CN113153402B - Coal face thrust measuring device and method - Google Patents
Coal face thrust measuring device and method Download PDFInfo
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- CN113153402B CN113153402B CN202110277738.2A CN202110277738A CN113153402B CN 113153402 B CN113153402 B CN 113153402B CN 202110277738 A CN202110277738 A CN 202110277738A CN 113153402 B CN113153402 B CN 113153402B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
- E21D23/142—Measuring the advance of support units with respect to external points of reference
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- General Life Sciences & Earth Sciences (AREA)
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- General Physics & Mathematics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
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Abstract
The invention provides a coal face propulsion measuring device and a method, wherein the coal face propulsion measuring device comprises a ranging sensor, a sensor and a sensor, wherein the ranging sensor is used for measuring the distance between an advance support and a scraper machine head in real time; the angle sensor is used for monitoring the space position of the ranging sensor in real time; the acquisition communication main board, the input of acquisition communication main board respectively with range sensor with inclination sensor connects. The invention realizes the real-time measurement of the coal face propulsion degree, realizes the correction of the measured value through the monitoring of the angle sensor, ensures the accuracy of the measured result, and provides accurate propulsion data support for the mine pressure monitoring in real time.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to a coal face thrust measuring device and method.
Background
Along with the continuous development of mine technology, fully mechanized caving mining technology has the characteristics of high efficiency, high yield, safety and the like, and has become a main technology for thick coal seam mining, and a working face propelling degree common method comprises the following steps:
and (3) manually recording, namely recording the number of times of moving the hydraulic support by taking the support step distance as a basis, and calculating the pushing progress.
The mine pressure monitoring system analyzes and analyzes the initial supporting force and final resistance of the support to obtain the support moving times, inputs a step distance value to obtain the pushing progress, and analyzes the support moving times according to the pressure change rule of the hydraulic support.
The method comprises the steps of acquiring hydraulic support pressure change information from a hydraulic support manufacturer, analyzing the number of support frame moving times according to a pressure change rule, negotiating with the support manufacturer, and providing a pressure data interface by the manufacturer.
Disclosure of Invention
The invention provides a coal face thrust measuring device and method, which are used for solving the defect that the coal face thrust degree cannot be accurately measured in real time in the prior art, realizing real-time measurement of the coal face thrust degree and improving the accuracy of a measuring result.
The invention provides a coal face thrust measuring device, comprising:
the distance measuring sensor is used for measuring the distance between the advance bracket and the scraper machine head in real time;
The angle sensor is used for monitoring the space position of the ranging sensor in real time;
The acquisition communication main board, the input of acquisition communication main board respectively with range sensor with inclination sensor connects.
According to the coal face thrust measuring device provided by the invention, the distance measuring sensor and the angle sensor are both arranged on the acquisition communication main board, the acquisition communication main board is arranged on one side of the advance support between the advance support and the scraper machine head, and the detection end of the distance measuring sensor faces the scraper machine head.
According to the coal face propulsion measuring device provided by the invention, the acquisition communication main board is provided with the wiring terminal, and the ranging sensor and the angle sensor are connected with the input end of the acquisition communication main board through the wiring terminal.
The invention provides a coal face propulsion measuring device, which further comprises a display, wherein the input end of the display is connected with the output end of the acquisition communication main board through the wiring terminal.
According to the coal face propulsion measuring device provided by the invention, the distance measuring sensor is a laser distance measuring sensor.
According to the coal face thrust measuring device provided by the invention, the angle sensor is a triaxial angle sensor.
The invention also provides a measuring method based on the coal face propulsion measuring device, which comprises the following steps:
Measuring the distance between the advance support and the scraper machine head in real time through the distance measuring sensor;
monitoring the spatial position of the ranging sensor in real time through the angle sensor;
And the distance value measured by the distance measurement sensor and the space position data monitored by the angle sensor are received through the acquisition communication main board, so that the pushing progress of the coal face is calculated.
According to the method for measuring the propelling degree of the coal face, which is provided by the invention, the step of monitoring the space position of the ranging sensor in real time through the angle sensor comprises the following steps:
and monitoring the yaw angle and the pitch angle of the ranging sensor in real time through the angle sensor.
According to the method for measuring the thrust of the coal face provided by the invention, the step of receiving the distance value measured by the distance measuring sensor and the space position data monitored by the angle sensor through the acquisition communication main board so as to calculate the thrust of the coal face comprises the following steps:
the distance value L measured by the distance measuring sensor and the yaw angle alpha and pitch angle beta monitored by the angle sensor are received through the acquisition communication main board, and after the advance support is calculated for the first time, the actual distance between the advance support and the scraper machine head is as follows:
L1×sinα1×sinβ1；
when the advance bracket is advanced for the second time, the actual distance between the advance bracket and the scraper machine head is as follows:
L2×sinα2×sinβ2；
then, the pushing progress of the first coal face is as follows:
S1＝L1×sinα1×sinβ1-L2×sinα2×sinβ2；
The actual distance between the advance support and the scraper machine head after the second forward movement is calculated as follows:
L3×sinα3×sinβ3；
when the advance bracket is advanced for the third time, the actual distance between the advance bracket and the scraper machine head is as follows:
L4×sinα4×sinβ4；
Then, the pushing progress of the second coal face is as follows:
S2＝L3×sinα3×sinβ3-L4×sinα4×sinβ4；
the n (n is an integer greater than or equal to 1) th coal face pushing schedule is:
Sn＝L2n-1×sinα2n-1×sinβ2n-1-L2n×sinα2n×sinβ2n；
then, the total push progress is:
The invention provides a coal face thrust measuring method, which further comprises the following steps:
and receiving and displaying the propulsion degree measurement result obtained by calculation of the acquisition communication main board through a display.
According to the coal face propulsion measuring device and method, the distance sensor, the angle sensor and the acquisition communication main board are arranged, the acquisition communication main board acquires and receives the distance value between the advance support and the scraper machine head measured by the distance sensor in real time, and the space of the distance sensor is monitored by the inclination sensor in real time, so that the real-time measurement of the coal face propulsion is realized, the correction of measured values is realized through the monitoring of the angle sensor, the accuracy of measuring results is ensured, and accurate propulsion data support is provided for mine pressure monitoring in real time.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a coal face thrust measuring device provided by the invention;
FIG. 2 is a schematic diagram of the working condition of the advance support after the first advance in the coal face thrust measurement method according to the present invention;
FIG. 3 is a schematic diagram of the working condition of the advance bracket before the second advance in the coal face thrust measurement method provided by the invention;
reference numerals:
100: a ranging sensor; 200: an angle sensor; 300: collecting a communication main board;
310: a connection terminal; 400: an advance support; 500: scraper machine head;
600: and a hydraulic support.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A coal face thrust measuring device of the present invention is described below with reference to fig. 1 to 3, including:
distance measuring sensor 100, distance measuring sensor 100 is used to measure the distance between lead frame 400 and scraper machine head 500 in real time,
An angle sensor 200 for monitoring the spatial position of the ranging sensor 100 in real time;
The acquisition communication main board 300, the input end of the acquisition communication main board 300 is respectively connected with the ranging sensor 100 and the inclination sensor. It can be understood that the input end of the acquisition communication main board 300 acquires and receives the distance information between the advance support 400 and the scraper machine head 500 measured by the ranging sensor 100 in real time, and the spatial position information of the ranging sensor 100 monitored by the angle sensor 200 in real time, and the acquisition communication main board 300 accurately calculates the pushing progress of the coal face according to the received distance value and the spatial position information. It should be noted that, the angle sensor 200 is configured to monitor the spatial position change of the ranging sensor 100 in real time, so as to correct the measurement result, and improve the accuracy and instantaneity of the measurement result.
According to the coal face thrust measuring device provided by the invention, the ranging sensor 100 and the angle sensor 200 are both arranged on the acquisition communication main board 300, the acquisition communication main board 300 is arranged on one side of the advance bracket 400 between the advance bracket 400 and the scraper machine head 500, and the detection end of the ranging sensor 100 faces the scraper machine head 500. It can be appreciated that the ranging sensor 100 and the angle sensor 200 are both installed on the upper surface of the acquisition communication motherboard 300, and the acquisition communication motherboard 300 is horizontally installed on the advance bracket 400 and is located between the advance bracket 400 and the bracket of the scraper machine head 500, so as to ensure that the Z-axis direction of the acquisition communication motherboard 300 is perpendicular to the horizontal plane. The detection end of the ranging sensor 100 faces the scraper machine head 500, no other obstacle exists between the ranging sensor 100 and the scraper machine head 500, the influence of other factors on the ranging sensor 100 is prevented, and the detection accuracy is ensured.
According to the coal face thrust measuring device provided by the invention, the acquisition communication main board 300 is provided with the wiring terminal 310, and the ranging sensor 100 and the angle sensor 200 are connected with the input end of the acquisition communication main board 300 through the wiring terminal 310. It can be understood that the acquisition communication board 300 is provided with a connection terminal 310 connected to the ranging sensor 100 and the angle sensor 200 through transmission lines. That is, the ranging sensor 100 and the angle sensor 200 transmit the data information monitored by each to the input end of the acquisition communication motherboard 300 through the transmission line, so as to acquire the data information.
The invention provides a coal face propulsion measuring device, which further comprises a display, wherein the input end of the display is connected with the output end of an acquisition communication main board 300 through a wiring terminal 310. It can be understood that the input end of the display is connected with the output end of the acquisition communication main board 300 through a transmission line, so that the calculation result is transmitted to the display, and is displayed by the display to be checked by a worker.
According to the coal face thrust measuring device provided by the invention, the ranging sensor 100 is a laser ranging sensor. It can be appreciated that the ranging sensor 100 in this embodiment adopts a laser ranging sensor, and has strong laser directivity, good coherence and strong anti-interference performance. The ranging sensor 100 may also employ an ultrasonic ranging sensor or an infrared ranging sensor.
According to the coal face thrust measuring device provided by the invention, the angle sensor 200 is a triaxial angle sensor. It can be appreciated that the angle sensor 200 in this embodiment adopts a triaxial angle sensor to monitor the yaw angle and pitch angle of the ranging sensor 100 in real time, so as to correct the measurement result of the thrust, and improve the accuracy. The angle sensor 200 may also employ a three-axis angle inclination sensor or a three-axis acceleration angle sensor.
It should be noted that, the hydraulic support 600 is disposed in the coal mining channel, so as to realize stable support of the working face of the coal mining channel and ensure the safety of coal mining operation.
The method for measuring the coal face propulsion degree provided by the invention is described below, and the method for measuring the coal face propulsion degree and the device for measuring the coal face propulsion degree described below can be correspondingly referred to each other.
The invention also provides a measuring method based on the coal face propulsion measuring device, which comprises the following steps:
The distance between the advance support 400400 and the scraper machine head 500 is measured in real time by the distance measuring sensor 100;
Monitoring the spatial position of the ranging sensor 100 in real time by the angle sensor 200;
the distance value measured by the distance measuring sensor 100 and the space position data monitored by the angle sensor 200 are received by the acquisition communication main board 300, so that the coal face pushing progress is calculated.
According to the method for measuring the propelling degree of the coal face provided by the invention, the step of monitoring the space position of the ranging sensor 100 in real time through the angle sensor 200 specifically comprises the following steps:
The yaw angle and pitch angle of the ranging sensor 100 are monitored in real time by the angle sensor 200.
According to the method for measuring the thrust of the coal face provided by the invention, the distance value measured by the ranging sensor 100 and the space position data monitored by the angle sensor 200 are received by the acquisition communication main board 300, so that the thrust of the coal face is calculated, and the method specifically comprises the following steps:
The distance value L measured by the distance measuring sensor 100 and the yaw angle alpha and pitch angle beta monitored by the angle sensor 200 are received by the acquisition communication main board 300, and after the advance bracket 400400 is calculated to advance for the first time, the actual distance between the advance bracket 400400 and the scraper machine head 500 is as follows:
L1×sinα1×sinβ1；
In preparation for the second advancement of the lead frame 400400, the actual distance of the lead frame 400400 from the scraper machine head 500 is:
L2×sinα2×sinβ2；
then, the pushing progress of the first coal face is as follows:
S1＝L1×sinα1×sinβ1-L2×sinα2×sinβ2；
The actual distance between the advanced support 400400 and the scraper machine head 500 after the second forward movement is calculated as follows:
L3×sinα3×sinβ3；
in preparation for the third advance of the lead frame 400400, the actual distance of the lead frame 400400 from the scraper machine head 500 is:
L4×sinα4×sinβ4；
Then, the pushing progress of the second coal face is as follows:
S2＝L3×sinα3×sinβ3-L4×sinα4×sinβ4；
Similarly, the n (n is an integer greater than or equal to 1) th coal face pushing schedule is:
Sn＝L2n-1×sinα2n-1×sinβ2n-1-L2n×sinα2n×sinβ2n；
then, the total push progress is:
The invention provides a coal face thrust measuring method, which further comprises the following steps:
the propulsive degree measurement result obtained by calculation of the acquisition communication main board 300 is received and displayed through the display.
The invention provides a coal face thrust measuring method, which specifically comprises the following steps:
Measuring a distance value L between the advanced support 400400 and the scraper machine head 500 in real time by the distance measuring sensor 100;
the yaw angle α and pitch angle β of the ranging sensor 100 are monitored in real time by the angle sensor 200;
the distance value L measured by the distance sensor 100 and the yaw angle alpha and pitch angle beta monitored by the angle sensor 200 are received through the acquisition communication board 300,
After calculating the first advance of the lead frame 400400, the actual distance between the lead frame 400400 and the scraper machine head 500 is:
L1×sinα1×sinβ1；
in preparation for advancing the lead bracket 400400 a second time, the actual distance between the lead bracket 400400 and the scraper head 500 is:
L2×sinα2×sinβ2；
then, the pushing progress of the first coal face is as follows:
S1＝L1×sinα1×sinβ1-L2×sinα2×sinβ2；
the actual distance between the advanced support 400400 and the scraper machine head 500 after the second forward movement is calculated as follows:
L3×sinα3×sinβ3；
in preparation for advancing the lead bracket 400400 a third time, the actual distance between the lead bracket 400400 and the scraper machine head 500 is:
L4×sinα4×sinβ4；
Then, the pushing progress of the second coal face is as follows:
S2＝L3×sinα3×sinβ3-L4×sinα4×sinβ4；
the n (n is an integer greater than or equal to 1) th coal face pushing schedule is:
Sn＝L2n-1×sinα2n-1×sinβ2n-1-L2n×sinα2n×sinβ2n；
then, the total push progress is:
The display receives and displays the measured result of the propulsion degree obtained by calculation of the acquisition communication main board 300, a worker observes the measured result in real time through the display, and uploads relevant information in real time through a wired network, and by combining the movement rule of the advanced support 400400, interference factors are effectively eliminated, information such as the pushing progress and the movement times is obtained, and accurate support of the propulsion degree data is provided for mine pressure monitoring.
According to the coal face propulsion measuring device and method provided by the invention, the distance measuring sensor 100, the angle sensor 200 and the acquisition communication main board 300 are arranged, the acquisition communication main board 300 acquires and receives the distance value between the advance support 400400 and the scraper machine head 500, which are measured by the distance measuring sensor 100 in real time, and the space of the distance measuring sensor 100 is monitored by the inclination sensor in real time, so that the real-time measurement of the coal face propulsion is realized, the correction of the measured value is realized by the monitoring of the angle sensor 200, the accuracy of the measured result is ensured, and accurate propulsion data support is provided for the mine pressure monitoring in real time.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A measurement method based on a coal face thrust measurement device, characterized in that the coal face thrust measurement device comprises:
the distance measuring sensor is used for measuring the distance between the advance bracket and the scraper machine head in real time;
The angle sensor is used for monitoring the spatial position of the ranging sensor in real time;
the input end of the acquisition communication main board is connected with the distance measuring sensor and the angle sensor respectively;
The method comprises the following steps:
the distance value L measured by the distance measuring sensor and the yaw angle alpha and pitch angle beta monitored by the angle sensor are received through the acquisition communication main board, and after the advance support is calculated for the first time, the actual distance between the advance support and the scraper machine head is as follows:
L1×sinα1×sinβ1；
when the advance bracket is advanced for the second time, the actual distance between the advance bracket and the scraper machine head is as follows:
L2×sinα2×sinβ2；
then, the pushing progress of the first coal face is as follows:
S1=L1×sinα1×sinβ1 - L2×sinα2×sinβ2；
The actual distance between the advance support and the scraper machine head after the second forward movement is calculated as follows:
L3×sinα3×sinβ3；
when the advance bracket is advanced for the third time, the actual distance between the advance bracket and the scraper machine head is as follows:
L4×sinα4×sinβ4；
Then, the pushing progress of the second coal face is as follows:
S2=L3×sinα3×sinβ3 - L4×sinα4×sinβ4；
the pushing progress of the nth coal face is as follows:
Sn=L2n-1×sinα2n-1×sinβ2n-1 - L2n×sinα2n×sinβ2n；
then, the total push progress is:
2. the measurement method based on the coal face thrust measurement device according to claim 1, further comprising:
and receiving and displaying the propulsion degree measurement result obtained by calculation of the acquisition communication main board through a display.
3. The measurement method based on the coal face thrust measurement device according to claim 1, wherein the ranging sensor and the angle sensor are both installed on the acquisition communication main board, the acquisition communication main board is installed on one side of the advance support between the advance support and the scraper machine head, and a detection end of the ranging sensor faces the scraper machine head.
4. The measurement method based on the coal face thrust measurement device according to claim 3, wherein the acquisition communication main board is provided with a wiring terminal, and the ranging sensor and the angle sensor are connected with the input end of the acquisition communication main board through the wiring terminal.
5. The method for measuring the coal face thrust measuring device according to claim 4, further comprising a display, wherein an input end of the display is connected with an output end of the acquisition communication main board through the connection terminal.
6. The measurement method based on a coal face thrust measurement device according to claim 1, wherein the ranging sensor is a laser ranging sensor.
7. The measurement method based on the coal face thrust measurement device according to claim 1, wherein the angle sensor is a triaxial angle sensor.
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