Rectangular coordinate system-based cutting tooth torque coal rock interface identification method and system

Abstract

The invention relates to the technical field of coal mining intellectualization, in particular to a method and a system for monitoring and identifying a coal-rock interface in real time based on cutting tooth torque of a rectangular coordinate system. The method comprises the following steps: establishing the rectangular coordinate system by taking the circle center of a roller of a coal mining machine as an original point, and deducing a cutting tooth tip trajectory equation and a real-time torque equation; the resultant force is collected and the tangential force is calculated through a pressure sensor installed in the gear, and then the roller torque is obtained. And when the torque change rate exceeds a threshold value and the absolute value of the torque reaches a rock characteristic value, determining that the position of the cutting tooth is a coal-rock interface transition area, and dynamically updating a coal-rock interface curve by using a Kalman filtering algorithm to provide a reference for rocker arm height adjustment. The system comprises a motion trail calculation module, a cutting tooth torque real-time monitoring module, a data fusion analysis module and an interface visualization and regulation module. According to the method, efficient and accurate recognition of the coal-rock interface and autonomous rock avoidance regulation and control of the cutting track are achieved, and the coal mining efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent coal mining, in particular to a pick torque coal-rock interface identification method and system based on a rectangular coordinate system. BACKGROUND

[0002] At present, in the intelligent mining process of the fully mechanized coal mining face, the coal mining machine needs to work in the complex geological environment of coal and rock mixture. Since the coal-rock interface is irregular and undulating, the coal dust of the coal mining face reduces the visibility, and the mechanical noise is strong, so it is difficult to accurately judge the cutting state, and accurately identifying the coal-rock interface is a key technical difficulty for realizing the adaptive cutting of the coal mining machine.

[0003] The current coal-rock interface identification method mainly has the following shortcomings: (1) Complex sensor configuration: Some methods need to install special sensors (such as radar, infrared, etc.) additionally, but different coal-rock identification methods have different emphases and certain limitations, and cannot reflect the dynamic force characteristics of a single pick in real time, often with large workload, time-consuming, low work efficiency, difficult to identify in real time and high precision, and some technologies even harm the physical and mental health of workers, increase equipment cost and maintenance difficulty, and are easily disturbed by the complex underground environment.

[0004] (2) Dependent on offline model: Traditional methods are mostly based on empirical formula or offline simulation model, and cannot reflect the changes of the coal-rock interface in the dynamic cutting process in real time, and have priori defects.

[0005] (3) Insufficient identification accuracy: The existing technology responds to the change of the cutting load with lag, cannot accurately capture the subtle features of the transition area of the coal-rock interface, and leads to low cutting efficiency and intensified equipment wear.

[0006] Therefore, a pick torque real-time monitoring and identification coal-rock interface method and system based on a rectangular coordinate system is needed, which realizes efficient and accurate identification of the coal-rock interface by monitoring the torque changes of the key components in real time and combining kinematic analysis. SUMMARY

[0007] In view of the above shortcomings of the prior art, the present application provides a pick torque coal-rock interface identification method and system based on a rectangular coordinate system, which establishes the mapping relationship between the pick motion trajectory and the gear torque, analyzes the pick position in the rectangular coordinate system, and combines the real-time data of the gear torque to realize dynamic identification of the coal-rock interface, so that the coal mining machine works efficiently and the coal mining efficiency is improved.

[0008] To achieve the above purpose, the present application adopts the following technical solutions: The method for identifying the coal-rock interface based on the torque of the cutting tooth in a rectangular coordinate system includes the following steps: S1. Establish the equation of the cutting tooth motion trajectory in the rectangular coordinate system: Establish a rectangular coordinate system with the center of the coal mining machine drum as the origin, taking into account the traction speed of the coal mining machine. V x Increase the speed of the rocker arm V y and drum speed n The trajectory equation of the cutting tooth tip is derived as follows:

[0009]

[0010]

[0011] In the formula, t Time (s); D The diameter of the roller is in mm. φ ij ( t ) is the first i The first leaf j Instantaneous position angle (rad) of the cutting teeth on the strip section; P g This refers to the number of helical blades; θ The position angle between adjacent cutting teeth; S2. Establish the real-time torque equation of the cutting tooth in a rectangular coordinate system: When the drum rotates, the cutting teeth are subjected to loads such as coal and rock. F z The resultant force on the cutting tooth is along the axis of the cutting tooth; F n This is the instantaneous radial cutting force of the cutting tooth, directed towards the center of the drum and perpendicular to... F c The direction; φ ij ( t () represents the instantaneous position angle of the cutting tooth; D The diameter of the drum; The effect of the cutting teeth on the drum is immediately equivalent to the cutting force decomposed along the x and y axes along the direction of the coal mining machine's movement. F xij and F yij and the instantaneous torque acting on the drum M ,Right now: F xij =- F cij cos φij t F nij sin φ ij t F yij = F cij sin φ ij t F nij cos φ ij t

[0012] The real-time torque received by the drum is obtained by using the linear superposition principle:

[0013] wherein, K is the total number of blades; N is the number of single blade section lines; F cij is the tangential force of the i-th blade j-th section line tooth; i S3, real-time monitoring of the torque data of the cutting tooth: j A pressure sensor is installed inside the coal mining machine gear to measure the pressure in real time z , ensuring real-time and accuracy; the angle between the resultant force line and the original center of the drum is calculated z ; F cij ; F S4, establish the torque-position mapping relationship for coal-rock interface identification: F Analyze the data differences of real-time pressure and torque when cutting coal and rock: when cutting rock, the pressure and torque of the cutting tooth will increase significantly and the fluctuation assignment will intensify, while when cutting coal seam, the torque is relatively stable, combined with the cutting tooth position coordinates in the rectangular coordinate system , ) and the corresponding instantaneous torque x ( y ), a mapping relationship is established, when the torque change rate M exceeds the threshold value and the absolute value of the torque reaches the characteristic value of cutting rock, it is determined that the instantaneous position of the cutting tooth is the coal-rock interface transition zone; t (5) dynamically update the coal-rock interface position: ​​​​​​​​​​Based on the multi-group pick torque-position coordinate data, the coal-rock interface curve is updated in real time to provide a reference for the rocker height adjustment.

[0014] Preferably, the tangential force F cij The calculation method is as follows: Based on the resultant force F z The angle between the action line and the center of the roller, combined with the instantaneous position angle of the pick φ ij ( t ), is obtained by trigonometric function decomposition F cij .

[0015] Preferably, the threshold of the torque change rate is determined as follows: In typical coal seam and rock cutting tests, torque data is collected and the mean value and fluctuation range are calculated, the intermediate value of the mean torque values of coal seam and rock is taken and is floated by 10%-30% as the rock characteristic torque value, and the corresponding change rate threshold is 15%-25%.

[0016] Preferably, the dynamic update of the coal-rock interface curve L ( x , y ) adopts Kalman filtering algorithm and is realized through the following steps: State prediction: predicting the interface position at the current time according to the interface position at the previous time and the motion parameters of the coal mining machine; Measurement update: fusing the newly identified interface points and the predicted value to obtain the optimal estimated position through Kalman gain optimization.

[0017] The pick torque coal-rock interface recognition system based on the rectangular coordinate system comprises: Motion trajectory calculation module: used for real-time calculation of the establishment and calculation of the pick trajectory equation in the rectangular coordinate system to obtain the spatial position coordinates of the pick at any time.

[0018] Pick torque real-time monitoring module: containing high-precision pressure sensing and data acquisition unit, real-time intercepting pressure and torque data transmission to the data processing unit, Data fusion analysis module: time synchronization and feature fusion of the pick position coordinates and gear torque data to establish the discrimination of the coal-rock interface recognition and realize the real-time calculation of the interface position.

[0019] Interface visualization and control module: coupling the coal-rock interface curve L ( x , y ) with the coal mining machine model and combining the computer for visual display, which also provides a reference value for the rocker height adjustment.

[0020] Preferably, the pressure sensor is integrated into the mounting hole of the cutting tooth, with the sensor axis coinciding with the axis of the cutting tooth, for collecting the resultant force along the axis of the cutting tooth. F z and quantity F x , F y .

[0021] Preferably, the data fusion and analysis module specifically includes: Torque decomposition unit: based on resultant force F z and the position angle of the cutting tooth φ ij ( t ), calculate tangential force F cij and roller torque M ( t ); Feature recognition unit: Determines the location of the interface transition zone by comparing the real-time torque with the coal and rock characteristic torque database.

[0022] Preferably, the interface visualization and control module achieves rocker arm control in the following ways: When the coal-rock interface curve L ( x , y When the vertical distance between the rocker arm and the roller track exceeds a preset threshold, an electro-hydraulic servo signal is output to control the rocker arm to rise or fall, with an adjustment accuracy of ±30 mm.

[0023] The present invention further protects a computer device, the computer device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the instruction, program, code set or instruction set being loaded and executed by the processor to implement the above-mentioned method for identifying coal-rock interface based on the torque of the cutting tooth in a rectangular coordinate system.

[0024] The present invention further protects a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the instruction, program, code set, or instruction set is loaded and executed by a processor to implement the above-described method for identifying coal-rock interfaces based on a Cartesian coordinate system using cutting tooth torque.

[0025] Compared with the prior art, the present invention has the following beneficial effects: This invention proposes a shaped charge blasting device for the perimeter holes of a tunnel face and a method for evaluating blasting quality. By establishing a mapping relationship between the movement trajectory of the cutting teeth and the torque of the gears, and using the position analysis of the cutting teeth in a rectangular coordinate system combined with real-time data of the gear torque, dynamic identification of the coal-rock interface is achieved, which can ensure the efficient operation of the coal mining machine and effectively improve the efficiency of coal mining. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings involved in the embodiments are now briefly described. Obviously, the drawings in the following description are merely illustrative of some embodiments of the present invention. For those skilled in the art, other forms of drawings can be constructed based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the irregular coal-rock interface and coal mining operation mentioned in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the force analysis of the cutting teeth during the cutting process mentioned in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the cutting tooth motion analysis mentioned in Embodiment 1 of the present invention; Figure 4 This is a diagram showing the arrangement of the roller cutting teeth mentioned in Embodiment 1 of the present invention. Figure 5 This is a flowchart of the torque-position mapping relationship for coal-rock interface identification mentioned in Embodiment 1 of the present invention. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] Example 1: Please see Figure 1 This invention proposes a method for identifying the coal-rock interface based on the torque of a cutting tooth in a rectangular coordinate system, such as... Figure 1 As shown, the method for calculating the motion trajectory of the cutting tooth is as follows: Coal mining machine drum traction speed V x Adjusting the speed of the rocker arm V y and the rotation speed of the drum n Under the combined action, the center of the drum moves from O1 to O2 within the drum's rotation cycle.

[0030] Establish a rectangular coordinate system with the center of the roller as the origin. The trajectory equation of the cutting tooth tip is:

[0031]

[0032]

[0033] according to Figure 3 The motion analysis of the cutting tooth shown indicates that the spatial trajectory equation of the cutting tooth tip is:

[0034]

[0035] In the formula, t Time (s); D The diameter of the roller is in mm. φ ij ( t ) is the first i The first leaf j The instantaneous position angle (rad) of the cutting teeth on the strip section is calculated as follows:

[0036] like Figure 2 As shown, when the drum rotates to cut coal and rock, the cutting teeth are subjected to a resultant force along the axis. F z Decompose it into tangential force F c and radial force F n radial force F n To point to the center and with F c Perpendicular. In a rectangular coordinate system, the force on the cutting tooth along the x and y axes is decomposed as follows: F xij =- F cij cos φ ij ( t )- F nij sin φ ij ( t ) F yij = F cij sin φ ij ( t )- F nij cos φ ij (t ) The torque generated by a single cutting tooth on the roller is:

[0037] Using the principle of linear superposition, the real-time total torque of the roller is:

[0038] In the formula, K The total number of leaves. N This represents the number of cross sections per blade.

[0039] like Figure 4 The diagram shown is an unfolded view of the roller cutting teeth arrangement. K It has 3 blades. N The number of cut-off lines is 7.

[0040] like Figure 5 The diagram shown illustrates the torque-position mapping relationship for coal-rock interface identification according to the present invention, which specifically includes the following: (1) Torque trajectory equation and position angle: used to establish and calculate the trajectory equation of the cutting tooth in the rectangular coordinate system in real time, and obtain the spatial position coordinates of the cutting tooth at any time.

[0041] (2) Real-time monitoring of cutting tooth torque: Includes a high-precision pressure sensor and data acquisition unit, which transmits pressure and torque data to the data processing unit in real time. (3) Data fusion analysis: Synchronize the time and feature fusion of the cutting tooth position coordinates and gear torque data to establish a discrimination for coal-rock interface identification and realize real-time calculation of interface position.

[0042] (4) The coal-rock interface curve L(x,y) is coupled with the coal mining machine model and visualized using a computer, which also provides a reference for adjusting the rocker arm height.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for identifying the coal-rock interface based on the torque of a cutting tooth in a rectangular coordinate system, characterized in that, Includes the following steps: S1. Establish the equation of the cutting tooth motion trajectory in the rectangular coordinate system: Establish a rectangular coordinate system with the center of the coal mining machine drum as the origin, taking into account the traction speed of the coal mining machine. V x Increase the speed of the rocker arm V y and drum speed n The trajectory equation of the cutting tooth tip is derived as follows: In the formula, t For time, s; D The diameter of the roller is in mm; φ ij ( t ) is the first i The first leaf j The instantaneous position angle of the cutting teeth on the strip segment, in rad; P g This refers to the number of helical blades; θ The position angle between adjacent cutting teeth; S2. Establish the real-time torque equation of the cutting tooth in a rectangular coordinate system: The resultant force on the cutting tooth F z Decomposed into tangential force F c and radial force F n Derivation of the instantaneous torque of the roller: In the formula, K This represents the total number of leaves; N This represents the number of intercepts on a single blade. F cij For the first i The first leaf j Tangential force of the cutting teeth of the segment; S3. Real-time monitoring of cutting tooth torque data: The resultant force is collected by a pressure sensor installed inside the gear of the coal mining machine. F z and based on F z Calculation of the angle with the center of the roller F cij ; S4. Establish torque-position mapping relationship: Analyze the torque differences during coal and rock cutting, when the torque change rate When the threshold is exceeded and the absolute value of the torque reaches the rock characteristic value, the location of the cutting tooth is determined to be the coal-rock interface transition zone. S5. Dynamically update the coal-rock interface position: Based on multiple sets of torque-position data, the coal-rock interface curve is fitted in real time. L ( x , y This provides a reference for adjusting the height of the rocker arm.

2. The method according to claim 1, characterized in that, The tangential force F cij The calculation method is as follows: Based on the resultant force F z The angle between the line of action and the center of the drum, combined with the instantaneous position angle of the cutting teeth. φ ij ( t ), obtained through trigonometric function decomposition F cij .

3. The method according to claim 1, characterized in that, The rate of change of torque The threshold is determined in the following way: In typical coal seam and rock strata cutting tests, torque data were collected and the mean and fluctuation range were calculated. The median value of the mean torque of coal seam and rock strata was taken and floated up by 10%-30% as the characteristic torque value of rock, and the corresponding change rate threshold was 15%-25%.

4. The method according to claim 1, characterized in that, The coal-rock interface curve L ( x , y The dynamic update of ) uses the Kalman filter algorithm and is achieved through the following steps: Status prediction: Based on the interface position at the previous moment and the motion parameters of the coal mining machine, predict the interface position at the current moment; Measurement update: The newly identified interface points are fused with the predicted values, and the optimal estimated location is obtained through Kalman gain optimization.

5. A cutting tooth torque coal-rock interface identification system based on a rectangular coordinate system, applicable to the method described in any one of claims 1-4, characterized in that, include: Motion trajectory calculation module: used to establish the trajectory equation of the cutting tooth in a rectangular coordinate system and calculate the coordinates of the cutting tooth at any time. x , y ); Real-time torque monitoring module for cutting teeth: Includes a pressure sensor and a data acquisition unit, used to collect the resultant force of the cutting teeth in real time. F z And transmit it to the data processing unit; Data fusion and analysis module: used to synchronize the position coordinates of the cutting teeth with the torque data in time, calculate the torque change rate and compare it with the threshold to identify the coal-rock interface transition zone; Interface visualization and control module: used to visualize and control the real-time fitted coal-rock interface curves. L ( x , y It is coupled with the coal mining machine model to output the rocker arm height adjustment command.

6. The system according to claim 5, characterized in that, The pressure sensor is integrated into the mounting hole of the cutting tooth, with the sensor axis coinciding with the axis of the cutting tooth, and is used to collect the resultant force along the axis of the cutting tooth. F z and quantity F x , F y .

7. The system according to claim 5, characterized in that, The data fusion and analysis module specifically includes: Torque decomposition unit: based on resultant force F z and the position angle of the cutting tooth φ ij ( t ), calculate tangential force F cij and roller torque M ( t ); Feature recognition unit: Determines the location of the interface transition zone by comparing the real-time torque with the coal and rock characteristic torque database.

8. The system according to claim 5, characterized in that, The interface visualization and control module achieves rocker arm control in the following ways: When the coal-rock interface curve L ( x , y When the vertical distance between the rocker arm and the roller track exceeds a preset threshold, an electro-hydraulic servo signal is output to control the rocker arm to rise or fall, with an adjustment accuracy of ±30 mm.

9. A computer device, characterized in that, The computer device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set, or instruction set, and the instruction, program, code set, or instruction set is loaded and executed by the processor to implement the method for identifying coal-rock interface based on a rectangular coordinate system as described in any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, at least one program, code set, or instruction set, which is loaded and executed by a processor to implement the method for identifying coal-rock interface based on a rectangular coordinate system as described in any one of claims 1-6.

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