A coal mine drilling and anchoring integrated machine footage automatic recording system and method

Abstract

The application provides a coal mine drilling and anchoring integrated machine footage automatic recording system and method, and relates to the technical field of coal mine drilling equipment measurement, which comprises the following steps: a server on the ground sends the footage distance obtained by final calculation compensation to a ground display and a local display to display the current footage, and sends the daily footage and monthly footage data after statistical analysis to the ground display for display; after the PLC controller completes the calculation of the current footage distance value, the server on the ground performs data analysis on the data recorded at a period of 10 ms, compares the current footage distance recorded by the PLC controller, and performs compensation and calculation optimization of the footage according to the footage compensation optimization algorithm; and the server on the ground accumulates the footage distance value obtained by final compensation. The application realizes real-time recording of the footage of the drilling and anchoring integrated machine, and saves manpower and resources.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine tunneling equipment measurement, in particular to a coal mine tunneling and anchoring integrated machine footage automatic recording method. BACKGROUND

[0002] In coal mining work, the tunneling footage is the main index to measure the efficiency of coal mining. The tunneling footage generally refers to the real-time development length of the tunnel, which is the main calculation parameter of coal production and tunneling speed. At present, the coal mine tunneling footage measurement in China mainly relies on two ways, one is to measure and record the footage by artificial measurement, and after each shift of tunneling work is completed, workers use handheld laser range finders or tapes to measure, count and report to the dispatch center.

[0003] The artificial measurement is the method commonly used at present, which has the advantages of flexible measurement, timely correction, and simple measurement method, but has the disadvantages of late footage measurement data, untimely measurement, poor measurement accuracy, and frequent measurement. With the development of intelligent technology in coal mines, electronic measurement footage methods such as total station and communication base station have appeared, which have the advantages of real-time measurement and saving labor cost, but have the disadvantages of increasing time cost and maintenance cost, and poor measurement accuracy due to the harsh environmental conditions and complex operation procedures of the tunneling working face in the coal mine. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a coal mine tunneling and anchoring integrated machine footage automatic recording method, which realizes indirect recording and measurement of the tunneling and anchoring integrated machine footage, realizes real-time recording of the tunneling and anchoring integrated machine footage, saves manpower and resources, realizes footage recording without increasing any cost and hardware, and realizes automatic real-time updating function.

[0005] To solve the above technical problems, the technical solution of the present application is as follows:

[0006] In a first aspect, a coal mine tunneling and anchoring integrated machine footage automatic recording method comprises:

[0007] Step S100, set the footage recording system parameters on the local display, including the coal current range Imin-Imax, the footage recording time interval TF, and the footage recording manual compensation value, and the parameters are sent to the tunneling and anchoring integrated machine PLC controller through the ModbusTCP protocol; set the footage recording system parameters on the ground display, including the coal current range Imin-Imax reference value of 80-200A, the footage recording time interval TF reference value of 3000ms, and the weighted values k1, k2, k3 of each footage distance reference value of 0.2, 0.3 and 0.5, and after setting the parameters, the parameters are sent to the tunneling and anchoring integrated machine PLC controller through the TCP / IP protocol;

[0008] Step S200, send the progress record enable instruction by remote controller, ground mouse keyboard or ground operation panel, PLC controller receives and executes the progress cumulative record program, and sends the progress, cutting parameter and time information data calculated by PLC controller to the ground server for storage and calculation every 10 ms, the ground server sends the final calculated compensation progress distance to the ground display and the local display to display the current progress, and sends the statistical analysis of daily progress and monthly progress to the ground display for display;

[0009] Step S300, progress record correction;

[0010] Step S400, after the PLC controller calculates the current progress distance value, the ground server analyzes the data recorded every 10 ms, compares the current progress distance recorded by the PLC controller, and calculates and optimizes the progress after compensation according to the progress compensation optimization algorithm;

[0011] Step S500, the ground server accumulates the final compensation progress distance value, performs statistical analysis on daily progress and monthly progress according to PC system time, and finally displays the progress change rate in the form of chart visualization.

[0012] Further, send the progress record enable instruction by remote controller, ground mouse keyboard or ground operation panel, PLC controller receives and executes the progress cumulative record program, and sends the progress, cutting parameter and time information data calculated by PLC controller to the ground server for storage and calculation every 10 ms, including:

[0013] Send the progress record start instruction through the buttons or interface options on the remote controller, ground mouse keyboard or ground operation panel, which is a signal indicating that the excavating-anchor integrated machine is about to start or continue its progress operation, and records the relevant data during the process;

[0014] The PLC controller listens to the instruction signals from the remote controller, ground mouse keyboard or ground operation panel in real time through its input interface or communication module, and if the progress record enable instruction is received, the PLC controller confirms the validity of the instruction and executes the corresponding progress cumulative record program;

[0015] The PLC controller works internally, and collects the key data of the excavating-anchor integrated machine during the progress process in real time, including the progress depth, cutting speed and cutting force parameter;

[0016] The PLC controller packs the progress data, cutting parameter and current time information calculated by it every 10 ms;

[0017] The packaged data is sent to the server on the ground according to a preset communication protocol through a communication module built in the PLC controller.

[0018] After receiving the data packet from the PLC controller, the server on the ground analyzes and checks the data, and stores the data that passes the check in the database of the server. The server on the ground calculates the footage distance and analyzes the cutting efficiency in real time according to the received data.

[0019] Further, the server on the ground sends the final calculated footage distance to the ground display and the local display to display the current footage, and sends the statistical analysis of the daily footage and the monthly footage to the ground display, including:

[0020] After receiving the original footage data sent by the PLC controller, the server on the ground processes the original footage data, and after processing by the compensation algorithm, the server on the ground obtains a corrected footage distance value.

[0021] The server on the ground sends the corrected footage distance value to the ground display and the local display through network connection; after receiving the data, the display updates the displayed footage distance in real time.

[0022] The server on the ground regularly performs statistical analysis on the received footage data, including calculating the total footage distance and the average footage speed per day or per month; after the statistical analysis is completed, the server on the ground sends the daily footage and the monthly footage statistical data to the ground display.

[0023] The ground display displays the daily footage and the monthly footage statistical data in the form of a chart.

[0024] Further, the footage record correction includes:

[0025] When the following conditions are met, stop the footage record of the combined excavating and anchoring machine, i.e. turn off the cutting enable signal, at this time the footage record function is suspended, and the original record data remains unchanged, including:

[0026] When the combined excavating and anchoring machine is excavating and the cutting is not straight;

[0027] When the combined excavating and anchoring machine is excavating and the cutting is not straight;

[0028] Further, after the PLC controller calculates the current footage distance value, the server on the ground performs data analysis on the data recorded at a period of 10 ms, compares the current footage distance recorded by the PLC controller, and performs compensation and calculation optimization of the footage according to the footage compensation optimization algorithm, including:

[0029] The PLC controller calculates the current footage distance value in real time according to internal sensor data, and the current footage distance value represents the actual footage distance of the integrated machine in the nearest time period;

[0030] The ground server continuously collects data from the PLC controller, and the data is sent in a 10ms cycle and contains information during the tunneling process;

[0031] The ground server filters the collected 10ms cycle data;

[0032] The server compares the filtered data with the current footage distance recorded by the PLC controller, analyzes the differences and trends between them, and obtains a comparison result;

[0033] According to the comparison result, the ground server calls a preset footage compensation optimization algorithm, which corrects the footage distance according to historical data and current state to obtain a compensated footage value;

[0034] The ground server takes the output data of the compensation optimization algorithm as the optimized footage distance value.

[0035] Further, the footage compensation optimization algorithm includes footage distance value validity judgment and footage distance compensation operation; wherein the footage distance value validity judgment is judged by the following method:

[0036] Find the moment when the first footage record enable signal is TRUE from FALSE, and add n times the time interval T F to obtain the current time point, wherein n represents the index value of the time interval TF;

[0037] Find the moment S0 when the previous slot depth is 0 and the moment S L when the next slot depth is full scale before the current time point; judge whether the action at the previous moment of S0 is cutting up and whether the cutting height meets the process requirements, and whether the action at the next moment of SL is cutting down and whether the cutting height meets the process requirements, if both requirements are met, the footage record distance Fn is considered to be a valid value, otherwise it is an invalid value, the time interval here is 10ms.

[0038] Further, the footage distance compensation operation is compensated by the following method, which specifically includes:

[0039] According to the time point data recorded in the database, confirm the time point S of the footage record distance F n , obtain the footage record distance F accumulated by the server in 10ms, and the footage record distance F nThe footage record distance accumulated by the server according to 10 ms The footage record distance value F of the final time point S is calculated according to the following formula S F = k1 * F1 + k2 * F2 + k3 * F3

[0040]

[0041] F1 = F1-10 F2 = F2+10 F1 is the footage distance value recorded by the server at the last time point, i.e., 10 ms ago, F2 is the footage distance value recorded by the server at the next time point, i.e., 10 ms later; F1 is the footage distance value recorded by the server at the last time point, i.e., 10 ms ago, F2 is the footage distance value recorded by the server at the next time point, i.e., 10 ms later; F1 is the footage distance value recorded by the server at the last time point, i.e., 10 ms ago, F2 is the footage distance value recorded by the server at the next time point, i.e., 10 ms later;

[0042] In the second aspect, a footage automatic recording system for a coal mine drilling and anchoring integrated machine includes a hardware system and a software system. The hardware system includes a displacement sensing system, a current sensing system, a remote controller, a PLC controller, a server, a local display, and a ground display. The software system includes a sensor information acquisition and analysis module, a footage accumulation recording module, a footage compensation optimization module, and a drilling and anchoring integrated machine footage recording human-computer interaction module.

[0043] The displacement sensing system acquires cutting displacement data of the drilling and anchoring integrated machine in real time, including a cutting lifting displacement sensor and a cutting slotting displacement sensor.

[0044] The current sensing system acquires cutting current data of the drilling and anchoring integrated machine in real time. The cutting motor of the drilling and anchoring integrated machine includes a left cutting motor and a right cutting motor. The current sensing system includes a left cutting motor current transformer and a right cutting motor current transformer.

[0045] The remote controller is a local remote controller of the drilling and anchoring integrated machine. The remote controller is used to operate cutting lifting and slotting extension actions, and control the start and stop, compensation optimization, and parameter setting of the footage recording system.

[0046] The PLC controller is a local controller of the drilling and anchoring integrated machine. The PLC controller is used to realize the acquisition of displacement and current sensor data, receive setting parameters of the local display and the ground display and server calculation parameters, calculate footage recording, control cutting actions, and send data to the local display, the ground display, and the server.

[0047] ​The server is a computer for implementing implementation of footage compensation recording algorithm, filtering processing of footage data, statistical processing of footage data, classification processing of footage data, backup storage of footage history data, and is placed at a ground control center of a coal mine tunneling working face, and uses TCP / IP communication with the PLC controller to realize data interaction.

[0048] Further, the working method of the hardware system is as follows:

[0049] The remote controller sends a setting parameter instruction, sets the interface parameters of the local display, and the ground display sets parameters through a mouse, a keyboard, or an operation panel;

[0050] The local display transmits the setting parameters to the PLC controller as initial conditions through a Modbus TCP communication mode; the displacement sensing system transmits the displacement value to the PLC controller through a 4-20 mA analog signal; and the current sensing system transmits the current value to the PLC controller through a CAN communication mode.

[0051] The PLC controller performs footage recording operation; the remote controller sends a cylinder action instruction and a footage recording instruction, which are transmitted to the PLC controller through a CAN communication mode; and the PLC controller controls cylinder action and footage recording.

[0052] The PLC controller transmits footage recording data to the server and the ground display on the ground through a TCP / IP protocol for display and operation.

[0053] Further, the sensor information acquisition and analysis module in the software system includes PLC controller acquisition of cutting displacement sensor data of the tunneling-anchor integrated machine; cutting displacement sensor data acquisition and analysis includes cutting lifting displacement sensor data acquisition and slotting displacement sensor acquisition; the cutting lifting displacement sensor data includes left cutting cylinder displacement sensor distance D L and right cutting cylinder displacement sensor distance D R , and the real-time distance value D0 of the cutting lifting displacement is calculated, as shown in the following formula:

[0054] ;

[0055] The slotting displacement sensor distance D1 is recorded in real time, and is sampled and recorded according to the running period of the PLC controller.

[0056] Current sensor data acquisition and analysis includes left cutting current I L and right cutting current I R ; the current data acquisition adopts an average value method; the left cutting current I L is collected in the following specific implementation process:

[0057] Set the sampling period as T, the running period as T0, and the sampling times C num is:

[0058] ;

[0059] Finally, the left cutting current I' L is calculated as:

[0060] ;

[0061] wherein I Li is the left cutting current at the i-th moment; the current cutting current value I0 is selected, and the specific calculation formula is as follows:

[0062] .

[0063] In a third aspect, a computing device comprises:

[0064] one or more processors;

[0065] a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the method.

[0066] In a fourth aspect, a computer-readable storage medium stores a program, which, when executed by a processor, implements the method.

[0067] The above scheme of the present application at least includes the following beneficial effects.

[0068] Distinguished from the current artificial recording footage method, the real-time recording and updating of the footage of the tunneling-anchor integrated machine is realized, the problems of footage recording lag and complexity are solved, and the manpower and time cost are saved. Compared with the existing electronic measurement method such as total station, the influence of the harsh environment on direct measurement footage is avoided, the special operation process of full-width cutting of the tunneling-anchor integrated machine and the displacement sensor of the machine itself are utilized, the real-time and accurate recording and updating of footage are realized through software algorithm without increasing hardware cost, and the footage measurement accuracy is improved, the financial cost and hardware cost are saved, and the method can realize normal operation. In addition, the footage recording method can be manually compensated, the flexibility of footage recording is realized, the footage accuracy is ensured, and the recording error caused by accidents is reduced.

[0069] By establishing the footage recording database, valuable data resources and first-hand information are provided for coal mine footage analysis and yield analysis, and a basic condition is also provided for the application of subsequent intelligent decision-making algorithms.

[0070] The application realizes the record measurement of footage by using original hardware system and software, realizes the automatic update and real-time record of footage, saves the labor cost of coal mine, and lays a technical foundation for the intelligentization of coal mine, solves the problem that the footage in the tunneling roadway of the tunneling-anchor integrated machine has always relied on manual record in a simple way, and the real-time record of footage data also provides the possibility for intelligent control. BRIEF DESCRIPTION OF DRAWINGS

[0071] Figure 1 A hardware system structure diagram of a footage automatic record system of a tunneling-anchor integrated machine for coal mine is provided for the application.

[0072] Figure 2 A flowchart of footage distance effectiveness judgment of a tunneling-anchor integrated machine for coal mine is provided for the application.

[0073] Figure 3 A man-machine interaction interface schematic diagram of a footage automatic record system of a tunneling-anchor integrated machine for coal mine is provided for the application.

[0074] Figure 4 A flowchart of a footage automatic record method of a tunneling-anchor integrated machine for coal mine is provided for the application. DETAILED DESCRIPTION

[0075] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0076] An embodiment of the application proposes a footage automatic record method of a tunneling-anchor integrated machine for coal mine, comprising:

[0077] Step S100, setting footage record system parameters on a local display, including a coal contact current range Imin-Imax, a footage record time interval TF, and a footage record manual compensation value, the parameters being sent to a tunneling-anchor integrated machine PLC controller through a ModbusTCP protocol; setting footage record system parameters on a ground display, including a coal contact current range Imin-Imax reference value of 80-200A, a footage record time interval TF reference value of 3000ms, and weighted values k1, k2, k3 of each footage distance reference values of 0.2, 0.3, and 0.5, after setting the parameters, the parameters are sent to the tunneling-anchor integrated machine PLC controller through a TCP / IP protocol;

[0078] In step S200, an advance recording enable command is sent via remote control, ground mouse and keyboard, or ground operation panel. After receiving the command, the PLC controller executes the advance accumulation recording program and sends the advance, cutting parameters, and time information data calculated by the PLC controller to the ground server for storage and calculation at 10ms intervals. The ground server sends the final calculated and compensated advance distance to the ground display and the local display to display the current advance, and sends the statistically analyzed daily and monthly advance data to the ground display for display.

[0079] Step S300, correction of advance record;

[0080] Step S400: After the PLC controller completes the calculation of the current advance distance value, the ground server performs data analysis on the data recorded in 10ms cycles, compares it with the current advance distance recorded by the PLC controller, and optimizes the advance calculation after compensation according to the advance compensation optimization algorithm.

[0081] In step S500, the ground server accumulates the advance distance value obtained from the final compensation, performs statistical analysis of daily and monthly advance according to the PC system time, and finally displays the advance change rate in a chart visualization.

[0082] In this embodiment of the invention, an automated advance recording system can record the advance of the roadheader-anchor machine in real time and accurately. Compared with traditional manual recording methods, this method not only improves the accuracy of recording but also greatly enhances the efficiency of recording and reduces the possibility of human error. The system sends the advance data to the ground server via the TCP / IP protocol, enabling ground management personnel to remotely monitor the working status of the roadheader-anchor machine in real time, understand the advance status promptly, and provide strong data support for coal mine production. The ground server calculates the advance compensation optimization algorithm based on the recorded data, which can more accurately reflect the actual advance of the roadheader-anchor machine. This optimization calculation helps reduce advance errors caused by factors such as equipment vibration and changes in coal and rock hardness. It can perform daily and monthly advance statistical analysis according to the PC system time and display the advance change rate in a chart visualization. This provides coal mining enterprises with a comprehensive production data analysis tool, helping them to better understand the production status and formulate more reasonable production plans. Through the automated advance recording and monitoring system, abnormal situations that may occur during the operation of the roadheader-anchor machine can be detected in a timely manner, such as current exceeding the set range, so that timely measures can be taken to ensure the safe operation of coal mine production.

[0083] In the embodiment of the present application, the remote controller, the ground mouse keyboard or the ground operation panel is used to send the footage record enabling instruction, the PLC controller receives and executes the footage cumulative record program, and sends the footage, cutting parameter and time information data calculated by the PLC controller to the ground server for storage and calculation at a period of 10 ms, including:

[0084] The button or interface option on the remote controller, the ground mouse keyboard or the ground operation panel is used to send the footage record start instruction, which is a signal indicating that the integrated machine is about to start or continue the footage operation, and the related data in the record process;

[0085] The PLC controller listens to the instruction signal from the remote controller, the ground mouse keyboard or the ground operation panel in real time through its input interface or communication module, if the footage record enabling instruction is received, the PLC controller confirms the validity of the instruction and executes the corresponding footage cumulative record program;

[0086] The PLC controller works internally, collects the key data of the integrated machine in the footage process in real time, including the footage depth, cutting speed and cutting force parameter;

[0087] The PLC controller packs the footage data, cutting parameter and current time information calculated by it at a period of 10 ms;

[0088] The packed data is sent to the ground server according to the preset communication protocol through the communication module built in the PLC controller;

[0089] After receiving the data packet from the PLC controller, the ground server analyzes and checks the data, and stores the correct data in the database of the server, and the ground server calculates the footage distance and analyzes the cutting efficiency in real time according to the received data.

[0090] In the embodiments of the present application, the operator can flexibly select the most suitable operation mode for the current working environment and needs by using the remote control, ground mouse keyboard or ground operation panel, and issue the footage recording enabling instruction. This diversified operation mode not only improves the convenience of operation, but also ensures that the footage recording program can be effectively started in different scenarios. The PLC controller collects and sends data at a period of 10ms, ensuring the real-time and high precision of the data. This high-frequency data update enables the ground server to obtain the latest working state of the combined machine in real time, thereby performing accurate footage calculation and cutting efficiency analysis. All key data, including footage depth, cutting speed, cutting force, etc., are recorded and sent to the server. This not only provides a rich data basis for subsequent footage compensation optimization algorithms, but also ensures the traceability of the production process, facilitating problem troubleshooting and responsibility definition. The ground server calculates the footage distance and analyzes the cutting efficiency based on the received real-time data, providing intelligent decision support for coal mine managers. This data-based analysis helps to discover production bottlenecks in a timely manner, optimize work processes and improve production efficiency. The process is highly integrated with the existing coal mine management system, and data is seamlessly transmitted through a pre-set communication protocol. This good compatibility ensures the stable operation and efficient cooperation of the entire coal mine management system.

[0091] In the embodiments of the present application, the ground server sends the final calculated compensation footage distance to the ground display and the local display to display the current footage, and sends the statistical analysis of the daily footage and monthly footage data to the ground display, including:

[0092] After the ground server receives the original footage data sent by the PLC controller, it processes the original footage data. After compensation algorithm processing, the ground server obtains a corrected footage distance value;

[0093] The ground server sends the corrected footage distance value to the ground display and the local display through network connection; after the display receives the data, it updates the displayed footage distance in real time;

[0094] The ground server regularly performs statistical analysis on the received footage data, including calculating the total footage distance and average footage speed per day or per month; after the statistical analysis is completed, the ground server sends the daily footage and monthly footage statistical data to the ground display;

[0095] The ground display displays the daily footage and monthly footage statistical data in the form of a chart.

[0096] In the embodiment of the present application, the server on the ground processes the original footage data sent by the PLC controller, and corrects the footage distance value using a compensation algorithm. This processing method effectively reduces errors and improves the accuracy of footage data, providing more reliable data support for coal mine production. The corrected footage distance value is sent to the ground display and the local display in real time, allowing operators and managers to immediately understand the latest footage of the excavation-anchor integrated machine. This real-time monitoring helps to discover problems in a timely manner and adjust the operation strategy, ensuring the smooth progress of production. The server on the ground regularly analyzes the received footage data and automatically generates reports on total footage distance and average footage speed per day or per month. This automated data processing method greatly improves work efficiency and reduces the tediousness and errors of manual statistics. The ground display displays daily footage and monthly footage statistics in chart form, allowing managers to intuitively understand production trends and efficiency changes. This visual display provides strong support for management decisions and helps optimize production plans and resource allocation. By displaying and analyzing footage data in real time, the transparency of coal mine production is improved, and managers can more clearly understand the production situation. At the same time, accurate data support helps to improve the scientificity and efficiency of management decisions.

[0097] In the embodiment of the present application, the footage record correction includes:

[0098] When the following conditions are met, stop the footage record of the excavation-anchor integrated machine, i.e. turn off the cutting enable signal, at which time the footage record function is suspended and the original record data remains unchanged, specifically including:

[0099] When the excavation-anchor integrated machine is cutting at an angle or non-linear footage in a cutting link or inclined angle;

[0100] When the excavation-anchor integrated machine is cutting coal in a non-coal wall.

[0101] In the embodiment of the present application, when the combined excavating and bolting machine performs non-straight footage or touches the non-coal wall to stack coal, the accuracy of the footage record may be affected. By stopping the footage record, inaccurate data in these special cases can be avoided, ensuring that the recorded footage data is true and reliable. If the inaccurate data continues to be recorded, it may mislead production management and decision-making. By stopping the record in time, unreasonable decisions based on incorrect data can be prevented, protecting the stability and safety of coal mine production. The footage record correction function demonstrates the intelligence of the system, which can automatically stop recording in certain situations, reducing the need for manual intervention. At the same time, this also provides more flexibility for the operator, making it easier to cope with complex and changing working environments. In abnormal operating conditions, such as cutting a connecting roadway or non-straight footage at an angle, continuing to record may cause unnecessary burden or damage to the equipment. Stopping the footage record can protect the safe operation of the equipment to some extent. Although the footage record is stopped in these specific situations, the original record data remains unchanged, which ensures the integrity and traceability of the data.

[0102] In the embodiment of the present application, after the PLC controller calculates the current footage distance value, the ground server analyzes the data recorded at a 10ms cycle and compares it with the current footage distance recorded by the PLC controller, and then calculates and optimizes the footage after compensation according to the footage compensation optimization algorithm, including:

[0103] The PLC controller calculates the current footage distance value in real time based on internal sensor data, and the current footage distance value represents the actual excavation distance of the combined excavating and bolting machine in the latest time period;

[0104] The ground server continuously collects data from the PLC controller, which is sent at a 10ms cycle and contains information during the excavation process;

[0105] The ground server filters the 10ms cycle data collected;

[0106] The server compares the filtered data with the current footage distance recorded by the PLC controller, analyzes the differences and trends between them, and obtains the comparison result;

[0107] According to the comparison result, the ground server calls the preset footage compensation optimization algorithm, which corrects the footage distance based on historical data and current state to obtain the compensated footage value;

[0108] The ground server takes the output data of the compensation optimization algorithm as the optimized footage distance value.

[0109] In the embodiments of the present application, the filtering processing of 10ms period data by the server on the ground effectively eliminates noise and outliers, and improves the accuracy of the data. This improvement in accuracy helps to more accurately reflect the actual footage of the integrated machine. Comparing the filtered data with the current footage distance recorded by the PLC controller forms a double verification and error correction mechanism. This mechanism can timely discover and correct possible errors, further improving the reliability of the footage data. According to the comparison result, the server on the ground calls the preset footage compensation optimization algorithm to dynamically compensate and optimize the footage distance. This optimization method not only considers historical data, but also combines the current state, so that the compensated footage value is closer to the actual value, effectively improving the accuracy of footage calculation. The footage compensation optimization algorithm has adaptability and robustness, and can automatically adjust according to different working conditions and performance changes of the integrated machine. This feature enables the system to maintain high calculation accuracy and stability in the face of complex and variable coal mine environment.

[0110] In the embodiments of the present application, the footage compensation optimization algorithm includes footage distance value validity judgment and footage distance compensation operation; wherein the footage distance value validity judgment is judged by the following method:

[0111] find the moment when the first footage record enable signal changes from FALSE to TRUE, and add n times the time interval T F to obtain the current time point, wherein n represents the index value of the time interval TF;

[0112] find the moment S0 when the previous slot depth is 0 and the next slot depth is full range before the current time point S L ; judge whether the action at the previous moment of S0 is cutting up and the cutting height meets the process requirements, and whether the action at the next moment of SL is cutting down and the cutting height meets the process requirements, if both requirements are met, the footage record distance Fn is considered as a valid value, otherwise it is an invalid value, the time interval here is 10ms.

[0113] In the embodiments of the present application, by finding the moment when the first footage record enable signal changes from FALSE to TRUE, and combining the index value n of the time interval TF, the current time point can be accurately positioned. This accurate time positioning provides a reliable basis for subsequent data analysis and judgment. In the judgment of the footage record distance Fn, the current time point is used as the reference time point, which ensures the accuracy of the judgment result. This accurate judgment result helps to improve the reliability of the footage data. nWhen determining the validity of the cut, the algorithm considers not only the change in cutting depth (from 0 to full scale) but also the cutting action (raising or lowering) and whether the cutting height meets the process requirements. This comprehensive judgment based on multiple conditions ensures that only the cut records that meet specific process requirements are considered valid values. Validity checks can eliminate invalid cut records caused by misoperation, equipment failure, or other reasons. This results in higher quality data that more accurately reflects the actual working status of the tunneling and anchoring machine. During long-term operations, invalid cut records, if not identified and eliminated in a timely manner, may gradually accumulate into significant errors. The validity check of this algorithm verifies the cut records at each time point, thereby correcting errors promptly and preventing their accumulation.

[0114] In this embodiment of the invention, the advance distance compensation calculation is performed using the following method, specifically including:

[0115] Based on the time point data recorded in the database, confirm the advance record distance F. n At time point S, the recorded advance distance obtained by the server is calculated by accumulating the advance distance over 10ms. The advance distance F recorded by the PLC controller n The advance distance recorded by the server is accumulated every 10ms. By comparison, the recorded advance distance F at the final time point S is calculated using the following formula. S for:

[0116] ;

[0117] in, for The advance distance value recorded by the server 10ms ago. for The advance distance value recorded by the server 10ms later; This represents the weighted value of the advance distance on the server at the previous or next time step. This is the weighted value of the advance distance recorded by the server at this moment. This is the weight value of the advance distance recorded by the PLC controller at this moment; where k1 + k2 + k3 = 1, k1 < k2 < k3.

[0118] In the embodiments of the present application, the method synthesizes the data recorded by the PLC controller and the server, uses a specific algorithm for weighted calculation, and obtains the final footage recording distance. This method can reduce the errors that may exist in a single data source and improve the accuracy of the data. The algorithm introduces weight values (k1, k2, k3), which can be dynamically adjusted according to the actual situation. This flexibility enables the algorithm to better adapt to different working environments and equipment states, thereby optimizing the calculation results of the footage distance. Since the algorithm considers the footage recording distance accumulated by the server at 10 ms and the footage distance recorded by the PLC controller, the algorithm is very sensitive to time changes and can timely capture and reflect the slight changes in footage. During data comparison and calculation, the algorithm can identify and process the differences between the data, thereby tolerating errors or interference that may occur during data acquisition and transmission to some extent and enhancing the robustness of the system.

[0119] A footage automatic recording system of a coal mine tunneling and anchoring integrated machine, comprising a hardware system and a software system, the hardware system comprising a displacement sensing system, a current sensing system, a remote controller, a PLC controller, a server, a local display and a ground display; the software system comprising a sensor information acquisition and analysis module, a footage cumulative recording module, a footage compensation optimization module and a tunneling and anchoring integrated machine footage recording human-computer interaction module;

[0120] The displacement sensing system acquires the cutting displacement data of the tunneling and anchoring integrated machine in real time, comprising a cutting lifting displacement sensor and a cutting slotting displacement sensor;

[0121] The current sensing system acquires the cutting current data of the tunneling and anchoring integrated machine in real time, the cutting motor of the tunneling and anchoring integrated machine comprising a left cutting motor and a right cutting motor, the current sensing system comprising a left cutting motor current transformer and a right cutting motor current transformer;

[0122] The remote controller is a local remote controller of the tunneling and anchoring integrated machine, and is used for operating the cutting lifting action and the slotting stretching action, and controlling the start and stop of the footage recording system, compensation optimization and parameter setting;

[0123] The PLC controller is a local controller of the tunneling and anchoring integrated machine, and is used for realizing the acquisition of the displacement and current sensor data, receiving the setting parameters of the local display and the ground display and the server calculation parameters, calculating the footage recording, controlling the cutting action, and sending data to the local display, the ground display and the server;

[0124] The server is a computer, and is used for realizing the implementation of the footage compensation recording algorithm, the filtering processing of the footage data, the statistical processing of the footage data, the classification processing of the footage data, and the backup storage of the footage history data. The server is placed in the ground control center of the coal mine tunneling working face, and realizes data interaction with the PLC controller by using TCP / IP communication.

[0125] In the embodiment of the present application, the working method of the hardware system is as follows:

[0126] The remote controller sends a setting parameter instruction to set the interface parameters of the local display, and the ground display sets the parameters through a mouse, a keyboard or an operation panel;

[0127] The local display transmits the setting parameters to the PLC controller as initial conditions through a Modbus TCP communication mode; the displacement sensing system transmits the displacement value to the PLC controller through a 4-20 mA analog signal; and the current sensing system transmits the current value to the PLC controller through a CAN communication mode.

[0128] The PLC controller performs a footage recording operation; the remote controller sends a cylinder action instruction and a footage recording instruction, which are transmitted to the PLC controller through a CAN communication mode, and the PLC controller controls the cylinder action and the footage recording.

[0129] The PLC controller transmits the footage recording data to the server and the ground display on the ground through a TCP / IP protocol for display and operation.

[0130] In the embodiment of the present application, the sensor information acquisition and analysis module in the software system includes the acquisition of the cutting displacement sensor data by the PLC controller of the integrated anchor drilling machine, and the acquisition and analysis of the cutting displacement sensor data includes the acquisition of the cutting lifting displacement sensor data and the acquisition of the slotting displacement sensor data. L The cutting lifting displacement sensor data includes the left cutting cylinder displacement sensor distance D R and the right cutting cylinder displacement sensor distance D L , and the real-time distance value D0 of the cutting lifting displacement is calculated as shown in the following formula:

[0131] ;

[0132] The slotting displacement sensor distance D1 is recorded in real time, and is sampled and recorded according to the running period of the PLC controller.

[0133] The current sensor data acquisition and analysis include the left cutting current I L and the right cutting current I R , and the current data acquisition adopts an average value method. L The specific implementation process of the left cutting current I

[0134] The sampling period is set as T, the running period is set as T0, and the sampling times C num are calculated as follows:

[0135] ;

[0136] Finally, the left cutting current I'The value of I L is:

[0137] ;

[0138] wherein, I Li is the left cutting current at the i-th moment; the current cutting current value I0 is selected, and the specific calculation formula is as follows:

[0139] .

[0140] The footage cumulative recording module is the core software algorithm of the application and is realized in the PLC controller. The realization process is as follows: firstly, the following parameters need to be set on the local display or the ground display:

[0141] The coal contact current range I min -I max : min is the minimum cutting current value after the slotting oil cylinder contacts the coal wall or rock, I max is the maximum cutting current value after the slotting oil cylinder contacts the coal wall or rock, which is different according to the coal roadway conditions and the machine parameters;

[0142] The footage recording time interval T F: means that the slotting extension distance value is recorded once every T F after starting to record the footage, and the recording time interval T F is generally set to be greater than 1s;

[0143] Then the controller judges whether to start recording the footage, and needs to meet the following three conditions, and the three conditions are in a logical and relationship:

[0144] (1) the slotting extension continues to act for more than 1s, which is realized by detecting whether the electromagnetic valve has an output control current;

[0145] (2) the cutting current value I0 is within the coal contact current range I min -I max , and the coal contact current range is set through the local display or the ground display;

[0146] (3) the footage recording enable button is pressed, which is realized by ground mouse keyboard, ground panel operation or remote control operation.

[0147] After the first footage enables to start recording, firstly, the current slotting displacement value L0 is recorded, the first footage recording time interval T F is counted, and then the slotting displacement value L1 at this time is recorded, and the footage distance value at this time is L1-L 0； the second time interval T FAfter timing, record the slot displacement value L2 at this time, and the footage distance value is (L2-L1)+(L1-L0); the footage enables the nth time interval T F The footage distance value after timing is F n (n≥1):

[0148] (5)

[0149] It should be noted that the slot displacement value L n is less than the maximum slot range value.

[0150] The driver or operator can turn off the footage recording enable function at any time to manually compensate and correct the footage.

[0151] The footage compensation optimization module is an algorithm for compensating and optimizing the current recorded footage error. After the server calculates the compensation value, it is transmitted to the PLC controller to automatically complete the compensation correction. The footage compensation optimization module includes two parts: the establishment of the footage database and the footage compensation optimization algorithm. The footage database is the data recorded and stored by the server after the PLC controller transmits the data to the ground server. The specific process is as follows: according to the program running period, generally 10ms, record the data at each time point, the data types include: current time (specific to year, month, day, hour, minute, second), cutting lifting speed, cutting lowering speed, slot extension speed, slot retraction speed, cutting height, slot depth, cutting current, footage distance, footage recording enable signal. The server performs footage recording every 10ms according to the above footage recording accumulation algorithm. When recording the slot distance, the slot displacement value is filtered according to the following rules:

[0152] (1) The slot displacement distance is greater than the maximum range of data;

[0153] (2) The slot displacement difference value between the previous and subsequent time points is less than 5mm when the slot extension action is performed;

[0154] (3) The data when the slot extension and retraction are stationary for more than 1 minute.

[0155] The footage compensation optimization algorithm includes footage distance value validity judgment and footage distance compensation operation. The footage distance validity is judged by the following method: the cutting process of the excavator-anchor integrated machine in a certain mine is fixed and unchanged, and the typical cutting process is that the excavator-anchor integrated machine completes a cutting cycle according to the cutting lifting-slot extension-cutting lowering-slot retraction process, and whether the slot extension is effective cutting is judged by judging the slot extension before and after the process parameters. According to the time point data recorded in the database, first confirm the footage recording distance F nThe time point S (year, month, day, hour, minute, second) is determined by first finding the moment when the initial advance recording enable signal changes from FALSE to TRUE, and then adding n*T to that moment. F Then, the current time point is obtained; next, the time S0 before this point, where the previous slot depth is 0, and the time S1, where the next slot depth is full scale, are found. L Determine whether the action at time S0 was a cutting lift, and whether the cutting height meets the process requirements. L The next action is to cut down, and the cutting height meets the process requirements. If both requirements are met, then the recorded advance distance F is considered to be... n The result is valid if true, otherwise invalid. The time interval here is 10ms. The implementation flowchart is as follows: Figure 2 As shown.

[0156] The advance distance compensation calculation is performed using the following method: Based on the time point data recorded in the database, first confirm the advance recorded distance F. n The time point (year, month, day, hour, minute, second) S is used to obtain the advance record distance F obtained by the server by accumulating it in 10ms increments. n ', record the advance distance F recorded by the PLC controller. n The advance record distance F obtained by the server is accumulated every 10ms. n By comparison, the recorded advance distance F at the final time point S is calculated using the following formula. S for:

[0157] (6)

[0158] In the formula, F n "For F" n 'The advance distance value recorded by the server 10ms ago, F' n o For F n 'The advance distance value recorded by the server 10ms later. k1 is the weighted value of the advance distance recorded by the server in the previous or next moment, k2 is the weighted value of the advance distance recorded by the server at this moment, and k3 is the weighted value of the advance distance recorded by the PLC controller at this moment. Where k1+k2+k3=1, k1 <k2<k3。

[0159] The tunneling and anchoring integrated machine's advance recording human-machine interface module includes a local display human-machine interface module and a ground display human-machine interface module. The local display human-machine interface module includes a parameter setting module and an advance display module. The parameter settings include the coal contact current range I. min -I max (Unit A) Time interval for advance recording T F(unit ms), footage record manual compensation value (unit m); the footage display module is the current footage distance F recorded by the PLC controller n The parameter setting is completed by the remote controller combination key operation.

[0160] The ground display man-machine interaction module comprises a parameter setting module, a three-dimensional mapping display module and a footage record database module. S The three-dimensional mapping display module needs to realize the three-dimensional mapping of the footage in the longitudinal level in addition to displaying the footage record distance value F obtained by the final compensation. S The database module needs to further record the daily footage, monthly footage and cumulative data in addition to recording the current time (specific to the year, month, day, hour, minute and second), cutting lifting speed, cutting lowering speed, slotting stretching speed, slotting shrinking speed, cutting height, slotting depth, cutting current, footage distance and footage record enable signal. Figure 3

[0161] It is explained that the system is a system corresponding to the above method, and all the implementation manners in the above method embodiment are applicable to this embodiment, and the same technical effects can be achieved.

[0162] Embodiments of the application also provide a computing device, comprising: a processor, a memory storing a computer program, the computer program being executed by the processor to perform the method as described above.

[0163] Embodiments of the application also provide a computer readable storage medium, storing instructions, when the instructions are executed on a computer, the computer executes the method as described above.

[0163]

Claims

1. A method for automatically recording footage of a combined drilling and bolting machine for coal mines, characterized in that, Comprise: Step S100, set the footage recording system parameters on the local display, including the coal touch current range Imin-Imax, footage recording time interval TF, footage recording manual compensation value, the parameters are sent to the excavation anchor integrated machine PLC controller through ModbusTCP protocol; set the footage recording system parameters on the ground display, including the coal touch current range Imin-Imax reference value is 80-200A, footage recording time interval TF reference value is 3000ms, the weighted value k1, k2, k3 of each footage distance reference value is 0.2, 0.3, 0.5, after setting the parameters, the parameters are sent to the excavation anchor integrated machine PLC controller through TCP / IP protocol; Step S200, send the footage record enable instruction by remote controller, ground mouse keyboard or ground operation panel, after receiving, PLC controller executes footage cumulative record program, and sends the footage, cutting parameter and time information data calculated by PLC controller to ground server to store and calculate, ground server sends the footage distance compensated to ground display and local display to display current footage, and sends the daily footage and monthly footage data after statistical analysis to ground display to display; slot displacement sensor distance D1 records in real time, and samples and records according to the running period of PLC controller; after starting to record at first footage enable, first record the current slot displacement value L0, the first footage record time interval T F After timing, record the slot displacement value L1 at this time, and the footage distance value is L1-L 0； The second time interval T F After timing, record the slot displacement value L2 at this time, and the footage distance value is (L2-L1)+(L1-L0); the n-th time interval T F The footage distance value after timing is F n (n≥1): （5） The undercut displacement value L at any time n Less than the maximum range of undercut value; Step S300, footage recording correction; Step S400, after the PLC controller calculates the current footage distance value, the ground server analyzes the data recorded at 10ms period, compares with the current footage distance recorded by the PLC controller, and calculates and optimizes the footage after compensation according to the footage compensation optimization algorithm; Step S500, the ground server accumulates the footage distance value obtained by the final compensation, carries out statistical analysis on the daily footage and monthly footage according to the PC system time, and finally displays the footage change rate in the form of chart visualization.

2. The method according to claim 1, wherein, The remote controller, ground mouse keyboard or ground operation panel sends footage recording enabling instruction, the PLC controller receives and executes footage accumulation recording program, and sends the PLC controller calculation footage, cutting parameter and time information data to the ground server storage calculation at 10ms period, including: Through the buttons or interface options on the remote controller, ground mouse keyboard or ground operation panel, the instruction of starting footage recording is sent, which is a signal indicating that the excavation anchor integrated machine is about to start or continue its footage operation, and the related data in the recording process; The PLC controller listens to the instruction signal from the remote controller, ground mouse keyboard or ground operation panel through its input interface or communication module, if the footage recording enabling instruction is received, the PLC controller confirms the validity of the instruction and executes the corresponding footage accumulation recording program; The PLC controller works internally, and collects the key data of the excavation anchor integrated machine in the footage process in real time, including footage depth, cutting speed and cutting force parameter; The PLC controller packs the footage data, cutting parameter and current time information calculated at 10ms period; The packed data is sent to the ground server through the communication module in the PLC controller according to the preset communication protocol; After receiving the data packet from the PLC controller, the ground server analyzes and checks the data, and the correct data is stored in the database of the server, and the ground server calculates the footage distance and analyzes the cutting efficiency in real time according to the received data.

3. The method according to claim 2, wherein, The ground server sends the final calculated footage distance to the ground display and local display to display the current footage, and sends the statistical analysis of daily footage and monthly footage data to the ground display, including: The ground server receives the original footage data sent by the PLC controller, processes the original footage data, and obtains a corrected footage distance value after compensation algorithm processing; The ground server sends the corrected footage distance value to the ground display and the local display through network connection; after receiving the data, the display updates the displayed footage distance in real time; The ground server periodically analyzes the received footage data, including calculating the total footage distance and average footage speed per day or per month; after the statistical analysis is completed, the ground server sends the daily footage and monthly footage statistical data to the ground display; The ground display displays the daily footage and monthly footage statistical data in the form of a chart.

4. The method according to claim 3, wherein, Footage record correction, including: When the following conditions are encountered, stop the footage record of the combined excavating and bolting machine, i.e., turn off the cutting enable signal, at which time the footage record function is suspended, and the original record data remains unchanged, including: When the combined excavating and bolting machine is slotting and the cutting is in a straight line or at an angle; When the combined excavating and bolting machine is slotting and the cutting is in a straight line or at an angle.

5. The method according to claim 4, wherein, After the PLC controller calculates the current footage distance value, the ground server analyzes the data recorded at a period of 10 ms, compares it with the current footage distance recorded by the PLC controller, and performs compensation and optimization of the footage after compensation according to the footage compensation optimization algorithm, including: The PLC controller calculates the current footage distance value in real time based on internal sensor data, which represents the actual excavation distance of the combined excavating and bolting machine in the most recent time period; The ground server continuously collects data from the PLC controller, which is sent at a period of 10 ms and contains information during the excavation process; The ground server filters the collected 10 ms period data; The server compares the filtered data with the current footage distance recorded by the PLC controller, analyzes the differences and trends between them, and obtains a comparison result; According to the comparison result, the ground server calls the preset footage compensation optimization algorithm, which corrects the footage distance based on historical data and the current state to obtain a compensated footage value; The ground server takes the output data of the compensation optimization algorithm as the optimized footage distance value.

6. The method according to claim 5, wherein, The footage compensation optimization algorithm includes footage distance value validity judgment and footage distance compensation operation; the footage distance value validity judgment is determined by the following method: finding the moment when the first progress record enabling signal is TRUE from FALSE, which moment is added to n times the time interval T F a current time point is then derived, where n represents an index value of the time interval TF Find the last time point before the current time point, the time S0 when the slot depth is 0, and the next time S when the slot depth is full scale L ; determine whether the action at S0 last time is cutting up, and whether the cutting height meets the process requirements, determine whether the action at SL next time is cutting down, and whether the cutting height meets the process requirements, if both requirements are met at the same time, it is considered that the footage record distance Fn is valid value, otherwise it is invalid value, the time interval here is 10 ms.

7. The method according to claim 6, wherein, The footage distance compensation operation is compensated by the following method, including: According to the time point data recorded by the database, the footage recorded distance F is confirmed n According to the time point S, the footage recorded distance F accumulated by the server in 10 ms is obtained The footage recorded distance F recorded by the PLC controller is compared with the footage recorded distance F accumulated by the server in 10 ms n According to the time point S, the footage recorded distance F accumulated by the server in 10 ms is obtained The final footage recorded distance value F of the time point S is calculated according to the following formula S ​ ； wherein, is the footage distance value recorded by the server at the last time, i.e. 10 ms ago, is the footage distance value recorded by the server at the next time, i.e. 10 ms later; is the weight value of the footage distance at the last time or the next time of the server, is the weight value of the footage distance recorded by the server at this time, is the weight value of the footage distance recorded by the PLC controller at this time; wherein k1+k2+k3=1, k1 8. A coal mine with integrated machine footage automatic recording system, characterized in that, The application is applied to the method of any one of claims 1 to 7, including a hardware system and a software system, the hardware system including a displacement sensing system, a current sensing system, a remote controller, a PLC controller, a server, a local display, and a ground display; the software system including a sensor information acquisition and analysis module, a footage cumulative record module, a footage compensation optimization module, and a combined excavating and bolting machine footage record human-computer interaction module; The displacement sensing system acquires cutting displacement data of the combined excavating and bolting machine in real time, including a cutting lifting displacement sensor and a cutting slotting displacement sensor; The current sensing system collects the cutting current data of the integrated machine in real time, the cutting motor of the integrated machine includes a left cutting motor and a right cutting motor, and the current sensing system includes a left cutting motor current transformer and a right cutting motor current transformer; The remote controller is a local remote controller of the integrated machine, and is used for operating cutting lifting and slotting stretching actions, and controlling start and stop of the footage recording system, compensation optimization and parameter setting; The PLC controller is a local controller of the integrated machine, and is used for collecting displacement and current sensor data, receiving setting parameters of the local display and the ground display and server calculation parameters, calculating footage recording, controlling cutting action, and sending data to the local display, the ground display and the server; The server is a computer, and is used for implementing footage compensation recording algorithm, footage data filtering processing, footage data statistical processing, footage data classification processing, and footage history data backup storage, and is placed in a ground control center of a coal mine tunneling working face, and realizes data interaction with the PLC controller through TCP / IP communication.

9. The coal mine drilling and bolting integrated machine footage automatic recording system according to claim 8, characterized in that, The working method of the hardware system is as follows: The remote controller sends a setting parameter instruction to set the interface parameters of the local display, and the ground display sets parameters through a mouse, a keyboard or an operation panel; The local display transmits the setting parameters to the PLC controller as initial conditions through a Modbus TCP communication mode; the displacement sensing system transmits displacement values to the PLC controller through 4-20 mA analog signals; and the current sensing system transmits current values to the PLC controller through CAN communication. The PLC controller performs footage recording operation; the remote controller sends a cylinder action instruction and a footage recording instruction to the PLC controller through CAN communication, and the PLC controller controls cylinder action and footage recording; The PLC controller transmits footage recording data to the ground server and the ground display through a TCP / IP protocol for display and operation.

10. The coal mine drilling and bolting integrated machine footage automatic recording system according to claim 9, characterized in that, The sensor information acquisition and analysis module in the software system comprises a PLC controller of the integrated anchor machine for acquiring cutting displacement sensor data, and the cutting displacement sensor data acquisition and analysis comprises cutting lifting displacement sensor data acquisition and slotting displacement sensor acquisition. L The cutting lifting displacement sensor data respectively comprises left cutting oil cylinder displacement sensor distance D R and right cutting oil cylinder displacement sensor distance D R , and the real-time distance value D0 of the cutting lifting displacement is calculated, as shown in the following formula: ； Current sensor data acquisition analysis includes left cutting current I L and right cutting current I R , current data acquisition adopts average method, left cutting current I L Acquisition specific implementation process as follows: The sampling period is set as T, the running period is T0, and the sampling times C are calculated num is: ； The value of the left clipping current I' L is calculated as: ； where I Li is the left cutting current at the i-th moment; the current cutting current value I0is selected, and the specific calculation formula is as follows: 。

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