CN103742140A - Precisely positioned coal mining machine and positioning method thereof - Google Patents
Precisely positioned coal mining machine and positioning method thereof Download PDFInfo
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- CN103742140A CN103742140A CN201310726691.9A CN201310726691A CN103742140A CN 103742140 A CN103742140 A CN 103742140A CN 201310726691 A CN201310726691 A CN 201310726691A CN 103742140 A CN103742140 A CN 103742140A
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Abstract
The invention discloses a precisely positioned coal mining machine and a positioning method of the precisely positioned coal mining machine. The coal mining machine comprises a coal mining machine body (1), a wireless positioning detection device (3), a controller (4) and an encoding sensing device (2), wherein one end of a connecting rod (8) is arranged at the central position of a drive shaft (9), one end of a drive rod (13) is clamped at the other end of the connecting rod, the other end of the drive rod passes through a cover plate (10), the encoding sensing device is arranged at a part of the drive rod exposed to the cover plate, and the encoding sensing device is electrically connected with the controller. The positioning method comprises the following steps that a wireless positioning feedback device (5) sends a bracket number n and an offset distance deltax to the wireless positioning detection device; the encoding sensing device transmits acquired displacement parameters to the controller; and the controller receives all data information, and finally calculates the precise position of the coal mining machine. The precisely positioned coal mining machine and the positioning method of the coal mining machine disclosed by the invention have the beneficial effects that the positioning of the coal mining machine is more accurate and small in errors, and the misoperation probability of a hydraulic bracket is reduced.
Description
Technical field
The present invention relates to a kind of pinpoint coal-winning machine and localization method thereof, belong to the coal-mining technique field of creeping into.
Background technology
Coal has important strategic position in China's economic development, is the energy main body of China, although China is coal production big country, but the coal production problem of China still exists some potential safety hazards, and Safety of Coal Mine Production technology is still relatively backward.According to the data of coal department of National Energy Board, 2008,1,000,000 tons of death rates of China's coal mines were 1.182; By 2012, the latest data of announcing according to national Administration of Work Safety Supervision, coal 1,000,000 tons of death rates in the whole nation are 0.374, fall 33.7% on a year-on-year basis, drop to first in 0.5, create the new lowest record in history, according to raw coal output in 2012 be 36.6 ten thousand tons can infer colliery in 2012 for some reason death toll be more than 1300 people, be down to first in history below 1500 people.But 1,000,000 tons of death rates of producing coal of developed country are roughly at 0.02-0.03, the U.S.'s 1,000,000 tons, colliery death rate in 2009 is 0.03,2011 year this numeral of the U.S. only 0.019.As can be seen here, although coal in China is produced 1,000,000 tons of death rates, be significantly reduced in recent years, still having very large gap compared with developed countries.Therefore, improve coal mine production safety technology and strengthen supervision the most important thing that remains coal production work.
Realize the automation control of fully-mechanized mining working equipment, the interlock control of hydraulic support and coal-winning machine is the key technology that must solve, and realize hydraulic support, with the core of machine automatic technology, is exactly the accurate location of coal-winning machine.In actual fully mechanized coal face manufacturing process, using the widest is infrared rays positioning mode, difference installation infrared transmitter and infrared remote receiver on coal-winning machine and hydraulic support, the infrared signal that receives infrared transmitter transmitting by infrared remote receiver is known coal winning machine position, but the method can not be continuously accurately by the position of coal-winning machine with numeric representation out, and corresponding support number can not be fed back to coal-winning machine and do secondary and judge, adopt the method error of this Radio infrared location large.In current coal-winning machine position fixing process, be also generally faced with a following difficult problem: (1), due to the actual condition complexity of fully mechanized coal face, travel switch is installed in inconvenience, is therefore difficult to determine the real origin of coordinates; (2) along with adopting the variation of face base plate curve and rib curve, hydraulic support spacing also changes, so, when the difference of fully mechanized coal face straight length and fully mechanized coal face length of curve is excessive, be easy to occur hydraulic support misoperation.
Summary of the invention
The problem existing for above-mentioned prior art, the invention provides a kind of pinpoint coal-winning machine and localization method thereof, and the location of coal-winning machine is more accurate, and error is little, and the probability of hydraulic support misoperation reduces.
To achieve these goals, the technical solution used in the present invention is: a kind of pinpoint coal-winning machine, comprise coal-winning machine fuselage, wireless location checkout gear, controller, power transmission shaft and casing, wireless location checkout gear is arranged on coal-winning machine fuselage, controller, power transmission shaft and casing are installed in coal-winning machine fuselage, power transmission shaft is arranged on box house, the arranged outside of casing has cover plate, wireless location checkout gear is electrically connected with controller, also comprise coding sensing device, coupling bar and drive link, one end of coupling bar is arranged on the center of power transmission shaft, one end of drive link is stuck in the other end of coupling bar, the other end of drive link is through cover plate, coding sensing device is arranged on drive link and exposes in the part of cover plate, coding sensing device is electrically connected with controller.
Further, also comprise protecting crust, protecting crust is connected with cover plate, and coding sensing device is positioned at protecting crust inside.
Further, also comprise bracing ring, bracing ring is arranged between coding sensing device and protecting crust.
A localization method for coal-winning machine, comprises the following steps:
A. after having initialized, in shearer haulage walking process, the pulse signal that wireless location feedback device on hydraulic support sends according to the wireless location checkout gear of coal-winning machine feeds back to the support n of wireless location checkout gear self and coal-winning machine and this hydraulic support offset distance Δ x along rib direction, and wireless location checkout gear is passed to controller receiving after data;
B. utilize coding sensing device to detect continuously, gather the coal-winning machine walking displacement parameter of coal-winning machine, and the displacement parameter collecting is passed to controller in time;
C. controller carries out difference calculating by the coal-winning machine displacement minimum MIN that reads the sensing device of encoding when coal-winning machine is walked scrapper conveyor head or tail and record or displacement maximum MAX and the displacement maximum MAX obtaining last time or displacement minimum MIN, calculate absolute difference as fully mechanized coal face current curves length L, the quantity of the hydraulic support of fully mechanized coal face is definite value N, hydraulic support self width is definite value D, calculate between every two hydraulic supports corresponding distance values be L/N, simultaneously take coal-winning machine displacement minimum MIN place as new dead-center position;
D. the support n that controller sends over according to wireless location feedback device and calculate coal-winning machine walking position [(n-1) L/N+D/2+ Δ x)] along the offset distance Δ x of rib direction obtains the exact position of coal-winning machine with respect to new dead-center position after reducing error correction.
The invention has the beneficial effects as follows: in shearer haulage walking process, hydraulic support is the offset distance Δ x to the support n of the wireless location checkout gear feedback on coal-winning machine self and coal-winning machine and this hydraulic support along rib direction in real time, coal-winning machine utilization coding sensing device changes the rotation behavior of power transmission shaft into required displacement parameter, and the displacement parameter collecting is passed to controller in time, coal-winning machine at every turn from scrapper conveyor head go to scrapper conveyor tail or from scrapper conveyor tail go to scrapper conveyor head all can by coding sensing device record coal-winning machine displacement minimum, when displacement parameter passes to controller take coal-winning machine displacement minimum place as new dead-center position, by controller, according to displacement parameter, calculate the exact position of coal-winning machine with respect to new dead-center position.
Accompanying drawing explanation
Fig. 1 is coal-winning machine of the present invention and coal mining process schematic diagram;
Fig. 2 is the present invention's sensing device scheme of installation of encoding;
Fig. 3 is coal-winning machine localization method flow chart of the present invention.
In figure: 1, coal-winning machine fuselage, 2, coding sensing device, 3, wireless location checkout gear, 4, controller, 5, wireless location feedback device, 6, protecting crust, 7, bracing ring, 8, coupling bar, 9, power transmission shaft, 10, cover plate, 11, casing, 12, scrapper conveyor, 13, drive link, 14, hydraulic support.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1 to Figure 3, a kind of pinpoint coal-winning machine, comprise coal-winning machine fuselage 1, wireless location checkout gear 3, controller 4, power transmission shaft 9 and casing 11, wireless location checkout gear 3 is arranged on coal-winning machine fuselage 1, controller 4, power transmission shaft 9 and casing 11 are installed in coal-winning machine fuselage 1, power transmission shaft 9 is arranged on casing 11 inside, the arranged outside of casing 11 has cover plate 10, wireless location checkout gear 3 is electrically connected with controller 4, also comprise coding sensing device 2, coupling bar 8 and drive link 13, one end of coupling bar 8 is arranged on the center of power transmission shaft 9, one end of drive link 13 is stuck in the other end of coupling bar 8, the other end of drive link 13 is through cover plate 10, coding sensing device 2 is arranged on drive link 13 and exposes in the part of cover plate 10, coding sensing device 2 is electrically connected with controller 4, the rotation behavior of power transmission shaft 9 is passed to coding sensing device 2 by drive link 13 joining with it, signal collected by coding sensing device 2 pass to controller 4.
In order to protect coding sensing device 2, set up protecting crust 6, protecting crust 6 is connected with cover plate 10, and coding sensing device 2 is positioned at protecting crust 6 inside, has avoided the destruction of the severe working environment in down-hole to coding sensing device 2.
Destroyed for the sensing device 2 that further prevents from encoding, also comprise bracing ring 7, bracing ring 7 is arranged between coding sensing device 2 and protecting crust 6.
A kind of localization method of coal-winning machine, on full face, on every hydraulic support 14, wireless location feedback device 5 is installed, while using for the first time after coal-winning machine installs, need in controller 4, load initial parameter, comprise coal-winning machine fuselage 1 apart from the distance of fully-mechanized mining working dead-center position, corresponding support n and both the offset distance Δ x along rib direction.
A. after having initialized, in shearer haulage walking process, the pulse signal that wireless location feedback device 5 on hydraulic support 14 sends according to the wireless location checkout gear 3 of coal-winning machine feeds back to the support n of wireless location checkout gear 3 self and coal-winning machine and this hydraulic support 14 offset distance Δ x along rib direction, and wireless location checkout gear 3 is passed to controller 4 receiving after data;
B. utilize coding sensing device 2 to detect continuously, gather the coal-winning machine walking displacement parameter of coal-winning machine, and the displacement parameter collecting is passed to controller 4 in time;
D. the support n that controller 4 sends over according to wireless location feedback device 5 and calculate coal-winning machine walking position [(n-1) L/N+D/2+ Δ x)] along the offset distance Δ x of rib direction obtains the exact position of coal-winning machine with respect to new dead-center position after reducing error correction.
Embodiment:
Take the straight length of fully mechanized coal face as 240 meters, n=82, D=1.5 rice, Δ x=+1.20 rice is example:
A. after having initialized, in shearer haulage walking process, the pulse signal that wireless location feedback device 5 on hydraulic support 14 sends according to the wireless location checkout gear 3 of coal-winning machine feeds back to the support n(n=82 of wireless location checkout gear 3 self) and coal-winning machine and this hydraulic support 14 along the offset distance Δ x(Δ x=+1.20 rice of rib direction), wireless location checkout gear 3, after the data n=82 receiving, Δ x=+1.20 rice, passes to controller 4 by data;
B. utilize coding sensing device 2 to detect continuously, gather the coal-winning machine walking displacement parameter of coal-winning machine, and the displacement parameter collecting is passed to controller 4 in time;
C. the coal-winning machine displacement minimum MIN(MIN=2.4 rice that controller 4 records by reading the sensing device 2 of encoding when coal-winning machine is walked scrapper conveyor 12 heads or tail) with the displacement maximum MAX(MAX=250.4 rice of obtaining last time) carry out difference calculating, calculate absolute difference as fully mechanized coal face current curves length L (L=|MIN-MAX|=248 rice), the quantity of the hydraulic support 14 of fully mechanized coal face is definite value N(N=160), hydraulic support 14 self width is definite value D(D=1.5 rice), calculate between every two hydraulic supports 14 corresponding distance values be L/N(L/N=|MIN-MAX|/N=248/160=1.55 rice), simultaneously with coal-winning machine displacement minimum MIN(MIN=2.4 rice) locate as new dead-center position,
D. the support n(n=82 that controller 4 sends over according to wireless location feedback device 5) and along the offset distance Δ x(Δ x=+1.20 rice of rib direction) calculate coal-winning machine walking position [(n-1) L/N+D/2+ Δ is x)]=(82-1) x1.55+1.5/2+1.20=127.5 rice, after reducing error correction, obtain the exact position of coal-winning machine with respect to new dead-center position.
In the present embodiment, from 240 meters of the straight lengths of fully mechanized coal face and fully mechanized coal face current curves length L=| MIN-MAX|=248 rice, fully mechanized coal face length of curve value during actual coal mining and the difference of straight length value have reached 8 meters, adopt the present invention can obtain the exact position of coal-winning machine, can effectively avoid support to follow the misoperation in machine automation process.
Claims (4)
1. a pinpoint coal-winning machine, comprise coal-winning machine fuselage (1), wireless location checkout gear (3), controller (4), power transmission shaft (9) and casing (11), wireless location checkout gear (3) is arranged on coal-winning machine fuselage (1), controller (4), power transmission shaft (9) and casing (11) are installed in coal-winning machine fuselage (1), power transmission shaft (9) is arranged on casing (11) inside, the arranged outside of casing (11) has cover plate (10), wireless location checkout gear (3) is electrically connected with controller (4), it is characterized in that, also comprise coding sensing device (2), coupling bar (8) and drive link (13), one end of coupling bar (8) is arranged on the center of power transmission shaft (9), one end of drive link (13) is stuck in the other end of coupling bar (8), the other end of drive link (13) is through cover plate (10), coding sensing device (2) is arranged on drive link (13) and exposes in the part of cover plate (10), coding sensing device (2) is electrically connected with controller (4).
2. one according to claim 1 is located coal-winning machine accurately, it is characterized in that, also comprises protecting crust (6), and protecting crust (6) is connected with cover plate (10), and coding sensing device (2) is positioned at protecting crust (6) inside.
3. one according to claim 1 is located coal-winning machine accurately, it is characterized in that, also comprises bracing ring (7), and bracing ring (7) is arranged between coding sensing device (2) and protecting crust (6).
4. a localization method that utilizes the coal-winning machine described in claim 1-3 any one claim, is characterized in that, comprises the following steps:
A. after having initialized, in shearer haulage walking process, the pulse signal that wireless location feedback device (5) on hydraulic support (14) sends according to the wireless location checkout gear (3) of coal-winning machine feeds back to the support n of wireless location checkout gear (3) self and coal-winning machine and this hydraulic support (14) the offset distance Δ x along rib direction, and wireless location checkout gear (3) is passed to controller (4) receiving after data;
B. utilize coding sensing device (2) to detect continuously, gather the coal-winning machine walking displacement parameter of coal-winning machine, and the displacement parameter collecting is passed to controller (4) in time;
C. controller (4) carries out difference calculating by the coal-winning machine displacement minimum MIN that reads the sensing device (2) of encoding when coal-winning machine is walked scrapper conveyor (12) head or tail and record or displacement maximum MAX and the displacement maximum MAX obtaining last time or displacement minimum MIN, calculate absolute difference as fully mechanized coal face current curves length L, the quantity of the hydraulic support (14) of fully mechanized coal face is definite value N, hydraulic support (14) self width is definite value D, calculate between every two hydraulic supports (14) corresponding distance values be L/N, simultaneously take coal-winning machine displacement minimum MIN place as new dead-center position,
D. the support n that controller (4) sends over according to wireless location feedback device (5) and calculate coal-winning machine walking position [(n-1) L/N+D/2+ Δ x)] along the offset distance Δ x of rib direction obtains the exact position of coal-winning machine with respect to new dead-center position after reducing error correction.
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| CN112901273A (en) * | 2021-01-27 | 2021-06-04 | 中煤科工开采研究院有限公司 | Fully mechanized coal mining face coal mining machine positioning method and system based on coded pattern recognition |
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| CN112901273A (en) * | 2021-01-27 | 2021-06-04 | 中煤科工开采研究院有限公司 | Fully mechanized coal mining face coal mining machine positioning method and system based on coded pattern recognition |
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