CN106761737B - Coalcutter attitude control method based on coal seam GIS-Geographic Information System - Google Patents
Coalcutter attitude control method based on coal seam GIS-Geographic Information System Download PDFInfo
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- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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Abstract
本发明公开了一种基于煤层煤层地理信息系统的采煤机姿态控制方法，该方法包括：建立采煤机下滚筒截割卧底调整量与采煤机姿态信息中翻滚角变化量关联模型；建立工作面煤层地理信息系统，得到沿采煤机推进方向的煤层顶板曲线和煤层底板曲线；找出煤层底板曲线上的斜率变化点，实现煤层底板曲线的分段线性化；采用融合地质环境信息的采煤机定位技术获取采煤机实时位置和姿态信息，利用采煤机下滚筒截割卧底调整量与采煤机姿态信息中翻滚角变化量关联模型，计算出采煤机下滚筒卧底调整量，从而控制采煤机姿态。该方法将采煤机姿态控制与煤层倾角识别有效结合，可使采煤机姿态中的翻滚角与煤层倾角保持一致。
The invention discloses a coal mining machine attitude control method based on a coal seam geographic information system. The method includes: establishing a relationship model between the undercover adjustment amount of the shearer's lower drum cutting undercover and the roll angle change amount in the coal mining machine attitude information; The coal seam geographic information system of the working face obtains the coal seam roof curve and the coal seam floor curve along the advancing direction of the coal shearer; finds out the slope change points on the coal seam floor curve to realize the segmental linearization of the coal seam floor curve; adopts the fusion of geological environment information The shearer positioning technology obtains the real-time position and attitude information of the shearer, and uses the relationship model between the undercut adjustment amount of the lower drum of the shearer and the change amount of the roll angle in the attitude information of the shearer to calculate the undercover adjustment amount of the lower drum of the shearer , so as to control the attitude of the shearer. This method effectively combines the attitude control of the coal mining machine with the identification of the coal seam dip angle, and can keep the roll angle in the attitude of the coal mining machine consistent with the coal seam dip angle.
Description
技术领域technical field
本发明涉及采煤机滚筒调高控制与采煤机姿态控制方法，属于采煤装备自动控制技术领域。The invention relates to a method for height adjustment control of a coal mining machine drum and a coal mining machine attitude control, and belongs to the technical field of automatic control of coal mining equipment.
背景技术Background technique
基于记忆截割技术的采煤机滚筒自动调高控制方法是目前自动化综采工作面常用的调高控制方法。它的原理是：由采煤机司机根据工作面煤层条件操作采煤机先割一刀，控制系统将行程位置与对应的截割高度等信息存入计算机，以后在某一行程位置的截割高度均由计算机根据存储器记忆的工作参数自动调整，如果煤层条件尤其是煤层倾角发生较大变化，则必须由采煤机司机手动操作对高度重新进行调整，并自动记忆调整过的工作参数，作为下一刀滚筒调高的参数。记忆截割法实现简单，但是对于地质条件有一定的要求，只能适用于近水平工作面，不能很好的适用于煤层倾角发生变化的工作面，而记忆截割不能适用于煤层倾角发生变化的工作面的根本原因是采煤机姿态中的翻滚角与煤层倾角不一致。The automatic height adjustment control method of the shearer drum based on the memory cutting technology is a commonly used height adjustment control method in the automatic fully mechanized mining face. Its principle is: the driver of the shearer operates the shearer according to the coal seam conditions of the working face to cut a knife first, and the control system stores the information such as the stroke position and the corresponding cutting height into the computer, and then the cutting height at a certain stroke position All are automatically adjusted by the computer according to the working parameters stored in the memory. If the conditions of the coal seam, especially the inclination of the coal seam, change greatly, the driver of the coal mining machine must manually re-adjust the height, and automatically memorize the adjusted working parameters as the next step. Parameters for one-knife roller height adjustment. The memory cutting method is simple to implement, but it has certain requirements for geological conditions. It can only be applied to near-horizontal working faces, and cannot be well applied to working faces where the dip angle of the coal seam changes, and memory cutting cannot be applied to changes in the dip angle of the coal seam. The root cause of the working face is that the roll angle in the attitude of the shearer is inconsistent with the inclination angle of the coal seam.
专利号为:ZL 201310353737.7的中国专利公开了融合地质环境信息的采煤机绝对定位技术，该技术不但可以测量采煤机的位置、姿态，还利用工作面煤层地理信息系统(GIS)将地理、地质、环境信息以及采煤机姿态、速度、位置信息统一于同一时空体系下，实现了采煤机在煤层地质环境信息下的精确定位。The Chinese patent with the patent number: ZL 201310353737.7 discloses the absolute positioning technology of the coal mining machine integrated with geological environment information. The geological and environmental information, as well as the attitude, speed, and position information of the coal mining machine are unified under the same space-time system, which realizes the precise positioning of the coal mining machine under the geological environment information of the coal seam.
发明内容Contents of the invention
发明目的：为了克服记忆截割在煤层倾角发生变化的工作面使用的局限性，本发明提供一种基于煤层地理信息系统的采煤机姿态自动控制方法，以使采煤机姿态中的翻滚角与煤层倾角保持一致。Purpose of the invention: In order to overcome the limitation of memory cutting in the working face where the inclination angle of the coal seam changes, the present invention provides an automatic control method for the attitude of the shearer based on the coal seam geographic information system, so that the roll angle in the attitude of the coal shearer Consistent with the dip angle of the coal seam.
为了实现上述目的，本发明采用了如下的技术方案：一种基于煤层地理信息系统的采煤机姿态控制方法，其特征在于，该方法包括以下步骤：In order to achieve the above object, the present invention adopts the following technical scheme: a method for controlling the attitude of a coal mining machine based on a coal seam geographic information system, characterized in that the method comprises the following steps:
1)根据长壁综采工作面采煤机、液压支架和刮板输送机三机技术参数和配套关系，建立采煤机下滚筒截割卧底调整量与采煤机姿态信息中翻滚角变化量关联模型，即Δγ＝arctan(Δh/d)，Δh为采煤机下滚筒截割卧底调整量，Δγ为采煤机姿态信息中翻滚角变化量，d为采煤机截割一刀时工作面推进距离；1) According to the technical parameters and matching relationship of the shearer, the hydraulic support and the scraper conveyor in the longwall fully mechanized mining face, the adjustment amount of the undercut cutting of the lower drum of the shearer and the change amount of the roll angle in the attitude information of the shearer are established Correlation model, that is, Δγ=arctan(Δh/d), Δh is the undercover adjustment of the lower drum of the shearer, Δγ is the change of the roll angle in the attitude information of the shearer, and d is the working face when the shearer cuts a knife advance distance;
2)利用钻探、巷探以及精细物探数据建立工作面煤层地理信息系统，工作面煤层地理信息系统包括煤层顶底板曲面，顶底板曲面以三维栅格存储，煤层地理信息系统坐标系以煤层底板开采起始位置处为坐标原点，X轴方向沿工作面方向，Y轴方向沿工作面推进方向，Z轴的方向与采煤机重力加速度的方向相反；2) The coal seam geographic information system of the working face is established by using drilling, roadway survey and fine geophysical prospecting data. The coal seam geographic information system of the working face includes the curved surface of the roof and floor of the coal seam, which is stored in a three-dimensional grid. The coordinate system of the coal seam geographic information system is based on the mining of the coal seam floor The starting position is the coordinate origin, the X-axis direction is along the direction of the working face, the Y-axis direction is along the advancing direction of the working face, and the direction of the Z-axis is opposite to the direction of the shearer's gravity acceleration;
3)以采煤机下滚筒卧底最小可控调整量δh为控制参数，找出煤层底板曲线上的斜率变化点，实现煤层底板曲线的分段线性化，具体步骤如下：3) Take the minimum controllable adjustment amount δh of the undercover drum of the shearer as the control parameter, find out the slope change point on the coal seam floor curve, and realize the segmental linearization of the coal seam floor curve. The specific steps are as follows:
31)在工作面煤层地理信息系统中沿Y轴做截面，提取沿工作面推进方向的煤层底板曲线，以采煤机截割一刀时工作面推进距离d为间距，在提取煤层底板曲线上用插值算法获取n个数据点，分别为A1、A2......An，同时获取A1-An各个数据点的YZ平面坐标，其中，煤层底板曲线起始点为第一个数据点A1，煤层底板曲线末尾点为最后一个数据点An；31) In the coal seam geographic information system of the working face, make a section along the Y axis, extract the coal seam floor curve along the advancing direction of the working face, and take the advancing distance d of the working face when the shearer cuts a knife as the interval, and extract the coal seam floor curve with The interpolation algorithm obtains n data points, namely A 1 , A 2 ...... A n , and obtains the YZ plane coordinates of each data point from A 1 -A n at the same time, where the starting point of the coal seam floor curve is the first Data point A 1 , the end point of the coal seam floor curve is the last data point A n ;
32)将第一个数据点A1作为煤层底板曲线的第一个斜率变化点，最后一个数据点An做为煤层底板曲线的最后一个斜率变化点，以第一个斜率变化点作为第二个斜率变化点的计算参考点，计算第一个斜率变化点和与第一个斜率变化点相邻的第二个数据点A2的连线的斜率k12，并以斜率k12作延长线计算出第三个数据点A3的坐标预测值，如果第三个数据点A3的坐标预测值与真实值之差的绝对值小于δh，则继续计算第二个数据点A2和与第二个数据点A2相邻的第三个数据点A3的连线的斜率k23，并以斜率k23作延长线计算出第四个数据点A4的坐标预测值，依次类推，直至某一个数据点的坐标预测值与真实值之差的绝对值大于等于δh，则将该数据点作为煤层底板曲线的第二个斜率变化点，然后按照上述计算方法，以上一个确定的斜率变化点作为下一个斜率变化点的计算参考点，依次确定煤层底板曲线上的其余各个斜率变化点；32) Take the first data point A 1 as the first slope change point of the coal seam floor curve, the last data point An as the last slope change point of the coal seam floor curve, and use the first slope change point as the second The calculation reference point of the slope change point, calculate the slope k 12 of the line connecting the first slope change point and the second data point A 2 adjacent to the first slope change point, and use the slope k 12 as the extension line for calculation Get the predicted coordinate value of the third data point A 3 , if the absolute value of the difference between the predicted coordinate value of the third data point A 3 and the real value is less than δh, then continue to calculate the sum of the second data point A 2 and the second The slope k 23 of the line connecting the third data point A 3 adjacent to the first data point A 2 , and use the slope k 23 as an extension line to calculate the predicted coordinate value of the fourth data point A 4 , and so on until a certain If the absolute value of the difference between the coordinate predicted value and the real value of a data point is greater than or equal to δh, then this data point is taken as the second slope change point of the coal seam floor curve, and then according to the above calculation method, the previous determined slope change point is used as The calculation reference point of the next slope change point is to determine the remaining slope change points on the coal seam floor curve in turn;
33)根据得到的煤层底板曲线上的所有斜率变化点构成煤层底板的分段线性化曲线；33) Construct the segmental linearization curve of the coal seam floor according to all slope change points on the obtained coal seam floor curve;
4)采用融合地质环境信息的采煤机定位技术获取采煤机实时位置和姿态信息，根据采煤机实时位置信息确定采煤机所在的煤层底板的分段线性化曲线的直线段，并由该直线段斜率的反正切值得到煤层倾角α，根据采煤机实时姿态信息中的翻滚角γ，利用采煤机下滚筒截割卧底调整量与采煤机姿态信息中翻滚角变化量关联模型，计算出采煤机下滚筒卧底调整量Δh＝d tan(γ-α)，从而控制采煤机姿态，使采煤机翻滚角与煤层倾角保持一致。4) The shearer positioning technology integrated with geological environment information is used to obtain the real-time position and attitude information of the shearer, and the straight line segment of the segmental linearization curve of the coal seam floor where the shearer is located is determined according to the real-time position information of the shearer, and is determined by The arc tangent of the slope of the straight line segment is used to obtain the coal seam inclination angle α, and according to the roll angle γ in the real-time attitude information of the shearer, the relationship model between the adjustment amount of the lower drum cutting undercover of the shearer and the change amount of the roll angle in the attitude information of the shearer is used , calculate the undercover adjustment amount of the lower drum of the shearer Δh = d tan (γ-α), so as to control the attitude of the shearer, so that the roll angle of the shearer is consistent with the dip angle of the coal seam.
有益效果：该方法将采煤机姿态控制与煤层倾角识别有效结合，可使采煤机姿态中的翻滚角与煤层倾角保持一致；该方法提出了煤层分段线性表示的思路，压缩了煤层地理信息系统的数据存储量，还可以方便的获得煤层倾角信息；该方法思路简单，运算合理，可靠实用，可以有效提高采煤机在复杂地质条件煤层截割控制的自动化程度。Beneficial effects: This method effectively combines the attitude control of the coal mining machine with the recognition of the coal seam dip angle, which can make the roll angle in the coal seam posture consistent with the coal seam dip angle; The data storage capacity of the information system can also facilitate the acquisition of coal seam dip angle information; the method is simple in thinking, reasonable in operation, reliable and practical, and can effectively improve the automation degree of coal shearer cutting control in complex geological conditions.
附图说明Description of drawings
图1是采煤机截割正面示意图；Fig. 1 is the front schematic diagram of shearer cutting;
图2是采煤机截割侧面示意图；Fig. 2 is a schematic diagram of the cutting side of the shearer;
图3是本发明的工作面煤层地理信息系统坐标系示意图；Fig. 3 is a schematic diagram of the coordinate system of the working face coal seam geographic information system of the present invention;
图4是采煤机卧底量调整示意图；Fig. 4 is a schematic diagram of adjusting the undercover volume of the coal mining machine;
图5是采煤机姿态随卧底量调整变化示意图；Figure 5 is a schematic diagram of the change of the attitude of the shearer with the adjustment of the undercover amount;
图6是沿采煤机推进方向的煤层顶板曲线和煤层底板曲线；Fig. 6 is the coal seam roof curve and the coal seam floor curve along the shearer advancing direction;
图7是本发明的煤层底板曲线分段线性表示算法流程示意图；Fig. 7 is a schematic flow chart of the coal seam floor curve piecewise linear representation algorithm of the present invention;
图8是本发明的煤层底板的分段线性化曲线与原始曲线对比图。Fig. 8 is a comparison diagram of the segmented linearization curve and the original curve of the coal seam floor of the present invention.
图中：1、煤层顶板；2、煤层底板；3、采煤机；4、采煤机下滚筒；5、采煤机上滚筒；6、刮板输送机。In the figure: 1. Coal seam roof; 2. Coal seam floor; 3. Shearer; 4. Shearer lower drum; 5. Shearer upper drum; 6. Scraper conveyor.
具体实施方式：Detailed ways:
下面结合附图对本发明做更进一步的解释。The present invention will be further explained below in conjunction with the accompanying drawings.
如图1和2所示，采煤机在煤层中截割，采煤机上滚筒截割靠近煤层顶板，采煤机下滚筒截割靠近煤层底板。煤层底板与采煤机推进方向的夹角为煤层倾角α，采煤机的机身与采煤机推进方向的夹角为采煤机翻滚角γ，在开采起始位置，采煤机翻滚角γ与煤层倾角α保持一致，但在随后的工作面推进过程中煤层倾角α发生了变化，如果采煤机不调整姿态，必然截割到煤层顶板。As shown in Figures 1 and 2, the shearer cuts in the coal seam, the upper drum of the shearer cuts close to the coal seam roof, and the lower drum of the shearer cuts close to the coal seam floor. The angle between the coal seam floor and the advancing direction of the shearer is the coal seam dip angle α, the angle between the body of the shearer and the advancing direction of the shearer is the shearer roll angle γ, and at the starting position of mining, the shearer roll angle γ is consistent with the coal seam dip angle α, but the coal seam dip angle α changes during the subsequent advancing process of the working face. If the shearer does not adjust its posture, it will inevitably cut to the coal seam roof.
本发明的一种基于煤层地理信息系统的采煤机姿态控制方法，该方法是通过调整采煤机下滚筒截割卧底量的来控制采煤机翻滚角，该方法包括以下步骤：A method for controlling the attitude of a shearer based on a coal seam geographic information system of the present invention, the method is to control the roll angle of the shearer by adjusting the amount of undercover cutting by the lower drum of the shearer, and the method includes the following steps:
1)根据长壁综采工作面采煤机、液压支架和刮板输送机三机技术参数和配套关系，建立采煤机下滚筒截割卧底调整量与采煤机姿态信息中翻滚角变化量关联模型，即Δγ＝arctan(Δh/d)，如图3和4所示，Δh为采煤机下滚筒截割卧底调整量，Δγ为采煤机姿态信息中翻滚角变化量，d为采煤机截割一刀时工作面推进距离；1) According to the technical parameters and matching relationship of the shearer, the hydraulic support and the scraper conveyor in the longwall fully mechanized mining face, the adjustment amount of the undercut cutting of the lower drum of the shearer and the change amount of the roll angle in the attitude information of the shearer are established Correlation model, that is, Δγ=arctan(Δh/d), as shown in Figures 3 and 4, Δh is the undercover adjustment amount of the shearer’s lower drum cutting, Δγ is the roll angle change in the attitude information of the shearer, and d is the shearer’s The advancing distance of the working face when the coal machine cuts a knife;
2)利用钻探、巷探以及精细物探数据建立工作面煤层地理信息系统，如图1至3所示，工作面煤层地理信息系统包括煤层顶底板曲面，顶底板曲面以三维栅格存储，煤层地理信息系统坐标系以煤层底板开采起始位置处为坐标原点，X轴方向沿工作面方向，Y轴方向沿工作面推进方向，Z轴的方向与采煤机重力加速度的方向相反；2) The coal seam geographic information system of the working face is established by using the data of drilling, roadway exploration and fine geophysical prospecting. As shown in Figures 1 to 3, the coal seam geographic information system of the working face includes the curved surface of the roof and floor of the coal seam, which is stored in a three-dimensional grid. The coordinate system of the information system takes the starting position of coal seam floor mining as the coordinate origin, the X-axis direction is along the direction of the working face, the Y-axis direction is along the advancing direction of the working face, and the direction of the Z-axis is opposite to the direction of the shearer's gravitational acceleration;
3)以采煤机下滚筒卧底最小可控调整量δh为控制参数，找出煤层底板曲线上的斜率变化点，实现煤层底板曲线的分段线性化，具体步骤如下：3) Take the minimum controllable adjustment amount δh of the undercover drum of the shearer as the control parameter, find out the slope change point on the coal seam floor curve, and realize the segmental linearization of the coal seam floor curve. The specific steps are as follows:
31)如图3和6所示，在工作面煤层地理信息系统中沿Y轴做A-A截面，提取沿工作面推进方向的煤层底板曲线，以采煤机截割一刀时工作面推进距离d为间距，在提取煤层底板曲线上用插值算法获取n个数据点，分别为A1、A2......An，同时获取A1-An各个数据点的YZ平面坐标，其中，煤层底板曲线起始点为第一个数据点A1，煤层底板曲线末尾点为最后一个数据点An；31) As shown in Figures 3 and 6, the AA section is made along the Y axis in the coal seam geographic information system of the working face, and the coal seam floor curve along the advancing direction of the working face is extracted. The advancing distance d of the working face when the shearer cuts a knife is Interpolation algorithm is used to obtain n data points on the extracted coal seam floor curve, which are A1, A2...An, and the YZ plane coordinates of each data point of A1-An are obtained at the same time, where the starting point of the coal seam floor curve is is the first data point A1, and the end point of the coal seam floor curve is the last data point A n ;
32)如图7所示，将第一个数据点A1作为煤层底板曲线的第一个斜率变化点，最后一个数据点An做为煤层底板曲线的最后一个斜率变化点，以第一个斜率变化点作为第二个斜率变化点的计算参考点，计算第一个斜率变化点和与第一个斜率变化点相邻的第二个数据点A2的连线的斜率k12，并以斜率k12作延长线计算出第三个数据点A3的坐标预测值，如果第三个数据点A3的坐标预测值与真实值之差的绝对值小于δh，则继续计算第二个数据点A2和与第二个数据点A2相邻的第三个数据点A3的连线的斜率k23，并以斜率k23作延长线计算出第四个数据点A4的坐标预测值，依次类推，直至某一个数据点的坐标预测值与真实值之差的绝对值大于等于δh，则将该数据点作为煤层底板曲线的第二个斜率变化点，然后按照上述计算方法，以上一个确定的斜率变化点作为下一个斜率变化点的计算参考点，依次确定煤层底板曲线上的其余各个斜率变化点；32) As shown in Figure 7, the first data point A1 is used as the first slope change point of the coal seam floor curve, and the last data point A n is used as the last slope change point of the coal seam floor curve. The slope change point is used as the calculation reference point of the second slope change point, and the slope k 12 of the line connecting the first slope change point and the second data point A 2 adjacent to the first slope change point is calculated, and calculated as Slope k 12 as an extension line to calculate the predicted coordinate value of the third data point A 3 , if the absolute value of the difference between the predicted coordinate value of the third data point A 3 and the real value is less than δh, continue to calculate the second data The slope k 23 of the line connecting point A 2 and the third data point A 3 adjacent to the second data point A 2 , and use the slope k 23 as an extension line to calculate the coordinate prediction of the fourth data point A 4 value, and so on, until the absolute value of the difference between the coordinate predicted value and the real value of a certain data point is greater than or equal to δh, then the data point is taken as the second slope change point of the coal seam floor curve, and then according to the above calculation method, the above One determined slope change point is used as the calculation reference point for the next slope change point, and the remaining slope change points on the coal seam floor curve are determined in turn;
33)如图8所示，根据得到的煤层底板曲线上的所有斜率变化点构成煤层底板的分段线性化曲线；33) As shown in Figure 8, according to all slope change points on the obtained coal seam floor curve, constitute the segmental linearization curve of the coal seam floor;
4)采用融合地质环境信息的采煤机定位技术获取采煤机实时位置和姿态信息，根据采煤机实时位置信息确定采煤机所在的煤层底板的分段线性化曲线的直线段，并由该直线段斜率的反正切值得到煤层倾角α，根据采煤机实时姿态信息中的翻滚角γ，利用采煤机下滚筒截割卧底调整量与采煤机姿态信息中翻滚角变化量关联模型，计算出采煤机下滚筒卧底调整量Δh＝d tan(γ-α)，从而控制采煤机姿态，使采煤机翻滚角与煤层倾角保持一致。4) The shearer positioning technology integrated with geological environment information is used to obtain the real-time position and attitude information of the shearer, and the straight line segment of the segmental linearization curve of the coal seam floor where the shearer is located is determined according to the real-time position information of the shearer, and is determined by The arc tangent of the slope of the straight line segment is used to obtain the coal seam inclination angle α, and according to the roll angle γ in the real-time attitude information of the shearer, the relationship model between the adjustment amount of the lower drum cutting undercover of the shearer and the change amount of the roll angle in the attitude information of the shearer is used , calculate the undercover adjustment amount of the lower drum of the shearer Δh = d tan (γ-α), so as to control the attitude of the shearer, so that the roll angle of the shearer is consistent with the dip angle of the coal seam.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.
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| PCT/CN2017/072428 WO2018094874A1 (en) | 2016-11-28 | 2017-01-24 | Coal mining machine attitude control method based on coal seam geographic information system |
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| CN109018851B (en) * | 2018-08-13 | 2020-06-02 | 太原理工大学 | A real-time monitoring method for the running attitude position of scraper conveyor in three-dimensional space |
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| CN110107295B (en) * | 2019-04-11 | 2020-04-17 | 中国矿业大学 | Unmanned coal mining path planning method based on working face high-precision navigation model |
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| CN114412459B (en) * | 2021-12-22 | 2023-03-17 | 中国矿业大学 | An intelligent fully mechanized mining face shearer automatic cutting method with less sensing and no teaching |
| CN115419448B (en) * | 2022-09-19 | 2024-12-10 | 北京天玛智控科技股份有限公司 | Method, device and electronic equipment for adjusting working face advancement |
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