Process parameter self-adaptive matching method, device and equipment of automatic anchor cable drilling frame for coal mine and storage medium

Abstract

This invention provides a method, apparatus, equipment, and storage medium for adaptive matching of process parameters for an automatic anchor cable drill rig used in coal mines, belonging to the field of mining support control technology. This invention solves the problems of drill jamming, wire slippage, and machine shutdown that easily occur during drilling in existing technologies. The method obtains the operating state type of the automatic anchor cable drill rig under operating conditions and determines the corresponding no-load process parameter benchmark value and operating process parameters. Based on the no-load process parameter benchmark value and operating process parameters, it determines the adaptive matching feature factor of the process parameters and constructs an adaptive matching model for the process parameters of the automatic anchor cable drill rig. Through the adaptive matching model, the process parameters of the automatic anchor cable drill rig are adaptively matched and adjusted. This invention enables real-time monitoring and adaptive matching of process parameters throughout the entire automatic drilling process of the anchor cable drill rig, ensuring high efficiency, stability, and safety in the drilling process.

Description

Technical Field

[0001] This invention relates to the field of mining support control technology, and more specifically, to a method, apparatus, equipment, and storage medium for adaptive matching of process parameters of an automatic anchor cable drill frame for coal mines. Background Technology

[0002] Cable anchoring is a crucial step in underground coal mining operations, serving as an important guarantee for maintaining the integrity of roadways and ensuring the safety of personnel and equipment. Currently, the drilling work for cable anchoring is mainly carried out by drilling rigs or drilling machines to drill holes and then drive in the anchor cables.

[0003] In some automated anchor cable drill frame control technologies that have already been put into use, the process parameters such as drill box rotation speed and drill box feed speed are generally static fixed values, which cannot respond in real time to different load changes caused by sudden changes in coal seam hardness, resulting in phenomena such as drill jamming and wire slippage. In different stages of the automated process flow, the process parameters are not precisely controlled according to process requirements, which can easily cause problems such as process blockage and machine shutdown.

[0004] Chinese patent CN115981229A discloses a control system and method for an automatic anchor cable drilling rig. The control system includes a main control unit, a human-machine interface unit, a centralized remote control unit, and a sensing unit. The main control unit includes a PLC controller, digital output modules, analog output modules, sensor acquisition modules, and data storage modules. The human-machine interface unit includes a main interface, a status display interface, a step display interface, a parameter configuration interface, and a debugging control interface. The centralized remote control unit includes a remote control transmitter and a remote control receiver. The sensing unit includes a pressure sensor, a speed sensor, and a multi-turn absolute encoder. The control method includes setting operating parameters for the automatic operation mode of the drilling rig, initialization settings, and motion control of the drilling rig's drill arm, swing arm, manipulator, clamp, drill rod chamber, and rod removal mechanism during the workflow. Using this control system and method to control the automatic anchor cable drilling rig can effectively ensure the drilling efficiency of the anchor cable drilling rig, thereby improving the overall efficiency and quality of coal mine tunneling.

[0005] However, the control system and method provided by this patent lack corresponding control changes for the process parameters of the automatic operation process of the anchor cable drilling frame, such as the rotation of the drill box and the output current value of the solenoid valve of the feed cylinder. This makes it easy for phenomena such as drill jamming, thread slippage, and machine stoppage to occur during drilling. It will also affect the life of the drill rod and is not conducive to improving the overall efficiency of the anchor cable anchoring process. Summary of the Invention

[0006] The purpose of this invention is to provide a method, device, equipment, and storage medium for adaptive matching of process parameters of an automatic anchor cable drill frame for coal mines, aiming to solve the problems of drill jamming, wire slippage, and machine shutdown that are prone to occur during drilling in the prior art.

[0007] This invention discloses an adaptive matching method for process parameters of an automatic anchor cable drill frame for coal mines, comprising:

[0008] Under operating conditions, obtain the working status type of the automatic anchor cable drill frame for coal mines and determine the baseline value of the no-load process parameters corresponding to the working status type; obtain the operating process parameters of the automatic anchor cable drill frame for coal mines under operating conditions.

[0009] Based on the baseline values ​​of no-load process parameters and operating process parameters, the adaptive matching feature factors of process parameters for automatic anchor cable drill frames used in coal mines are determined, and an adaptive matching model of process parameters for automatic anchor cable drill frames used in coal mines is constructed.

[0010] The process parameters of the automatic anchor cable drill frame for coal mines are adaptively matched and adjusted using an adaptive matching model of process parameters.

[0011] Preferably, the operation status type of the automatic anchor cable drill frame in the coal mine is obtained under operating conditions, and the baseline value of the no-load process parameter corresponding to the operation status type is determined, including:

[0012] Obtain the corresponding controller status parameters when the automatic anchor cable drill frame for coal mine is working under different automatic operation processes, and determine the operation status type based on the controller status parameters;

[0013] Based on the operation status type, determine the reference values ​​of the no-load process parameters corresponding to the controller status parameters; among them, the reference values ​​of the no-load process parameters include at least the reference values ​​of the drill box rotation speed and the reference values ​​of the drill box feed cylinder pressure speed when the automatic anchor cable drill frame for coal mine is unloaded.

[0014] Preferably, the operating process parameters of the automatic anchor cable drill frame for coal mines under operating conditions include:

[0015] The operating parameters of the automatic anchor cable drill frame in coal mine are obtained by using multi-source sensors installed on the automatic anchor cable drill frame in coal mine.

[0016] Based on the operating parameters, the operating process parameters of the automatic anchor cable drilling rig for coal mines are calculated.

[0017] Preferably, the operating parameters of the automatic anchor cable drill frame in the coal mine are acquired by multi-source sensors installed on the automatic anchor cable drill frame, including:

[0018] The vibration amplitude and frequency of the drill box of the automatic anchor cable drill frame for coal mine are obtained by using vibration sensors installed in the automatic anchor cable drill frame for coal mine.

[0019] The pressure of the drill box rotary cylinder and the drill box feed cylinder of the automatic anchor cable drill frame for coal mine are obtained by the pressure sensor installed in the automatic anchor cable drill frame for coal mine.

[0020] The displacement value of the drill box of the automatic anchor cable drill frame for coal mine is obtained by using the displacement sensor installed in the automatic anchor cable drill frame for coal mine.

[0021] The axial acceleration of the drill box of the automatic anchor cable drill frame used in coal mines is obtained by using an accelerometer installed in the automatic anchor cable drill frame.

[0022] Preferably, based on the operating parameters, the operating process parameters of the automatic anchor cable drill frame for coal mines are calculated, including:

[0023] The rotational speed of the drill box is determined by the axial acceleration of the drill box, expressed by the following formula:

[0024]

[0025] in, Indicates the rotational speed of the drill box. This indicates the axial acceleration of the drill box rotation. Indicates the sampling time interval;

[0026] The drill box feed rate is determined by the drill box displacement value, expressed by the following formula:

[0027]

[0028] in, Indicates the feed rate of the drill box. express The displacement value of the drill box at any given time; the sampling time interval of the displacement sensor is the same as that of the accelerometer.

[0029] Preferably, the calculation formula for the adaptive matching feature factor of the process parameters of the automatic anchor cable drill frame for coal mines is expressed as follows:

[0030]

[0031] in, To adaptively match feature factors for process parameters, This indicates the pressure value of the rotary cylinder of the drill box, collected by a pressure sensor. This indicates the pressure value of the drill box feed cylinder collected by the pressure sensor;

[0032] This indicates the vibration amplitude of the drill box collected by vibration sensors during the operation of the automatic anchor cable drill frame in coal mines. This indicates the vibration frequency of the drill box, collected by a vibration sensor during the operation of the automatic anchor cable drill frame used in coal mines.

[0033] This indicates the change in the rotational speed of the drill box; This indicates the change in the drill box feed rate;

[0034] This indicates the set pressure value of the drill box rotating cylinder when the automatic anchor cable drill frame is unloaded. This indicates the set value of the feed cylinder pressure of the drill box when the automatic anchor cable drill frame is unloaded. This indicates the vibration amplitude of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded. This indicates the vibration frequency of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded;

[0035] This represents the reference value for the rotational speed of the drill box when the automatic anchor cable drill frame is unloaded. This represents the reference value for the drill box feed speed when the automatic anchor cable drill frame is unloaded;

[0036] This represents the pressure weighting coefficient. Represents the vibration weighting coefficient. This represents the speed weighting coefficient, and + + = 1.

[0037] Preferably, the adaptive matching model formula for the process parameters of the automatic anchor cable drill frame for coal mines is expressed as follows:

[0038]

[0039] in, The adaptive attenuation coefficient; Represents the hyperbolic tangent function;

[0040] The output of the adaptive matching model for process parameters is the target value of the drill box rotation speed. With the target value of the drill box feed rate The target value of the drill box rotation speed Calculate the analog output of the controller adjusting the proportional solenoid valve of the rotary cylinder. ; Target value of drill box feed rate The controller adjusts the analog output of the proportional solenoid valve of the feed cylinder. ;

[0041] The analog output is adjusted by the controller of the proportional solenoid valve of the rotary cylinder. Adjust the output current of the rotary cylinder proportional solenoid valve, and regulate the analog output through the controller of the feed cylinder proportional solenoid valve. Adjust the output current of the feed cylinder proportional solenoid valve to achieve adaptive matching of process parameters for the automatic anchor cable drill frame used in coal mines;

[0042]

[0043]

[0044] in, , These are the maximum and minimum rotational speeds of the drill box. , These are the maximum and minimum output current values ​​of the proportional solenoid valve for the rotary cylinder. , These are the maximum and minimum feed rates of the drill box. , The maximum and minimum output currents of the proportional solenoid valve for the feed cylinder are given. Z The maximum resolution count output of the controller for the proportional solenoid valve of the rotary cylinder and the proportional solenoid valve of the feed cylinder.

[0045] This invention discloses an adaptive matching device for process parameters of an automatic anchor cable drill frame for coal mines, comprising:

[0046] The parameter acquisition module is used to acquire the operating status type of the automatic anchor cable drill frame for coal mines under operating conditions, and to determine the baseline value of the no-load process parameters corresponding to the operating status type; and to acquire the operating process parameters of the automatic anchor cable drill frame for coal mines under operating conditions.

[0047] The calculation module is used to determine the adaptive matching feature factors of the process parameters of the automatic anchor cable drill frame for coal mines based on the baseline values ​​of the no-load process parameters and the operating process parameters, and to construct the adaptive matching model of the process parameters of the automatic anchor cable drill frame for coal mines.

[0048] The matching module is used to adaptively match and adjust the process parameters of the automatic anchor cable drill frame for coal mines through an adaptive matching model of process parameters.

[0049] This invention discloses a computer device, a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor executes the computer program to implement the adaptive matching method for process parameters of an automatic anchor cable drill frame for coal mines as described in the foregoing technical solution.

[0050] This invention discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the adaptive matching method for process parameters of an automatic anchor cable drill frame for coal mines as described in the foregoing technical solution.

[0051] Unlike existing technologies, this invention provides an adaptive matching method for process parameters of an automatic anchor cable drill rig for coal mines. This method involves: acquiring the operating state type of the automatic anchor cable drill rig under operating conditions and determining the corresponding no-load process parameter baseline value; acquiring the operating process parameters of the automatic anchor cable drill rig under operating conditions; determining adaptive matching feature factors for the process parameters of the automatic anchor cable drill rig based on the no-load process parameter baseline value and the operating process parameters, and constructing an adaptive matching model for the process parameters of the automatic anchor cable drill rig; and adaptively adjusting the process parameters of the automatic anchor cable drill rig using the adaptive matching model. This invention enables real-time monitoring and adaptive matching of process parameters throughout the entire automatic drilling process of the anchor cable drill rig, ensuring high efficiency, stability, and safety during the drilling process. Attached Figure Description

[0052] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0053] Figure 1 This is a flowchart illustrating an adaptive matching method for process parameters of an automatic anchor cable drill frame for coal mines according to the present invention.

[0054] Figure 2 This is a schematic diagram of the adaptive matching device for process parameters of an automatic anchor cable drill frame for coal mines according to the present invention.

[0055] In the diagram, 210 is the parameter acquisition module, 220 is the calculation module, and 230 is the matching module. Detailed Implementation

[0056] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0057] Please refer to Figure 1 This invention discloses an adaptive matching method for process parameters of an automatic anchor cable drill frame for coal mines, comprising:

[0058] Step S110: Obtain the operating status type of the automatic anchor cable drill frame for coal mine under operating conditions, and determine the baseline value of the no-load process parameters corresponding to the operating status type; obtain the operating process parameters of the automatic anchor cable drill frame for coal mine under operating conditions.

[0059] In the adaptive matching process of process parameters for the automatic anchor cable drill frame used in coal mines involved in this invention, the working mode of the automatic anchor cable drill frame adopts an automatic control mode. In this embodiment, the operating state is determined by the controller status parameters of the automatic anchor cable drill frame, and the controller adopts a programmable logic controller (PLC). For different automatic operation processes, the PLC status words preset by the PLC of the automatic anchor cable drill frame corresponding to different operation processes are... As a controller state parameter.

[0060] Obtain the PLC status word of the automatic anchor cable drill frame for coal mine in its current operating state. According to the PLC status word Determine the job status type.

[0061] PLC status word The specific correspondence between the job status types is as follows:

[0062]

[0063] in, k =1 indicates an automatic rod-connecting drilling process. k =2 indicates the automatic retraction and dismantling process.

[0064] according to k and i The value of can determine the operating status type of the automatic anchor cable drill frame used in coal mines; such as k =1、 i When =2, the corresponding state word is E 12 The corresponding operation status type is drill box rod release.

[0065] Furthermore, the PLC status word of the automatic anchor cable drill frame for coal mines was determined. The corresponding job status type can be used to determine the PLC status word. The baseline values ​​of the no-load process parameters corresponding to the operating status type are determined by referring to tables to find the baseline values ​​of the drill box rotation speed and feed pressure speed under no-load conditions. Table 1 shows the baseline values ​​of the drill box rotation speed and feed pressure speed under no-load conditions.

[0066] Table 1. Reference values ​​for drill box rotation speed and feed pressure / speed under no-load conditions.

[0067]

[0068] When obtaining the operating process parameters of the automatic anchor cable drill frame for coal mines, the operating parameters of the automatic anchor cable drill frame under operating conditions are obtained through multi-source sensors installed on the automatic anchor cable drill frame for coal mines; based on the operating parameters, the operating process parameters of the automatic anchor cable drill frame for coal mines are calculated.

[0069] Specifically, obtaining the runtime parameters includes:

[0070] The vibration amplitude and frequency of the drill box of the automatic anchor cable drill frame for coal mine are obtained by using vibration sensors installed in the automatic anchor cable drill frame for coal mine.

[0071] The pressure of the drill box rotary cylinder and the drill box feed cylinder of the automatic anchor cable drill frame for coal mine are obtained by the pressure sensor installed in the automatic anchor cable drill frame for coal mine.

[0072] The displacement value of the drill box of the automatic anchor cable drill frame for coal mine is obtained by using the displacement sensor installed in the automatic anchor cable drill frame for coal mine.

[0073] The axial acceleration of the drill box of the automatic anchor cable drill frame used in coal mines is obtained by using an accelerometer installed in the automatic anchor cable drill frame.

[0074] The rotational speed of the drill box is determined by the axial acceleration of the drill box, expressed by the following formula:

[0075]

[0076] in, Indicates the rotational speed of the drill box. This indicates the axial acceleration of the drill box rotation. Indicates the sampling time interval;

[0077] The drill box feed rate is determined by the drill box displacement value, expressed by the following formula:

[0078]

[0079] in, Indicates the feed rate of the drill box. express The displacement value of the drill box at any given time; the sampling time interval of the displacement sensor is the same as that of the accelerometer.

[0080] S120: Based on the baseline values ​​of no-load process parameters and operating process parameters, determine the adaptive matching feature factors of process parameters for automatic anchor cable drill frames used in coal mines, and construct an adaptive matching model of process parameters for automatic anchor cable drill frames used in coal mines.

[0081] The formula for calculating the adaptive matching characteristic factor of the process parameters of the automatic anchor cable drill frame used in coal mines is expressed as follows:

[0082]

[0083] in, To adaptively match feature factors for process parameters, This indicates the pressure value of the rotary cylinder of the drill box, collected by a pressure sensor. This indicates the pressure value of the drill box feed cylinder collected by the pressure sensor;

[0084] This indicates the vibration amplitude of the drill box collected by vibration sensors during the operation of the automatic anchor cable drill frame in coal mines. This indicates the vibration frequency of the drill box, collected by a vibration sensor during the operation of the automatic anchor cable drill frame used in coal mines.

[0085] This indicates the change in the rotational speed of the drill box; This indicates the change in the drill box feed rate;

[0086] This indicates the set pressure value of the drill box rotating cylinder when the automatic anchor cable drill frame is unloaded. This indicates the set value of the feed cylinder pressure of the drill box when the automatic anchor cable drill frame is unloaded. This indicates the vibration amplitude of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded. This indicates the vibration frequency of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded;

[0087] This represents the reference value for the rotational speed of the drill box when the automatic anchor cable drill frame is unloaded. This represents the reference value for the drill box feed speed when the automatic anchor cable drill frame is unloaded;

[0088] This represents the pressure weighting coefficient. Represents the vibration weighting coefficient. This represents the speed weighting coefficient, and + + = 1.

[0089] Considering that in the automated operation process, the pressure of the drill box feed cylinder and the pressure of the drill box rotary cylinder have a significant impact on the hydraulic cylinder control, the following settings are made: =0.4, =0.2, =0.4.

[0090] Assess the risk of stuck drill bit under operating conditions. >1.2 and If the process parameters adaptive matching characteristic factor exceeds the reference values ​​under no-load conditions, the drill bit is under excessive force, and the drill box rotation rate decreases, which may cause the drill to get stuck due to resistance. In this case, the drill bit retraction and rod retraction actions should be performed.

[0091] When the conditions for performing the drill retraction and rod retraction actions are not met, an adaptive matching model for process parameters is constructed based on the adaptive matching feature factors of the process parameters. The formula for the adaptive matching model for process parameters is expressed as:

[0092]

[0093] in, The adaptive attenuation coefficient; This represents the hyperbolic tangent function.

[0094] The smoothing properties of the hyperbolic tangent function are used for amplitude limiting, strictly restricting the output range to (-1, 1) to ensure that the adjustment coefficients are always within a safe range. λ When =0, it is in ideal working condition. λ When increasing, adjust the drill hull rotation speed and drill hull feed speed accordingly. λ When =1, tanh( λ The output value is approximately 0.76. To ensure the minimum drill rig rotation speed is met and to prevent drilling stoppage, an adaptive attenuation coefficient is used. K =0.7.

[0095] S130: The process parameters of the automatic anchor cable drill frame for coal mines are adaptively matched and adjusted through the process parameter adaptive matching model.

[0096] The output of the adaptive matching model for process parameters is the target value of the drill box rotation speed. With the target value of the drill box feed rate The target value of the drill box rotation speed Calculate the analog output of the controller adjusting the proportional solenoid valve of the rotary cylinder. ; Target value of drill box feed rate The controller adjusts the analog output of the proportional solenoid valve of the feed cylinder. ;

[0097] The analog output is adjusted by the controller of the proportional solenoid valve of the rotary cylinder. Adjust the output current of the rotary cylinder proportional solenoid valve, and regulate the analog output through the controller of the feed cylinder proportional solenoid valve. Adjust the output current of the feed cylinder proportional solenoid valve to achieve adaptive matching of process parameters for the automatic anchor cable drill frame used in coal mines;

[0098]

[0099]

[0100] in, , These are the maximum and minimum rotational speeds of the drill box. , These are the maximum and minimum output current values ​​of the proportional solenoid valve for the rotary cylinder. , These are the maximum and minimum feed rates of the drill box. , The maximum and minimum output currents of the proportional solenoid valve for the feed cylinder are given.Z Z represents the maximum resolution count output by the controllers of the rotary cylinder proportional solenoid valve and the feed cylinder proportional solenoid valve. In this invention, Z is set to 32767.

[0101] The adaptive matching method for process parameters of anchor cable drill frames in coal mines provided by this invention can reduce drill sticking failures. It achieves early prediction and proactive speed reduction, as well as a drill retraction mechanism, through adaptive matching of process parameters using the characteristic factor λ and hyperbolic tangent function. This invention can extend drill rod life by dynamically suppressing impact loads and reducing abnormal wear through precise speed control. This invention can improve overall drilling efficiency, maintaining a high drilling speed in soft coal seams and enabling rapid retraction and repositioning in hard rock strata, reducing processing time.

[0102] The method of this invention enables dynamic assessment of working conditions, avoids potential drill jamming risks, and adaptively adjusts speed for different working conditions, thereby improving drilling efficiency and significantly extending drill rod life. This helps to reduce costs and increase efficiency in underground tunneling and anchoring operations in coal mines.

[0103] like Figure 2 As shown, this invention proposes an adaptive matching device for process parameters of an automatic anchor cable drill frame for coal mines, comprising:

[0104] The parameter acquisition module 210 is used to acquire the operation status type of the automatic anchor cable drill frame for coal mines under the operating state, and determine the no-load process parameter reference value corresponding to the operation status type; and acquire the operation process parameters of the automatic anchor cable drill frame for coal mines under the operating state.

[0105] The calculation module 220 is used to determine the adaptive matching feature factors of the process parameters of the automatic anchor cable drill frame for coal mine based on the baseline value of the no-load process parameters and the operating process parameters, and to construct the adaptive matching model of the process parameters of the automatic anchor cable drill frame for coal mine.

[0106] The matching module 230 is used to adaptively match and adjust the process parameters of the automatic anchor cable drill frame for coal mines through an adaptive matching model of process parameters.

[0107] To implement the embodiments, the present invention also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to implement the adaptive matching method for process parameters of an automatic anchor cable drill frame for coal mines as described in the foregoing technical solutions.

[0108] The present invention also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the adaptive matching method for process parameters of an automatic anchor cable drill frame for coal mines as described in the foregoing technical solution.

[0109] Although embodiments of the present invention have been shown and described above, it is understood that the 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 embodiments within the scope of the present invention.

Claims

1. A process parameter self-adaptive matching method of an automatic anchor cable drill frame for coal mines, characterized in that, include: Under the operating conditions, the operation status type of the automatic anchor cable drill frame used in coal mines is obtained, and the no-load process parameter benchmark value corresponding to the operation status type is determined. Obtain the operating process parameters of the automatic anchor cable drill frame used in coal mines during operation; Based on the baseline values ​​of the no-load process parameters and the operating process parameters, adaptive matching feature factors for the process parameters of the automatic anchor cable drill frame for coal mines are determined, and an adaptive matching model for the process parameters of the automatic anchor cable drill frame for coal mines is constructed; wherein, The formula for calculating the adaptive matching feature factor of the process parameters is expressed as follows: in, To adaptively match feature factors for process parameters, This indicates the pressure value of the rotary cylinder of the drill box, collected by a pressure sensor. This indicates the pressure value of the drill box feed cylinder collected by the pressure sensor; This indicates the vibration amplitude of the drill box collected by vibration sensors during the operation of the automatic anchor cable drill frame in coal mines. This indicates the vibration frequency of the drill box, collected by a vibration sensor during the operation of the automatic anchor cable drill frame used in coal mines. This indicates the change in the rotational speed of the drill box; This indicates the change in the drill box feed rate; This indicates the set pressure value of the drill box rotating cylinder when the automatic anchor cable drill frame is unloaded. This indicates the set value of the feed cylinder pressure of the drill box when the automatic anchor cable drill frame is unloaded. This indicates the vibration amplitude of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded. This indicates the vibration frequency of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded; represents a reference value of the rotation speed of the drill box of the auto-anchor drilling rig when unloaded, represents a reference value of the feed speed of the drill box of the auto-anchor drilling rig when unloaded, This represents the pressure weighting coefficient. Represents the vibration weighting coefficient. This represents the speed weighting coefficient, and + + = 1; The adaptive matching model formula for the process parameters is expressed as follows: in, The adaptive attenuation coefficient; The hyperbolic tangent function is represented; the output of the adaptive matching model for process parameters is the target value of the drill box rotation speed. With the target value of the drill box feed rate ; The process parameters of the automatic anchor cable drill frame for coal mines are adaptively matched and adjusted using the process parameter adaptive matching model.

2. The process parameter self-adaptive matching method of the automatic anchor cable drill frame for coal mines according to claim 1, characterized in that, The operation status type of the automatic anchor cable drill frame used in coal mines is obtained under operating conditions, and the baseline value of the no-load process parameter corresponding to the operation status type is determined, including: The controller status parameters are obtained when the automatic anchor cable drill frame for coal mine is working under different automatic operation processes, and the operation status type is determined based on the controller status parameters. Based on the operation status type, determine the no-load process parameter reference value corresponding to the controller status parameter; wherein, the no-load process parameter reference value includes at least the drill box rotation speed reference value and the drill box feed cylinder pressure speed reference value when the automatic anchor cable drill frame for coal mine is unloaded.

3. The adaptive matching method for process parameters of the automatic anchor cable drill frame for coal mines according to claim 1, characterized in that, Obtain the operating process parameters of the automatic anchor cable drill frame for coal mines during operation, including: The operating parameters of the automatic anchor cable drill frame in coal mine are obtained by using multi-source sensors installed on the automatic anchor cable drill frame in coal mine. Based on the aforementioned operating parameters, the operating process parameters of the automatic anchor cable drill frame for coal mines are calculated.

4. The process parameter self-adaptive matching method of the automatic anchor cable drill frame for coal mines according to claim 3, characterized in that, The operating parameters of the automatic anchor cable drill frame in coal mines are acquired through multi-source sensors installed on the frame, including: The vibration amplitude and frequency of the drill box of the automatic anchor cable drill frame for coal mine are obtained by using vibration sensors installed in the automatic anchor cable drill frame for coal mine. The pressure of the drill box rotary cylinder and the drill box feed cylinder of the automatic anchor cable drill frame for coal mine are obtained by the pressure sensor installed in the automatic anchor cable drill frame for coal mine. The displacement value of the drill box of the automatic anchor cable drill frame for coal mine is obtained by using the displacement sensor installed in the automatic anchor cable drill frame for coal mine. The axial acceleration of the drill box of the automatic anchor cable drill frame used in coal mines is obtained by using an accelerometer installed in the automatic anchor cable drill frame.

5. The process parameter self-adaptive matching method of the automatic anchor cable drill frame for coal mines according to claim 4, characterized in that, Based on the aforementioned operating parameters, the operating process parameters for the automatic anchor cable drill frame used in coal mines are calculated, including: The rotational speed of the drill box is determined by the axial acceleration of the drill box, and the formula is expressed as: wherein, represents the drill box rotational speed, represents the drill box rotational axial acceleration, represents the sampling time interval; The drill box feed rate is determined by the drill box displacement value, expressed by the following formula: wherein, represents the drill box feed speed, represents the drill box displacement value at the time instant; the sampling time interval of the displacement sensor is the same as the sampling time interval of the accelerometer.

6. The adaptive matching method for process parameters of the automatic anchor cable drill frame for coal mines according to claim 1, characterized in that, by the drill box rotation speed target value , the controller adjustment analog output of the rotation oil cylinder proportional solenoid is calculated ; The target value of the drill box feed rate The controller adjusts the analog output of the proportional solenoid valve of the feed cylinder. ; The analog output is adjusted by the controller of the proportional solenoid valve of the rotary cylinder. Adjust the output current of the proportional solenoid valve of the rotary cylinder, and regulate the analog output through the controller of the proportional solenoid valve of the feed cylinder. Adjust the output current of the feed cylinder proportional solenoid valve to achieve adaptive matching of the process parameters of the automatic anchor cable drill frame for coal mines; in, , These are the maximum and minimum rotational speeds of the drill box. , These are the maximum and minimum output current values ​​of the proportional solenoid valve for the rotary cylinder. , These are the maximum and minimum feed rates of the drill box. , The maximum and minimum output currents of the proportional solenoid valve for the feed cylinder are given. Z The maximum resolution count output of the controller for the proportional solenoid valve of the rotary cylinder and the proportional solenoid valve of the feed cylinder.

7. A process parameter self-adaptive matching device of an automatic anchor cable drill frame for coal mines, characterized in that, include: The parameter acquisition module (210) is used to acquire the operation status type of the automatic anchor cable drill frame for coal mines under the operating state, and determine the no-load process parameter reference value corresponding to the operation status type. Obtain the operating process parameters of the automatic anchor cable drill frame used in coal mines during operation; The calculation module (220) is used to determine the adaptive matching feature factors of the process parameters of the automatic anchor cable drill frame for coal mines based on the baseline values ​​of the no-load process parameters and the operating process parameters, and to construct an adaptive matching model of the process parameters of the automatic anchor cable drill frame for coal mines; wherein, The formula for calculating the adaptive matching feature factor of the process parameters is expressed as follows: wherein, is a process parameter self-adaptive matching characteristic factor, represents a drill tank rotary cylinder pressure value collected by a pressure sensor, represents a drill tank feeding cylinder pressure value collected by a pressure sensor; This indicates the vibration amplitude of the drill box collected by vibration sensors during the operation of the automatic anchor cable drill frame in coal mines. This indicates the vibration frequency of the drill box, collected by a vibration sensor during the operation of the automatic anchor cable drill frame used in coal mines. This indicates the change in the rotational speed of the drill box; This indicates the change in the drill box feed rate; This indicates the set pressure value of the drill box rotating cylinder when the automatic anchor cable drill frame is unloaded. This indicates the set value of the feed cylinder pressure of the drill box when the automatic anchor cable drill frame is unloaded. This indicates the vibration amplitude of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded. This indicates the vibration frequency of the drill box collected by a vibration sensor when the automatic anchor cable drill frame is unloaded; This represents the reference value for the rotational speed of the drill box when the automatic anchor cable drill frame is unloaded. This represents the reference value for the drill box feed speed when the automatic anchor cable drill frame is unloaded; This represents the pressure weighting coefficient. Indicates the vibration weighting coefficient. This represents the speed weighting coefficient, and + + = 1; The adaptive matching model formula for the process parameters is expressed as follows: in, The adaptive attenuation coefficient; The hyperbolic tangent function is represented; the output of the adaptive matching model for process parameters is the target value of the drill box rotation speed. Target value of drill box feed rate ; The matching module (230) is used to adaptively match and adjust the process parameters of the automatic anchor cable drill frame for coal mines through the process parameter adaptive matching model.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, The processor executes the computer program to implement the adaptive matching method for process parameters of the automatic anchor cable drill frame for coal mines as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the adaptive matching method for process parameters of the automatic anchor cable drill frame for coal mines as described in any one of claims 1-6.

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