Coal machine rocker arm mining height calculation system and method

Abstract

The invention belongs to the technical field of mining height measurement, and discloses a coal machine rocker arm mining height calculation system and method.The coal machine rocker arm mining height calculation system comprises a coal machine body, a coal machine rocker arm, a roller, an IMU sensor and an air pressure sensor, one end of the coal machine rocker arm is hinged to the coal machine body, and the other end of the coal machine rocker arm is in rolling connection with the roller; the IMU sensor is mounted on the side wall of one end, close to the coal machine main body, of the coal machine rocker arm; an air pressure sensor is mounted on the side wall of one end, close to the roller, of the coal machine rocker arm; the IMU sensor and the air pressure sensor are both connected with a calculation unit, and after data output by the IMU sensor and the air pressure sensor are processed through the calculation unit, mining height data are output. According to the technical scheme, more accurate, low-cost and stable measurement of the mining height of the coal mining machine can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of mining height measurement, and in particular relates to a coal mining machine rocker arm mining height calculation system and method. Background Art

[0002] Measuring the mining height of a shearer is crucial in coal mining. Traditional measurement methods rely on angle sensors installed between the rocker arm and the machine body to detect the rocker arm's operating angle to calculate the mining height. However, these methods are susceptible to distortion of the rocker arm's mechanical components or wear of the sensor's connecting fixtures, leading to inaccurate measurement results. Other existing mining height measurement technologies also have numerous problems: Converting the mining height using angle calculations using IMU sensors alone can lead to data jumps under strong shock and vibration conditions, resulting in poor usability; converting the mining height using cylinder stroke sensors to measure cylinder displacement is costly and difficult to repair; and converting the mining height using photoelectric or resistive encoders is prone to failure due to oil, dust, and water mist, making maintenance difficult. These issues urgently need to be addressed to achieve more accurate, cost-effective, and stable mining height measurement for coal shearers. Summary of the Invention

[0003] The purpose of the present invention is to provide a coal mining machine rocker arm mining height calculation system and method to solve the problems existing in the above-mentioned prior art.

[0004] To achieve the above-mentioned objectives, the present invention provides a coal machine rocker arm mining height calculation system, comprising a coal machine body, a coal machine rocker arm, a roller, an IMU sensor and an air pressure sensor, wherein one end of the coal machine rocker arm is hinged to the coal machine body, and the other end is rollingly connected to the roller, the IMU sensor is installed on the side wall of the coal machine rocker arm close to the coal machine body, and the air pressure sensor is installed on the side wall of the coal machine rocker arm close to the roller; the IMU sensor and the air pressure sensor are both connected to a calculation unit, which processes the data output by the IMU sensor and the air pressure sensor and outputs the mining height data.

[0005] Optionally, the computing unit is further connected to an output interface.

[0006] Optionally, the IMU sensor and the air pressure sensor are both connected to a power supply module.

[0007] A coal machine rocker arm mining height calculation method, applied to a coal machine rocker arm mining height calculation system, comprising:

[0008] Install IMU sensors and air pressure sensors on the coal machine rocker arm and connect each sensor to the computing unit;

[0009] When the coal mining machine is operating normally, the IMU sensor is used to calculate the tilt angle of the coal mining machine rocker arm, and the mining height data of the drum is obtained based on the calculated tilt angle;

[0010] When the coal mining machine encounters strong impact vibration, the relative air pressure difference is measured by the air pressure sensor and converted into relative height change data, and the mining height data of the drum is calculated based on the relative height change data.

[0011] Optionally, the calculating of the drum's mining height data based on the relative height change data specifically includes:

[0012] When the pulse signal output by the IMU sensor is greater than the set threshold or the impact vibration signal exceeds the measuring range, the altitude change calculated by the pressure sensor through the pressure difference replaces the altitude data collected by the IMU sensor.

[0013] The technical effects of the present invention are:

[0014] The present invention integrates the data of the IMU sensor and the air pressure sensor. When the coal mining machine is operating normally, the IMU sensor is used to calculate the inclination angle of the rocker arm and thus the mining height of the drum is obtained. When encountering strong impact vibration and the IMU sensor is interfered with, resulting in a large calculation error, the air pressure sensor is used to measure the relative air pressure difference and convert it into a relative height change. This data replaces the mining height calculation result of the IMU sensor during strong vibration, which can ensure the accuracy of the mining height calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0017] Figure 1 Schematic diagram of the connection between the sensor and the computing unit in an embodiment of the present invention;

[0018] Figure 2 Schematic diagram of the system structure in an embodiment of the present invention;

[0019] Explanation of the numbers: 1. Coal machine body; 2. Coal machine rocker arm; 3. Drum; 4. IMU sensor; 5. Air pressure sensor. DETAILED DESCRIPTION

[0020] Various exemplary embodiments of the present invention will now be described in detail. This detailed description should not be considered as limiting the present invention, but rather as a more detailed description of certain aspects, features, and embodiments of the present invention.

[0021] It should be understood that the terms described herein are intended only to describe particular embodiments and are not intended to limit the present invention. In addition, for numerical ranges herein, it should be understood that each intermediate value between the upper and lower limits of the range is also specifically disclosed. Each smaller range between any intermediate value within a stated value or stated range and any other stated value or intermediate value within the stated range is also encompassed by the present invention. The upper and lower limits of these smaller ranges may be independently included or excluded within the scope.

[0022] It will be apparent to those skilled in the art that various modifications and variations may be made to the specific embodiments of the present invention without departing from the scope or spirit of the invention. Other embodiments will be apparent to those skilled in the art from the present invention. The present description and examples are intended to be illustrative only.

[0023] The words “include,” “including,” “have,” “contain,” etc. used in this article are open-ended terms, meaning including but not limited to.

[0024] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] like Figure 1 - Figure 2 As shown, this embodiment provides a coal machine rocker arm mining height calculation system, including a coal machine body 1, a coal machine rocker arm 2, a roller 3, an IMU sensor 4 and an air pressure sensor 5. One end of the coal machine rocker arm 2 is hinged to the coal machine body 1, and the other end is rollingly connected to the roller 3. The IMU sensor 4 is installed on the side wall of the coal machine rocker arm 2 at one end close to the coal machine body 1, and the air pressure sensor 5 is installed on the side wall of the coal machine rocker arm 2 at one end close to the roller 3; the IMU sensor 4 and the air pressure sensor 5 are both connected to a calculation unit, and the calculation unit calculates and processes the data output by the IMU sensor 4 and the air pressure sensor 5, and outputs the mining height data.

[0026] This embodiment integrates data from an IMU sensor 4 and an air pressure sensor 5. During normal operation of the shearer, the IMU sensor 4 is used to calculate the rocker arm tilt angle and thereby determine the mining height of the drum 3. When encountering strong impact vibrations, and the IMU sensor 4 is disturbed, resulting in large calculation errors, the air pressure sensor 5 measures the relative air pressure difference and converts it into a relative height change. This data replaces the mining height calculation result of the IMU sensor 4 during the strong vibration period, ensuring the accuracy of the mining height calculation. This embodiment achieves low-cost mining height measurement under shearer operating conditions, avoiding the use of high-cost cylinder stroke sensors, reducing equipment costs while ensuring measurement accuracy.

[0027] The sampling and computing system provided in this embodiment is mainly composed of an air pressure sensor 5, an IMU sensor 4, a system power supply, a computing unit and an output interface.

[0028] Sensor Installation and Measurement Principle: Air pressure sensor 5, mounted at the distal end of the rocker arm, monitors changes in the height of drum 3. It calculates the altitude change, ΔH, by determining the air pressure change, ΔP, within a time window, ΔT. IMU sensor 4, mounted at the proximal end of the rocker arm, calculates the rocker arm's tilt angle based on the measured gravitational acceleration components on three axes and integrates the angular velocity sensor output. Trigonometric functions are then used to determine the height of drum 3.

[0029] Data Fusion and Switching Mechanism: During coal mining operation, if significant impact vibration causes the IMU sensor 4 to output a pulse signal greater than the set threshold, or if the vibration signal exceeds its scale, the IMU sensor 4 will produce significant errors in its mining height calculation. During this time window, the height change ΔH calculated by the air pressure sensor 5 based on the pressure difference replaces the IMU sensor 4's mining height calculation result. The calculation unit then comprehensively processes this data and outputs accurate mining height data through the output interface.

[0030] This embodiment can improve the availability of the mining height sensor. In this embodiment, the availability of the mining height sensor of the coal mining machine is improved by an order of magnitude, effectively overcoming the defects of traditional measurement methods and other existing technologies under different working conditions, making the mining height measurement more stable and reliable.

[0031] The measurement accuracy of this embodiment reaches the level of the cylinder stroke sensor, and can effectively replace the cylinder stroke sensor, providing a better solution for mining height measurement during coal mining, which helps to improve the efficiency and quality of coal mining operations.

[0032] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A coal mining machine rocker arm mining height calculation system, characterized in that: The invention comprises a coal machine body (1), a coal machine rocker arm (2), a roller (3), an IMU sensor (4) and an air pressure sensor (5); one end of the coal machine rocker arm (2) is hinged to the coal machine body (1), and the other end is rollingly connected to the roller (3); the IMU sensor (4) is installed on the side wall of one end of the coal machine rocker arm (2) close to the coal machine body (1); and the air pressure sensor (5) is installed on the side wall of one end of the coal machine rocker arm (2) close to the roller (3); the IMU sensor (4) and the air pressure sensor (5) are both connected to a calculation unit, and the calculation unit processes the data output by the IMU sensor (4) and the air pressure sensor (5) and outputs the mining height data.

2. The system according to claim 1, wherein: The calculation unit is also connected to an output interface.

3. The system according to claim 1, wherein: The IMU sensor (4) and the air pressure sensor (5) are both connected to a power supply module.

4. A coal machine rocker arm mining height calculation method, applied to a coal machine rocker arm mining height calculation system according to any one of claims 1 to 3, characterized in that: include: An IMU sensor (4) and an air pressure sensor (5) are installed on the coal machine rocker arm (2), and each sensor is connected to a computing unit; When the coal mining machine is operating normally, the IMU sensor (4) is used to calculate the tilt angle of the coal mining machine rocker arm (2), and the mining height data of the drum (3) is obtained based on the calculated tilt angle; When the coal mining machine encounters strong impact vibration, the relative air pressure difference is measured by the air pressure sensor (5) and converted into relative height change data, and the mining height data of the drum (3) is calculated based on the relative height change data.

5. The method according to claim 4, characterized in that The calculation of the mining height data of the drum (3) based on the relative height change data specifically includes: When the pulse signal output by the IMU sensor (4) is greater than a set threshold value or the impact vibration signal exceeds a measuring range, the altitude data collected by the IMU sensor (4) is replaced by the altitude change calculated by the air pressure sensor (5) through the change in air pressure difference.

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