Control system and method for automatic calibration and accurate measurement of cutting height of digging and anchoring all-in-one machine

Abstract

The invention provides an automatic calibration and accurate measurement control system and method for the cutting height of a digging and anchoring all-in-one machine, and relates to the technical field of intelligent control, and the method comprises the steps that a main controller collects the information of a displacement sensor, and calculates the initial angle and the actual angle of the cutting height control system of the digging and anchoring all-in-one machine; according to the set parameters, the installation angle of the cutting height control mechanism of the digging and anchoring all-in-one machine is calculated; calculating the real-time height of the cutting roller of the digging and anchoring integrated machine according to the cutting height accurate measurement algorithm software; and comparing the real-time height of the cutting roller of the digging and anchoring all-in-one machine with the upper limit of the cutting height and the lower limit of the cutting height, and controlling a solenoid valve of a lifting oil cylinder of a cutting arm to act until the cutting roller reaches the target height. According to the invention, the quality of the top and bottom plates of the roadway can be improved, the working efficiency of roadway tunneling is improved, and the intelligent and automatic level of roadway tunneling is improved.

Description

Technical Field

[0001] The invention relates to the field of intelligent control technology, and in particular to an automatic calibration and precise measurement control method for the cutting height of an integrated anchor-digger. Background Art

[0002] Constrained by the geological conditions of the coal seam, different coal mine tunnels have clear requirements for their height when they are designed, and different types of tunnels also have clear regulations on their height errors. Accurate control of tunnel excavation height is one of the key factors to ensure the safe use of tunnels and the safety of miners. Limited by the technical level, the control accuracy of height during tunnel excavation is not high, and the measured height deviates greatly from the actual height, resulting in serious over-excavation and under-excavation of the roof and floor, insufficient flatness of the roof and floor, and the actual tunnel height cannot meet the design requirements, which poses a major safety hazard in tunnel use and miner safety.

[0003] Therefore, how to achieve accurate measurement and control of the cutting height during tunnel excavation, ensure the safety of tunnel use and the personal safety of miners, and build high-quality tunnels that are flat, highly accurate, and adapted to the geological conditions of the coal seam has become a key issue that needs to be urgently resolved in the process of tunnel excavation. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic calibration and precise measurement control method for the cutting height of an integrated excavator and anchoring machine, which can improve the quality of the tunnel top and bottom plates, improve the work efficiency of tunnel excavation, and enhance the intelligence and automation level of tunnel excavation.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In the first aspect, the cutting height automatic calibration and precise measurement control method of the anchoring and digging machine includes:

[0007] Step 1: Build the communication network between the main controller and the execution controller, the main controller and the remote control system, and the main controller and the display;

[0008] Step 2: Automatically calibrate and measure the cutting height of the anchoring and digging machine;

[0009] Step 3: Set and display the height of the hinge point from the ground, the length of the boom, the length of arm 1, the length of arm 2, the initial length of the cutting arm lifting cylinder, the radius of the drum, the upper limit of the cutting height, and the lower limit of the cutting height;

[0010] Step 4: The main controller collects information from the displacement sensor and calculates the initial angle and actual angle of the cutting height control system of the anchor and digger; calculates the installation angle of the cutting height control mechanism of the anchor and digger according to the set parameters; calculates the real-time height of the cutting drum of the anchor and digger according to the cutting height accurate measurement algorithm software;

[0011] Step 5: Compare the real-time height of the cutting drum of the anchor and miner with the upper and lower limits of the cutting height, and control the solenoid valve of the cutting arm lifting cylinder until the cutting drum reaches the target height.

[0012] Furthermore, a communication network is constructed between the main controller and the execution controller, the main controller and the remote control system, and the main controller and the display, including:

[0013] The main controller issues control instructions to the execution controller via the CAN bus to control the opening and closing of the electromagnetic valve of the cutting arm lifting cylinder of the anchor-mining machine, and the size of the opening, so as to control the lifting action and speed of the cutting arm.

[0014] The main controller receives the cutting displacement sensor calibration, cutting initial angle calibration, and parameter setting instructions sent by the operating system through the CAN bus, and completes the sensor calibration, initial angle calibration, and parameter setting; the main controller receives the cutting arm lifting instructions sent by the operating system through the CAN bus, and after internal calculation, issues instructions to the execution controller to control the cutting arm lifting action;

[0015] The communication method between the main controller and the human-machine interface is ModbusTCP. The human-machine interface is the communication master station, and the main controller is the communication slave station. The master station sends control instructions to the slave station to read the height of the articulated point from the ground, the length of the upper arm, the length of the arm 1, the length of the arm 2, the initial length of the cutting arm lifting cylinder, the roller radius, the upper limit of the cutting height, the lower limit of the cutting height, and display them on the human-machine interface parameter setting interface.

[0016] Furthermore, the cutting height of the anchoring and digging machine is automatically calibrated and measured, including:

[0017] The two sides of the triangular structure L1, i.e. the small arm 1, and L2, i.e. the small arm 2, are hinged at point A, with a fixed length. The length L3, i.e. the small arm 3, can be changed by controlling the extension and retraction of the oil cylinder. The original length of the small arm 3 when it is not extended is L3′. The displacement sensor built into the oil cylinder is L4 long. The small arm 2 and the fixed-length connecting arm L′ drive the cutting drum up and down together. Specifically, the operating system controls the output of the solenoid valve to make the oil cylinder extend and retract, and the length L3 of the triangular structure small arm 3 changes, thereby driving the cutting drum to rise and fall.

[0018] The triangular structure and the equipment are hinged at a fixed point A. The height of the hinge point A from the ground is fixed at h. The length between the hinge point A and the center point of the drum is a fixed length L, that is, the length of the boom. The angle between the boom and the vertical direction is a, the angle between arm 1 and arm 2 is b, and the radius of the drum is R. When the lower edge of the cutting drum is flush with the ground, it is defined as the initial position. At the initial position, the angle between the boom and the vertical direction is the installation angle, which is set as a1; the angle between arm 1 and arm 2 is the initial angle, which is set as b1.

[0019] When the forearm 3 is not extended, the displacement measured by the displacement sensor should be 0. The displacement sensor is calibrated as follows:

[0020] The operating drum is lowered to fully retract the cylinder. The cylinder length L3 is its original length L3′. The operating system sends a zero-position calibration command for the displacement sensor. The sensor values ​​for a certain period of time are collected and filtered. The filtering result x1 is the zero-position collection value of the sensor after calibration. The operating drum is raised to fully extend the cylinder. The cylinder length L3 is L3′+L4. The operating system sends a maximum-position calibration command for the displacement sensor. The sensor values ​​for a certain period of time are collected and filtered. The filtering result x2 is the maximum-position collection value of the sensor after calibration. At this point, the sensor calibration is completed.

[0021] Furthermore, the angle between the upper arm and the vertical direction at the initial position is the installation angle, which is set to a1, wherein the calculation process of a1 includes:

[0022] Operate the roller to make the bottom edge of the roller flush with the ground. Assume that the height of the roller center from the ground is H, H = R;

[0023] Among them, the height of the center point of the roller from the ground is the roller radius R. According to the trigonometric function hR=L*cos(a), at this time the angle a=arccos((hR) / L), which is the installation angle a1.

[0024] Furthermore, the angle between the forearm 1 and the forearm 2 is an initial angle, which is set to b1, wherein the calculation process of b1 includes:

[0025] When the bottom edge of the roller is flush with the ground, the displacement sensor collects the value x3, the extension displacement of the oil cylinder is L4*(x3-x1) / (x2-x1), the length of the arm 3 is L3=L3′+L4*(x3-x1) / (x2-x1), according to the cosine theorem, the angle b between the arm 1 and the arm 2 is arccos((L1 2 +L2 2 -L3 2 ) / 2*L1*L2), which is the initial angle b1.

[0026] Furthermore, the height of the hinge point from the ground, the length of the boom, the length of the arm 1, the length of the arm 2, the initial length of the cutting arm lifting cylinder, the radius of the drum, the upper limit of the cutting height, and the lower limit of the cutting height are set and displayed, including:

[0027] The operating system sends parameter setting instructions to the main controller through the CAN bus communication method, and sends the height h of the hinge point from the ground, the length L of the big arm, the length L1 of the small arm 1, the length L2 of the small arm 2, the initial length L3′ of the cutting arm lifting cylinder, the radius R of the drum, the upper limit Hmax of the cutting height, and the lower limit Hmin of the cutting height to the main controller, and the main controller saves the received parameters in the power-off holding area;

[0028] As the master station of ModbusTCP communication, the human-machine interface sends a read command to the main controller to read the set articulation point height from the ground, boom length, arm 1 length, arm 2 length, initial length of the cutting arm lifting cylinder, drum radius, and cutting height upper and lower limits;

[0029] After receiving the instruction, the main controller sends the corresponding parameters read to the human-machine interface to realize the visualization of the setting parameters.

[0030] Furthermore, the main controller collects information from the displacement sensor, calculates the initial angle and actual angle of the cutting height control system of the anchoring and digging machine; calculates the installation angle of the cutting height control mechanism of the anchoring and digging machine according to the setting parameters; calculates the real-time height of the cutting drum of the anchoring and digging machine according to the cutting height accurate measurement algorithm software, including:

[0031] The output signal of the cutting displacement sensor is a 4-20mA current analog signal, which is converted into a 1-5V voltage analog signal through the signal isolation barrier. The signal is collected by the analog quantity acquisition module and then read by the main controller; the displacement sensor range is L4, then 1V corresponds to the current value of the displacement sensor is 0mm, and 5V corresponds to the displacement value of the displacement sensor is L4mm; 0V corresponds to the analog acquisition value of the main controller is 0, and 5V corresponds to the analog acquisition value of the main controller is x2. The current analog acquisition value of the displacement sensor is x, and the current displacement of the displacement sensor is Lc. At this time, the displacement of the displacement sensor Lc=L4*x / x2, and the current angle between the forearm 1 and the forearm 2 is: b=arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2);

[0032] Initial angle between forearm 1 and forearm 2:

[0033] b1=arccos((L1 2 +L2 2 -L3 2 ) / 2*L1*L2)=arccos((L1 2 +L2 2 -(L3′

[0034] +L4*x3 / x2) 2 ) / 2*L1*L2)

[0035] Read parameter information, the height of the hinge point from the ground h, the radius of the drum R, and calculate the installation angle of the cutting height control mechanism: a1 = arccos ((hR) / L); the current angle between the boom and the vertical direction:

[0036] a=a1+b-b1=arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2)

[0037] -arccos((L1 2 +L2 2 -(L3′+L4*x3 / x2) 2 ) / 2*L1*L2);

[0038] Real-time height of roller center from ground:

[0039] H=hL*cos(arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2)

[0040] -arccos((L1 2 +L2 2 -(L3′+L4*x3 / x2) 2 ) / 2*L1*L2)).

[0041] Furthermore, the real-time height of the cutting drum of the anchor-mining machine is compared with the upper and lower limits of the cutting height, and the solenoid valve of the cutting arm lifting cylinder is controlled to move until the cutting drum reaches the target height, including:

[0042] Read parameter information, cutting height upper limit H max , Cutting height lower limit H min ;

[0043] When the main controller receives the command to control the cutting drum to rise, it compares the real-time height H with the upper limit of the cutting height H. max Relationship:

[0044] When H <H max When the operating system sends a cutting drum lifting command, the corresponding solenoid valve opens and the cutting drum rises until it reaches a height H. max ;

[0045] When H ≥ H max ,When the operating system sends the command to raise the cutting drum, the corresponding ,solenoid valve does not open and the cutting drum stops rising;

[0046] When the main controller receives the command to control the cutting drum to descend, it compares the real-time height H with the upper limit of the cutting height H. min Relationship:

[0047] When H≤H min ,When the operating system sends the cutting drum lowering command, the corresponding ,electromagnetic valve does not open and the cutting drum stops descending;

[0048] When H>H min When the operating system sends a cutting drum lowering command, the corresponding solenoid valve opens and the cutting drum descends until it reaches a height H. min .

[0049] In a second aspect, a computing device includes:

[0050] one or more processors;

[0051] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0052] In a third aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described above is implemented.

[0053] The above scheme of the present invention includes at least the following beneficial effects.

[0054] The present invention automatically calibrates the cutting displacement sensor and simultaneously improves the cutting height measurement accuracy; the present invention automatically controls the boundary cutting height, which can significantly improve the flatness of the tunnel top and bottom plate, and at the same time, the cutting efficiency is also qualitatively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of various modules in the method for automatic calibration and precise measurement control of the cutting height of an integrated drilling and anchoring machine provided in an embodiment of the present invention.

[0056] Figure 2 It is a schematic diagram of the automatic calibration and precise measurement process of the cutting height of an integrated digging and anchoring machine in a data collection method applicable to mining equipment provided by an embodiment of the present invention.

[0057] Figure 3 It is a schematic diagram of the cutting mechanism model of the integrated digging and anchoring machine in the data collection method applicable to mining equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying 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. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0059] like Figures 1 to 3 As shown, an embodiment of the present invention provides a method for automatic calibration and precise measurement control of the cutting height of an integrated anchoring and digging machine, comprising:

[0060] Step 1: Build the communication network between the main controller and the execution controller, the main controller and the remote control system, and the main controller and the display;

[0061] Step 2: Automatically calibrate and measure the cutting height of the anchoring and digging machine;

[0062] Step 3: Set and display the height of the hinge point from the ground, the length of the boom, the length of arm 1, the length of arm 2, the initial length of the cutting arm lifting cylinder, the radius of the drum, the upper limit of the cutting height, and the lower limit of the cutting height;

[0063] Step 4: The main controller collects information from the displacement sensor and calculates the initial angle and actual angle of the cutting height control system of the anchor and digger; calculates the installation angle of the cutting height control mechanism of the anchor and digger according to the set parameters; calculates the real-time height of the cutting drum of the anchor and digger according to the cutting height accurate measurement algorithm software;

[0064] Step 5: Compare the real-time height of the cutting drum of the anchor and mining machine with the upper and lower limits of the cutting height, and control the solenoid valve of the cutting arm lifting cylinder until the cutting drum reaches the target height.

[0065] In the embodiment of the present invention, through automatic calibration and precise measurement and control, the integrated digging and anchoring machine can more accurately control the height of the cutting drum, thereby improving the accuracy of the digging and anchoring operations. This improvement in accuracy not only helps to reduce material waste, but also improves operating efficiency, because the machine does not need to be frequently adjusted manually. The automated control system simplifies the operation process and reduces the requirements for the operator's skill level. At the same time, since human intervention is reduced, the risk of safety accidents caused by improper operation is also reduced. The system can monitor various parameters of the integrated digging and anchoring machine in real time, including cutting height, and provide instant feedback to the operator through the display. This real-time monitoring function helps the operator to understand the working status of the machine at any time and make corresponding adjustments. Through precise measurement and control, the integrated digging and anchoring machine can better adapt to different working environments and operating requirements, thereby achieving optimal allocation of resources. The method integrates advanced sensing technology, computing technology and control technology, and significantly improves the intelligence level of the integrated digging and anchoring machine. This intelligence is not only reflected in the operation process, but also in the self-management and self-diagnosis of the machine.

[0066] In an embodiment of the present invention, a communication network is constructed between the main controller and the execution controller, the main controller and the remote control system, and the main controller and the display, including:

[0067] The main controller issues control instructions to the execution controller via the CAN bus to control the opening and closing of the electromagnetic valve of the cutting arm lifting cylinder of the anchor-mining machine, and the size of the opening, so as to control the lifting action and speed of the cutting arm.

[0068] The main controller receives the cutting displacement sensor calibration, cutting initial angle calibration, and parameter setting instructions sent by the operating system through the CAN bus, and completes the sensor calibration, initial angle calibration, and parameter setting; the main controller receives the cutting arm lifting instructions sent by the operating system through the CAN bus, and after internal calculation, issues instructions to the execution controller to control the cutting arm lifting action;

[0069] The communication method between the main controller and the human-machine interface is ModbusTCP. The human-machine interface is the communication master station, and the main controller is the communication slave station. The master station sends control instructions to the slave station to read the height of the articulated point from the ground, the length of the upper arm, the length of the arm 1, the length of the arm 2, the initial length of the cutting arm lifting cylinder, the roller radius, the upper limit of the cutting height, the lower limit of the cutting height, and display them on the human-machine interface parameter setting interface.

[0070] In the embodiment of the present invention, the main controller can efficiently issue control instructions to the execution controller and receive various instructions and data from the operating system through the CAN bus. This high-speed and reliable data transmission method ensures that the anchor-mining machine can quickly respond to operating instructions during operation and realize real-time control and monitoring. The main controller receives the cutting displacement sensor calibration, cutting initial angle calibration, parameter setting instructions, etc. of the operating system through the CAN bus, making the control method of the anchor-mining machine more flexible and diverse. This flexibility is not only reflected in the adjustment of operating parameters, but also in the real-time monitoring and calibration of the machine's operating status, thereby improving the machine's operating accuracy and stability. Through the ModbusTCP communication method, efficient data exchange is achieved between the main controller and the human-machine interface. As a communication master station, the human-machine interface can easily read and display various operating parameters, such as the height of the articulation point from the ground, the length of the boom, etc. This intuitive and friendly human-machine interaction interface enables the operator to easily understand the working status of the machine and make necessary adjustments and controls. By building a complete communication network, the various parts of the anchor-mining machine can work closely together to form an organic whole. This systematic design not only improves the reliability of the machine, but also enhances its stability in complex working environments. Even in the face of various interferences and challenges, the anchor and miner can maintain stable operating performance.

[0071] In an embodiment of the present invention, automatic calibration and measurement of the cutting height of the anchoring and digging machine are performed, including:

[0072] The two sides of the triangular structure L1, i.e. the small arm 1, and L2, i.e. the small arm 2, are hinged at point A, with a fixed length. The length L3, i.e. the small arm 3, can be changed by controlling the extension and retraction of the oil cylinder. The original length of the small arm 3 when it is not extended is L3′. The displacement sensor built into the oil cylinder is L4 long. The small arm 2 and the fixed-length connecting arm L′ drive the cutting drum up and down together. Specifically, the operating system controls the output of the solenoid valve to make the oil cylinder extend and retract, and the length L3 of the triangular structure small arm 3 changes, thereby driving the cutting drum to rise and fall.

[0073] The triangular structure and the equipment are hinged at a fixed point A. The height of the hinge point A from the ground is fixed at h. The length between the hinge point A and the center point of the drum is a fixed length L, that is, the length of the boom. The angle between the boom and the vertical direction is a, the angle between arm 1 and arm 2 is b, and the radius of the drum is R. When the lower edge of the cutting drum is flush with the ground, it is defined as the initial position. At the initial position, the angle between the boom and the vertical direction is the installation angle, which is set as a1; the angle between arm 1 and arm 2 is the initial angle, which is set as b1.

[0074] When the forearm 3 is not extended, the displacement measured by the displacement sensor should be 0. The displacement sensor is calibrated as follows:

[0075] The operating drum is lowered to fully retract the cylinder. The cylinder length L3 is its original length L3′. The operating system sends a zero-position calibration command for the displacement sensor. The sensor values ​​for a certain period of time are collected and filtered. The filtering result x1 is the zero-position collection value of the sensor after calibration. The operating drum is raised to fully extend the cylinder. The cylinder length L3 is L3′+L4. The operating system sends a maximum-position calibration command for the displacement sensor. The sensor values ​​for a certain period of time are collected and filtered. The filtering result x2 is the maximum-position collection value of the sensor after calibration. At this point, the sensor calibration is completed.

[0076] In the embodiment of the present invention, by calibrating the displacement sensor, including zero position calibration and maximum position calibration, the accuracy of the sensor output can be ensured, thereby improving the measurement accuracy of the cutting height of the anchoring and digging machine. Accurate cutting height measurement and control help avoid collision between the cutting drum and the ground or other obstacles, thereby reducing the risk of equipment damage and personal injury. Through automatic calibration, the deviation of the sensor can be discovered and corrected in time to ensure the safety of the operation process. Accurate cutting height measurement can reduce unnecessary adjustment time of the anchoring and digging machine during operation and improve operation efficiency. At the same time, through the automatic control system, the lifting and lowering action of the cutting drum can be quickly and accurately controlled, further saving operation time. Through regular calibration of the sensor, possible problems of the sensor can be discovered and handled in time, extending the service life of the equipment. At the same time, the data collected during the calibration process can also provide valuable reference for preventive maintenance and fault diagnosis of the equipment. Automatic calibration and measurement of the cutting height of the anchoring and digging machine can simplify the operation process and reduce the dependence on the skill level of the operator. Through the automated calibration and measurement system, even relatively less experienced operators can easily complete high-precision excavation and anchoring operations.

[0077] In the embodiment of the present invention, the angle between the upper arm and the vertical direction in the initial position is the installation angle, which is set to a1, wherein the calculation process of a1 includes:

[0078] Operate the roller to make the bottom edge of the roller flush with the ground. Assume that the height of the roller center from the ground is H, H = R;

[0079] Among them, the height of the center point of the roller from the ground is the roller radius R. According to the trigonometric function hR=L*cos(a), at this time the angle a=arccos((hR) / L), which is the installation angle a1.

[0080] In the embodiment of the present invention, by calculating the installation angle a1, the angle between the boom and the vertical direction of the cutting drum of the anchoring and digging machine can be accurately determined when the cutting drum is in the initial position. This helps to ensure that the equipment is in the correct posture before starting the operation, thereby improving the accuracy and efficiency of the operation. Accurate calculation of the installation angle makes the preparatory work before the operation more efficient. The operator can quickly adjust the equipment to the optimal operating state according to the calculated installation angle, reducing unnecessary adjustment time and labor costs. Based on the accurate installation angle, the anchoring and digging machine can more accurately control the height and posture of the cutting drum during the operation. This improvement in accuracy helps to reduce material waste and improve the quality of the operation. By calculating the installation angle, the anchoring and digging machine can better adapt to different working environments and operation requirements. Even when facing complex and changing terrain conditions, the equipment can quickly adjust to the optimal operating state to ensure the smooth progress of the operation. The calculation process of the installation angle is relatively simple and easy to implement, which helps to simplify the operation process and reduce the requirements for the operator's skill level. Even less experienced operators can quickly complete the initial setting and adjustment of the equipment based on the calculation results.

[0081] In the embodiment of the present invention, the angle between the forearm 1 and the forearm 2 is an initial angle, which is set to b1, wherein the calculation process of b1 includes:

[0082] When the bottom edge of the roller is flush with the ground, the displacement sensor collects the value x3, the extension displacement of the oil cylinder is L4*(x3-x1) / (x2-x1), the length of the arm 3 is L3=L3′+L4*(x3-x1) / (x2-x1), according to the cosine theorem, the angle b between the arm 1 and the arm 2 is arccos((L1 2 +L2 2 -L3 2 ) / 2*L1*L2), which is the initial angle b1.

[0083] The real-time value collected by the displacement sensor is x, which is linearly proportional to the measured length. The real-time value of the cylinder extension displacement is L4*(x-x1) / (x2-x1), and the length of the small arm 3 is

[0084] L3=L3′+L4*(x-x1) / (x2-x1), according to the cosine theorem, the angle between forearm 1 and forearm 2 is

[0085] b=arccos((L1 2 +L2 2 -(L3′+L4*(x-x1) / (x2-x1)) 2 ) / 2*L1*L2).

[0086] Furthermore, according to the cutting mechanism model of the anchoring and digging machine, the height of the drum center from the ground is H:

[0087] According to the cutting mechanism model, as the cutting arm rises and falls, the angle between the arm and the vertical direction is:

[0088] a1+b-b1, that is, arccos((hR) / L)+arccos((L1 2 +L2 2 -

[0089] (L3′+L4*(x-x1) / (x2-x1)) 2 ) / 2*L1*L2)-arccos((L1 2 +L2 2 -L3 2 ) / 2*L1*L2)

[0090] The height of the center of the roller from the ground is H = L*cos(a1+b-b1);

[0091] That is, H=hL*cos(arccos((hR) / L)+arccos((L1 2 +L2 2 -

[0092] (L3′+L4*(x-x1) / (x2-x1)) 2 ) / 2*L1*L2)-arccos((L1 2 +L2 2 -L3 2 ) / 2*L1*L2)).

[0093] In the embodiment of the present invention, the angle between the forearm 1 and the forearm 2 and the height of the center of the drum from the ground can be dynamically calculated through the real-time acquisition value of the displacement sensor. This real-time accurate measurement capability enables the operator to understand the current state of the anchoring and digging machine at any time, so as to perform more accurate operations. Based on accurate angle and height measurement, the anchoring and digging machine can more accurately locate the position and height of the drum when performing excavation or anchoring operations. This helps to improve the accuracy and quality of the operation and reduce material waste and duplication of work. By real-time monitoring and adjusting the angle and height, the anchoring and digging machine can be dynamically adjusted during the operation to adapt to different working environments and operation requirements. This flexibility enables the equipment to better cope with complex and changing working scenarios. Accurate measurement and control help avoid collisions between the drum and the ground or other obstacles, reduce accident risks, and improve the safety of operations. Through the automated control system and accurate measurement algorithms, the automation level of the anchoring and digging machine is significantly improved. This can not only reduce the burden on the operator and improve work efficiency, but also help to achieve a higher level of automation and intelligent operations. Accurate measurement and control systems provide convenience for equipment maintenance and commissioning. By monitoring and recording data in real time, potential problems can be more easily identified and resolved, reducing maintenance costs and extending the life of equipment.

[0094] In the embodiment of the present invention, the height of the hinge point from the ground, the length of the boom, the length of the arm 1, the length of the arm 2, the initial length of the cutting arm lifting cylinder, the radius of the drum, the upper limit of the cutting height, and the lower limit of the cutting height are set and displayed, including:

[0095] The operating system sends parameter setting instructions to the main controller through the CAN bus communication method, and sends the height h of the hinge point from the ground, the length L of the big arm, the length L1 of the small arm 1, the length L2 of the small arm 2, the initial length L3′ of the cutting arm lifting cylinder, the radius R of the drum, the upper limit Hmax of the cutting height, and the lower limit Hmin of the cutting height to the main controller, and the main controller saves the received parameters in the power-off holding area;

[0096] As the master station of ModbusTCP communication, the human-machine interface sends a read command to the main controller to read the set articulation point height from the ground, boom length, arm 1 length, arm 2 length, initial length of the cutting arm lifting cylinder, drum radius, and cutting height upper and lower limits;

[0097] After receiving the instruction, the main controller sends the corresponding parameters read to the human-machine interface to realize the visualization of the setting parameters.

[0098] In the embodiment of the present invention, by visually displaying these key parameters on the human-machine interface, the operator can intuitively understand the current configuration and working range of the integrated digging and anchoring machine, which helps to enhance the transparency of the operation and enables the operator to more clearly understand the working status and limitations of the machine. With these detailed parameter settings and displays, the operator can more accurately control the action of the integrated digging and anchoring machine when performing excavation or anchoring operations to avoid exceeding the working range or capacity of the equipment, thereby improving the accuracy and safety of the operation. According to the displayed parameters, the operator or technician can easily adjust and optimize the configuration of the equipment to adapt to different working environments or operating requirements. This flexibility helps to improve the adaptability and work efficiency of the equipment. By monitoring the changes in these key parameters, abnormal conditions or potential faults of the equipment can be discovered in time, so as to perform timely fault diagnosis and preventive maintenance. This helps to extend the service life of the equipment and reduce unexpected downtime. For novice operators, these detailed parameter displays can serve as a powerful tool for training and learning, helping them to understand and master the operating essentials and precautions of the integrated digging and anchoring machine more quickly. Through the CAN bus and ModbusTCP communication methods, information sharing and collaborative work between the various components of the equipment are realized, enhancing the integration and intelligence level of the system.

[0099] In the embodiment of the present invention, the main controller collects information from the displacement sensor, calculates the initial angle and the actual angle of the cutting height control system of the anchoring and digging machine; calculates the installation angle of the cutting height control mechanism of the anchoring and digging machine according to the setting parameters; calculates the real-time height of the cutting drum of the anchoring and digging machine according to the cutting height accurate measurement algorithm software, including:

[0100] The output signal of the cutting displacement sensor is a 4-20mA current analog signal, which is converted into a 1-5V voltage analog signal through the signal isolation barrier. The signal is collected by the analog quantity acquisition module and then read by the main controller; the displacement sensor range is L4, then 1V corresponds to the current value of the displacement sensor is 0mm, and 5V corresponds to the displacement value of the displacement sensor is L4mm; 0V corresponds to the analog acquisition value of the main controller is 0, and 5V corresponds to the analog acquisition value of the main controller is x2. The current analog acquisition value of the displacement sensor is x, and the current displacement of the displacement sensor is Lc. At this time, the displacement of the displacement sensor Lc=L4*x / x2, and the current angle between the forearm 1 and the forearm 2 is: b=arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2);

[0101] Initial angle between forearm 1 and forearm 2:

[0102] b1=arccos((L1 2 +L2 2 -L32 ) / 2*L1*L2)=arccos((L1 2 +L2 2 -(L3′

[0103] +L4*x3 / x2) 2 ) / 2*L1*L2)

[0104] Read parameter information, the height of the hinge point from the ground h, the radius of the drum R, and calculate the installation angle of the cutting height control mechanism: a1 = arccos ((hR) / L); the current angle between the boom and the vertical direction:

[0105] a=a1+b-b1=arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2)

[0106] -arccos((L1 2 +L2 2 -(L3′+L4*x3 / x2) 2 ) / 2*L1*L2);

[0107] Real-time height of roller center from ground:

[0108] H=hL*cos(arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2)

[0109] -arccos((L1 2 +L2 2 -(L3′+L4*x3 / x2) 2 ) / 2*L1*L2)).

[0110] In the embodiment of the present invention, by collecting information from the displacement sensor in real time, the system can accurately calculate the various angles of the integrated digging and anchoring machine and the real-time height of the roller, thereby realizing real-time monitoring and precise control of the equipment status. Based on the precise angle and height calculation, the integrated digging and anchoring machine can more accurately locate the position of the roller during the operation process, thereby improving the accuracy of the excavation or anchoring operation. At the same time, repeated operations and corrections are reduced, thereby improving the operation efficiency. By real-time monitoring of the height and angle of the roller, the system can timely issue an alarm or automatically adjust to prevent the roller from colliding with the ground or other obstacles, thereby enhancing the safety of the operation. The system can dynamically adjust the posture and height of the integrated digging and anchoring machine according to the real-time collected data, so that it can better adapt to different working environments and operation requirements, and improve the adaptability and flexibility of the equipment. Accurate monitoring and calculation help to timely discover abnormal conditions of the equipment, such as sensor failure or mechanism wear, so as to carry out timely fault prevention and maintenance and extend the service life of the equipment. This series of calculation and monitoring processes lays the foundation for the intelligent upgrade of the integrated digging and anchoring machine, so that the equipment can be better integrated into the intelligent mine management system and achieve more efficient and safe operation.

[0111] In the embodiment of the present invention, the real-time height of the cutting drum of the anchor miner is compared with the upper and lower limits of the cutting height, and the solenoid valve of the cutting arm lifting cylinder is controlled to operate until the cutting drum reaches the target height, including:

[0112] Read parameter information, cutting height upper limit H max , Cutting height lower limit H min ;

[0113] When the main controller receives the command to control the cutting drum to rise, it compares the real-time height H with the upper limit of the cutting height H. max Relationship:

[0114] When H <H max When the operating system sends a cutting drum lifting command, the corresponding solenoid valve opens and the cutting drum rises until it reaches a height H. max ;

[0115] When H ≥ H max ,When the operating system sends the command to raise the cutting drum, the corresponding ,solenoid valve does not open and the cutting drum stops rising;

[0116] When the main controller receives the command to control the cutting drum to descend, it compares the real-time height H with the upper limit of the cutting height H. min Relationship:

[0117] When H≤H min ,When the operating system sends the cutting drum lowering command, the corresponding ,electromagnetic valve does not open and the cutting drum stops descending;

[0118] When H>Hmin When the operating system sends a cutting drum lowering command, the corresponding solenoid valve opens and the cutting drum descends until it reaches a height H. min .

[0119] In the embodiment of the present invention, by comparing the current height of the drum with the preset upper and lower limits of the height in real time, the system can accurately control the lifting and lowering of the drum to ensure that it works within the set safety range, thereby improving the accuracy and reliability of the operation. When the drum reaches or exceeds the upper limit of the height, the system will automatically stop the rising action of the drum. Similarly, when the drum drops to or below the lower limit of the height, the lowering action will also be stopped. This mechanism effectively prevents over-limit operations caused by operating errors or equipment failures, and protects the safety of the equipment and the working environment. Through automated height control, the operator's manual adjustment and monitoring needs are reduced, allowing the operator to focus more on the operation itself, thereby improving the operating efficiency. Accurate height control avoids unnecessary contact between the drum and the ground or other objects, reduces equipment wear and maintenance frequency, and extends the service life of the equipment. The operator only needs to issue a lifting command, and the system can automatically complete the height adjustment without continuous monitoring and adjustment, which greatly reduces the difficulty of operation and labor intensity. The automated height control system reduces the possibility of human error and increases the safety and stability of the operation process.

[0120] The main controller collects information from the displacement sensor and calculates the initial angle and actual angle of the cutting height control system of the anchor and digger. According to the set parameters, it calculates the installation angle of the cutting height control mechanism of the anchor and digger. According to the cutting height accurate measurement algorithm software, it calculates the real-time height of the cutting drum of the anchor and digger:

[0121] The output signal of the cutting displacement sensor is a 4-20mA current analog signal, which is converted into a 1-5V voltage analog signal through the signal isolation barrier. The signal is collected by the analog quantity acquisition module and then read by the main controller; the displacement sensor range is L4, then 1V corresponds to the current value of the displacement sensor is 0mm, and 5V corresponds to the displacement value of the displacement sensor is L4mm; 0V corresponds to the analog acquisition value of the main controller is 0, and 5V corresponds to the analog acquisition value of the main controller is x2. The current analog acquisition value of the displacement sensor is x, and the current displacement of the displacement sensor is Lc. At this time, the displacement of the displacement sensor Lc=L4*x / x2, and the current angle between the forearm 1 and the forearm 2 is: b=arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2).

[0122] Initial angle between forearm 1 and forearm 2:

[0123] b1=arccos((L1 2 +L2 2-L3 2 ) / 2*L1*L2)=arccos((L1 2 +L2 2 -(L3′+L4*x3 / x2) 2 ) / 2*L

[0124] 1*L2).

[0125] By reading parameter information, the height h of the hinge point from the ground and the radius R of the drum, the installation angle of the cutting height control mechanism can be calculated: a1 = arccos ((hR) / L).

[0126] The current angle between the boom and the vertical direction:

[0127] a=a1+b-b1=arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2)

[0128] -arccos((L1 2 +L2 2 -(L3′+L4*x3 / x2) 2 ) / 2*L1*L2);

[0129] Real-time height of roller center from ground:

[0130] H=hL*cos(arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2)

[0131] -arccos((L1 2 +L2 2 -(L3′+L4*x3 / x2) 2 ) / 2*L1*L2)).

[0132] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0133] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

Claims

1. A method for automatic calibration and precise measurement control of cutting height of an integrated anchoring and digging machine, characterized in that: include: Step 1: Build the communication network between the main controller and the execution controller, the main controller and the remote control system, and the main controller and the display; Step 2: Automatically calibrate and measure the cutting height of the anchoring and digging machine; Step 3: Set and display the height of the hinge point from the ground, the length of the boom, the length of arm 1, the length of arm 2, the initial length of the cutting arm lifting cylinder, the radius of the drum, the upper limit of the cutting height, and the lower limit of the cutting height; Step 4: The main controller collects information from the displacement sensor and calculates the initial angle and actual angle of the cutting height control system of the anchor and digger; calculates the installation angle of the cutting height control mechanism of the anchor and digger according to the set parameters; calculates the real-time height of the cutting drum of the anchor and digger according to the cutting height accurate measurement algorithm software; Step 5: Compare the real-time height of the cutting drum of the anchor and mining machine with the upper and lower limits of the cutting height, and control the solenoid valve of the cutting arm lifting cylinder until the cutting drum reaches the target height.

2. The data collection method applicable to mining equipment according to claim 1, characterized in that: Build the communication network between the main controller and the execution controller, the main controller and the remote control system, and the main controller and the display, including: The main controller issues control instructions to the execution controller via the CAN bus to control the opening and closing of the electromagnetic valve of the cutting arm lifting cylinder of the anchor-mining machine, and the size of the opening, so as to control the lifting action and speed of the cutting arm. The main controller receives the cutting displacement sensor calibration, cutting initial angle calibration, and parameter setting instructions sent by the operating system through the CAN bus, and completes the sensor calibration, initial angle calibration, and parameter setting; the main controller receives the cutting arm lifting instructions sent by the operating system through the CAN bus, and after internal calculation, issues instructions to the execution controller to control the cutting arm lifting action; The communication method between the main controller and the human-machine interface is ModbusTCP. The human-machine interface is the communication master station, and the main controller is the communication slave station. The master station sends control instructions to the slave station to read the height of the articulated point from the ground, the length of the upper arm, the length of the arm 1, the length of the arm 2, the initial length of the cutting arm lifting cylinder, the roller radius, the upper limit of the cutting height, the lower limit of the cutting height, and display them on the human-machine interface parameter setting interface.

3. The data collection method applicable to mining equipment according to claim 2, characterized in that: Automatically calibrate and measure the cutting height of the bolter and miner, including: The two sides of the triangular structure L1, i.e. the small arm 1, and L2, i.e. the small arm 2, are hinged at point A, with a fixed length. The length L3, i.e. the small arm 3, can be changed by controlling the extension and retraction of the oil cylinder. The original length of the small arm 3 when it is not extended is L3′. The displacement sensor built into the oil cylinder is L4 long. The small arm 2 and the fixed-length connecting arm L′ drive the cutting drum up and down together. Specifically, the operating system controls the output of the solenoid valve to make the oil cylinder extend and retract, and the length L3 of the triangular structure small arm 3 changes, thereby driving the cutting drum to rise and fall. The triangular structure and the equipment are hinged at a fixed point A. The height of the hinge point A from the ground is fixed at h. The length between the hinge point A and the center point of the drum is a fixed length L, that is, the length of the boom. The angle between the boom and the vertical direction is a, the angle between arm 1 and arm 2 is b, and the radius of the drum is R. When the lower edge of the cutting drum is flush with the ground, it is defined as the initial position. At the initial position, the angle between the boom and the vertical direction is the installation angle, which is set as a1; the angle between arm 1 and arm 2 is the initial angle, which is set as b1. When the forearm 3 is not extended, the displacement measured by the displacement sensor should be 0. The displacement sensor is calibrated as follows: The operating drum is lowered to fully retract the cylinder. The cylinder length L3 is its original length L3′. The operating system sends a zero-position calibration command for the displacement sensor. The sensor values ​​for a certain period of time are collected and filtered. The filtering result x1 is the zero-position collection value of the sensor after calibration. The operating drum is raised to fully extend the cylinder. The cylinder length L3 is L3′+L4. The operating system sends a maximum-position calibration command for the displacement sensor. The sensor values ​​for a certain period of time are collected and filtered. The filtering result x2 is the maximum-position collection value of the sensor after calibration. At this point, the sensor calibration is completed.

4. The data collection method applicable to mining equipment according to claim 3, characterized in that: The angle between the boom and the vertical direction at the initial position is the installation angle, set as a1, where the calculation process of a1 includes: Operate the roller to make the bottom edge of the roller flush with the ground. Assume that the height of the roller center from the ground is H, H = R; Among them, the height of the center point of the roller from the ground is the roller radius R. According to the trigonometric function hR=L*cos(a), at this time the angle a=arccos((hR) / L), which is the installation angle a1.

5. The data collection method applicable to mining equipment according to claim 4, characterized in that: The angle between forearm 1 and forearm 2 is the initial angle, set as b1, where the calculation process of b1 includes: When the bottom edge of the roller is flush with the ground, the displacement sensor collects the value x3, the extension displacement of the oil cylinder is L4*(x3-x1) / (x2-x1), the length of the arm 3 is L3=L3′+L4*(x3-x1) / (x2-x1), according to the cosine theorem, the angle b between the arm 1 and the arm 2 is arccos((L1 2 +L2 2 -L3 2 ) / 2*L1*L2), which is the initial angle b1.

6. The data collection method applicable to mining equipment according to claim 5, characterized in that: Set and display the height of the articulation point from the ground, the length of the boom, the length of the arm 1, the length of the arm 2, the initial length of the cutting arm lifting cylinder, the radius of the drum, the upper limit of the cutting height, and the lower limit of the cutting height, including: The operating system sends parameter setting instructions to the main controller through the CAN bus communication method, and sends the height h of the hinge point from the ground, the length L of the big arm, the length L1 of the small arm 1, the length L2 of the small arm 2, the initial length L3′ of the cutting arm lifting cylinder, the radius R of the drum, the upper limit Hmax of the cutting height, and the lower limit Hmin of the cutting height to the main controller, and the main controller saves the received parameters in the power-off holding area; As the master station of ModbusTCP communication, the human-machine interface sends a read command to the main controller to read the set articulation point height from the ground, boom length, arm 1 length, arm 2 length, initial length of the cutting arm lifting cylinder, drum radius, and cutting height upper and lower limits; After receiving the instruction, the main controller sends the corresponding parameters read to the human-machine interface to realize the visualization of the setting parameters.

7. The data collection method applicable to mining equipment according to claim 6, characterized in that: The main controller collects information from the displacement sensor and calculates the initial angle and actual angle of the cutting height control system of the anchor and digger. According to the set parameters, it calculates the installation angle of the cutting height control mechanism of the anchor and digger. According to the cutting height accurate measurement algorithm software, it calculates the real-time height of the cutting drum of the anchor and digger, including: The output signal of the cutting displacement sensor is a 4-20mA current analog signal, which is converted into a 1-5V voltage analog signal through the signal isolation barrier. The signal is collected by the analog quantity acquisition module and then read by the main controller; the displacement sensor range is L4, then 1V corresponds to the current value of the displacement sensor is 0mm, and 5V corresponds to the displacement value of the displacement sensor is L4mm; 0V corresponds to the analog acquisition value of the main controller is 0, and 5V corresponds to the analog acquisition value of the main controller is x2. The current analog acquisition value of the displacement sensor is x, and the current displacement of the displacement sensor is Lc. At this time, the displacement of the displacement sensor Lc=L4*x / x2, and the current angle between the forearm 1 and the forearm 2 is: b=arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2); Initial angle between forearm 1 and forearm 2: <h2 style=";text-align:left;direction:ltr">b1 = arccos((L1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +L2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> -L3<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> ) / 2*L1*L2)=arccos((L1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +L2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> -(L3′ <h2 style=";text-align:left;direction:ltr">+L4*x3 / x2)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> ) / 2*L1*L2) Read parameter information, the height of the hinge point from the ground h, the radius of the drum R, and calculate the installation angle of the cutting height control mechanism: a1 = arccos ((hR) / L); the current angle between the boom and the vertical direction: a=a1+b-b1=arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2) <h2 style=";text-align:left;direction:ltr">-arccos((L1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +L2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> -(L3′+L4*x3 / x2)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> ) / 2*L1*L2); Real-time height of roller center from ground: H=hL*cos(arccos((hR) / L)+arccos((L1 2 +L2 2 -(L3′+L4*x / x2) 2 ) / 2*L1*L2) <h2 style=";text-align:left;direction:ltr">-arccos((L1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +L2<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> -(L3′+L4*x3 / x2)<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> ) / 2*L1*L2))。 8. The data collection method applicable to mining equipment according to claim 7, characterized in that: Compare the real-time height of the cutting drum of the anchor miner with the upper and lower limits of the cutting height, and control the solenoid valve of the cutting arm lifting cylinder until the cutting drum reaches the target height, including: Read parameter information, cutting height upper limit H max , Cutting height lower limit H min ; When the main controller receives the command to control the cutting drum to rise, it compares the real-time height H with the upper limit of the cutting height H. max Relationship: When H <H max When the operating system sends a cutting drum lifting command, the corresponding solenoid valve opens and the cutting drum rises until it reaches a height H. max ; When H ≥ H max ,When the operating system sends the command to raise the cutting drum, the corresponding ,solenoid valve does not open and the cutting drum stops rising; When the main controller receives the command to control the cutting drum to descend, it compares the real-time height H with the upper limit of the cutting height H. min Relationship: When H≤H min ,When the operating system sends the cutting drum lowering command, the corresponding ,electromagnetic valve does not open and the cutting drum stops descending; When H>H min When the operating system sends a cutting drum lowering command, the corresponding solenoid valve opens and the cutting drum descends until it reaches a height H. min .

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which implements the method according to any one of claims 1 to 8 when executed by a processor.

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