CN114593730B - A positioning navigation system - Google Patents
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- CN114593730B CN114593730B CN202011439194.7A CN202011439194A CN114593730B CN 114593730 B CN114593730 B CN 114593730B CN 202011439194 A CN202011439194 A CN 202011439194A CN 114593730 B CN114593730 B CN 114593730B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
本发明提供了一种用于采煤的定位导航系统，包括定位系统、导航系统、工况监视系统和自动运动系统，定位系统与导航系统和自动运动系统连接，定位系统实时监测定位采煤机的位置；导航系统与工况监视系统、定位系统和自动运动系统连接，导航系统在指导采煤机运动的同时还实时预测采煤机未来一段时间的工作状况；工况监视系统实时监控采煤机的工作状况，工况监视系统与自动运动系统和导航系统连接；自动运动系统与定位系统、导航系统和工况监视系统连接。本发明的定位系统、导航系统、工况监视系统和自动运动系统协同作用，确保采煤机的无人工作面采煤作业。
The present invention provides a positioning and navigation system for coal mining, including a positioning system, a navigation system, a working condition monitoring system and an automatic motion system. The positioning system is connected with the navigation system and the automatic motion system, and the positioning system monitors and locates the position of a coal mining machine in real time; the navigation system is connected with the working condition monitoring system, the positioning system and the automatic motion system, and the navigation system guides the movement of the coal mining machine and also predicts the working condition of the coal mining machine in real time for a period of time in the future; the working condition monitoring system monitors the working condition of the coal mining machine in real time, and the working condition monitoring system is connected with the automatic motion system and the navigation system; the automatic motion system is connected with the positioning system, the navigation system and the working condition monitoring system. The positioning system, the navigation system, the working condition monitoring system and the automatic motion system of the present invention work together to ensure the unmanned working face coal mining operation of the coal mining machine.
Description
Technical Field
The invention relates to the field of automation systems of coal mining equipment, in particular to a positioning navigation system.
Background
The automatic control system of the coal mining equipment refers to an automatic control system of the operation parameters and the operation postures of the coal mining machine, and aims to improve the adaptability of the coal mining machine to severe working conditions, reduce faults, improve the open probability and further realize the unmanned working face coal mining of the full working face automation.
The coal mining machine automation system generally comprises a constant power automatic speed regulation system, an automatic height regulation system, a working condition monitoring system, a fault diagnosis and positioning navigation system and the like.
In order to improve the stability of coal mining of an unmanned working face, a positioning navigation system for coal mining is required to be designed urgently.
Disclosure of Invention
The invention aims to provide a positioning navigation system for coal mining, which is used for positioning in real time and navigating a coal mining machine to a set position according to positioning data, so that the precision and accuracy of automatic coal mining are improved.
The technical scheme for realizing the purpose of the invention is as follows:
a positional navigation system for coal mining, comprising:
The positioning system is connected with the navigation system and the automatic movement system and is used for monitoring and positioning the position of the coal mining machine in real time;
The navigation system is connected with the working condition monitoring system, the positioning system and the automatic movement system, and is used for guiding the movement of the coal mining machine and simultaneously predicting the working condition of the coal mining machine for a period of time in the future in real time;
The working condition monitoring system is used for monitoring the working condition of the coal mining machine in real time and is connected with the automatic movement system and the navigation system;
and the automatic movement system is connected with the positioning system, the navigation system and the working condition monitoring system.
As a further improvement of the present invention, there is also included:
The fault diagnosis system is used for diagnosing the fault reasons of the coal mining machine in real time and sending the fault reasons to the working condition monitoring system in real time.
As a further improvement of the present invention, there is also included:
The server is connected with the positioning system, the navigation system, the working condition monitoring system and the automatic movement system, and the positioning navigation method is operated by the server.
As a further improvement of the present invention, the positioning navigation method includes a positioning method that matches the positioning system and a navigation method that matches the navigation system.
As a further improvement of the present invention, the positioning method includes:
(1) Constructing a three-dimensional model of the coal mining machine and a dynamic compensation model of the coal mining machine;
(2) Receiving three-dimensional position information of a machine body acquired in real time by high-precision inertial navigation equipment and two-dimensional position information of a cutting mechanism acquired in real time by a positioning module;
(3) Inputting the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine to obtain virtual position information of a cutting mechanism;
(4) Inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism;
(5) Adjusting the coal cutter three-dimensional model based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining coal cutter three-dimensional positioning information in the coal cutter three-dimensional model;
wherein: constructing a three-dimensional model of the coal mining machine, comprising:
(11) Acquiring three-dimensional environment data around the coal mining machine;
(12) Extracting a reference object contour around the coal mining machine based on the three-dimensional environment data;
(13) Matching the profile of the reference object with the pre-acquired coal seam information and roadway information;
(14) And constructing a coal cutter three-dimensional model according to the matching result.
Wherein: a dynamic compensation model of the coal mining machine is constructed, comprising the following steps:
(15) Constructing a quantitative compensation model based on a nonlinear system;
(16) Collecting compensation data and non-compensation data of at least three dimensions of the coal mining machine, manually marking and expanding the compensation data by the machine to obtain expanded compensation parameters;
(17) Training a quantitative compensation model based on the expansion compensation parameters;
(18) The quantitative compensation model is validated using the compensation data and the non-compensation data.
As a further improvement of the present invention, the navigation method includes:
(a) Collecting real-time initial data and end point data of the coal mining machine;
(b) Constructing at least one coal cutter movement path according to the real-time initial data and the real-time end data;
(c) Obtaining an optimal motion path;
(d) Acquiring motion information of the coal mining machine along the optimal motion path in real time;
(e) Correcting the optimal motion path in real time according to the motion information;
The method comprises the steps of collecting real-time initial data and end point data of the coal mining machine, wherein high-precision inertial navigation equipment is arranged on the coal mining machine;
The method comprises the steps of collecting real-time initial data of the coal mining machine from high-precision inertial navigation equipment, wherein the high-precision inertial navigation equipment collects three-dimensional position information of a machine body of the coal mining machine in real time; the positioning module acquires the two-dimensional position information of the cutting mechanism in real time, and inputs the three-dimensional position information and the two-dimensional position information of the machine body into a three-dimensional model of the coal mining machine to obtain real-time initial data of the coal mining machine;
The method comprises the steps of constructing at least one coal cutter movement path according to real-time initial data and end data, wherein the method comprises the steps of calling roadway information around a coal cutter and around a coal body, marking the real-time initial data and the end data in the roadway information, if the real-time initial data and the end data are in the same roadway, one coal cutter movement path exists in the real-time initial data and the end data and is the best movement path, and if the real-time initial data and the end data are in different roadways, the real-time initial data and the end data have a plurality of coal cutter movement paths along the different roadways, and one best movement path is obtained from the plurality of coal cutter movement paths.
As a further improvement of the present invention, the positioning system comprises:
The high-precision inertial navigation device is arranged on a machine body of the coal mining machine, acquires three-dimensional position information of the machine body in real time, and transmits the three-dimensional position information of the machine body as first position information to the computer through the communication module;
The positioning module is positioned at the cutting mechanism of the coal mining machine, and is used for collecting the two-dimensional position information of the cutting mechanism in real time, and the two-dimensional position information of the cutting mechanism is used as second position information and is transmitted to the server through the communication module;
the communication module is connected with the high-precision inertial navigation equipment, the positioning module and the server.
As a further improvement of the present invention, the navigation system includes:
the input module is used for inputting real-time initial data and end point data of the coal mining machine;
the processing module is used for constructing at least one coal mining machine movement path according to the real-time initial data and the real-time end data and obtaining an optimal movement path, and is connected with the input module and the acquisition module;
the acquisition module acquires the motion information of the coal mining machine along the optimal motion path in real time, the acquisition module sends the motion information to the processing module in real time, and the processing module corrects the optimal motion path in real time according to the motion information.
As a further development of the invention, the condition monitoring system comprises a plurality of sensors, which are connected to the server and which transmit sensor signals to the server.
As a further improvement of the invention, the coal mining machine comprises a machine body, a first cutting mechanism and a second cutting mechanism, wherein the machine body is positioned between the first cutting mechanism and the second cutting mechanism, and the automatic movement system comprises a machine body driving unit, a first cutting mechanism driving unit and a second cutting mechanism driving unit.
Compared with the prior art, the invention has the beneficial effects that:
The positioning system, the navigation system, the working condition monitoring system and the automatic movement system cooperate to ensure that the unmanned working face of the coal mining machine is used for mining.
Drawings
FIG. 1 is a functional block diagram of a positioning navigation system;
FIG. 2 is a functional block diagram II of a positioning navigation system;
fig. 3 is a schematic block diagram three of a positioning navigation system.
Detailed Description
The present invention will be described in detail below with reference to the embodiments shown in the drawings, but it should be understood that the embodiments are not limited to the present invention, and functional, method, or structural equivalents and alternatives according to the embodiments are within the scope of protection of the present invention by those skilled in the art.
Referring to fig. 1, an embodiment of the invention provides a positioning navigation system for coal mining, which comprises a positioning system, a navigation system, a working condition monitoring system and an automatic movement system, wherein the positioning system is connected with the navigation system and the automatic movement system, the positioning system monitors and positions a coal mining machine in real time, the navigation system is connected with the working condition monitoring system, the positioning system and the automatic movement system, the navigation system guides the coal mining machine to move and simultaneously predicts the working condition of the coal mining machine for a period of time in the future, the working condition monitoring system monitors the working condition of the coal mining machine in real time, the working condition monitoring system is connected with the automatic movement system and the navigation system, and the automatic movement system is connected with the positioning system, the navigation system and the working condition monitoring system.
In most embodiments of the invention, the positioning system comprises high-precision inertial navigation equipment, a positioning module and a communication module, wherein the high-precision inertial navigation equipment is arranged on a machine body of the coal mining machine, three-dimensional position information of the machine body is collected in real time and is transmitted to a computer through the communication module as first position information, the positioning module is positioned on a cutting mechanism of the coal mining machine, two-dimensional position information of the cutting mechanism is collected in real time and is transmitted to a server through the communication module as second position information, and the communication module is connected with the high-precision inertial navigation equipment, the positioning module and the server.
In most embodiments of the invention, the navigation system comprises an input module, a processing module and an acquisition module, wherein the input module is used for inputting real-time starting data and end point data of the coal mining machine, the processing module is used for constructing at least one coal mining machine movement path according to the real-time starting data and the end point data and obtaining an optimal movement path, the processing module is connected with the input module and the acquisition module, the acquisition module is used for acquiring movement information of the coal mining machine along the optimal movement path in real time, the acquisition module is used for transmitting the movement information to the processing module in real time, and the processing module is used for correcting the optimal movement path in real time according to the movement information.
The acquisition module, the high-precision inertial navigation device and the positioning module in the embodiment of the invention transmit data through the communication module, and the processing module and the server transmit data.
In most embodiments of the present invention, the condition monitoring system includes a plurality of sensors coupled to the server, the sensors transmitting sensing signals to the server.
In most embodiments of the present invention, a shearer includes a body, a first cutting mechanism, and a second cutting mechanism, the body being positioned between the first cutting mechanism and the second cutting mechanism, and an automatic movement system including a body drive unit, a first cutting mechanism drive unit, and a second cutting mechanism drive unit.
The automatic motion system of the coal mining machine is an automatic control system for the operation parameters and the operation postures of the coal mining machine. The purpose is to improve the adaptability of coal-winning machine to abominable operating mode, reduce the trouble, improve the open probability, and then realize the unmanned face coal-winning of full face automation. The automation of the coal mining machine comprises a constant power automatic speed regulation system, an automatic height regulation system, a working condition monitoring system, fault diagnosis and the like.
The system is characterized in that a constant-power automatic speed regulation system, an automatic height regulation system, a working condition monitoring system, a fault diagnosis system and the like are arranged in parallel with the automatic movement system of the coal mining machine. The constant power automatic speed regulating system automatically regulates the traction speed according to the external load acting on the cutting roller, so that the actual average power of the cutting motor is always kept near the rated value, and the system with the maximum exertion of the machine capacity is obtained. It includes a closed loop control system including a load link. After the load signal is measured from the cutting (main) motor and compared with the rated value, the traction speed is regulated by the controller, and the change of the traction speed correspondingly changes the load on the cutting drum, so that the load power is limited to be between 95% and 105% of the rated value. The system also has the function of artificially defining the highest traction speed. The automatic height adjusting system automatically adjusts the working height of the roller according to the fluctuation change rule of the top plate and the bottom plate, so that the roller can keep cutting along the top plate and the bottom plate. The working environment of the coal face is that coal dust is more, visibility is low, noise is large, an operator can hardly accurately judge the cutting state of the roller, cutting of rock of the top and bottom plates is continuously cut frequently to damage cutting picks or cause other machine parts to be faulty, and working face explosion can be caused by spark. Too thick top coal and bottom coal can reduce the mining height, and the conveyor and the bracket are difficult to move, so that the recovery rate is reduced. The automatic height adjustment of the drum of the coal mining machine is composed of a coal-rock demarcation recognition and height adjustment electrohydraulic servo system. The coal-rock boundary recognition method mainly comprises three steps of natural gamma ray detection, cutting force guidance and memory digital program control. The three automatic roller height adjusting systems are all realized through a server. The condition monitoring system is also called an operation state monitoring system. And detecting main operation parameters and operation postures on line, so that each system of the machine is not deviated from a system with normal functions. When the fault deviates from the normal function, the control system adjusts certain operation parameters and resumes the normal function. Fault diagnosis is to analyze information obtained by working condition monitoring, determine the position, nature, degree, category, cause and development trend and influence of faults of the coal mining machine, so as to make control and maintenance decisions.
Generally, a coal mining machine is generally composed of a cutting mechanism, a loading mechanism, a traveling mechanism (traction mechanism), a motor, an operation control system, auxiliary devices and the like. The working mechanism and its mechanical transmission or driving device are collectively called. When the cutting part is driven by a special motor, the cutting mechanism also comprises a cutting motor, the cutting mechanism is a component which directly realizes main functions of cutting, crushing and the like, a cutting pick is arranged on the cutting mechanism, the cutting pick breaks coal from a coal body, and the cutting mechanism of some coal mining machines is provided with one or more auxiliary cutting mechanisms besides a main cutting mechanism for forming the required cutting section shape. The mechanical transmission device of the cutting mechanism is used for transmitting power to the cutting mechanism so as to meet the requirements of the movement mode, the movement direction and the cutting speed. The mechanical transmission device usually adopts gear transmission, and is generally unable to change speed in the use process, but is provided with a special speed-changing gear pair for replacement during installation so as to meet the requirement of cutting speed. The loading mechanism is a component for loading the coal blocks broken by the cutting mechanism into the working surface conveyor. The loading mechanism generally includes a loading assembly and a mechanical transmission. When the loading mechanism has a dedicated motor, which is also included, the loading mechanism may also be driven by the mechanical transmission of the cutting section.
Referring to fig. 2, a positioning and navigation system for coal mining according to an embodiment of the present invention includes a fault diagnosis system, in addition to a positioning system, a navigation system, a condition monitoring system, and an automatic movement system, the fault diagnosis system diagnoses a fault cause of a coal mining machine in real time, and the fault diagnosis system sends the fault cause to the condition monitoring system in real time.
The basic links of the fault diagnosis process of the coal mining machine comprise ① on-line detection of operation parameters. Vibration, force, torque, power, displacement, temperature, etc. of the dynamic process can be used as monitoring and diagnostic signals. The most sensitive physical quantity reflecting the fault symptoms is detected on line as a characteristic signal of the parameter. ② And (5) characteristic signal analysis. And carrying out induction analysis on the collected operation parameter characteristic signals after pretreatment such as filtering, smoothing, boundary determination and the like. Such as a domain analysis, a frequency domain analysis, a statistical analysis, a time series analysis, etc. ③ And selecting the characteristic quantity. And selecting characteristic quantities which have strong relevance to the working condition states and reflect sensitivity near the boundaries between classes to form a mode vector. And strives for compressed spatial dimensions. ④ And (5) identifying states. Based on the characteristic parameters, the state of the equipment is identified and diagnosed by using various knowledge and experience with reference to a certain specification, and a discriminant function D and a prescribed discriminant criterion are established. ⑤ And (5) fault classification and decision. And classifying the working condition states according to the discriminant function in real time. And when the operation is normal, the computer sends out an instruction, and the coal mining machine continues to operate. If the fault is formed, the computer performs fault analysis in real time, and displays the analysis result and maintenance decision, or sends out an alarm signal, or sends out a stop instruction.
Referring to fig. 3, a positioning and navigation system for coal mining according to an embodiment of the present invention includes a server, in addition to a positioning system, a navigation system, a condition monitoring system, an automatic movement system, and a fault diagnosis system, where the server is connected to the positioning system, the navigation system, the condition monitoring system, and the automatic movement system, and the server operates with a positioning and navigation method. The positioning navigation method comprises a positioning method and a navigation method, wherein the positioning method is matched with the positioning system, and the navigation method is matched with the navigation system.
The positioning method comprises the following steps:
(1) Constructing a three-dimensional model of the coal mining machine and a dynamic compensation model of the coal mining machine;
(2) Receiving three-dimensional position information of a machine body acquired in real time by high-precision inertial navigation equipment and two-dimensional position information of a cutting mechanism acquired in real time by a positioning module;
(3) Inputting the three-dimensional position information of the machine body into a three-dimensional model of the coal mining machine to obtain virtual position information of a cutting mechanism;
(4) Inputting the two-dimensional position information and the virtual position information of the cutting mechanism into a dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism;
(5) Adjusting a coal cutter three-dimensional model based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining coal cutter three-dimensional positioning information in the coal cutter three-dimensional model;
(1) The high-precision inertial navigation device can position the machine body in real time, however, the cutting mechanism moves relative to the machine body in the working process of the coal mining machine, so that the high-precision inertial navigation device cannot accurately position the cutting mechanism of the coal mining machine. (2) The high-precision inertial navigation device is matched with an inertial navigation system, the coal cutter three-dimensional model can be embedded into the inertial navigation system for use, and the coal cutter positioning information input in the inertial navigation system is the three-dimensional positioning information compensated in the coal cutter three-dimensional model. (3) According to the embodiment of the invention, a plurality of positioning points are selected under the same coordinate, the positioning points are used as marking points to acquire the position information of the cutting mechanism, and the position information of the cutting mechanism is used for compensating the positioning error of the high-precision inertial navigation module, so that the real-time positioning of the coal mining machine in the coal seam environment is realized.
Wherein: constructing a three-dimensional model of the coal mining machine, comprising:
(11) Acquiring three-dimensional environment data around the coal mining machine;
(12) Extracting a reference object contour around the coal mining machine based on the three-dimensional environment data;
(13) Matching the outline of the reference object with the pre-acquired coal seam information and roadway information;
(14) And constructing a coal cutter three-dimensional model according to the matching result.
Wherein: a dynamic compensation model of the coal mining machine is constructed, comprising the following steps:
(15) Constructing a quantitative compensation model based on a nonlinear system;
(16) Collecting compensation data and non-compensation data of at least three dimensions of the coal mining machine, manually marking and expanding the compensation data by the machine to obtain expansion compensation parameters;
(17) Training a quantitative compensation model based on the expansion compensation parameters;
(18) The quantitative compensation model is validated using the compensation data and the non-compensation data.
Receiving three-dimensional position information of a machine body acquired in real time by high-precision inertial navigation equipment, wherein the method comprises the following steps of:
installing high-precision inertial navigation equipment on a machine body of the coal mining machine;
the high-precision inertial navigation equipment collects three-dimensional position information of a fuselage in real time;
The high-precision inertial navigation equipment sends the three-dimensional position information of the machine body to a server through a communication module;
The server receives the three-dimensional positional information of the body.
The two-dimensional position information of the cutting mechanism collected by the positioning module in real time is received, and the two-dimensional position information comprises:
Selecting a reference point on the coal mining machine based on high-precision inertial navigation equipment, and constructing coordinates by taking the reference point as a coordinate point;
selecting or adding a plurality of positioning points on a cutting mechanism of the coal mining machine;
Monitoring a plurality of positioning points in real time, and determining real-time coordinate points of the plurality of positioning points based on coordinates;
all the real-time coordinate point connecting lines form a real-time contour of the cutting mechanism;
And the positioning module determines two-dimensional position information of the cutting mechanism according to the real-time profile.
Inputting the three-dimensional position information of the machine body into a three-dimensional model of the coal mining machine to obtain virtual position information of a cutting mechanism, wherein the method comprises the following steps:
Inputting the speed, the position attitude and the advancing direction of the coal mining machine in the three-dimensional position information of the machine body into a three-dimensional model of the coal mining machine;
Inputting the current mining depth, the track position of the coal mining machine, the thickness of a coal pillar and the thickness of a coal seam in the three-dimensional position information of the machine body into a three-dimensional model of the coal mining machine;
Calculating the position parameter and the volume parameter of the current cutting coal block based on the speed, the position posture and the advancing direction of the coal cutter, the current mining depth, the track position of the coal cutter, the thickness of a coal pillar and the thickness of a coal bed;
And simulating virtual position information of the cutting mechanism according to the position parameters and the volume parameters of the cutting coal blocks.
Inputting the two-dimensional position information and the virtual position information of the cutting mechanism into a dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism, wherein the method comprises the following steps:
Extracting two-dimensional virtual information corresponding to the two-dimensional position information from the virtual position information of the cutting mechanism;
Inputting the two-dimensional position information into a dynamic compensation model of the coal mining machine to obtain real-time state parameters of a cutting mechanism;
and inputting the two-dimensional virtual information into a dynamic compensation model of the coal mining machine to obtain virtual state parameters of the cutting mechanism.
The method for adjusting the three-dimensional model of the coal mining machine based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining the three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine comprises the following steps:
The real-time state parameters and the virtual state parameters are corresponding one by one;
calculating the deviation of each parameter;
Obtaining the relative error of the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation;
compensating the maximum positioning error of the position and the posture of the coal mining machine in the three-dimensional model of the coal mining machine according to the relative error, and obtaining compensated three-dimensional positioning information of the coal mining machine;
And acquiring the three-dimensional positioning information of the coal mining machine according to the compensated three-dimensional positioning information of the coal mining machine.
The navigation method comprises the following steps:
(a) Collecting real-time initial data and end point data of the coal mining machine;
(b) Constructing at least one coal cutter movement path according to the real-time initial data and the real-time end data;
(c) Obtaining an optimal motion path;
(d) Acquiring motion information of the coal mining machine along an optimal motion path in real time;
(e) Correcting the optimal motion path in real time according to the motion information;
The method for acquiring the real-time initial data and the end point data of the coal mining machine comprises the steps of installing high-precision inertial navigation equipment on the coal mining machine, acquiring the real-time initial data of the coal mining machine from the high-precision inertial navigation equipment, and acquiring the environmental information around a coal body and the end point data of the coal mining machine from a virtual environment of a server;
the method for acquiring the real-time initial data of the coal mining machine from the high-precision inertial navigation device comprises the steps of acquiring three-dimensional position information of a machine body of the coal mining machine in real time by the high-precision inertial navigation device, acquiring two-dimensional position information of a cutting mechanism in real time by a positioning module, inputting the three-dimensional position information and the two-dimensional position information of the machine body into a three-dimensional model of the coal mining machine, and obtaining the real-time initial data of the coal mining machine;
The coal cutter three-dimensional model comprises a coal cutter three-dimensional model and a coal cutter dynamic compensation model, wherein the coal cutter three-dimensional model and the coal cutter dynamic compensation model are built in a server, and the coal cutter three-dimensional model is built based on an inertial navigation platform. According to the dynamic compensation model of the coal mining machine, each compensation parameter is completed through training and learning. Training and learning of a dynamic compensation model of the coal mining machine is based on the environmental characteristic learning of a minimum deviation range, and when the virtual position of a cutting mechanism is observed on the three-dimensional model of the coal mining machine, a complex nonlinear relation exists among vectors of the machine body, the coal seam, the roadway, the tunneling quantity and the cutting coal block quantity. The objective of the discriminant learning is to reduce the number of misclassifications by minimizing the average cost function, (1) define the discriminant function (2) define the misclassification measure (3) define the cost function (4) and the average cost function (5). The environmental features can thus be optimized iteratively continuously along the gradient descent direction of the average cost function. After the deviation feature is estimated, the deviation position of the cutting mechanism can be estimated on the basis, and the estimated deviation position can be used for training and identifying.
The high-precision inertial navigation device is provided with the high-precision closed-loop fiber optic gyroscope and the accelerometer, and the inertial navigation algorithm is embedded in the inertial navigation system to achieve centimeter-level or even millimeter-level positioning for coal mine guiding navigation in consideration of the fact that the high-precision inertial navigation device is provided with the inertial navigation system.
The method comprises the steps of obtaining three-dimensional environment data around the coal mining machine, extracting reference object outlines around the coal mining machine based on the three-dimensional environment data, matching the reference object outlines with pre-collected coal seam information and roadway information, and building the coal mining machine three-dimensional model according to a matching result.
The three-dimensional environment data of the embodiment of the invention is scanned by a high-definition camera. The high-definition camera selects a high-precision and high-resolution camera which can be used in an explosive gas environment. The pre-collected coal seam information and roadway information in the embodiment of the invention are firstly based on the coal seam information obtained by prospecting a coal mine, for example, in order to disclose a coal system and collect coal samples, various roadway detection coal seam information is excavated by using roadway detection technology, and the coal seam information comprises a horizon structure, coal types, coal quality and changes of a coal seam, coal seam occurrence, faults with fall of more than 20m and the like. Reference profiles of embodiments of the present invention include, but are not limited to, shearer heads, shearer tails, shearer front drums, shearer rear drums, coal shovels, roadway supports, shearer scraper conveyors, and the like.
The method comprises the steps of constructing a quantitative compensation model based on a nonlinear system, collecting compensation data and non-compensation data of at least three dimensions of the coal mining machine, manually marking and expanding the compensation data to obtain expanded compensation parameters, training the quantitative compensation model based on the expanded compensation parameters, and verifying the quantitative compensation model by utilizing the compensation data and the non-compensation data.
Because of the complex nonlinear relation among the vectors of the machine body, the coal seam, the roadway, the tunneling quantity and the cutting coal block quantity of the coal mining machine, each variable forming the nonlinear relation forms a nonlinear system, and a quantitative compensation model is built according to the nonlinear system.
The compensation data of at least three dimensions of the coal cutter comprises data of a hydraulic system of the coal cutter, tensioning data of a chain wheel and a chain of the coal cutter, swing hydraulic data of a roller of the coal cutter, roadway trend data and roadway bottom surface smoothness data. The uncompensated data of the coal mining machine comprises data of the size of the coal mining machine, data of all parts of a cutting mechanism of the coal mining machine, data of all parts of a conveying system of the coal mining machine and the like. The embodiment of the invention expands compensation data according to parameters such as coal seam change, roadway trend, coal cutter specification change, cutting mechanism change and the like.
The method for receiving the three-dimensional position information of the machine body acquired in real time by the high-precision inertial navigation device comprises the steps of installing the high-precision inertial navigation device on the machine body of the coal mining machine, acquiring the three-dimensional position information of the machine body in real time by the high-precision inertial navigation device, sending the three-dimensional position information of the machine body to a server through a communication module by the high-precision inertial navigation device, and receiving the three-dimensional position information of the machine body by the server.
The high-precision inertial navigation device provided by the embodiment of the invention is a reliable solid-state inertial measurement unit. The three-axis silicon gyroscope and the three-axis silicon accelerometer are built in and precisely calibrated through the three-axis turntable to meet performance requirements under different conditions. Real-time and accurate carrier posture and sensor data can be output. Zero point, zero point temperature coefficient, sensitivity temperature coefficient, orthogonality error and acceleration effect of the gyroscope can be calibrated, and zero point, zero point temperature coefficient, sensitivity temperature coefficient and orthogonality error of the accelerometer. In most embodiments, a three-dimensional model of the shearer and a dynamic compensation model of the shearer are run in the server.
The method comprises the steps of selecting a reference point on a coal cutter based on high-precision inertial navigation equipment, constructing coordinates by taking the reference point as a coordinate point, selecting or adding a plurality of positioning points on the cutting mechanism of the coal cutter, monitoring the plurality of positioning points in real time, determining real-time coordinate points of the plurality of positioning points based on the coordinates, forming a real-time contour of the cutting mechanism by connecting all the real-time coordinate points, and determining the two-dimensional position information of the cutting mechanism by the positioning module according to the real-time contour.
The coal mining machine reference points selected by the embodiment of the invention comprise supporting legs of the coal mining machine, a coal mining chute, a swing arm of the coal mining machine, a roller of the coal mining machine, a skid shoe of a working face, a main frame of the coal mining machine and the like. The embodiment of the invention selects positioning points on a cutting mechanism of a coal cutter, and comprises the steps of selecting the cutting depth of the cutting mechanism, a roller of the cutting mechanism and the angle of the cutting mechanism. The embodiment of the invention adds a plurality of positioning points on a cutting mechanism of the coal cutter, including a left angle sensor, a right angle sensor, a pitching// swinging sensor, a coal cutter working face positioning and a goaf positioning.
The method comprises the steps of inputting three-dimensional position information of a machine body into a coal cutter three-dimensional model to obtain virtual position information of a cutting mechanism, inputting the speed, the position posture and the advancing direction of the coal cutter in the three-dimensional position information of the machine body into the coal cutter three-dimensional model, inputting the current mining depth, the track position of the coal cutter, the thickness of a coal pillar and the thickness of a coal seam in the three-dimensional position information of the machine body into the coal cutter three-dimensional model, calculating the position parameter and the volume parameter of a current cutting coal block based on the speed, the position posture and the advancing direction of the coal cutter, the current mining depth, the track position of the coal cutter, the thickness of the coal pillar and the thickness of the coal seam, and simulating the virtual position information of the cutting mechanism according to the position parameter and the volume parameter of the cutting coal block.
In the embodiment, the two-dimensional position information and the virtual position information of the cutting mechanism are input into a dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism.
In the embodiment, the three-dimensional model of the coal mining machine is adjusted based on the difference value of the real-time state parameter and the virtual state parameter, and the three-dimensional positioning information of the coal mining machine is obtained in the three-dimensional model of the coal mining machine, which comprises the steps of corresponding the real-time state parameter and the virtual state parameter one by one; the method comprises the steps of calculating deviation of each parameter, obtaining relative errors of two-dimensional position information and virtual position information of a cutting mechanism according to the deviation, compensating maximum positioning errors of the position and the posture of the coal cutter in a three-dimensional model of the coal cutter according to the relative errors, obtaining compensated three-dimensional positioning information of the coal cutter, and obtaining three-dimensional positioning information of the coal cutter according to the compensated three-dimensional positioning information of the coal cutter.
The method comprises the steps of acquiring roadway information around a coal cutter and around a coal body, marking real-time initial data and end point data in the roadway information, setting the real-time initial data and the end point data to be the optimal motion path if the real-time initial data and the end point data are in the same roadway, setting the optimal motion path of the coal cutter if the real-time initial data and the end point data are in different roadways, setting the real-time initial data and the end point data to be multiple coal cutter motion paths along different roadways, and obtaining the optimal motion path from the multiple coal cutter motion paths.
The method comprises the steps of determining the maximum cutting coal width of a coal cutter according to the model of the coal cutter, determining the distance between a rocker arm of the coal cutter and a roadway wall according to the roadway condition, determining a preset track line of a cutting drum according to the maximum cutting coal width of the coal cutter and the distance between the rocker arm of the coal cutter and the roadway wall, fitting the preset track line of the cutting drum with an actual track line of the cutting drum to obtain a cutting drum correction coefficient, and correcting the optimal motion path based on the cutting drum correction coefficient.
In particular embodiments, the alignment parameters are determined by the coal charging mechanism in addition to the cutting drum. Specifically, after the coal loading mechanism is in place, starting to move the coal loading machine body and the rocker arm, starting to approach the rocker arm direction from the curve of the coal body area when the coal loading machine body starts to move, dividing the cutting width into a plurality of points equally, setting the dividing point to be M before moving, dividing the curve area width according to the M points, scribing the corresponding points, firstly installing the rocker arm on the coal mining machine when moving, pulling the cutting roller away from the ground by a certain height by a driving device, driving the coal mining machine to move along the parallel running of a roadway, starting to move the next round, increasing the distance to the coal body by 0.1-0.3M each time until the cutting roller moves to the predicted movement track boundary line, aligning the roadway again in the virtual picture until the sleeper boundary line coincides with the predicted movement track boundary line of the cutting roller when part of the edge is not on the boundary line, and ending the movement of the coal loading machine body.
In some embodiments, the cutting drum correction coefficient is obtained by fitting a cutting drum preset track line with an actual cutting drum track line, and the method comprises the steps of calculating a cutting deflection angle theta, obtaining the cutting drum preset track line according to the cutting deflection angle theta, marking a reference line along an edge line of an optimal movement path, connecting the cutting drum preset track line with the reference line by a curve, marking the curve by a mark line when a server starts to move, controlling a coal cutter to slowly move forwards from back to front in an attack angle mode at a speed of 0.05+/-0.02 m/s, correcting a roadway in a virtual picture if part of cutting drums are not on the edge line of the curve, retaining the straightening parameters of the straightening roadway, and obtaining the cutting drum correction coefficient according to the straightening parameters.
According to the embodiment of the invention, the cutting drum predicted motion track is calculated according to the cutting deflection angle theta, the length L of the coal cutter and the cutting drum center coordinate (X 0,Y0), the cutting drum center coordinate (X, Y), X=X 0+LCosΘ,Y＝Y0 +LSin theta is determined along the cutting drum center coordinate (X, Y) and the cutting drum center coordinate (X 0,Y0), namely a cutting drum preset track line is determined, the cutting drum predicted motion track can be obtained by translating the center line by half the width of the cutting drum, a reference line is drawn along the track line, and the reference line is the maximum deviation edge line of the coal cutter drum, and the cutting drum is controlled after the cutting drum predicted motion track is determined.
In this embodiment, the expected motion track of the cutting drum and the reference line are connected by a curve with the length of a broken line of 10-25mm, so that the coal cutter coal charging mechanism is finely adjusted to the position below the cutting drum, the curve is x meters away from the center of the coal cutter coal charging mechanism, the curve is marked by marking lines when the coal cutter coal charging mechanism starts moving, a rocker arm is mounted on the coal cutter, the driving device pulls the coal cutter away from the coal body by about 0.1m, the cutting drum is pulled out of the coal body along the roadway in parallel operation, then the coal cutter is slowly moved forward from back to front at the speed of 0.05+/-0.02 m/s by adopting an attack angle mode, the cutting drum is completely moved onto the expected motion track side line of the cutting drum, when part of the cutting drum is not on the side line, the roadway is straightened in a virtual image, the expected motion track side line of the cutting drum is matched with the actual track of the cutting drum again until the actual track line of the cutting drum coincides with the expected motion track side line of the cutting drum, the coal charging mechanism is advanced by less than 1 meter in the virtual image by 20-80mm until the curve can be trimmed by the curve coal charging mechanism in the virtual image.
In some embodiments, calculating the cutting offset angle Θ includes:
determining the maximum cutting coal width D of the coal cutter according to the model of the coal cutter;
determining the distance D2 between the cutting section of the cutting drum and the roadway wall according to different roadways;
determining the distance D1 between a rocker arm of the coal mining machine and the roadway wall according to roadway conditions;
based on the cutting width d1≡maximum cutting coal width D-cutting drum cutting section D2, and according to the cutting width D1 and the shearer length L, the cutting offset angle Θ=2 arcsin (D1/(2*L)).
The embodiment of the invention determines the maximum cutting coal width D of the coal cutter according to the model of the coal cutter, the cutting section D2 of the cutting drum corresponding to a roadway, the cutting section of the cutting drum is larger than 25 m at the coal seam inclination angle of more than 15 degrees, the cutting section of the cutting drum is smaller than 15 degrees, the cutting section of the cutting drum is larger than 1m, the rocker arm distance D1 of the coal cutter is determined according to the roadway condition, the cutting width D1=the maximum cutting coal width D-the cutting section D2 of the cutting drum, and the cutting deflection angle Θ=2 arcsin (D1/(2*L) is calculated according to the cutting width D1 and the length L of the coal cutter.
In the embodiment, after the cutting roller is in place, the driving device is restored to supply power, the coal mining machine walks to the coal body at the speed of 0-8m/min after being started, the running condition of the virtual picture and the coal charging mechanism in actual running along the coal mining machine is concerned in the walking process, the coal charging mechanism is prevented from being separated from the expected track in the virtual picture, and finally the coal charging mechanism is parked right in front of the coal body, and the distance between the coal charging mechanism and the center point of the coal body is about 0.2 m.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
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| CN107905786A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of coal-mining method and system based on transparent operation face |
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| CN107905786A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of coal-mining method and system based on transparent operation face |
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