Intelligent dedusting system for regeneration fresh air of driving face

Abstract

The invention discloses a driving face regeneration fresh air intelligent dust removal system, and belongs to the technical field of tunnel dust removal, the driving face regeneration fresh air intelligent dust removal system comprises a regeneration fresh air intelligent dust remover, the suction end of the regeneration fresh air intelligent dust remover is provided with a negative pressure air duct, and the end, away from the regeneration fresh air intelligent dust remover, of the negative pressure air duct is connected with the output end of a gas collector; the large-suction self-adaptive dust collecting cover assembly is mounted at one end, close to a tunneling gun head, of the tunneling machine; the large-suction self-adaptive dust collecting cover assembly is connected with the suction end of the gas collector; an automatic discharging mechanism is mounted at the bottom of the intelligent regenerated fresh air dust remover; a pneumatic fan is connected to one side, far away from the negative-pressure air duct, of the intelligent regenerated fresh air dust remover; and the pneumatic fan is connected with a coal dust inhibitor membrane type mass transfer gas washer through a pipeline. The dust concentration of the coal mine driving working face is reduced, the working face labor hygiene condition is improved, pneumoconiosis is reduced, the body health of workers is protected, and the labor production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel dust removal, and in particular relates to an intelligent dust removal system for regenerating fresh air on an excavation working face. Background Art

[0003] At present, the tunneling machines used in the comprehensive excavation working faces of domestic coal mines are generally equipped with internal spray and external spray devices. In actual use, this technology of one-time spray dust suppression still has unsatisfactory dust suppression effects. There are great restrictions when encountering geological conditions that are not suitable for enhanced spray dust suppression, as well as coal and rock tunnels with strong hydrophobicity, which bring many hidden dangers to mine safety production and personnel health. The excavation of the working face has the characteristics of high degree of mechanization, large dust production, mobile distribution of dust source points, and large diffusion area, which can easily reduce the visibility of the entire workplace and easily block or corrode mechanical equipment.

[0004] Solve the problems of large amount of dust, difficulty in controlling dust removal, and unsatisfactory effect during excavation. Summary of the invention

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A regenerative fresh air intelligent dust collector, wherein a negative pressure air duct is installed at the suction end of the regenerative fresh air intelligent dust collector, and an end of the negative pressure air duct away from the regenerative fresh air intelligent dust collector is connected to the output end of the air collector;

[0007] A large suction self-adaptive dust hood assembly, which is installed at one end of the tunnel boring machine close to the tunnel boring gun head; the large suction self-adaptive dust hood assembly is connected to the suction end of the air collector;

[0008] An automatic unloading mechanism is installed at the bottom of the regenerative fresh air intelligent dust collector, and a pneumatic fan is connected to the side of the regenerative fresh air intelligent dust collector away from the negative pressure wind tube; the pneumatic fan is connected to a coal dust inhibitor membrane mass transfer scrubber through a pipeline.

[0009] Furthermore, it also includes an automatic walking mechanism, the top of which is provided with a mounting platform, and the regenerated fresh air intelligent dust collector is arranged on the mounting platform.

[0010] Furthermore, the air collector is provided with a video recognition dust concentration sensor.

[0011] Furthermore, the regenerative fresh air intelligent dust collector comprises a dust removal housing and a filter element;

[0012] The first end of the dust removal shell is provided with an air inlet, and the air inlet is connected to the negative pressure wind cylinder; the second end of the dust removal shell is connected to the pneumatic fan through a soft link; the filter element is arranged in the inner cavity of the dust removal shell near the air inlet; the automatic unloading mechanism is arranged at the bottom of the dust removal shell.

[0013] Further, the pneumatic fan includes a dust removal duct, a fan impeller and a pneumatic motor;

[0014] The first side of the fan impeller is connected to the second end of the dust removal shell, and the second side of the fan impeller is connected to the first end of the dust removal pipe; the second end of the dust removal pipe is connected to the coal dust inhibitor membrane mass transfer scrubber; the pneumatic motor is arranged in the dust removal pipe, and the output end of the pneumatic motor is connected to the fan impeller; the dust removal pipe is also provided with a pneumatic triplet.

[0015] Further, the coal dust inhibitor membrane mass transfer scrubber includes a scrubbing shell;

[0016] An air inlet and an air outlet are arranged opposite to each other on both sides of the air washing shell, and the air inlet is connected to the pneumatic fan; a water inlet is arranged on one side of the air washing shell close to the air inlet, and the water inlet is connected to an automatic water supply mechanism through an intelligent pipeline liquid adding automatic mixing mechanism; a sewage trough is arranged at the bottom of the air washing shell, and a sewage outlet connected to the sewage trough is arranged on one side of the air washing shell close to the air outlet;

[0017] The inner cavity of the air washing shell is provided with an impeller, a guide plate and a dehydrator in sequence from the air inlet to the air outlet.

[0018] Furthermore, the large suction adaptive dust hood assembly includes three first dust hoods and two second dust hoods;

[0019] One of the first dust collecting covers is located above the tunneling gun head of the tunneling machine, and the other two first dust collecting covers are relatively arranged on both sides of the tunneling gun head of the tunneling machine;

[0020] Two of the second dust collecting covers are arranged oppositely on two sides of the tunneling machine;

[0021] The first dust collecting hood and the second dust collecting hood are both connected to the air collector.

[0022] Furthermore, the two first dust collecting covers relatively arranged on both sides of the tunneling gun head of the tunneling machine are installed on the tunneling machine through a multi-degree-of-freedom mechanical arm.

[0023] Beneficial effects:

[0024] The present invention reduces the dust concentration in the coal mine excavation working surface, improves the labor and health conditions of the working surface, reduces the occurrence of pneumoconiosis, protects the health of workers, improves labor productivity, eliminates the danger of coal dust explosion, and ensures safe production in mines. It is of great significance. The implementation of the project can greatly reduce the incidence of pneumoconiosis, reduce direct expenses for enterprises to properly place pneumoconiosis patients, and save economic costs. The reduction of dust concentration can ensure efficient and safe production in mines and reduce equipment wear, and also create economic benefits for enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the intelligent dust removal system for regenerating fresh air at the excavation working face of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the regenerative fresh air intelligent dust collector and the pneumatic fan of the present invention;

[0027] Figure 3 It is a schematic structural diagram of the membrane mass transfer scrubber of the coal dust inhibitor of the present invention;

[0028] Figure 4 This is a structural diagram of a high-suction self-adaptive dust hood assembly of the present invention;

[0029] Figure 5 It is a schematic structural diagram of the multi-degree-of-freedom mechanical arm and the first dust collecting cover of the present invention;

[0030] Figure 6 This is a flow chart of the coal mine underground fog and dust image clearing process of the present invention;

[0031] Description of reference numerals: 1. Membrane mass transfer scrubber for coal dust inhibitor; 101. Air inlet; 102. Water inlet; 103. Impeller; 104. Guide plate; 105. Scrubber housing; 106. Dehydrator; 107. Air outlet; 108. Drain trough; 109. Drain outlet; 2. Automatic water supply mechanism; 3. Regeneration fresh air intelligent dust collector; 301. Filter element; 302. Dust removal housing; 303. Soft link; 304. Gas triplet; 305. Pneumatic motor; 306. Air outlet; 307. Fan impeller; 308. Air inlet; 4. Wall-attached air duct; 5. First automatic adjustable air door; 6. Second automatic adjustable air door; 7. Video recognition dust concentration sensor; 8. High-suction adaptive dust hood assembly; 801. First dust catching net; 802. Second dust catching net; 803. Multi-degree-of-freedom robotic arm; 8031. Telescopic assembly; 8032. Rotating mechanism; 9. Air collector; 10. Tunnel boring machine; 11. Negative pressure air duct; 12. Automatic unloading mechanism; 13. Pneumatic fan; 14. Automatic walking mechanism; 15. Intelligent pipeline liquid adding automatic mixing mechanism; 16. Sewage discharge mechanism. DETAILED DESCRIPTION

[0032] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0036] Example 1

[0037] refer to Figure 1 , an intelligent dust removal system for regenerating fresh air at a tunneling working face, comprising:

[0038] A regenerated fresh air intelligent dust collector 3, a negative pressure air duct 11 is installed at the suction end of the regenerated fresh air intelligent dust collector 3, and one end of the negative pressure air duct away from the regenerated fresh air intelligent dust collector 3 is connected to the output end of the air collector 9;

[0039] A large suction self-adaptive dust hood assembly 8 is installed at one end of the tunnel boring machine 10 close to the tunnel boring gun head; the large suction self-adaptive dust hood assembly 8 is connected to the suction end of the air collector 9;

[0040] An automatic unloading mechanism 12 is installed at the bottom of the regenerative fresh air intelligent dust collector 3, and a pneumatic fan 13 is connected to the side of the regenerative fresh air intelligent dust collector 3 away from the negative pressure wind tube; the pneumatic fan 13 is connected to the coal dust inhibitor membrane mass transfer scrubber 1 through a pipeline.

[0041] Preferably, it also includes an automatic walking mechanism 14, a mounting platform is provided on the top of the automatic walking mechanism 14, and the regeneration fresh air intelligent dust collector 3 is arranged on the mounting platform.

[0042] In this embodiment, a wall-attached air duct 4 is also installed in the excavation tunnel.

[0043] In this embodiment, a second automatic regulating damper 6 is provided at one end of the wall-attached air duct 4 close to the tunnel boring machine; a plurality of first automatic regulating dampers 5 are also provided on the wall-attached air duct 4 .

[0044] Example 2

[0045] refer to Figure 6 In order to better detect the dust concentration, this embodiment is further configured on the basis of the embodiment 1.

[0046] Preferably, the air collector 9 is provided with a video recognition dust concentration sensor 7 .

[0047] In this embodiment, the video recognition dust concentration sensor 7 is composed of network transmission, video data acquisition service, intelligent edge computing, host computer data storage and management, video dust concentration data API and application front end (desktop application, web application and mobile application). After the video data is collected, the dust concentration of dust per unit volume is calculated by intelligent algorithm, and after comparison and correction, it is displayed on a high-brightness display screen and the media storage is completed. And it is transmitted to various application terminals through the API interface for data management and display.

[0048] Among them, the algorithms in the video recognition dust concentration sensor 7 include: coal mine dust clarity processing algorithm, human figure recognition algorithm and large object blockage recognition. In the working face with high dust concentration, the clarity algorithm is the basis of the entire video recognition dust concentration sensor 7 image processing algorithm. Human figure recognition is a requirement to avoid accidents. And large object blockage recognition is the need for intelligent observation of large pieces of coal or stones blocking the dust hood opening, resulting in reduced dust removal efficiency. The above algorithms are all solidified in the intelligent edge computing unit.

[0049] In this embodiment, the image processing algorithm of the video recognition sensor is a coal mine underground fog and dust image clarity algorithm based on the dark primary color principle and principal component analysis. The algorithm is based on the atmospheric scattering model and calculates the transmittance according to the dark primary color principle; the principal component analysis method is used to obtain the brightness, saturation and contrast that can fully reflect the fog and dust image information, and the atmospheric light value is calculated by weighted processing of these indicators, thereby realizing the clarity of the coal mine underground fog and dust image. The simulation results show that the algorithm can restore the image details to a large extent, maintain the authenticity and structural integrity of the image, and has good real-time performance.

[0050] In this embodiment, on the basis of a priori clearing algorithm based on the dark primary principle (HE algorithm for short), a clearing algorithm for coal mine fog and dust images based on the dark primary principle and principal component analysis (PCA) method is proposed. The algorithm calculates the transmittance in the atmospheric scattering model according to the dark primary principle, and uses the PCA method to establish a linear relationship between the pixels of the fog and dust image, thereby improving the accuracy of atmospheric light value calculation. The algorithm has outstanding detail processing, can perform a more comprehensive processing on the entire image, and can effectively eliminate the impact of underground fog and dust on the monitoring screen.

[0051] The process of clearing fog and dust images in coal mines (such as Figure 6 ):

[0052] S1. According to the known coal mine fog and dust image, extract the pixel values ​​of the three color channels R, G, and B respectively, and compare them. The channel image with the smallest pixel value is regarded as the dark channel image. Calculate the transmittance according to the dark primary color principle.

[0053] S2. Based on the known image data matrix, calculate its covariance matrix, eigenvalues ​​and orthogonalized unit matrix.

[0054] S3. According to the three parameter values ​​obtained in step S2, the original data matrix of the fog and dust image is orthogonally transformed into comprehensive parameters, and the main parameters are selected using the PCA method.

[0055] S4. Assign corresponding weights to the main parameters and calculate the atmospheric light value.

[0056] S5. According to the transmittance and atmospheric light value, combined with the atmospheric scattering model, the fog and dust image is clarified.

[0057] In this embodiment, human behavior recognition is mainly divided into two processes: feature characterization and recognition and understanding of actions. Feature characterization is to extract features that can characterize the key information of the video from the video data. This process plays a key role in the entire recognition process. The quality of the features directly affects the final recognition effect. The action recognition and understanding stage uses the feature vector obtained in the previous stage as input to learn through the machine learning algorithm, and inputs the feature vector obtained in the test process or application scenario into the model obtained in the above process for type recognition.

[0058] In this embodiment, the large object blockage recognition algorithm can directly borrow the legacy recognition alarm algorithm. The overall idea of ​​the legacy recognition alarm algorithm is the inter-frame difference method, and SIFT feature matching or online learning is not used.

[0059] Large object blockage recognition algorithm:

[0060] The first frame is used to initialize Current_background and Buffer_background to calculate the abandoned objects through two background areas. Each frame updates Current_background. If the time interval is satisfied, update Buffer_background and abandoned background abandon_background, and update the counter; if the abandoned background is updated for the first time, assign the current value to the corresponding place according to the difference between current and buffer, and set the rest to 0.

[0061] Determine if the object has left. If the background pixels of the corresponding area of ​​abandon and current are different, the object has not left. Otherwise, it has left. If the object has left, update the corresponding area of ​​abandon with current, and copy the complete current to the buffer. If the object has not left, update the corresponding area of ​​the buffer with abandon, and abandon remains unchanged. Read the next frame and return.

[0062] Example 3

[0063] refer to Figure 2 In order to achieve the purpose of more efficient dust removal, this embodiment is further configured on the basis of embodiment 2.

[0064] Preferably, the regenerative fresh air intelligent dust collector 3 includes a dust removal housing 302 and a filter element 301;

[0065] The first end of the dust removal shell 302 is provided with an air inlet 308, and the air inlet 308 is connected to the negative pressure wind cylinder 11; the second end of the dust removal shell 302 is connected to the pneumatic fan 13 through a soft link 303; the filter element 301 is arranged in the inner cavity of the dust removal shell 302 near the air inlet 308; the automatic unloading mechanism 12 is arranged at the bottom of the dust removal shell 302.

[0066] Preferably, the pneumatic fan 13 includes a dust removal duct, a fan impeller 307 and a pneumatic motor 305;

[0067] The first side of the fan impeller 307 is connected to the second end of the dust removal shell 302, and the second side of the fan impeller 307 is connected to the first end of the dust removal pipe; the second end of the dust removal pipe is connected to the coal dust inhibitor membrane mass transfer scrubber 1; the pneumatic motor 305 is arranged in the dust removal pipe, and the output end of the pneumatic motor 305 is connected to the fan impeller 307; the dust removal pipe is also provided with a pneumatic triplex 304.

[0068] In this embodiment, the second end of the dust removal duct is an air outlet 306 .

[0069] In this embodiment, the fan impeller 307 uses a glass fiber reinforced plastic impeller to avoid sparks caused by the friction between the impeller and the fan housing due to deformation of the fan housing or eccentric rotation of the motor, which may cause unsafe factors. The impeller blade angle is 35°, the number of blades is designed to be 6, and the blade diameter is 560mm. The fan housing material also uses a 3mm thick low-carbon steel sheet, that is, two sheets of 914mm×600mm are bent into a 180° semicircular arc by a bending machine, and then the two semicircular arcs are welded to form the housing of the pneumatic fan.

[0070] When assembling the fan, place the air motor 305 at the center of the fan housing, use angle steel to initially fix the air motor 305 at the center of the fan housing, arrange the dust removal duct, install the fan impeller 307 on the air motor 305, rotate the fan impeller 307 to observe the gap between the fan impeller 307 and the fan housing, and ensure that there is no friction or collision between the fan impeller 307 and the fan housing. Finally, fix the air motor 305 firmly.

[0071] In this embodiment, adaptive following of the tunnel boring machine is required, and therefore the automatic walking mechanism is a tracked following robot. The tracked following robot is an important component of building a human-machine integrated environment, and the performance of its detector is a decisive factor affecting the following capability.

[0072] In this embodiment, a method for establishing a random map under complex terrain based on a grid map is proposed by classifying and modeling complex terrain features. Based on the improved laser radar detection method, a data set suitable for following robots is established to optimize camera detection, and a multi-sensor fusion method based on detection confidence weighting is proposed for laser radar and camera to realize following robot detection and tracking based on multi-sensor fusion. There are three key technologies involved:

[0073] a. Positioning and following method based on LiDAR. In single LiDAR detection, the traditional LiDAR clustering detection method based on the geometric features of the bottom laser points has low accuracy and cannot distinguish objects with similar geometric features. Therefore, the improved DROW LiDAR deep learning target detection algorithm is adopted. In view of the problem that the features of LiDAR data are not obvious, the autoregressive model is used to update the temporal information aggregation instead of the cumulative aggregation method to enrich the spatial features of LiDAR points and effectively reduce the computational cost. By adding the convolutional attention mechanism and utilizing the feature similarity between adjacent LiDAR detection frames, the temporal aggregation features caused by the self-motion of the robot and the tunnel boring machine are aligned to achieve real-time and accurate detection of the spatial position of the tunnel boring machine.

[0074] b. Positioning and following method based on deep vision. A detection and tracking model combining YOLO and DeepSort is used. In view of the lack of a tunnel boring machine detection dataset with following scene annotation information for the camera detector, a dataset suitable for following robot target detection is proposed to conduct targeted optimization training for the detector, and the dataset is enhanced according to the actual working status of the robot. The average AP of the optimized detection model reaches 0.934, and the harmonic mean F1 of precision and recall rate reaches up to 0.91, which effectively improves the accuracy of the robot's actual following scene detection.

[0075] The DeepSort algorithm is used in the tracker. The motion information of the tracked target is associated by adding the Mahalanobis distance, the appearance information of the tracked target is associated by the cosine distance, and the motion and appearance scales are fused and cascade matched to improve the robustness of tracking. The tracker is combined with the detection model trained by the CHD dataset and the established following dataset model to be evaluated and compared on MOT16, which proves that the DeepSort algorithm has good tracking performance.

[0076] c. Multi-source fusion positioning and following method based on extenics. Since the positioning and following methods using laser and vision will be affected by dust to a certain extent, wireless positioning technology needs to be introduced to achieve stable following of the robot to the tunnel boring machine. The wireless positioning method can be free from interference from environmental dust. With the development of UWB / RFID and other methods that use the detection of wireless signal strength to achieve ranging, the current wireless positioning accuracy can reach about 10 to 20 cm.

[0077] Based on the hierarchical control architecture, the upper layer extension measurement pattern recognition algorithm combines the extension set theory with the trajectory tracking state of the roadheader and selects the preview lateral position error y L and road curvature ρ as the extension control feature quantity, forming the characteristic state S(y L ,ρ), through the curvature-based error tolerance band adaptive extension set region partitioning method, the extension set is divided into classical domain, extension domain and non-domain, corresponding to different states of the trajectory tracking control process. The correlation function is solved by using the extension distance theory, and the measurement mode recognition of the trajectory tracking control process is performed, corresponding to the measurement modes M1, M2 and M3 respectively. Based on the upper-level measurement mode recognition, the lower-level switching control algorithm combines feedback control and feedforward-feedback control to design control strategies under three measurement modes, obtain the front wheel angle control output, and realize the extension switching trajectory tracking control according to the tracking state change.

[0078] Example 4

[0079] refer to Figure 3In order to dehydrate and separate, the purified gas is directly discharged into the atmosphere. The washing liquid after separation can flow directly back to the sedimentation tank and be recycled after sedimentation or filtration. The sludge is discharged regularly and can also be directly discharged into the sewage treatment system. This embodiment is further arranged on the basis of Example 3.

[0080] Preferably, the coal dust suppressant membrane mass transfer scrubber 1 comprises a scrubbing housing 105;

[0081] An air inlet 101 and an air outlet 107 are arranged opposite to each other on both sides of the air washing housing 105, and the air inlet 101 is connected to the pneumatic fan 13; a water inlet 102 is arranged on one side of the air washing housing 105 close to the air inlet 101, and the water inlet 102 is connected to the automatic water supply mechanism 2 through an intelligent pipeline liquid adding automatic mixing mechanism 15; a sewage trough 108 is arranged at the bottom of the air washing housing 105, and a sewage outlet 109 connected to the sewage trough 108 is arranged on one side of the air washing housing 105 close to the air outlet 107;

[0082] The inner cavity of the air washing housing 105 is provided with an impeller 103 , a guide plate 104 and a dehydrator 106 in sequence from the air inlet 101 to the air outlet 107 .

[0083] Preferably, the coal dust suppressant membrane mass transfer scrubber 1 is also equipped with a device for dispersing or quantitatively adding the dust suppressant.

[0084] In this embodiment, the sewage outlet is provided with a sewage discharge mechanism 16 for automatic sewage discharge.

[0085] In this embodiment, the sewage discharge mechanism 16 can realize real-time monitoring of the process flow, process parameters, etc. in the sewage discharge process through the control of the process and the intelligent control technology, and can also collect and analyze relevant data, and finally control the operation of the equipment on site according to the results of the analysis.

[0086] The sewage discharge mechanism 16 performs online monitoring. The online monitoring function can display the process flow in a dynamic form on the computer screen, and can also display the operating status of the on-site equipment and some important process parameters on the interface. If necessary, the operating status of the system can be intervened through the keyboard, mouse, touch screen, etc.

[0087] The sewage discharge mechanism 16 can diagnose and alarm the faults. When the equipment in the intelligent control system fails during operation, the fault diagnosis function of the system can detect and analyze the faults, find the location and cause of the faults, and then alarm the faults. In addition, the fault diagnosis function can also analyze and adjust some simple accidents to ensure the stable operation of the system.

[0088] In this embodiment, if the concentration of sewage is too high, the equipment will use the method of human-like intelligent fuzzy control to measure the concentration value of the sewage, automatically input the concentration value, error and error rate, and after internal analysis and determination, it will automatically open the electric valve and control the valve size according to the concentration, thereby achieving the effect of effectively controlling the valve opening.

[0089] The automatic control equipment will develop a concentration curve based on the concentration value of the sewage and implement corresponding nonlinear gain compensation. After the static change of concentration is compensated accordingly, a complete nonlinear control model can be established, and then a closed-loop treatment method can be implemented to accurately control the concentration value of the sewage.

[0090] During the sewage discharge process, the automatic control equipment will inject water into the concentration value controller, thereby accurately estimating the positive lag amplification factor of the sewage, and effectively combining it with the delay model of the conversion timing, thereby calculating the lag time in the sewage treatment process.

[0091] In this embodiment, a three-dimensional geometric model is established in Solidworks according to the actual size of the coal dust inhibitor membrane mass transfer scrubber 1, the internal flow field model of the scrubber is obtained by WORKBECH division, and the flow field is meshed in ICEM software. Finally, Fluent software is used to perform numerical simulation analysis on the air single-phase flow field, air-dust-solid particle two-phase flow, and air-dust solid particle-water mist droplet three-phase flow in the coal dust inhibitor membrane mass transfer scrubber 1.

[0092] In this embodiment, an adaptive fuzzy control system is used to control the coal dust inhibitor membrane mass transfer scrubber 1, and a dust concentration sensor is used to monitor the concentration on site. Through an evaluation mechanism, an adaptive control algorithm fine-tunes the fan frequency, thereby improving the environmental protection effect of the dust removal fan system and effectively reducing energy consumption.

[0093] Adaptive fuzzy control rules can be achieved through computer programming. The microcomputer obtains the precise value of the control quantity through sampling, and then subtracts it from the given value to obtain the deviation signal.

[0094] First, the precise value of the deviation signal needs to be converted into a fuzzy value through fuzzy quantization processing, and then described through fuzzy language to obtain the fuzzy language set of the deviation signal. Then, according to the reasoning synthesis rule, the control decision is made based on the obtained subset and fuzzy control rules, and the fuzzy control quantity is obtained. In order to accurately control the control object, the fuzzy quantity must also be converted into a precise quantity, which is the defuzzification process in the figure. The obtained precise quantity is sent to the actuator after data conversion to accurately control the controlled object.

[0095] The structural design of the adaptive fuzzy controller is to determine the input and output of the fuzzy controller. The adaptive fuzzy controller is also divided into single-variable fuzzy controller and multi-variable fuzzy controller from the perspective of the number of variables. As the name implies, the single-variable fuzzy controller has only one independent external input variable. The number of inputs of the single-variable fuzzy controller is called the dimension of the fuzzy controller. Among them, the two-dimensional adaptive fuzzy controller is the most widely used. Its input is the deviation E and the deviation change rate EC, and its output is the control quantity U.

[0096] In order to make the adaptive fuzzy controller have better performance, the automatic control system of the coal dust inhibitor membrane mass transfer scrubber uses a two-dimensional adaptive fuzzy controller. The deviation e between the dust concentration value and the set concentration value and its change rate ec are the two input variables of the two-dimensional fuzzy controller, and the frequency compensation u of the fan inverter is the output variable of the two-dimensional adaptive fuzzy controller. After factor transformation, e, ec, and u correspond to the fuzzy language sets E, Ec, and U.

[0097] Fuzzy conditional statements are the manifestation of fuzzy control rules. In these statements, the state of input and output variables is described as a set of words, which is also called a fuzzy variable word set. The number of words has a certain impact on the performance of the controller: when the vocabulary is large, the control rules are complex; when the vocabulary is too small, the variable description is rough, which will make the performance of the controller worse. The language used to describe the input and output of the fuzzy controller of this system is; {NB, NM, NS, Z, PS, PM, PB}, which respectively represent negative large, negative medium, negative small, zero, positive small, positive medium, and positive large.

[0098] In the control and monitoring system of the membrane mass transfer scrubber of coal dust inhibitor, the system uses a frequency converter to control the fan speed. The control quantity output by the fuzzy control is the frequency compensation quantity of the frequency converter. The frequency converter adjusts the output voltage frequency according to the input frequency compensation quantity to adjust the frequency of the membrane mass transfer scrubber of coal dust inhibitor.

[0099] When designing fuzzy control rules, the most important thing is to make the system's output response have good dynamic and static characteristics. When the deviation is large, it is necessary to select a control quantity that can quickly reduce the deviation; when the deviation is small, it is necessary to prevent overshoot as a reference standard for selecting the control quantity. The main purpose is to ensure the stability of the system. Defuzzification is to obtain the exact value of the control quantity from the membership function of the fuzzy controller. There are many defuzzification algorithms. The centroid method is used in the defuzzification of the environmental protection and energy-saving monitoring system of the coal dust inhibitor membrane mass transfer scrubber, that is, the centroid of the area enclosed by the membership curve and the horizontal axis is used as the output value.

[0100] Example 5

[0101] refer to Figure 4In order to collect all the dust at the dust source point, this embodiment is further configured on the basis of embodiment 4.

[0102] Preferably, the large suction adaptive dust hood assembly 8 includes three first dust hoods 801 and two second dust hoods 802;

[0103] One of the first dust collecting covers 801 is located above the tunneling gun head of the tunnel boring machine 10, and the other two first dust collecting covers 801 are relatively arranged on both sides of the tunneling gun head of the tunnel boring machine 10;

[0104] Two second dust collecting covers 802 are arranged oppositely on both sides of the tunnel boring machine 10;

[0105] The first dust collecting hood 801 and the second dust collecting hood 802 are both connected to the air collector 9 .

[0106] Preferably, two first dust collecting covers 801 relatively arranged on both sides of the tunneling gun head of the tunneling machine 10 are installed on the tunneling machine 10 through a multi-degree-of-freedom mechanical arm 803.

[0107] In this embodiment, the multi-degree-of-freedom mechanical arm 803 includes a telescopic component 8031 ​​and a rotating mechanism 8032;

[0108] The rotating mechanism 8032 is arranged on the tunnel boring machine 10 , and is provided with a support rod. One end of the support rod away from the rotating mechanism 8032 is hinged to the first dust collecting hood 801 ; the telescopic end of the telescopic assembly 8031 ​​is hinged to the first dust collecting hood 801 , and the second end is hinged to the rotating mechanism 8032 .

[0109] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An intelligent dust removal system for regenerating fresh air at a tunneling working face, characterized in that: include: A regenerative fresh air intelligent dust collector, wherein a negative pressure air duct is installed at the suction end of the regenerative fresh air intelligent dust collector, and an end of the negative pressure air duct away from the regenerative fresh air intelligent dust collector is connected to the output end of the air collector; A large suction self-adaptive dust hood assembly, which is installed at one end of the tunnel boring machine close to the tunnel boring gun head; the large suction self-adaptive dust hood assembly is connected to the suction end of the air collector; An automatic unloading mechanism is installed at the bottom of the regenerative fresh air intelligent dust collector, and a pneumatic fan is connected to the side of the regenerative fresh air intelligent dust collector away from the negative pressure wind tube; the pneumatic fan is connected to a coal dust inhibitor membrane mass transfer scrubber through a pipeline.

2. According to claim 1, the intelligent dust removal system for regenerating fresh air at the excavation working face is characterized in that: It also includes an automatic walking mechanism, a mounting platform is arranged on the top of the automatic walking mechanism, and the regenerated fresh air intelligent dust collector is arranged on the mounting platform.

3. The intelligent dust removal system for regenerating fresh air at the excavation working face according to claim 2 is characterized in that: The air collector is provided with a video recognition dust concentration sensor.

4. The intelligent dust removal system for regenerating fresh air at the excavation working face according to claim 1 is characterized in that: The regenerative fresh air intelligent dust collector comprises a dust removal housing and a filter element; The first end of the dust removal shell is provided with an air inlet, and the air inlet is connected to the negative pressure wind cylinder; the second end of the dust removal shell is connected to the pneumatic fan through a soft link; the filter element is arranged in the inner cavity of the dust removal shell near the air inlet; the automatic unloading mechanism is arranged at the bottom of the dust removal shell.

5. The intelligent dust removal system for regenerating fresh air at the excavation working face according to claim 4 is characterized in that: The pneumatic fan comprises a dust removal duct, a fan impeller and a pneumatic motor; The first side of the fan impeller is connected to the second end of the dust removal shell, and the second side of the fan impeller is connected to the first end of the dust removal pipe; the second end of the dust removal pipe is connected to the coal dust inhibitor membrane mass transfer scrubber; the pneumatic motor is arranged in the dust removal pipe, and the output end of the pneumatic motor is connected to the fan impeller; the dust removal pipe is also provided with a pneumatic triplet.

6. The intelligent dust removal system for regenerating fresh air at the excavation working face according to claim 1 is characterized in that: The coal dust inhibitor membrane mass transfer scrubber comprises a scrubbing shell; An air inlet and an air outlet are arranged opposite to each other on both sides of the air washing shell, and the air inlet is connected to the pneumatic fan; a water inlet is arranged on one side of the air washing shell close to the air inlet, and the water inlet is connected to an automatic water supply mechanism through an intelligent pipeline liquid adding automatic mixing mechanism; a sewage trough is arranged at the bottom of the air washing shell, and a sewage outlet connected to the sewage trough is arranged on one side of the air washing shell close to the air outlet; The inner cavity of the air washing shell is provided with an impeller, a guide plate and a dehydrator in sequence from the air inlet to the air outlet.

7. The intelligent dust removal system for regenerating fresh air at the excavation working face according to claim 1 is characterized in that: The large suction adaptive dust hood assembly includes three first dust hoods and two second dust hoods; One of the first dust collecting covers is located above the tunneling gun head of the tunneling machine, and the other two first dust collecting covers are relatively arranged on both sides of the tunneling gun head of the tunneling machine; Two of the second dust collecting covers are arranged oppositely on two sides of the tunneling machine; The first dust collecting hood and the second dust collecting hood are both connected to the air collector.

8. The intelligent dust removal system for regenerating fresh air at the excavation working face according to claim 7 is characterized in that: The two first dust collecting covers which are relatively arranged on both sides of the tunneling gun head of the tunneling machine are installed on the tunneling machine through a multi-degree-of-freedom mechanical arm.

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