Gangue filling system, position interference method between tamping mechanism and skylight and medium

Abstract

The invention provides a gangue filling system, a position interference method between a tamping mechanism and a skylight and a medium, the system comprises a monitoring device and an interference controller, the monitoring device and the interference controller are arranged at the end, away from a filling working face, of the skylight, and the monitoring device is used for monitoring the vertical distance from the end of the skylight to the surface of the tamping mechanism; the vertical distance and the angle value between the surface of the skylight and a vertical line corresponding to the vertical distance are calculated, and the vertical distance and the angle value are sent to an interference controller; and the interference controller is used for adjusting the position of the tamping mechanism according to the vertical distance, the angle value and the horizontal length of the skylight. According to the method, the number of relative position judgment variables can be reduced, the configuration number of monitoring devices is reduced, the position relation between the tamping mechanism and the skylight can be reasonably interfered under different conditions, and the operability of fully mechanized mining of minerals is improved.

Description

Technical Field

[0001] This invention relates to the field of fully mechanized mining technology, and in particular to a gangue backfilling system, a method for interfering with the position of the compaction mechanism and the skylight, and a medium thereof. Background Technology

[0002] In the backfilling process of coal mining faces, the gangue backfilling system is a system used to treat solid waste generated during coal mining, aiming to achieve large-scale, intelligent, and resource-oriented treatment of gangue. For specific organizations, please refer to [link to relevant information]. Figure 1 The gangue filling system includes a support frame 1, a top beam 2, a fixed base 3, a front column 4, a rear column 5, a skylight telescopic cylinder 6, a skylight 7, a tamping adjustment cylinder 8, and a tamping mechanism 9. The tamping mechanism is an important working component; efficient and accurate tamping operation can reduce the workload of personnel and ensure safe production.

[0003] Existing tamping methods often use tilt and height sensors to monitor the positional relationship between the tamping mechanism and the skylight. This tamping method requires the installation of different types of sensors at multiple locations in the gangue filling system. However, since the sensor data monitors the ground coordinate position, the calculation of the position between the tamping mechanism and the skylight due to the change in the support posture is complicated and requires a large number of sensors. As a result, the absolute position of the tamping mechanism and the skylight is not accurately captured. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a gangue filling system, a method for addressing positional interference between the compaction mechanism and the skylight, and a medium.

[0005] This invention provides a gangue backfilling system, which includes a skylight and a compaction mechanism, as well as a monitoring device and an interference controller, wherein: The monitoring device is installed at the first end of the skylight, which is the end of the skylight away from the filling working surface; the monitoring device and the interference controller are connected by signals. The monitoring device is used to monitor the vertical distance from the first end to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance, and to send the vertical distance and the angle value to the interference controller. The interference controller is used to adjust the position of the tamping mechanism according to the vertical distance, the angle value, and the horizontal length of the skylight.

[0006] According to the present invention, a gangue backfilling system is provided, wherein the interference controller is specifically used for: Determine the reference length based on the vertical distance and the angle value; Based on the comparison between the horizontal length of the skylight and the reference length, the position of the tamping mechanism is adjusted.

[0007] According to a gangue backfilling system provided by the present invention, the interference controller, in the process of adjusting the position of the compaction mechanism based on the comparison result of the horizontal length of the skylight and the reference length, is specifically used for: Based on the comparison between the horizontal length of the skylight and the reference length, if the reference length is less than the horizontal length of the skylight, then the angle between the tamping mechanism and the horizontal plane is reduced.

[0008] According to a gangue backfilling system provided by the present invention, the monitoring device includes a lidar sensor, the lidar sensor including a distance calculation unit and an angle calculation unit; the distance calculation unit is used to determine the vertical distance based on the collected radar signal; the angle calculation unit is used to determine the angle value based on the collected radar signal.

[0009] According to a gangue backfilling system provided by the present invention, the interference controller, in the process of determining the reference length based on the vertical distance and the angle value, is specifically used for: The reference length is determined using a preset calculation formula based on the vertical distance and the angle value. The preset calculation formula includes: AB = AC / cos a; Where AB is the reference length, AC is the vertical distance, and a is the angle value.

[0010] The present invention also provides a method for addressing positional interference between the compaction mechanism and the skylight in a gangue backfilling system, comprising: Obtain the vertical distance from the first end of the skylight to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance; The position of the tamping mechanism is adjusted according to the vertical distance, the angle value, and the horizontal length of the skylight.

[0011] According to a method for positional interference between a tamping mechanism and a skylight provided by the present invention, the step of adjusting the position of the tamping mechanism based on the vertical distance, the angle value, and the horizontal length of the skylight includes: Determine the reference length based on the vertical distance and the angle value; Based on the comparison between the horizontal length of the skylight and the reference length, the position of the tamping mechanism is adjusted.

[0012] According to a method for positional interference between a tamping mechanism and a skylight provided by the present invention, the method for adjusting the position of the tamping mechanism based on a comparison between the horizontal length of the skylight and a reference length includes: Based on the comparison between the horizontal length of the skylight and the reference length, if the reference length is less than the horizontal length of the skylight, then the angle between the tamping mechanism and the horizontal plane is reduced.

[0013] According to the present invention, a method for determining the positional interference between a tamping mechanism and a skylight, a reference length is determined based on the vertical distance and the angle value, comprising: The reference length is determined using a preset calculation formula based on the vertical distance and the angle value. The preset calculation formula includes: AB = AC / cos a; Where AB is the reference length, AC is the vertical distance, and a is the angle value.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the position interference method between the tamping mechanism and the skylight as described above.

[0015] This invention provides a gangue backfilling system, a method and medium for interfering the position between the tamping mechanism and the skylight. By monitoring the vertical distance from the end of the skylight to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance, the number of variables for determining the relative position can be reduced, the number of monitoring devices can be reduced, and the positional relationship between the tamping mechanism and the skylight can be reasonably interfered with under different conditions, thereby improving the operability of fully mechanized mining. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a structural schematic diagram of an existing gangue backfilling system.

[0018] Figure 2 This is a schematic diagram of the structure of the gangue backfilling system provided by the present invention.

[0019] Figure 3 This is a flowchart illustrating the method for positional interference between the tamping mechanism and the skylight provided by the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] The present invention provides a schematic diagram of a gangue backfilling system, which is a system for treating solid waste generated during coal mining, aiming to achieve large-scale, intelligent and resource-based treatment of gangue.

[0022] See Figure 2 The gangue filling system includes a support frame 1, a top beam 2, a fixed base 3, a front column 4, a rear column 5, a skylight telescopic cylinder 6, a skylight 7, a tamping adjustment cylinder 8, and a tamping mechanism 9. To ensure accurate absolute positioning of the tamping mechanism and the skylight, this invention determines whether to adjust the tamping mechanism based on their relative positions.

[0023] To address this, the system includes a monitoring device 10 installed at one end of the skylight, the end of the skylight furthest from the filling working surface. This monitoring device 10 is signal-connected to the interferometer controller, and can wirelessly transmit information to the interferometer controller. Figure 2 (Not shown in the image), please refer to [link / reference]. Figure 2 As can be seen, the skylight is suspended from the front of the support frame by a chain, which ensures that the skylight remains horizontal. The skylight is used to lower waste rock. From Figure 2 As can be seen from this, the skylight has a certain length and has a front end and a rear end in the horizontal direction, with the rear end being far away from the filling working surface.

[0024] In this invention, a monitoring device is located at the end of the skylight away from the filling working surface.

[0025] The monitoring device monitors the parameters required for the system to determine whether to monitor positional interference between the tamping mechanism and the skylight. In this invention, the required parameters include the vertical distance from the end of the skylight where the monitoring device is mounted to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance. The monitoring device has an information acquisition function and is configured with a calculation method capable of calculating the vertical distance and angle values. Based on the acquired information, the vertical distance and angle values ​​can be calculated. Furthermore, the monitoring device employs a lidar sensor, which includes a distance calculation unit and an angle calculation unit. The distance calculation unit determines the vertical distance based on the acquired radar signal; the angle calculation unit determines the angle value based on the acquired radar signal.

[0026] In this invention, see Figure 2 The tamping mechanism has a telescopic function and a tamping plate at its end. The overall tamping mechanism is a straight structure. Therefore, the end of the skylight furthest from the filling working surface can be used as a location point, projecting a vertical line onto the plane where the tamping mechanism is located. The length of the vertical line is the vertical distance from the end of the skylight to the surface of the tamping mechanism. Correspondingly, the angle between this vertical line and the surface of the skylight can also be monitored and calculated.

[0027] The monitoring device of this invention sends the vertical distance and angle values ​​to an interferometer controller, which processes the data and adjusts the position of the tamping mechanism. In other words, the interferometer controller analyzes the positional relationship between the tamping mechanism and the skylight based on the vertical distance, angle value, and the horizontal length of the skylight. This positional relationship determines whether the system needs to adjust the position of the tamping mechanism. In this invention, adjusting the tamping mechanism improves the positional relationship between the tamping mechanism and the skylight. Figure 2 As can be seen from this, adjusting the tamping mechanism mainly involves adjusting the extension and retraction of the tamping regulating cylinder to improve the angle between the tamping mechanism and the horizontal plane.

[0028] The gangue backfilling system provided by this invention can reduce the number of relative position determination variables and the number of monitoring devices by monitoring the vertical distance from the upper end of the skylight to the surface of the tamping mechanism, as well as the angle between the surface of the skylight and the vertical line of the corresponding vertical distance. It can reasonably interfere with the positional relationship between the tamping mechanism and the skylight under different conditions, thereby improving the operability of fully mechanized mining.

[0029] In a further section of the above system, the adjustment of the tamping mechanism by the interference controller is explained, as follows: Determine the reference length based on the vertical distance and angle value; Based on the comparison between the horizontal length of the skylight and the reference length, the position of the tamping mechanism is adjusted.

[0030] In this invention, it is necessary to continuously improve the positional relationship between the tamping mechanism and the skylight. The information reflecting this positional relationship can be attributed to the comparison results of the aforementioned reference length and horizontal length. For example... Figure 2 As shown, the reference length is Figure 2 In the middle AB, the horizontal length is as follows Figure 2 AD in the text. Figure 2 This will form a right triangle. Point A can be considered the inner end of the skylight, and point D can be considered the outer end. AD is the mechanical length of the skylight. AC is the vertical distance. Considering the vertical distance and angle α, point B on side AB of the triangle is equivalent to the position that point D of the skylight should reach when adapting to the current angle of the tamping mechanism.

[0031] In this invention, based on the comparison between the horizontal length of the skylight and the reference length, when the parameter length is determined to be less than the horizontal length of the skylight, the angle between the tamping mechanism and the horizontal plane is reduced, that is, the tamping adjustment cylinder is extended or retracted to improve the angle between the tamping mechanism and the horizontal plane. When the parameter length is determined to be greater than or equal to the horizontal length of the skylight, the angle between the tamping mechanism and the horizontal plane is not adjusted, that is, the current angle is maintained.

[0032] because Figure 2 A right triangle is formed in the middle. Therefore, the reference length can be determined by using a preset calculation formula based on the vertical distance and angle value.

[0033] In this invention, the preset calculation formula includes: AB = AC / cos a; Where AB is the reference length, AC is the vertical distance, and a is the angle value.

[0034] It should also be noted that the positional factors affecting the sunroof and tamping mechanism include: the lifting and lowering of the rear column, the extension and retraction of the sunroof telescopic cylinder, and the extension and retraction of the tamping adjustment cylinder.

[0035] (1) When the rear column is raised or lowered, the sunroof will tilt, and the lidar sensor can identify the distance between ∠a and AC. AB = AC / cos a. Determine the relationship between AB and AD.

[0036] (2) The extension and retraction action of the sunroof telescopic cylinder only changes the lateral displacement of the sunroof, altering AC while ∠a remains unchanged. The relationship AB=AC / cos a remains unchanged. It is still necessary to determine the relationship between the magnitudes of AB and AD.

[0037] (3) When the tamping adjustment cylinder extends and retracts, the angle of the tamping mechanism changes, altering AC and ∠a; the relationship AB=AC / cos a remains unchanged. The question remains: how do we determine the relationship between AB and AD?

[0038] (4) If any two or three of them are changed, the relationship AB=AC / cos a remains unchanged. It is still necessary to determine the relationship between AB and AD.

[0039] As can be seen from the above, by monitoring the vertical distance from the end of the skylight to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance, the present invention can reduce the number of variables for relative position determination and the number of monitoring devices. Under different circumstances, it can reasonably interfere with the positional relationship between the tamping mechanism and the skylight, thereby improving the operability of fully mechanized mining.

[0040] The present invention also provides a method for addressing positional interference between the compaction mechanism and the skylight in the aforementioned gangue backfilling system, see [link to relevant documentation]. Figure 3 The method includes the following steps: Step 31: Obtain the vertical distance from the first end of the skylight to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance.

[0041] Step 32: Adjust the position of the tamping mechanism according to the vertical distance, angle value and horizontal length of the skylight.

[0042] In a further step of the above method, the position of the tamping mechanism is adjusted based on the vertical distance, angle value, and horizontal length of the skylight, including: Determine the reference length based on the vertical distance and angle value; Based on the comparison between the horizontal length of the skylight and the reference length, the position of the tamping mechanism is adjusted.

[0043] In a further step of the above method, based on the comparison between the horizontal length of the skylight and the reference length, the position of the tamping mechanism is adjusted, specifically as follows: Based on the comparison between the horizontal length of the skylight and the reference length, if the parameter length is less than the horizontal length of the skylight, then the angle between the tamping mechanism and the horizontal plane should be reduced.

[0044] In a further step of the above method, a reference length is determined based on the vertical distance and angle value, specifically as follows: The reference length is determined using a preset calculation formula based on the vertical distance and angle value. The preset calculation formulas include: AB = AC / cos a; Where AB is the reference length, AC is the vertical distance, and a is the angle value.

[0045] The position interference method between the tamping mechanism and the skylight provided by this invention can reduce the number of relative position judgment variables and the number of monitoring devices by monitoring the vertical distance from the end of the skylight to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line of the corresponding vertical distance. It can reasonably interfere with the positional relationship between the tamping mechanism and the skylight under different conditions, thereby improving the operability of fully mechanized mining.

[0046] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the position interference method between the tamping mechanism and the skylight provided by the above methods. The method includes: obtaining the vertical distance from the first end of the skylight to the surface of the tamping mechanism, and the angle value between the surface of the skylight and the vertical line corresponding to the vertical distance; and adjusting the position of the tamping mechanism according to the vertical distance, the angle value and the horizontal length of the skylight.

[0047] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements a method for interfering with the position between the tamping mechanism and the skylight provided by the above methods. The method includes: obtaining a vertical distance from a first end of the skylight to the surface of the tamping mechanism, and an angle value between the surface of the skylight and a vertical line corresponding to the vertical distance; and adjusting the position of the tamping mechanism according to the vertical distance, the angle value, and the horizontal length of the skylight.

[0048] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0049] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gangue backfilling system, characterized in that, The gangue backfilling system includes a skylight and a compaction mechanism, as well as a monitoring device and an interference controller, wherein: The monitoring device is installed at the first end of the skylight, which is the end of the skylight away from the filling working surface; the monitoring device and the interference controller are connected by signals. The monitoring device is used to monitor the vertical distance from the first end to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance, and to send the vertical distance and the angle value to the interference controller. The interference controller is used to adjust the position of the tamping mechanism according to the vertical distance, the angle value, and the horizontal length of the skylight.

2. The gangue backfilling system according to claim 1, characterized in that, The interference controller is specifically used for: Determine the reference length based on the vertical distance and the angle value; Based on the comparison between the horizontal length of the skylight and the reference length, the position of the tamping mechanism is adjusted.

3. The gangue backfilling system according to claim 2, characterized in that, In the process of adjusting the position of the tamping mechanism based on the comparison result between the horizontal length of the skylight and the reference length, the interference controller is specifically used for: Based on the comparison between the horizontal length of the skylight and the reference length, if the reference length is less than the horizontal length of the skylight, then the angle between the tamping mechanism and the horizontal plane is reduced.

4. The gangue backfilling system according to claim 1, characterized in that, The monitoring device includes a lidar sensor, which includes a distance calculation unit and an angle calculation unit; the distance calculation unit is used to determine the vertical distance based on the acquired radar signal; the angle calculation unit is used to determine the angle value based on the acquired radar signal.

5. The gangue backfilling system according to claim 2, characterized in that, In the process of determining the reference length based on the vertical distance and the angle value, the interference controller is specifically used for: The reference length is determined using a preset calculation formula based on the vertical distance and the angle value. The preset calculation formula includes: AB = AC / cos a; Where AB is the reference length, AC is the vertical distance, and a is the angle value.

6. A method for addressing positional interference between the compaction mechanism and the skylight in a gangue backfilling system according to any one of claims 1-5, characterized in that, include: Obtain the vertical distance from the first end of the skylight to the surface of the tamping mechanism, and the angle between the surface of the skylight and the vertical line corresponding to the vertical distance; The position of the tamping mechanism is adjusted according to the vertical distance, the angle value, and the horizontal length of the skylight.

7. The method for addressing positional interference between the tamping mechanism and the skylight according to claim 6, characterized in that, The step of adjusting the position of the tamping mechanism based on the vertical distance, the angle value, and the horizontal length of the skylight includes: Determine the reference length based on the vertical distance and the angle value; Based on the comparison between the horizontal length of the skylight and the reference length, the position of the tamping mechanism is adjusted.

8. The method for positional interference between the tamping mechanism and the skylight according to claim 6, characterized in that, The position adjustment of the tamping mechanism based on the comparison result between the horizontal length of the skylight and the reference length includes: Based on the comparison between the horizontal length of the skylight and the reference length, if the reference length is less than the horizontal length of the skylight, then the angle between the tamping mechanism and the horizontal plane is reduced.

9. The method for positional interference between the tamping mechanism and the skylight according to claim 8, characterized in that, Determining the reference length based on the vertical distance and the angle value includes: The reference length is determined using a preset calculation formula based on the vertical distance and the angle value. The preset calculation formula includes: AB = AC / cos a; Where AB is the reference length, AC is the vertical distance, and a is the angle value.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the position interference method between the tamping mechanism and the skylight as described in any one of claims 6-9.

Images