阅读说明：本技术 一种基于离散控制的自动化割煤方法 (Automatic coal cutting method based on discrete control ) 是由 李�东 王海军 孙卓 尹灵通 刘晖 于 2019-11-21 设计创作，主要内容包括：本发明涉及煤矿自动化领域,具体是应用于煤矿井下基于离散控制的自动化割煤方法。本发明将连续的工作面离散化,分成很多小区间,根据采煤机的位置将采煤工艺离散化,将采煤工艺分解成多个与采煤机位置一一对应的工步,多个工步按照固定顺序执行,执行到最后一个工步后返回第一个工步,循环执行；不同工步按照不同顺序组合,可以实现各种采煤工艺。本发明基于离散控制的自动化割煤方法随机变化的工作面得到简化,容易建模；复杂、无规律的人工割煤过程被简化为一系列与采煤机位置一一对应的工步,只要确定了采煤机所处的离散化区间与当前工步,就可以得出采煤机的动作,从而可以用数字化控制器,编写固定的程序来实现自动化割煤；灵活性强。(The invention relates to the field of coal mine automation, in particular to an automatic coal cutting method based on discrete control and applied to underground coal mines. The method comprises the steps of discretizing a continuous working surface, dividing the continuous working surface into a plurality of small areas, discretizing a coal mining process according to the position of a coal mining machine, decomposing the coal mining process into a plurality of working steps corresponding to the positions of the coal mining machine one by one, executing the plurality of working steps according to a fixed sequence, returning to the first working step after the last working step is executed, and performing in a circulating manner; different steps are combined according to different sequences, and various coal mining processes can be realized. The working surface of the automatic coal cutting method based on discrete control, which changes randomly, is simplified and is easy to model; the complex and irregular manual coal cutting process is simplified into a series of working steps corresponding to the positions of the coal cutter one by one, and the action of the coal cutter can be obtained as long as the discretization interval where the coal cutter is located and the current working step are determined, so that a fixed program can be written by a digital controller to realize automatic coal cutting; the flexibility is strong.)

1. An automatic coal cutting method based on discrete control is characterized in that: the concrete implementation steps are as follows:

(1) discretizing the working surface into a plurality of discretization intervals;

(2) discretizing the coal mining process according to the position of the coal mining machine, and decomposing the coal mining process into a plurality of working steps corresponding to the positions of the coal mining machine one by one, wherein the action executed by each working step is fixed;

(3) determining the action of the coal mining machine according to the position of the coal mining machine and the current working step;

(4) and repeatedly executing a series of set process steps to realize automatic coal cutting.

2. The automated coal cutting method based on the discrete control as claimed in claim 1, wherein: in the specific implementation step (1), the discretization interval length can be determined according to the size of the coal mining machine, and the length of each discretization interval does not exceed 1/3 of the diameter of the roller of the coal mining machine.

3. An automated coal cutting method based on discrete control according to claim 1 or 2, characterized in that: in the discretization interval, the change of the working surface can be ignored, and it can be reasonably assumed that the top plate and the bottom plate of the working surface in the interval are not changed or are changed according to a direct proportional functional relation with a clear slope of 0.

4. The automated coal cutting method based on the discrete control as claimed in claim 1, wherein: in the concrete implementation step (2), the coal mining process is discretized and can be decomposed and abstracted into 12 working steps.

5. The automated coal cutting method based on the discrete control as claimed in claim 4, wherein: the 12 steps are as follows:

step 1, adjusting the height of a rocker arm according to the memorized mining height and the bedding in the interval from the machine head to the machine tail;

step 2, cutting a machine tail through point, stopping traction, and reversing a roller;

3, a machine tail cutting point is reached to a machine tail triangular coal folding point, a coal pit is entered, and a front rocker arm is adjusted according to the set mining height;

4, stopping traction at the turning back point of the tail triangular coal, and reversing the roller;

5, returning triangular coal at the tail of the machine to a cutting point at the tail of the machine, and adjusting the height of a rocker arm according to the stored mining height and bedding;

6, cutting a through point at the tail of the machine, stopping traction, and reversing a roller;

7, adjusting the height of the rocker arm according to the memorized mining height and the bedding interval from the tail to the head;

step 8, stopping traction at a head cutting and penetrating point, and reversing a roller;

step 9, cutting a through point at the machine head to a triangular coal folding point at the machine head, feeding the coal pit, and adjusting a front rocker arm according to the set mining height;

step 10, turning back the triangle coal at the machine head, stopping traction, and reversing the roller;

step 11, the triangular coal turning point of the machine head is reached to the machine head cutting point, and the rocker arm is adjusted according to the memory mining height and the bedding;

and step 12, cutting a point through the machine head, stopping traction and reversing the roller.

6. The automated coal cutting method based on the discrete control as claimed in claim 1, wherein: in the concrete implementation step (3), the action mode of the coal mining machine is determined according to the position and the current working step of the coal mining machine, the current position of the coal mining machine can be calculated by using a D gear sensor or an encoder installed on the coal mining machine, the current working step of the coal mining machine is determined according to the position of the coal mining machine, and the coal mining machine is controlled to execute the specified action.

7. The automated coal cutting method based on the discrete control as claimed in claim 1, wherein: in the specific implementation step (4), repeatedly executing the set series of process steps means that the plurality of process steps are executed according to a fixed sequence, and the process steps are returned to the first process step after the last process step is executed, and are executed in a circulating manner.

8. The automated coal cutting method based on the discrete control as claimed in claim 1, wherein: different steps are combined according to different sequences, and various coal mining processes can be realized.

Technical Field

The invention relates to the field of coal mine automation, in particular to an automatic coal cutting method based on discrete control and applied to underground coal mines.

Background

In a coal mine, the shape of a coal bed is constantly changed under the influence of geological conditions, so that the contour lines of a top plate and a bottom plate of a coal mine excavation working face are continuously changed, and automatic coal cutting is not facilitated; meanwhile, when a coal miner operates the coal mining equipment to mine coal, the motion of the coal mining machine can be controlled according to the geological conditions of the coal seam, the coal mining speed, the coal mining efficiency and the coal mining quality are all influenced by the technical level and experience of operators, and the automatic coal cutting is difficult to realize because of no clear and fixed rule which can be simply and repeatedly executed.

Disclosure of Invention

The invention aims to provide an automatic coal cutting method based on discrete control, which reasonably simplifies a continuous and randomly-changed working face after discretization, and decomposes and abstracts a coal mining process, a coal mining method and coal mining experience into a plurality of simple, fixed and repetitive steps after discretization, thereby realizing automatic coal cutting.

In order to achieve the purpose, the invention provides the following technical scheme:

an automatic coal cutting method based on discrete control comprises the following concrete implementation steps:

(1) discretizing the working surface into a plurality of discretization intervals;

(2) discretizing the coal mining process according to the position of the coal mining machine, and decomposing the coal mining process into a plurality of working steps corresponding to the positions of the coal mining machine one by one, wherein the action executed by each working step is fixed;

(3) determining the action of the coal mining machine according to the position of the coal mining machine and the current working step;

(4) and repeatedly executing a series of set process steps to realize automatic coal cutting.

In the specific implementation step (1), the discretization interval length can be determined according to the size of the coal mining machine, and the length of each discretization interval does not exceed 1/3 of the diameter of the roller of the coal mining machine.

In the discretization interval, the change of the working surface can be ignored, and it can be reasonably assumed that the top plate and the bottom plate of the working surface in the interval are not changed or are changed according to a direct proportional functional relation with a clear slope of 0.

In the concrete implementation step (2), the coal mining process is discretized and can be decomposed and abstracted into 12 working steps.

The 12 steps are as follows:

step 1, adjusting the height of a rocker arm according to the memorized mining height and the bedding in the interval from the machine head to the machine tail;

step 2, cutting a machine tail through point, stopping traction, and reversing a roller;

3, a machine tail cutting point is reached to a machine tail triangular coal folding point, a coal pit is entered, and a front rocker arm is adjusted according to the set mining height;

4, stopping traction at the turning back point of the tail triangular coal, and reversing the roller;

5, returning triangular coal at the tail of the machine to a cutting point at the tail of the machine, and adjusting the height of a rocker arm according to the stored mining height and bedding;

6, cutting a through point at the tail of the machine, stopping traction, and reversing a roller;

7, adjusting the height of the rocker arm according to the memorized mining height and the bedding interval from the tail to the head;

step 8, stopping traction at a head cutting and penetrating point, and reversing a roller;

step 9, cutting a through point at the machine head to a triangular coal folding point at the machine head, feeding the coal pit, and adjusting a front rocker arm according to the set mining height;

step 10, turning back the triangle coal at the machine head, stopping traction, and reversing the roller;

step 11, the triangular coal turning point of the machine head is reached to the machine head cutting point, and the rocker arm is adjusted according to the memory mining height and the bedding;

and step 12, cutting a point through the machine head, stopping traction and reversing the roller.

In the concrete implementation step (3), the action mode of the coal mining machine is determined according to the position and the current working step of the coal mining machine, the current position of the coal mining machine can be calculated by using a D gear sensor or an encoder installed on the coal mining machine, the current working step of the coal mining machine is determined according to the position of the coal mining machine, and the coal mining machine is controlled to execute the specified action.

In the specific implementation step (4), repeatedly executing the set series of process steps means that the plurality of process steps are executed according to a fixed sequence, and the process steps are returned to the first process step after the last process step is executed, and are executed in a circulating manner.

The different steps are combined according to different sequences, and various coal mining processes can be realized.

Compared with the prior art, the invention has the beneficial effects that:

(1) the working surface with random change is simplified and easy to model;

(2) the complex and irregular manual coal cutting process is simplified into a series of working steps corresponding to the positions of the coal cutter one by one, and the action of the coal cutter can be obtained as long as the discretization interval where the coal cutter is located and the current working step are determined, so that a fixed program can be written by a digital controller to realize automatic coal cutting;

(3) different steps are combined according to different sequences, so that various coal mining processes can be realized;

(4) after discretization, a digital controller can be used for writing a fixed program to realize automatic coal cutting;

(5) after the program is set, the coal mining speed, efficiency and quality are not limited by the experience and technical level of operators.

Drawings

FIG. 1 is a process diagram of an automated coal cutting method based on discrete control according to the present invention;

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.