thickness of the filling layer and its relative position to the tamping mechanism 8.

[0028] Step 200: Determine the current position condition of the tamping mechanism 8 according to the tamping mechanism posture information.

[0029] Specifically, the system analyzes the collected sensor data and evaluates whether the posture of the tamping mechanism 8 meets the expected tamping conditions. For example, the system checks whether the height of the filling material has reached the set threshold, that is, whether it exceeds the height standard required for tamping; at the same time, it also determines whether the inclination angle of the tamping mechanism 8 is within the allowable range to ensure that the tamping action can be performed safely and effectively.

[0030] Step 300: Control the tamping mechanism 8 to perform tamping action according to the current position condition.

[0031] Specifically, when the system confirms that the current position conditions meet the tamping requirements, it will start the hydraulic cylinder through the hydraulic control system to push the tamping mechanism 8 to move, apply pressure to the filling material, and complete the tamping process. During this period, the system continuously monitors the posture information to ensure the stability and effectiveness of the tamping action, so that the filling material is evenly compacted.

[0032] According to a filling working face tamping control method of the present invention, the tamping mechanism posture information includes the installation height information of the tamping mechanism 8. Wherein, the step of determining the current position condition of the tamping mechanism 8 according to the tamping mechanism posture information preferably includes: Step 210: Determine the installation height condition of the tamping mechanism 8 according to the installation height information.

[0033] Specifically, determining the installation height condition of the tamping mechanism 8 is intended to determine whether the tamping mechanism 8 is located at a height condition suitable for tamping work by obtaining the installation height information of the tamping mechanism 8 relative to the ground or other reference points.

[0034] For example, a top plate height sensor or other height measuring device is used to obtain the current installation height of the tamping mechanism 8. These sensors can be installed on the hydraulic support to monitor the height change of the tamping mechanism 8 relative to the top plate or the ground in real time. In addition, one or more height thresholds can be preset in the system, which represent different working conditions. For example, one threshold indicates that the tamping mechanism 8 has dropped close enough to the surface of the filling material and can start the tamping action; another threshold may indicate that the tamping mechanism 8 has completed the tamping action and is ready to return to the initial position. Based on the installation height information obtained, the system determines whether the current tamping mechanism 8 meets the conditions for triggering the tamping action. If the current installation height is lower than or equal to the preset trigger height threshold, it is considered that the tamping mechanism 8 is in a suitable installation height condition and the tamping action can be performed. Once it is determined that the tamping mechanism 8 is in a suitable installation height condition, the controller will control the tamping mechanism 8 to perform the tamping action according to the current position condition. If the conditions are not met, the system may not start the tamping action, or will adjust the position of the tamping mechanism 8 first until the trigger condition is met. In this way, the system can ensure that the tamping mechanism 8 always works in the correct position, avoiding uneven tamping or other problems caused by inappropriate height, thereby improving the efficiency and quality of the tamping work.

[0035] Further, according to a filling working face tamping control method of the present invention, the step of obtaining the tamping mechanism posture information includes: Step 111: Obtain filling material height information.

[0036] Specifically, the height of the filling material is measured by a millimeter wave radar sensor 6 or other types of distance measuring sensors. These sensors can be installed below the tamping mechanism 8 or at a suitable position of the hydraulic support to monitor the current height of the filling material in real time.

[0037] Step 112: Determine the current height condition of the filling material according to the filling material height information.

[0038] Specifically, the system compares the height information obtained from the sensor with the preset threshold to determine whether the filling material has reached the height condition that requires tamping. If the height of the filling material exceeds the preset threshold, the system considers that the current height condition has met the requirements for triggering the tamping action.

[0039] Step 113: When the current height condition meets the requirement for triggering the tamping action, the tamping mechanism 8 is controlled to perform the tamping action.

[0040] Specifically, when the system determines that the height of the filling material has reached or exceeded the preset trigger height, the controller will immediately start the hydraulic system to drive the tamping cylinder 7 to move the tamping mechanism 8 downward to compact the filling material. During the entire process, the system will continue to monitor the height change of the filling material to ensure the effectiveness and safety of the tamping action.

[0041] On the basis of the above-mentioned various embodiments, a filling working face tamping control method according to the present invention preferably further includes: establishing a dynamic estimation mathematical model of the inclination sensor according to the actual CAD structure diagram; determining the relationship between the angle change and the action time according to the dynamic estimation mathematical model; and predicting the angle value of the tamping mechanism 8 at the next moment according to the relationship. Specifically, by analyzing the actual design drawings (CAD drawings) of the hydraulic support and its tamping mechanism 8, a mathematical model is established to describe the dynamic behavior of the inclination sensor under different working conditions. The model takes into account factors such as the geometric dimensions, weight distribution, and motion inertia of the hydraulic support and the tamping mechanism 8 to accurately reflect the response characteristics of the inclination sensor in actual work. Through mathematical modeling, the system can calculate the relationship between the angle change detected by the inclination sensor and the action time of the tamping mechanism 8. This relationship reflects the rate of change of the inclination when the tamping mechanism 8 performs a specific action, which helps the system predict the angle change trend of the tamping mechanism 8 in different time periods. The system uses the above-established relationship to predict what the angle of the tamping mechanism 8 will be at a certain point in the future. This predictive capability is crucial for adjusting the position of the tamping mechanism 8 in advance, ensuring that the tamping mechanism 8 is always in the best working condition, thereby improving the efficiency and quality of tamping.

[0042] According to a filling working face tamping control method of the present invention, the method comprises: establishing a tamping control algorithm through the geometric relationship between the hydraulic support and the tamping mechanism 8; and adjusting the actual posture of the tamping mechanism 8 in real time according to the tamping control algorithm. Specifically, the control algorithm is established by using the geometric relationship between the hydraulic support and the tamping mechanism 8. The hydraulic support provides the functions of support and positioning, while the tamping mechanism 8 is the key component for performing the tamping action. By analyzing the geometric parameters (such as length, angle, position relationship, etc.) between the two, a mathematical model can be established to describe the interaction between them. After the control algorithm is established, the actual posture of the tamping mechanism 8 can be adjusted according to the sensor data (such as the inclination sensor, the millimeter wave radar sensor 6, etc.) collected in real time. The system continuously monitors the current position and posture of the tamping mechanism 8 and compares it with the ideal state. If a deviation is found between the actual posture and the target posture, the system will adjust the position of the tamping mechanism 8 by controlling the hydraulic system to restore it to the correct posture. In this way, no matter what changes the tamping mechanism 8 encounters in actual work, it can be kept in the best working state through real-time adjustment.

[0043] According to a filling working surface tamping control method of the present invention, it also includes: constructing an action control judgment model of the tamping mechanism 8; determining the triggering conditions for triggering the tamping action according to the action control judgment model; when the triggering conditions are met, controlling the tamping mechanism 8 to perform the tamping action. Specifically, the action control judgment model comprehensively considers a variety of factors, including but not limited to the height of the filling material, the posture of the tamping mechanism 8, and the current working state. By analyzing the relationship between these factors, the model can evaluate whether the conditions for triggering the tamping action are currently met. For example, the model can set that the height of the filling material must reach a certain threshold to trigger the tamping action. Based on the constructed action control judgment model, the system can set a set of triggering conditions, such as whether the height of the filling material exceeds a preset threshold, whether the current posture of the tamping mechanism 8 is suitable for tamping action, etc. When the system determines through the action control judgment model that the triggering conditions have been met, the controller will immediately start the corresponding hydraulic system to drive the tamping mechanism 8 to perform the tamping action.

[0044] Preferably, according to a filling working surface tamping control method of the present invention, the triggering condition is that the height of the filling material is higher than the height of the upper edge of the top plate at the front end of the tamping. The system can automatically trigger the tamping action when the filling material reaches a certain height, ensuring the timeliness and effectiveness of the tamping operation.

[0045] According to the preferred embodiment of the present application, Figure 2 As shown, for the dynamic estimation of the tilt sensor, a mathematical model is established based on the actual CAD structure diagram.

[0046] The coordinates of point C are known to be , is the tamping rod length, , is the distance from the fixed point A to the rotation axis, and F is the force acting on The force in the direction is determined by the hydraulic pressure. According to the rotational dynamics, the following formula is given: (1) (2) Where, M is the resultant torque on the tamping mechanism; I is the moment of inertia; is the angular velocity.

[0047] Considering the resultant moment of the projection components of the tension F and gravity G in the AB direction, the following formula is obtained: (3) (4) Then, F The direction components are: (5) So there is (6) In this way, the relationship between the angle change and the action time is established, and the angle value at the next moment can be estimated based on this formula and the Kalman filter algorithm dynamic model.

[0048] Furthermore, according to a filling working surface tamping control method of the present invention, the relationship between the angle change and the action time is used to dynamically estimate the movement angle of the tamping mechanism 8 at a certain moment in the future. Specifically, formula (6) reflects the law of change of the angular velocity of the tamping mechanism 8 with time when it is subjected to external force. Through this method, the system can update its estimate of the posture of the tamping mechanism 8 in real time and predict its future position and posture. The system can not only monitor the current state of the tamping mechanism 8 in real time, but also predict future change trends based on the current state and historical data, thereby achieving precise control of the tamping process, improving the efficiency and accuracy of the tamping work, ensuring that the tamping mechanism 8 is always in the best working state, and reducing the risks caused by the uncertainty of mechanical movement.

[0049] According to a filling working face tamping control method of the present invention, the step of obtaining the tamping mechanism posture information comprises: Step 121: Process the sensor data in combination with the Kalman filter algorithm.

[0050] Specifically, the system uses the Kalman filter algorithm to process data from the tilt sensor, millimeter wave radar sensor 6 and other sensors. The Kalman filter algorithm can effectively filter out the noise in the sensor readings and provide more accurate measurement results, so that the system can obtain more reliable and stable sensor data, laying the foundation for subsequent analysis.

[0051] Step 122: Determine the actual posture of the tamping mechanism 8 based on the processed sensor data.

[0052] Specifically, the sensor data processed by the Kalman filter algorithm provides accurate information about the inclination angle, installation height and other attitude parameters of the tamping mechanism. The system uses this data to calculate and determine the actual position and attitude of the tamping mechanism 8 in space, ensuring accurate understanding of the state of the tamping mechanism 8.

[0053] Step 123: Adjust the movement angle of the tamping mechanism 8 according to the actual posture.

[0054] Specifically, after the system determines the actual posture of the tamping mechanism 8, it will adjust the movement angle of the tamping mechanism 8 according to the current posture information to achieve the optimal working position. For example, if the system detects that the tamping mechanism 8 deviates from the ideal tamping position, it will adjust the output of the hydraulic system to correct the angle of the tamping mechanism 8 to ensure that the tamping action can be performed accurately.

[0055] By establishing a dynamic estimation mathematical model of the inclination sensor and combining it with the actual CAD structure diagram, the present invention can accurately calculate the angle change of the tamping mechanism 8 at different action stages. By processing the sensor data using the Kalman filter algorithm, the system can update the actual posture of the tamping mechanism 8 in real time and adjust its motion angle according to the posture information, which not only improves the accuracy of posture estimation, but also enhances the robustness of the system, so that it can maintain stable operation even in complex and changeable environments.

[0056] like Figure 3 As shown, the discharge height is detected by millimeter wave ranging, the inclination sensor detects the angle between the tamping rod of the tamping mechanism 8 and the horizontal plane, and the height sensor is used to detect the installation height of the millimeter wave ranging. To establish the mathematical model, the following restrictions can be given: from the beginning to the end of tamping, the positions of the tamping mechanism 8 remain unchanged except for the tamping part; the tamping action is triggered when the coal gangue accumulates to a level higher than the upper edge of the tamping front top plate.

[0057] Based on the above conditions, it can be simplified to a two-dimensional geometric problem. It is known that: , , , the angle between the tamping rod and the horizontal plane is ,and , find the time when the compaction is triggered, the distance EG measured by millimeter wave ranging to the gangue plane (using express).

[0058] The following equation can be obtained: (7) Simplified: (8) Where, H is the height of the bracket; α is the angle between the tamping rod and the horizontal plane; β is the angle of the millimeter wave ranging sensor; L is the horizontal distance between the millimeter wave ranging and the tamping rod; The pile is higher than the tamping rod height; Measure distance for millimeter wave ranging sensors; The distance to trigger the tamping.

[0059] According to the above, when the millimeter wave ranging sensor measures the distance satisfy , it indicates that the material dropping has stopped and the tamping action is triggered.

[0060] Among them, by simplifying the two-dimensional geometric problem, the present invention converts the complex three-dimensional space problem into an easy-to-handle two-dimensional plane problem. For example, when determining the triggering of tamping, it is only necessary to pay attention to the relationship between the distance measured by the millimeter wave ranging sensor and the preset threshold, which reduces the number of variables that need to be tracked and calculated, making the design of the control system more concise and reducing the demand for computing resources.

[0061] By applying the above algorithm and calculation method, the present invention only needs to focus on a few key parameters (such as inclination angle, filling material height, etc.) rather than a large number of intermediate variables when processing the posture information of the tamping mechanism 8. This means that the control system can respond faster and can quickly adjust the strategy to adapt to new situations when faced with different working conditions. This not only improves the response speed of the system, but also enhances its ability to cope with emergencies.

[0062] The filling support system provided by the present invention is described below. The filling support system described below and the filling working surface tamping control method described above can be referenced to each other.

[0063] The present invention also provides a filling support system, including a hydraulic support, on which a tamping mechanism 8 is installed, and the hydraulic support is provided with: an inclination sensor for monitoring the posture of the tamping mechanism 8; a top plate height sensor for obtaining the installation height information of the tamping mechanism 8; a millimeter wave ranging sensor for measuring the height of the filling material; and a controller for controlling the tamping action of the tamping mechanism 8 according to the filling working surface tamping control method of the above-mentioned embodiment.

[0064] Among them, the controller of the hydraulic support is connected to sensors such as inclination, top plate height measurement, tamping mechanism 8 height measurement, and millimeter wave ranging. Specifically, the controller analyzes the geometric relationship between the hydraulic support and the tamping mechanism 8 and establishes a mathematical model to describe the interaction between them. The construction of this geometric relationship enables the system to accurately calculate the ideal position and posture of the tamping mechanism 8. It is preferred to also use the Kalman filter algorithm to process the sensor data to ensure the stability of the sensor data while also ensuring real-time performance.

[0065] The filling support system establishes a tamping control algorithm by combining the geometric relationship between the hydraulic support and the tamping mechanism 8, and adjusts the actual posture of the tamping mechanism 8 in real time according to the tamping control algorithm, thereby realizing precise control of the tamping process. A dynamic estimation mathematical model of the inclination sensor is established according to the actual CAD structure diagram, and the relationship between the angle change and the action time is determined according to the model. The Kalman filter algorithm dynamic model is used to estimate the angle value at the next moment, so that the system can dynamically estimate the movement angle of the tamping mechanism 8 at a certain moment in the future. The distance from the measuring point to the gangue is compared with the distance calculated by the angle to determine whether the tamping action is triggered, which simplifies the variables, makes the control system more flexible in judgment and decision-making, and improves the response speed and robustness of the system.

[0066] The controller may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The processor may call the logic instructions in the memory to execute the filling working face tamping control method.

[0067] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0068] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the filling working face tamping control method provided by the above-mentioned methods.

[0069] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the filling working face tamping control method provided by the above-mentioned methods.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A filling working face tamping control method, characterized in that: include: Obtaining the tamping mechanism posture information; Determining a current position condition of the tamping mechanism according to the tamping mechanism posture information; The tamping mechanism is controlled to perform the tamping action according to the current position condition.

2. The filling working face tamping control method according to claim 1, characterized in that: The tamping mechanism posture information includes tamping mechanism installation height information; The step of determining the current position condition of the tamping mechanism according to the tamping mechanism posture information includes: determining the installation height condition of the tamping mechanism according to the installation height information.

3. The filling working face tamping control method according to claim 1, characterized in that: The step of obtaining the tamping mechanism posture information comprises: Get the filling material height information; Determining a current height condition of the filling material according to the filling material height information; When the current height condition meets the requirement for triggering the tamping action, the tamping mechanism is controlled to perform the tamping action.

4. The filling working face tamping control method according to any one of claims 1 to 3, characterized in that: Also includes: Establish a dynamic estimation mathematical model of the tilt sensor based on the actual CAD structure diagram; Determine the relationship between the angle change and the action time according to the dynamic estimation mathematical model; The angle value of the tamping mechanism at the next moment is predicted according to the relationship.

5. The filling working face tamping control method according to claim 4, characterized in that: The relationship between the angle change and the action time is used to dynamically estimate the movement angle of the tamping mechanism at a certain moment in the future.

6. The filling working face tamping control method according to claim 4, characterized in that: The step of obtaining the tamping mechanism posture information comprises: Combine Kalman filter algorithm to process sensor data; determining an actual posture of the tamping mechanism based on the processed sensor data; The movement angle of the tamping mechanism is adjusted according to the actual posture.

7. The filling working face tamping control method according to claim 6, characterized in that: include: Establishing a tamping control algorithm through the geometric relationship between the hydraulic support and the tamping mechanism; The actual posture of the tamping mechanism is adjusted in real time according to the tamping control algorithm.

8. The filling working face tamping control method according to claim 4, characterized in that: Also includes: Constructing a motion control judgment model of the tamping mechanism; Determining a trigger condition for triggering a tamping action according to the action control judgment model; When the trigger condition is met, the tamping mechanism is controlled to perform a tamping action.

9. The filling working face tamping control method according to claim 8, characterized in that: The trigger condition is that the height of the filling material is higher than the height of the upper edge of the top plate at the front end of the tamping.

10. A filling stent system, characterized in that: It comprises a hydraulic support on which a tamping mechanism is installed, and the hydraulic support is provided with: An inclination sensor for monitoring the posture of the tamping mechanism; A top plate height sensor, used to obtain installation height information of the tamping mechanism; Millimeter wave ranging sensor, used to measure the height of the filling material; A controller, used for controlling the tamping action of the tamping mechanism according to the filling working face tamping control method according to any one of claims 1 to 9.

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