Automatic following winding and unwinding control method for mining two-way cable

Abstract

The invention provides an automatic following winding and unwinding control method for a mining two-way cable. According to the mining two-way cable automatic following winding and unwinding control method, automatic following winding and unwinding of the power supply cable in the two-way moving process of coal mine underground rapid tunneling complete equipment are achieved, the cable winding and unwinding synchronization precision and response speed are improved, manual operation is replaced, and operation safety and tunneling efficiency are enhanced.

Description

Technical Field

[0001] This invention relates to the field of intelligent mining technology, and in particular to a method for automatic following and unwinding control of bidirectional mining cables. Background Technology

[0002] Rapid tunneling equipment in coal mines, as a key component of the coal mining system, is widely used in tunnel excavation, support, and material transportation. With the advancement of intelligent mine construction, rapid tunneling equipment is gradually developing towards automation and unmanned operation. The dynamic management of its power supply cables has become a core issue in ensuring operational continuity and safety. In related technologies, a cable winding and unwinding control system based on equipment movement feedback has been constructed through the collaborative operation of a hydraulic drive system, a sensor acquisition system, and a long-distance communication system. Specifically, this system covers the entire process from data acquisition and closed-loop control to mechanical execution, including key aspects such as travel distance monitoring, PID control algorithm application, and electromagnetic proportional valve actuation, aiming to achieve dynamic matching between cable winding / unwinding and equipment movement.

[0003] However, existing cable management methods rely on manual operation without establishing effective automated control mechanisms. This can lead to excessive cable stretching, tangling, or accumulation, or disrupt the continuity of tunneling operations due to response lag. Furthermore, traditional cable reeling devices typically only support unidirectional reeling and unwinding, making it difficult to adapt to the bidirectional movement requirements of self-propelled tunneling machines during tunneling, thus limiting the system's flexibility and adaptability. In addition, existing technologies still have shortcomings in multi-device collaborative communication, control precision, and safety protection, such as the lack of real-time closed-loop feedback and full / empty cable protection functions, thereby affecting overall operational efficiency and safety. These problems are particularly prominent in complex underground working conditions and have become a significant bottleneck restricting the intelligent upgrading of rapid tunneling systems. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the first objective of this invention is to provide an automatic following and unwinding control method for bidirectional mining cables.

[0006] The second objective of this invention is to provide an automatic following and unwinding control device for bidirectional mining cables.

[0007] The third objective of this invention is to provide an electronic device.

[0008] The fourth objective of this invention is to provide a computer-readable storage medium.

[0009] The fifth objective of this invention is to provide a computer program product.

[0010] To achieve the above objectives, a first aspect of the present invention proposes an automatic following reeling and unwinding control method for bidirectional mining cables, comprising: S1, collecting real-time movement distance data of each device via encoders or speed sensors installed on the tunneling and anchoring machine, anchor bolt transfer machine, belt transfer machine, and self-propelled gantry crane tail; S2, transmitting the collected movement distance data to the main controller of the control system via a mining fiber optic cable, and communicating with the absolute encoder on the reeling motor based on the Canopen bus protocol to obtain the actual number of rotations and speed of the reeling motor; S3, the main controller, based on the movement distance data of each device and the feedback data from the reeling motor, using a PID control algorithm to adjust the drive current of the reeling motor in real time, and controlling the cable winding and unwinding speed and distance of the electric drum through an electromagnetic proportional valve to achieve automatic following reeling and unwinding of the cable; S4, dynamically switching the cable winding and unwinding mode according to the movement direction of the self-propelled gantry crane tail, automatically unwinding the cable when the self-propelled gantry crane tail moves forward and automatically winding the cable when it moves backward, while setting full cable and empty cable protection functions on the reeling device to ensure mechanical safety during the cable winding and unwinding process.

[0011] In one embodiment of the present invention, S1 further includes: the encoder is a mining explosion-proof absolute encoder, which is installed on the output shaft of the walking drive device of each device to obtain the absolute position information of the device in real time; the speed sensor is a non-contact magnetoelectric sensor, which is installed on the walking reducer device of each device to detect the walking speed of the device in real time and convert it into a digital signal for transmission.

[0012] In one embodiment of the present invention, S2 further includes: the mining optical fiber cable adopts a redundant communication structure to ensure the stability and anti-interference capability of data transmission in complex underground environments; S22, the main controller of the control system interacts with the electromagnetic proportional valve on the cable reel motor through the EPEC3724 module to realize closed-loop control of the electric drum drive current.

[0013] In one embodiment of the present invention, S3 further includes: the PID control algorithm dynamically adjusts parameters according to a preset cable tension threshold and equipment moving speed deviation to optimize the stability of cable winding and unwinding; S32, the adjustment of the drive current is achieved by adding a current loop feedback mechanism to the electromagnetic proportional valve drive circuit to realize high-precision control of the hydraulic system.

[0014] In one embodiment of the present invention, S4 further includes: the dynamic switching of cable winding and unwinding modes includes determining whether to start the forward or reverse rotation of the cable winding motor according to the moving direction of the self-moving tail, so as to realize the automatic winding and unwinding of the cable; S42, the full cable and empty cable protection function is realized by mechanical limit switches and photoelectric sensors installed on the cable winding device. When the full or empty cable state is detected, the control system automatically stops the cable winding operation and issues an alarm signal.

[0015] In one embodiment of the present invention, the system further includes: displaying the movement status of each device, the rotation speed of the cable reel motor, the cable tension, and system fault information in real time through a human-computer interaction system, and automatically triggering audible and visual alarms and remote communication alarms when an anomaly is detected.

[0016] A second aspect of this invention provides an automatic following reel-and-unwind control device for bidirectional mining cables, comprising: a data acquisition module for real-time acquisition of the movement distance data of each device via encoders or speed sensors installed on the tunneling and anchoring machine, anchor bolt transfer machine, belt transfer machine, and self-propelled gantry crane tail; a data transmission and communication module for transmitting the acquired movement distance data to the main controller of the control system via a mining fiber optic cable, and communicating with the absolute encoder on the cable reel motor based on the Canopen bus protocol to obtain the actual number of rotations and speed of the cable reel motor; a drive control module for real-time adjustment of the drive current of the cable reel motor using a PID control algorithm based on the movement distance data of each device and the feedback data of the cable reel motor, and controlling the cable winding speed and distance of the electric drum through an electromagnetic proportional valve to achieve automatic following reel-and-unwind of the cable; and a mode switching and protection module for dynamically switching the cable winding and unwinding mode according to the movement direction of the self-propelled gantry crane tail, automatically unwinding the cable when the self-propelled gantry crane tail moves forward and automatically winding the cable when it moves backward, and setting full cable and empty cable protection functions on the cable winding device to ensure mechanical safety during the cable winding and unwinding process.

[0017] To achieve the above objectives, a third aspect of the present invention provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of the first aspects.

[0018] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of the first aspects.

[0019] To achieve the above objectives, a fifth aspect of the present invention provides a computer program product that, when executed by a processor, implements the method described in any one of the first aspects.

[0020] The technical solutions provided by the embodiments of the present invention bring at least the following beneficial effects: enabling the automatic following and winding of the power supply cable during the bidirectional movement of the underground rapid tunneling equipment in coal mines, improving the synchronization accuracy and operational efficiency of cable management, replacing manual operation, and enhancing the system's safety and intelligence level.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of an embodiment of the automatic following and unwinding control method for bidirectional mining cables according to the present invention; Figure 2 This is a structural diagram of an automatic following and unwinding control device for bidirectional mining cables according to an embodiment of the present invention; Figure 3 This is a structural diagram of an automatic following and unwinding control device for bidirectional mining cables according to an embodiment of the present invention. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0027] Figure 1 This is a flowchart of an embodiment of the automatic following reeling control method for mining bidirectional cables, which is applied to... Figure 2 The diagram shows an automatic following and unwinding control system for bidirectional mining cables.

[0028] like Figure 1 As shown, the automatic following and unwinding control method for mining bidirectional cables includes the following steps: S1 collects real-time data on the movement distance of each device by using encoders or speed sensors installed on the tunneling and anchoring machine, anchor bolt transfer machine, belt transfer machine, and the tail of the self-propelled stepping machine.

[0029] Specifically, in some implementations, this invention installs encoders or speed sensors on key equipment such as the integrated tunneling and anchoring machine, anchor bolt transfer machine, belt transfer machine, and self-propelled stepping tail section to collect real-time movement distance data of each device, thereby providing accurate displacement feedback information for the bidirectional cable reel automatic following reel control system. This step is the core link in realizing automatic cable following reel, and its technical implementation is based on the closed-loop control principle. Sensors collect the speed or displacement signals of the equipment's traveling mechanism, which are then processed by the controller to drive the synchronous action of the cable reel device.

[0030] Furthermore, S1 includes: S11, The encoder is a mine explosion-proof absolute encoder, which is installed on the output shaft of the walking drive device of each piece of equipment to obtain the absolute position information of the equipment in real time.

[0031] Specifically, in some implementations, the encoder is a mine-use explosion-proof absolute encoder, installed on the output shaft of the travel drive device of each piece of equipment, used to acquire the absolute position information of the equipment in real time. This encoder uses the CANopen protocol for data communication and possesses high precision, high reliability, and good explosion-proof performance, complying with the technical specifications for mine-use explosion-proof electrical equipment in the "Coal Mine Safety Regulations" and GB3836.1-2010 "Explosive Atmospheres Part 1: Equipment General Requirements". Its core function is to calculate the travel distance of the equipment by detecting the rotation angle and speed of the output shaft of the travel drive device, providing crucial position feedback signals for the bidirectional automatic following and unwinding control system for cable reels.

[0032] In terms of technical implementation, this absolute encoder, through its built-in multi-turn absolute code disk, can record the absolute rotational position of the output shaft of the equipment's walking drive device, achieving high-precision positioning without relying on initial zeroing operations. The encoder interacts with the control system's main controller (such as a PLC or embedded controller) in real time via a CAN bus, transmitting parameters including the current rotation angle, speed, and direction. Based on this data, and combined with geometric parameters such as the equipment's wheel diameter and reduction ratio, the control system calculates the equipment's travel distance and uses it as input for closed-loop control to adjust the winding and unwinding actions of the cable reel motor.

[0033] In terms of specifications, encoders typically have a resolution of 12 to 17 bits, corresponding to the ability to identify 4096 to 32768 position points per revolution, meeting angle measurement accuracy requirements within ±0.1°. Their operating voltage is DC 12V~24V, communication baud rate supports 100kbps~1Mbps, and communication distance can reach over 1000 meters, making them suitable for stable communication in the complex electromagnetic environment of underground coal mines. Furthermore, the encoder has an IP67 protection rating, enabling long-term stable operation in humid and dusty underground environments.

[0034] In terms of application scenarios, this encoder is widely used in the walking systems of equipment such as tunneling and anchoring machines, anchor bolt transfer machines, and belt transfer machines, serving as a core component for position sensing. During the advancement of the tunneling face, each piece of equipment uses the encoder to provide real-time feedback on movement data. The control system then dynamically adjusts the cable winding and unwinding actions based on this data, ensuring that the cable is always under tension and preventing safety hazards such as cable dragging, tangling, or breakage.

[0035] In terms of technical effectiveness, this step, through the introduction of a high-precision absolute encoder, enables accurate measurement of the equipment's movement distance, providing a reliable basis for the closed-loop control of the cable winding device. This significantly improves the synchronization and automation level of cable winding and unwinding, reduces manual intervention, and enhances the overall safety and operational efficiency of the system.

[0036] S12, the speed sensor is a non-contact magnetoelectric sensor, which is installed on the walking speed reducer of each device to detect the walking speed of the device in real time and convert it into a digital signal for transmission.

[0037] Specifically, in some implementations, the speed sensor employs a non-contact magnetoelectric sensor. Its technical principle is based on the electromagnetic induction effect, acquiring speed information by detecting changes in the magnetic field of rotating components in the equipment's travel reducer. This sensor achieves high-precision and high-reliability speed measurement without direct contact with the object being measured, making it suitable for the complex, dusty, and vibrating environments of underground coal mines. In specific operation, the speed sensor is installed near the output shaft of the travel reducer of various equipment (such as integrated tunneling and anchoring machines, anchor bolt transfer machines, belt transfer machines, etc.). By sensing the rotational frequency of gears or magnetic encoders, it converts the mechanical speed into a voltage or pulse signal. Subsequently, this signal undergoes filtering, amplification, and analog-to-digital conversion through a signal conditioning circuit, ultimately outputting a digital signal. This signal is transmitted to the main controller of the control system via a mining fiber optic cable, enabling real-time monitoring and feedback control of the equipment's travel speed.

[0038] In terms of specifications, non-contact magnetoelectric sensors typically possess the following performance parameters: operating voltage range of DC 12V~24V, output signal frequency range of 0~10kHz, resolution up to 0.1rpm, response time less than 10ms, and protection rating of IP67, meeting the explosion-proof standard of GB 3836.1-2010 "Explosive Atmospheres Part 1: General Requirements for Equipment". Furthermore, their operating temperature range is -20℃~+60℃, making them suitable for high-temperature and high-humidity underground environments, and they possess electromagnetic interference resistance, complying with the relevant requirements of MT / T 1131-2020 "General Technical Conditions for Sensors Used in Coal Mines".

[0039] In practical applications, this speed sensor is integrated with the walking control system of each piece of equipment. By collecting the speed data of the walking reducer and combining it with a PID control algorithm, it achieves synchronous control of the cable reel device and the movement of the equipment. For example, when the tunneling and anchoring machine moves forward, the control system adjusts the speed of the cable reel motor according to the walking speed feedback from the sensor, thereby controlling the release speed of the cable, ensuring stable cable tension, and preventing breakage or tangling.

[0040] The technical effect of this step is that by using a non-contact magnetoelectric sensor to measure the speed in real time with high precision, it provides a reliable closed-loop feedback signal to the control system, thereby improving the synchronization and stability of cable winding and unwinding, ensuring the continuity and safety of power supply to the equipment during movement, and is one of the key links to realize the intelligent and automated control of the rapid tunneling system.

[0041] S2 transmits the collected travel distance data to the main controller of the control system via a mining fiber optic cable, and communicates with the absolute encoder on the cable reel motor based on the Canopen bus protocol to obtain the actual number of rotations and speed of the cable reel motor.

[0042] Specifically, in some implementations, this step involves transmitting the collected travel distance data to the main controller of the control system via mining fiber optic cable, and communicating with the absolute encoder on the cable reel motor based on the CANopen bus protocol to obtain the actual number of rotations and speed of the cable reel motor. This process is a key step in realizing automatic cable following and unwinding control, and its technical implementation is based on high-precision data acquisition and real-time communication mechanisms.

[0043] Furthermore, S2 includes: S21, the mining fiber optic cable adopts a redundant communication structure to ensure the stability and anti-interference capability of data transmission in the complex underground environment.

[0044] Specifically, the mining fiber optic cable adopts a redundant communication structure, the core purpose of which is to improve the stability and anti-interference capability of data transmission under the complex electromagnetic environment and physical interference conditions in coal mines. In some implementations, this redundant communication structure is achieved through a dual-channel fiber optic communication link, that is, two independent fiber optic communication lines are integrated inside the cable, one for the main communication link and the other for the backup communication link. Each fiber optic line supports full-duplex communication and adopts a mining-grade flame-retardant, tensile-resistant, and compressive-resistant armored fiber optic cable structure, conforming to the industry standard "MT / T 1118-2020 Flame-retardant and Tensile-resistant Optical Cable for Coal Mines", ensuring the continuity and reliability of communication even under harsh working conditions such as high humidity, high dust, and strong vibration underground.

[0045] From a technical implementation perspective, the redundant communication structure achieves fault tolerance through a master-slave switching mechanism. The control system's main controller (such as a PLC or embedded controller) interacts with encoders, sensors, and other components of each device via a CANopen bus, while the mining fiber optic cable serves as the backbone for long-distance communication, uploading the travel distance, speed, and status information of each device to the control system in real time. Under normal operating conditions, the system prioritizes using the main fiber optic channel for data transmission; if the main channel experiences a signal interruption or the bit error rate exceeds a set threshold (e.g., bit error rate > 10%), the system will switch to a backup channel. -6 If physical damage is detected, the system will automatically switch to the backup fiber optic channel. The switching process is completed within milliseconds to ensure uninterrupted communication.

[0046] In terms of specifications, the operating wavelength of fiber optic communication systems is typically set to 1310nm or 1550nm to meet the needs of long-distance transmission in underground mines, with transmission rates exceeding 100Mbps to satisfy the transmission requirements of real-time control signals. The fiber optic interface uses industrial-grade ST or LC connectors, featuring dustproof, waterproof, and explosion-proof characteristics, complying with the explosion-proof standards in GB 3836.1-2010 "Explosive Atmospheres - Part 1: Equipment - General Requirements".

[0047] In practical applications, this redundant communication structure is widely used for data interaction between equipment such as roadheader-anchor machines, bolt transfer machines, and belt transfer machines and self-propelled tail sections. It offers significant advantages, particularly in tunneling operations where equipment movement is frequent and cable length variations are significant. Through redundant design, the system can effectively cope with downhole electromagnetic interference, cable bending, tension, and other physical damage, ensuring the real-time performance and accuracy of control signals and status feedback.

[0048] This step plays a crucial role in the overall technical solution. Its technical effects are reflected in significantly improving the system's communication reliability, reducing the risk of equipment downtime due to communication interruptions, thereby improving the continuity and intelligence level of tunneling operations, and achieving the goal of reducing manpower and increasing efficiency in safe production.

[0049] S22, the main controller of the control system interacts with the electromagnetic proportional valve on the cable reel motor through the EPEC3724 module to realize closed-loop control of the electric drum drive current.

[0050] Specifically, in some implementations, the main controller of the control system interacts with the electromagnetic proportional valve on the cable reel motor via the EPEC3724 module to achieve closed-loop control of the electric drum drive current. This is a key control link in this invention for achieving automatic cable following during reeling and unwinding. This step is based on the collaborative working principle of the hydraulic drive system and the electronic control system, ensuring that the speed and torque of the cable reel motor remain consistent with the movement state of the working face equipment through real-time feedback and dynamic adjustment.

[0051] Specifically, the EPEC3724 module, serving as the interface unit between the main controller and the electromagnetic proportional valve, possesses high-precision current output capability and supports PWM (Pulse Width Modulation) or analog signal output to drive the coil current of the proportional solenoid valve. The electromagnetic proportional valve adjusts the flow and pressure of the hydraulic oil according to the input current, thereby controlling the speed and direction of the cable reel motor. In this closed-loop control process, a Canopen absolute encoder mounted on the drive sprocket of the cable reel motor collects the motor's speed and number of revolutions in real time and feeds the data back to the main controller via the CAN bus. Based on a PID (Proportional-Integral-Derivative) control algorithm, and combined with a preset cable winding / unwinding speed curve and equipment travel distance information, the main controller dynamically adjusts the current value output by the EPEC3724 module to match the drive current of the electric drum with actual requirements, thus achieving precise control of the cable winding / unwinding process.

[0052] Regarding parameter settings, the proportional coefficient (Kp), integral time (Ti), and derivative time (Td) in the PID control algorithm need to be tuned according to the system response characteristics. Typically, Kp ranges from 0.1 to 1.0, Ti from 1 to 10 seconds, and Td from 0.1 to 0.5 seconds to ensure good dynamic response and stability under different operating conditions. The output current range of the EPEC3724 module is generally 0 to 20 mA or 4 to 20 mA, corresponding to a control accuracy of ±1% for the electromagnetic proportional valve, meeting the high control accuracy requirements in mining environments.

[0053] In practical applications, this step is deployed on the tail section of a self-propelled jacking machine in a rapid underground tunneling face of a coal mine. It communicates with equipment such as the tunneling and anchoring machine and the bolt transfer machine via mining fiber optic cables to obtain real-time information on their travel distance. As the equipment advances, the control system automatically adjusts the drive current of the cable reel motor based on feedback data to achieve synchronous cable release. When the tail section of the jacking machine moves forward, it automatically retracts the cable, preventing tangling, breakage, or excessive slack, thereby improving the reliability of the power supply system and the continuity of operations.

[0054] Furthermore, this closed-loop control mechanism effectively improves the system's response speed and control accuracy, reduces the need for manual intervention in cable management, and enhances the equipment's adaptability under complex working conditions. By introducing current loop control, the system can achieve high-precision drive of the electromagnetic proportional valve, thereby ensuring the smoothness and safety of the cable winding process. This is an important technical support for realizing the intelligent and automated operation of rapid tunneling systems.

[0055] S3: The main controller, based on the movement distance data of each device and the feedback data from the cable reel motor, uses a PID control algorithm to adjust the drive current of the cable reel motor in real time. It then controls the cable winding speed and distance of the electric drum via an electromagnetic proportional valve, achieving automatic cable winding and unwinding. Specifically, in some implementations, the main controller uses a PID control algorithm to adjust the drive current of the cable reel motor in real time based on the movement distance data of each device and the feedback data of the cable reel motor. This, in turn, controls the cable winding speed and distance of the electric drum via an electromagnetic proportional valve, thereby achieving automatic cable winding and unwinding. This step is the core control logic of the entire bidirectional cable winding automatic following control system. Its technical implementation is based on the closed-loop feedback control principle, combined with high-precision sensor data and real-time control algorithms, ensuring synchronous winding and unwinding of the cable during device movement.

[0056] Furthermore, S3 includes: S31, the PID control algorithm dynamically adjusts parameters based on a preset cable tension threshold and equipment moving speed deviation to optimize the stability of cable winding and unwinding. Specifically, in some implementations, the PID control algorithm dynamically adjusts parameters based on a preset cable tension threshold and the deviation of the equipment's moving speed to optimize the stability of cable winding and unwinding. This technology is based on closed-loop feedback control principles, combining real-time sensor data with control logic algorithms to achieve precise control of the cable reel motor drive system. Specifically, the control system uses a Canopen absolute encoder mounted on the drive sprocket of the cable reel motor to collect the number of rotations and rotational speed of the cable reel in real time, and feeds the data back to the main controller via the CAN bus. Simultaneously, the system monitors cable tension using a pressure sensor, compares the tension value with a preset tension threshold (e.g., set to 150~300 N), and calculates the tension deviation. Furthermore, each piece of equipment (such as a tunneling and anchoring machine, an anchor bolt transfer machine, etc.) obtains its moving speed through encoders or speed sensors on its own walking control system, and the control system calculates the deviation between the equipment's moving speed and the actual winding and unwinding speed of the cable reel based on this.

[0057] Furthermore, the PID controller calculates the proportional (P), integral (I), and derivative (D) terms based on the aforementioned tension and speed deviations, and dynamically adjusts the control output signal. The proportional gain (Kp) is typically set to 0.5–2.0, the integral time constant (Ti) to 5–20 seconds, and the derivative time constant (Td) to 0.1–1.0 seconds; these parameters can be adaptively adjusted according to the actual working conditions. The control signal is output to the proportional solenoid valve of the electric drum via the EPEC3724 drive module. By adjusting the drive current of the solenoid valve (typically controlled within the range of 0–20 mA), precise control of the cable reel motor speed and torque is achieved, thereby ensuring constant tension and speed matching during cable winding and unwinding.

[0058] In practical applications, this step is suitable for the complex moving environment of rapid tunneling faces in coal mines, especially under conditions of frequent equipment movement and significant changes in cable length. It effectively prevents entanglement, breakage, and other faults caused by cable slackness or excessive tightness. Through dynamic parameter adjustment using the PID control algorithm, the system possesses excellent response speed and anti-interference capabilities, significantly improving the stability and automation level of cable deployment and retraction. This is a key technical aspect for realizing intelligent and continuous operation of rapid tunneling systems.

[0059] S32, the adjustment of the driving current is achieved by adding a current loop feedback mechanism to the electromagnetic proportional valve drive circuit to realize high-precision control of the hydraulic system.

[0060] Specifically, in some implementations, the adjustment of the drive current is achieved by introducing a current loop feedback mechanism in the electromagnetic proportional valve drive circuit to realize high-precision control of the hydraulic system. This mechanism is based on the closed-loop control principle, which involves real-time acquisition of the drive current signal of the electromagnetic proportional valve and feeding it back to the main controller of the control system. This signal is compared with the set target current, thereby dynamically adjusting the output signal to ensure the stability and accuracy of the drive current. Specifically, the control system uses the EPEC3724 drive module as the actuator of the proportional valve, which has high-resolution PWM output capability, enabling continuous adjustment of the valve core opening of the electromagnetic proportional valve, thereby controlling the speed and torque of the hydraulic motor.

[0061] At the parameter level, the current loop feedback mechanism is typically set to a sampling frequency of 1-10 kHz to ensure a rapid response to current changes. The proportional gain (Kp), integral time (Ti), and derivative time (Td) in the PID control algorithm need to be tuned according to the system's dynamic characteristics, with typical parameter ranges of Kp = 0.1~1.0, Ti = 10~100 ms, and Td = 0~20 ms. Furthermore, the rated operating current of the electromagnetic proportional valve is generally between 0.5A and 2A, and the drive voltage is 24V DC, conforming to the power supply standards for explosion-proof electrical equipment in mining applications in GB 3836.4-2013 "Explosive Atmospheres Part 4: Equipment Protected by Intrinsic Safety 'i'".

[0062] In application scenarios, this current loop feedback mechanism is integrated into the automatic following control system for bidirectional mining cable reels, used to control the hydraulic drive system of the cable reel motor. When equipment such as the tunneling and anchoring machine and the bolt transfer machine moves, the control system calculates the required cable winding and unwinding amount based on the travel distance and speed fed back by the encoder. It then precisely controls the speed and direction of the hydraulic motor by adjusting the drive current of the electromagnetic proportional valve, thereby achieving synchronous cable winding and unwinding. This mechanism effectively overcomes the problem of insufficient control accuracy caused by load fluctuations and hydraulic system response delays in traditional open-loop control.

[0063] From a technical perspective, the current loop feedback mechanism significantly improves the dynamic response performance and control precision of the hydraulic system, enabling the cable reel to stably follow the equipment's movement, preventing excessive cable tension or slack, and ensuring the safety of equipment operation and the continuity of power supply. This step, as the core control link of the entire control system, plays a crucial role in achieving intelligent and unmanned cable management in rapid tunneling faces.

[0064] S4 dynamically switches the cable winding and unwinding modes according to the direction of movement of the self-propelled tail section. When the self-propelled tail section moves forward, it automatically unwinds the cable, and when it moves backward, it automatically winds the cable. At the same time, the cable winding device is equipped with full cable and empty cable protection functions to ensure mechanical safety during the cable winding and unwinding process.

[0065] Specifically, in some implementations, this invention achieves automatic control of the cable by the self-propelled tail hoist in different directions of movement by dynamically switching the cable deployment and retraction modes, thereby improving the power supply continuity and operational efficiency of the mine rapid tunneling system. The core technical principle of this step is based on real-time sensing of the self-propelled tail hoist's movement direction and combined with a PID control algorithm for closed-loop control of the cable reeling device. Specifically, the movement direction of the self-propelled tail hoist is acquired by an encoder or speed sensor in its travel control system and transmitted to the main controller of the control system via a CAN bus. The main controller determines whether to perform a "cable release" or "cable retraction" operation based on the direction signal and controls the rotation direction and speed of the cable reeling motor accordingly.

[0066] Furthermore, S4 includes: S41, the dynamic switching of cable winding and unwinding modes includes determining whether to start the forward or reverse rotation of the cable winding motor based on the moving direction of the self-moving tail, so as to realize the automatic winding and unwinding of the cable.

[0067] Specifically, in some implementations, the dynamic switching of cable reeling / unwinding modes is achieved by monitoring the movement direction of the self-propelled machine tail in real time and controlling the forward or reverse rotation of the cable reel motor accordingly. The core of this step lies in constructing a closed-loop control logic based on movement direction feedback to ensure that the cable remains taut throughout the equipment's movement, preventing safety hazards such as cable tangling, breakage, or dragging on the ground.

[0068] At the technical implementation level, the system acquires displacement data through a Canopen absolute encoder mounted on the self-propelled tail section's traveling mechanism. The encoder possesses high precision (typically 0.01 mm / pulse) and anti-interference capabilities, making it suitable for complex working conditions in underground coal mines. The main controller (such as a PLC or embedded controller) determines whether the self-propelled tail section is moving forward or backward based on the displacement change rate and direction fed back by the encoder. When forward movement is detected, the control system triggers the cable reel motor to rotate forward, achieving cable retrieval; conversely, when backward movement is detected, the control system controls the cable reel motor to rotate in reverse, achieving cable release. This control logic is typically integrated into the main program of the control system and implemented through a state machine or direction determination algorithm.

[0069] In terms of parameter indicators, the speed control of the cable reel motor typically employs a PID control algorithm, setting proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd to achieve smooth adjustment of the cable winding and unwinding speed. For example, Kp can be set to 0.8, Ki to 0.05, and Kd to 0.1. Specific parameters need to be adjusted on-site based on cable tension, equipment movement speed, and load characteristics. Simultaneously, the system sets protection thresholds for full and empty cables. For instance, in a full cable state, the reel is set to stop reeling when the reel drum rotates 15 times, and in an empty cable state, the drum rotates less than 3 times, triggering a stop in release to prevent excessive cable entanglement or complete cable detachment.

[0070] In terms of application scenarios, this step is widely used in rapid tunneling faces in coal mines, especially when equipment such as roadheader-anchor machine, bolt transfer machine, and belt transfer machine are working in conjunction with self-propelled tail-end conveyors. The system communicates with each device through mining fiber optic cables to achieve remote data acquisition and control command issuance, meeting the requirements for explosion-proof, anti-interference, and high reliability in underground mining.

[0071] In terms of technical effectiveness, the dynamic switching of cable retraction and deployment modes effectively improves the automation level of cable management, reduces manual intervention, and enhances the continuity and safety of equipment operation. It is a key technical link to realize intelligent and unmanned operation of rapid tunneling systems.

[0072] S42, the full cable and empty cable protection functions are realized by mechanical limit switches and photoelectric sensors installed on the cable winding device. When the full or empty cable is detected, the control system automatically stops the cable winding operation and issues an alarm signal.

[0073] Specifically, in some implementations, the full and empty cable protection functions are achieved by integrating mechanical limit switches and photoelectric sensors on the cable winding device. The technical principle is based on a combination of physical contact and non-contact detection to ensure that the protection mechanism is triggered promptly when the cable is fully wound or empty. The mechanical limit switch is typically installed at the limit position of the cable winding drum. When the cable reaches its maximum capacity or is completely released, the physical stop on the drum triggers the limit switch, sending a hard signal to the control system. The photoelectric sensor is arranged on the cable guide structure or the surface of the cable winding drum, detecting the presence or continuity of the cable to achieve real-time sensing of the cable status. In actual operation, when the control system receives a full or empty cable signal, it immediately sends a stop command to the cable winding motor via the PLC or main controller and displays alarm information through the human-machine interface (HMI). Simultaneously, it can activate an audible and visual alarm device to alert the operator.

[0074] In terms of specifications, the mechanical limit switch typically has a trigger stroke of ±2mm and a response time of less than 10ms to ensure rapid response when the cable approaches its limits. The photoelectric sensor employs a diffuse reflection or through-beam structure, with a working distance of 50~200mm, a resolution of 0.1mm, and a detection frequency of up to 1000Hz, meeting high dynamic response requirements. Upon receiving a signal, the control system communicates with the cable reel motor controller via the Canopen bus, using a PID control algorithm to adjust the output current of the electromagnetic proportional valve, stopping the motor within an accuracy range of ±0.5 turns to prevent excessive cable stretching or over-tightening.

[0075] This function plays a crucial role in rapid underground tunneling faces in coal mines, especially in scenarios where equipment such as integrated tunneling and anchoring machines and bolt transfer machines move frequently. It effectively prevents faults such as cable breakage, entanglement, or excessive slack, ensuring the continuity of power supply and operational safety of the equipment. Through this protection mechanism, the system achieves closed-loop control of the cable winding process, improving the overall level of automation and providing a reliable guarantee for realizing unmanned and intelligent tunneling operations.

[0076] The automatic following and unwinding control method for bidirectional mining cables in this invention enables automatic following and unwinding of mining cables during the movement of equipment at the tunneling face, improving cable management efficiency and power supply reliability, reducing manual intervention and labor intensity, and enhancing operational safety and intelligence.

[0077] In addition, the present invention also displays the movement status of each device, the speed of the cable reel motor, the cable tension and system fault information in real time through a human-computer interaction system, and automatically triggers audible and visual alarms and remote communication alarms when an anomaly is detected.

[0078] Specifically, in some implementations, this invention uses a human-machine interface system to display the real-time movement status of each device, the rotation speed of the cable reel motor, cable tension, and system fault information. It automatically triggers audible and visual alarms and remote communication alarms when an anomaly is detected. This is a crucial human-machine interface and safety control element for achieving automated cable management in rapid tunneling faces. This step is based on a distributed sensing and control architecture, combined with embedded display technology and industrial communication protocols, ensuring that operators can intuitively grasp the system's operating status and respond promptly in abnormal situations.

[0079] At the technical implementation level, human-machine interface systems typically employ industrial-grade touchscreens or LED status displays, communicating with the main controller of the control system (such as a PLC or embedded controller) via RS485, CAN bus, or Ethernet. The movement status of each device is acquired by incremental or absolute encoders mounted on the walking drive unit, the speed of the cable reel motor is fed back in real time by a Canopen absolute encoder, and cable tension is measured by a pressure sensor integrated on the cable reel drum. System fault information is uploaded from each subsystem controller to the main controller, where it is logically judged and an alarm mechanism is triggered.

[0080] In terms of parameter specifications, the encoder resolution is typically 1024~4096 pulses / revolution, with a sampling frequency of no less than 100Hz to ensure high-precision measurement of travel distance and rotational speed; the cable tension sensor has a range of 0~500N and an accuracy class of 0.5, meeting the reliability requirements for cable tension monitoring in underground coal mines; the audible and visual alarm system should have a response time of less than 500ms, an alarm volume of no less than 85dB(A), and LED indicator brightness should meet the electromagnetic compatibility requirements under the GB / T 17626.8 standard. Remote communication alarms are implemented through an intrinsically safe wireless communication module for mining (such as KJ73X or KJ101N), supporting ZigBee or LoRa protocols, with a communication distance of no less than 1000 meters and a data refresh cycle of 1~5 seconds.

[0081] In terms of application scenarios, this step is widely used in rapid underground tunneling faces in coal mines, especially in the collaborative operation of equipment such as tunneling and anchoring machines, bolt transfer machines, and belt transfer machines. Operators can monitor the cable winding status in real time through a human-machine interface, promptly detecting faults such as abnormal tension, motor stalling, and communication interruptions, thereby avoiding accidents such as cable breakage, entanglement, or equipment damage, ensuring operational continuity and personnel safety.

[0082] In terms of technical effectiveness, this step enables visualized monitoring and intelligent alarm of the cable reeling system, significantly improving the system's response speed and fault handling efficiency. It provides key support for the automated and intelligent operation of the rapid tunneling system and has significant engineering practical value and safety assurance function.

[0083] The automatic following reeling and unwinding control method for bidirectional mining cables in this invention monitors the equipment movement status, reeling motor speed, cable tension, and system fault information in real time through a human-machine interaction system. In abnormal situations, it automatically triggers audible and visual alarms and remote communication alarms, further improving the controllability and response speed of the cable reeling and unwinding process, effectively preventing equipment operation risks, and enhancing the safety and intelligent operation and maintenance level of the system.

[0084] To achieve the above embodiments, the present invention also proposes an automatic following and unwinding control device for bidirectional mining cables. Figure 3 This is a schematic diagram of an automatic following and unwinding control device for bidirectional mining cables provided in an embodiment of the present invention. Figure 3 As shown, the device includes: The data acquisition module 100 is used to collect the moving distance data of each device in real time through encoders or speed sensors installed on the tunneling and anchoring machine, anchor bolt transfer machine, belt transfer machine and the tail of the stepping self-propelled machine; The data transmission and communication module 200 is used to transmit the collected moving distance data to the main controller of the control system through the mining fiber optic cable, and to communicate with the absolute encoder on the cable reel motor based on the Canopen bus protocol to obtain the actual number of rotations and speed of the cable reel motor. The drive control module 300 is used by the main controller to adjust the drive current of the cable reel motor in real time based on the moving distance data of each device and the feedback data of the cable reel motor using a PID control algorithm. It controls the cable winding and unwinding speed and distance of the electric drum through an electromagnetic proportional valve to realize the automatic following winding and unwinding of the cable. The mode switching and protection module 400 is used to dynamically switch the cable winding and unwinding modes according to the moving direction of the self-propelled tail. When the self-propelled tail moves forward, it automatically unwinds the cable and when it moves backward, it automatically winds the cable. The winding device is equipped with full cable and empty cable protection functions to ensure mechanical safety during the cable winding and unwinding process.

[0085] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0086] To implement the above embodiments, the present invention also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0087] To implement the above embodiments, the present invention also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided in the foregoing embodiments.

[0088] To implement the above embodiments, the present invention also proposes a computer program product, including a computer program that, when executed by a processor, implements the methods provided in the foregoing embodiments.

[0089] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in this invention all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0090] It should be noted that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. Furthermore, such collection / sharing should only be conducted after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes authorization of relevant user information before the user uses the function. In addition, any necessary steps must be taken to protect and safeguard access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0091] This invention is intended to provide implementation schemes for users to selectively prevent the use or access to personal information data. That is, this disclosure is intended to provide hardware and / or software to prevent or block access to such personal information data. Once personal information data is no longer needed, risks can be minimized by restricting data collection and deleting data. Furthermore, where applicable, such personal information can be de-identified to protect user privacy.

[0092] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0094] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0095] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0096] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0097] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0098] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0099] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0100] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0101] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for automatic following and unwinding control of bidirectional mining cables, characterized in that, include: S1 collects real-time data on the movement distance of each device by an encoder or speed sensor installed on the tunneling and anchoring machine, the anchor bolt transfer machine, the belt transfer machine, and the tail of the stepping self-propelled machine. S2 transmits the collected travel distance data to the main controller of the control system via a mining fiber optic cable, and communicates with the absolute encoder on the cable reel motor based on the Canopen bus protocol to obtain the actual number of rotations and speed of the cable reel motor. S3, the main controller uses a PID control algorithm to adjust the drive current of the cable reel motor in real time based on the moving distance data of each device and the feedback data of the cable reel motor. It controls the cable winding speed and distance of the electric drum through the electromagnetic proportional valve to realize the automatic following winding and unwinding of the cable. S4 dynamically switches the cable winding and unwinding modes according to the direction of movement of the self-propelled tail section. When the self-propelled tail section moves forward, it automatically unwinds the cable, and when it moves backward, it automatically winds the cable. At the same time, the cable winding device is equipped with full cable and empty cable protection functions to ensure mechanical safety during the cable winding and unwinding process.

2. The method as described in claim 1, characterized in that, S1 further includes: The encoder is a mine explosion-proof absolute encoder, which is installed on the output shaft of the walking drive device of each piece of equipment to obtain the absolute position information of the equipment in real time. The speed sensor is a non-contact magnetoelectric sensor, installed on the walking speed reducer of each device, used to detect the walking speed of the device in real time and convert it into a digital signal for transmission.

3. The method as described in claim 1, characterized in that, S2 further includes: The mining fiber optic cable adopts a redundant communication structure to ensure the stability and anti-interference capability of data transmission in the complex underground environment. The main controller of the control system interacts with the electromagnetic proportional valve on the cable reel motor through the EPEC3724 module to achieve closed-loop control of the electric drum drive current.

4. The method as described in claim 1, characterized in that, S3 further includes: The PID control algorithm dynamically adjusts parameters based on a preset cable tension threshold and equipment moving speed deviation to optimize the stability of cable winding and unwinding. The adjustment of the drive current is achieved by adding a current loop feedback mechanism to the electromagnetic proportional valve drive circuit, thereby realizing high-precision control of the hydraulic system.

5. The method as described in claim 1, characterized in that, S4 further includes: The dynamic switching cable winding and unwinding mode includes determining whether to start the forward or reverse rotation of the cable winding motor based on the moving direction of the self-moving tail section, so as to realize the automatic winding and unwinding of the cable. The full and empty cable protection functions are achieved through mechanical limit switches and photoelectric sensors installed on the cable winding device. When the full or empty cable is detected, the control system automatically stops the cable winding operation and issues an alarm signal.

6. The method as described in claim 1, characterized in that, Also includes: The human-machine interaction system displays the movement status of each device, the speed of the cable reel motor, the cable tension, and system fault information in real time, and automatically triggers audible and visual alarms and remote communication alarms when an anomaly is detected.

7. An automatic following and unwinding control device for bidirectional mining cables, characterized in that, include: The data acquisition module is used to collect real-time movement distance data of each device through encoders or speed sensors installed on the tunneling and anchoring machine, anchor bolt transfer machine, belt transfer machine and the tail of the stepping self-propelled machine; The data transmission and communication module is used to transmit the collected movement distance data to the main controller of the control system through the mining fiber optic cable, and to communicate with the absolute encoder on the cable reel motor based on the Canopen bus protocol to obtain the actual number of rotations and speed of the cable reel motor. The drive control module is used by the main controller to adjust the drive current of the cable reel motor in real time based on the moving distance data of each device and the feedback data of the cable reel motor using a PID control algorithm. It controls the cable winding speed and distance of the electric drum through an electromagnetic proportional valve to realize the automatic following winding and unwinding of the cable. The mode switching and protection module is used to dynamically switch the cable winding and unwinding modes according to the moving direction of the self-propelled tail. When the self-propelled tail moves forward, it automatically unwinds the cable, and when it moves backward, it automatically winds the cable. The winding device is equipped with full cable and empty cable protection functions to ensure mechanical safety during the cable winding and unwinding process.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-6.

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