CN108643914A - A kind of intelligence open coal mine continuous milling machine system - Google Patents

Abstract

A kind of intelligence open coal mine coalcutter system is related to a kind of inertial navigation system/odometer integrated navigation mode and is applied in intelligent outdoor mine coalcutter system, and the inertial navigation system in the system is installed on the top of continuous milling machine；Odometer is installed on the running part of continuous milling machine；Continuous milling machine direction of motion control mechanism is installed in continuous milling machine；Inertial navigation system, odometer and continuous milling machine direction of motion control mechanism are connect by optical cable with host computer；Inertial navigation/odometer combined system in system is mounted on coalcutter, and this high-precision navigator fix oriented approach does not need any external information, not by external disturbance；Signal transmission line is corroded for the complicated electromagnetic environment and coal dust in reply drive, optical fiber transmission technique is used in such a system, the collected information of navigation system is transferred to host computer, host computer to the information of acquisition handle and control coalcutter using pid control algorithm, it is made to work according to set direction.

Description

An Intelligent Surface Coal Mine Continuous Miner System

technical field

The invention relates to an intelligent open-pit coal mine continuous miner system, in particular to an inertial navigation system/odometer combined navigation mode and a PID control algorithm applied to the intelligent open-pit mine continuous miner system.

Background technique

With the development and implementation of the national energy strategy in recent years, yes coal mining has gradually developed from high-yield to green mining, safe development and efficient mining. The automation and intelligence of fully mechanized coal mining face is a key step to realize unmanned, safe and efficient mining in the mine, and it is also an important part of developing "digital mines" and improving the informatization and automation level of mine electromechanical equipment. One of the most effective solutions to realize the intelligence of coal mining is to realize the automation of coal mine production equipment, so as to realize unmanned or less-manned mining in the coal mine fully mechanized mining face. Controlling the working state of the continuous miner is the key technology to realize the intelligentization of coal mines.

The working information of the continuous miner includes the position and attitude of the continuous miner. The current popular GPS navigation and positioning cannot work normally in coal mines, and cannot detect the real-time working attitude of the continuous miner. This leads to the failure to realize the automation of the continuous miner system. In the process of information transmission, the complex electromagnetic interference and harsh environment in the coal mine will cause serious interference to the general bus transmission.

Contents of the invention

The present invention is an intelligent continuous mining machine system for open-pit coal mines proposed to solve the above problems. The inertial navigation/odometer combination system is installed on the continuous miner. The continuous miner will drive forward from the mine entrance, and when it reaches any position, it will know its position, attitude and orientation immediately. This fully autonomous high-precision navigation, positioning and orientation method does not require any external information and is free from external interference. In order to cope with the complex electromagnetic environment in the mine tunnel and the corrosion of the signal transmission line by coal dust, the optical fiber transmission technology is used in this system to transmit the information collected by the navigation system to the host computer. The upper computer processes the collected information and uses the PID control algorithm to control the continuous mining machine to make it work in a predetermined direction.

In order to realize the purpose of the present invention, we will adopt following technical scheme to implement.

An intelligent open-pit coal mine continuous mining machine system includes a continuous mining machine that performs coal mining operations on the coal seam working face of the open-pit coal mine, and is characterized in that it also includes a host computer, an optical cable, an inertial navigation system, an odometer and The movement direction control mechanism of the mining machine, the inertial navigation system is installed on the top of the continuous mining machine; the odometer is installed on the running part of the continuous mining machine; the movement direction control mechanism of the continuous mining machine is arranged on the continuous mining machine ; The inertial navigation system, the odometer and the movement direction control mechanism of the continuous mining machine are all connected to the host computer through an optical cable.

Further, the upper computer is a PLC control system, and the PLC control system includes a PID controller, and the PID controller inputs the displacement deviation amount, and after the calculation processing of the proportional link, the integral link, and the differential link, the motion of the continuous miner is given. The control signal of the direction control mechanism controls the movement direction of the continuous miner.

The method for controlling the movement direction of the continuous miner by using an intelligent open-pit coal mine continuous miner system according to claim 1 is characterized in that: the method comprises the following steps:

Step 1: Move the continuous miner to the mine crossing, install the strapdown inertial navigation system and the odometer on the top and the moving part of the continuous miner respectively, and determine the initial information of the continuous miner, including the initial position;

Step 2: Under the shaking base, use the inertial system alignment method to determine the initial attitude information of the continuous miner, that is, the initial value of the attitude matrix

Step 3: The fiber optic gyroscope and accelerometer in the inertial navigation system measure the angular velocity and acceleration information of the continuous mining machine in real time, and update the attitude matrix through time integration

Step 4: Measure the displacement information of the continuous mining machine through the odometer installed in the moving part of the continuous mining machine, and use the average speed V within a sampling period ΔT as the speed information output by the odometer of the continuous mining machine;

Step 5: Upload the real-time heading angle ψ(t), pitch angle θ(t), and attitude matrix every time the same time ΔT passes information to the host computer;

Step 6: The upper computer calculates the displacement deviation ΔS of the continuous mining machine within the time ΔT according to the information of the required heading angle ψ ₀ and pitch angle θ ₀ ;

Step 7: Use the PID control algorithm to control the working state of the continuous mining machine so that it can work in a predetermined direction.

Beneficial effect

The system of the present invention includes an inertial navigation/odometer combination system installed on the continuous mining machine, and the continuous mining machine advances forward from the mine crossing, and when it reaches any position, it immediately knows its own position, attitude and orientation; The independent high-precision navigation, positioning and orientation method does not require any external information and is free from external interference; in order to cope with the complex electromagnetic environment in the mine and the corrosion of the signal transmission line by coal powder, the optical fiber transmission technology is used in this system to integrate the navigation system The collected information is transmitted to the host computer. The upper computer processes the collected information and uses the PID control algorithm to control the continuous mining machine to make it work in a predetermined direction.

Description of drawings

Figure 1 schematic diagram of system installation;

Figure 2 is a schematic diagram of the working principle of the system;

Figure 3 Schematic diagram of PID control principle

In Figure 1: 1 is the upper computer; 2 is the inertial navigation system; 3 is the movement direction control mechanism of the continuous mining machine; 4 is the odometer; 5 is the optical cable; 6 is the walking part of the continuous mining machine;

Detailed ways

The structure of the system according to the present invention and a process of using the system will be described below with reference to the accompanying drawings.

As shown in Fig. 1, a kind of intelligent continuous miner system of open-pit coal mine comprises continuous miner, and continuous miner carries out coal mining operation in the coal seam working face of open-pit coal mine, is characterized in that: also comprises host computer 1, optical cable 5, Inertial navigation system 2, odometer 4 and continuous mining machine motion direction control mechanism 3, described inertial navigation system 2 is installed on the top of continuous mining machine; described odometer 4 is installed in the walking part 6 of continuous mining machine; The movement direction control mechanism 3 of the continuous mining machine is installed on the continuous mining machine; the inertial navigation system 2, the odometer 4 and the movement direction control mechanism 3 of the continuous mining machine are all connected to the host computer 1 through an optical cable 5.

As shown in Fig. 1 or Fig. 3, described upper computer 1 is PLC control system, and PLC control system comprises PID controller, and described PID controller inputs displacement deviation amount, by the operation of proportional link, integral link, differential link After processing, a control signal is given to the continuous miner movement direction control mechanism 3 to control the movement direction of the continuous miner.

As shown in Figure 2, the one-time use process of the intelligent continuous mining machine system for open-pit coal mines:

Step 1: The present invention is an intelligent continuous miner system for open-pit coal mines based on an inertial navigation system and a PID control algorithm. The coal seam database coordinate system uses the same coordinate system, that is, the system coordinate system is established with the starting point of mining as the origin.

Step 2: Under the shaking base, use the inertial system alignment method to determine the initial attitude information of the continuous miner, that is, the initial value of the attitude matrix

Step 3: After the inertial navigation system measures the coordinates of the continuous miner in the coordinate system of the continuous miner, convert the coordinates in the coordinate system of the continuous miner into coordinates in the system coordinate system. Basic rotation for swapping:

1. First, rotate OX _n Y _n Z _n around the Z _n axis by ψ angle, and rotate OX _n Y _n Z _n to OX ₁ Y ₁ Z _1. This change can be expressed as:

2. Then rotate OX ₁ Y ₁ Z ₁ around the x1 axis by _an angle of θ, and rotate OX ₁ Y ₁ Z ₁ to OX ₂ Y ₂ Z _2. The transformation relationship this time can be expressed as:

3. The last rotation is to rotate OX ₂ Y ₂ Z ₂ around y ₂ by an angle of φ. At this time, OX ₂ Y ₂ Z ₂ rotates to OX _b Y _b Z _b . The transformation relationship can be expressed as:

Then the coordinate transformation matrix from the navigation coordinate system to the body coordinate system is:

because are all orthogonal matrices, and the result of their multiplication is also orthogonal, that is is also an orthogonal matrix.

Step 4: When the continuous mining locomotive is in motion, the odometer will send out two digital pulse signals A and B with a phase difference of 90°. When the moving part rotates forward, A is 90° ahead of B, and when it is reversed, B is 90° ahead of A. The number of pulses is proportional to the displacement. The system first conducts phase identification on the two pulses output by the odometer to judge whether it is forward rotation or reverse rotation; secondly, it performs forward rotation addition and reverse rotation subtraction. The displacement increment can be expressed as

Among them, A is the displacement corresponding to every rotation of 1° when the moving part of the continuous mining machine is in motion; Z is the resolution of the odometer (pulse number/revolution); M ₀ is the pulse number output by the internal odometer; K _D is The multiplication factor of the output pulse of the odometer.

The real displacement measured by the odometer in the coordinate system OX _b Y _b Z _b of the continuous mining machine is S ₀ within a sampling period ΔT, and the average speed within the time ΔT is V(t) as the output speed of the odometer, where

Step 5: Upload the real-time heading angle ψ(t), pitch angle θ(t), and attitude matrix every time the same time ΔT passes and the speed information V measured by the odometer to the host computer;

Step 6: According to the real-time attitude information and speed information, the upper computer converts the displacement increment of the track detection vehicle per unit time in the continuous mining machine coordinate system OX _b Y _b Z _b measured by the odometer located in the moving part to the system coordinates OX _n Y _n Z _n

Within ΔT of the actual continuous miner, the given displacement in the system coordinate system is

Then within ΔT, the displacement deviation of the continuous miner is

Step 7: The upper computer adopts the PID control algorithm, takes the displacement deviation ΔS(t) as input, and outputs u(t) as the control mechanism for the movement direction of the continuous miner.

Among them, K _p is the proportional coefficient, T _i is the integral coefficient, and T _d is the differential coefficient.

The working attitude of the continuous miner is adjusted by the control mechanism controlling the movement direction of the continuous miner so that it works according to the predetermined direction and trajectory.

Because of the complex electromagnetic environment in coal mines and the corrosion of coal powder on communication lines, the system uses optical fibers with strong corrosion resistance and anti-electromagnetic interference capabilities as communication transmission lines between the inertial navigation system and the host computer.

Claims (3)

1. a kind of intelligence open coal mine continuous milling machine system, including continuous milling machine, continuous milling machine open coal mine working face of coal seam into Row coal mining activity, it is characterised in that：Further include host computer, optical cable, inertial navigation system, odometer and continuous milling machine direction of motion control Mechanism processed, the inertial navigation system are installed on the top of continuous milling machine；The odometer is installed on the running part of continuous milling machine； The continuous milling machine direction of motion control mechanism is set in continuous milling machine；Inertial navigation system, odometer and the continuous milling machine Direction of motion control mechanism is connect by optical cable with host computer.

2. a kind of intelligent open coal mine continuous milling machine system according to claim 1, it is characterised in that：The host computer For PLC control system, PLC control system includes PID controller, and the PID controller input displacement departure passes through ratio After link, integral element, the calculation process of differentiation element, continuous milling machine is controlled to continuous milling machine direction of motion control mechanism control signal The direction of motion.

3. continuous milling machine direction of motion method is controlled using a kind of intelligent open coal mine continuous milling machine system described in claim 1, It is characterized in that：This method comprises the following steps：

Step 1：Coalcutter is moved to drive mouth, Strapdown Inertial Navigation System and mileage gauge are separately mounted to the top of coalcutter Portion and movement portion, and determine the initial information of coalcutter, the initial position being included under system coordinate system；

Step 2：Under swaying base, using inertial system alignment methods, the initial state information of coalcutter, i.e. attitude matrix are determined Initial value

Step 3：Optical fibre gyro and accelerometer measure coalcutter angular velocity of satellite motion and acceleration information in real time in inertial navigation system, Attitude matrix is updated by time integral

Step 4：The displacement information of coalcutter is measured by the odometer mounted on coalcutter movement portion, and is adopted with one The velocity information that average speed V in sample period Δ T is exported as coalcutter odometer；

Step 5：Often pass through identical time Δ T, uploads real-time course angle ψ (t), pitching angle theta (t), attitude matrixLetter Cease host computer；

Step 6：Host computer is according to the course angle ψ of given requirements₀, pitching angle theta₀Information calculates the coalcutter in Δ T time Offset deviation Δ S；

Step 7：Using pid control algorithm, the working condition of coalcutter is controlled, it is made to advance according to set direction Work.