阅读说明：本技术 采煤过程的液压支架跟机动作时序规划方法 (Hydraulic support and motor operation time sequence planning method in coal mining process ) 是由 付翔 王然风 于 2019-12-05 设计创作，主要内容包括：本发明提供一种采煤过程的液压支架跟机动作时序规划方法,属于煤矿工作面液压系统领域,以解决目前方式难以保证液压支架群组精准跟机的问题。包括：确定工作面液压支架群组跟机过程的动作事件集；确定动作事件集中的任意两个动作事件之间的时间元关系,将其转换成工作面液压支架动作的点逻辑时间关系矩阵；对点逻辑时间关系矩阵进行时间规划计算,得到若干个R_时刻表；对各个R_时刻表进行验证,根据验证结果修正点逻辑时间关系矩阵；对新的点逻辑时间关系矩阵进行时间规划计算,并对时间规划结果进行验证,直至得到符合工作面液压支架跟机动作的时序集合；将符合工作面液压支架跟机动作的时序集合应用于采煤过程的液压支架跟机动作的时序规划中。(The invention provides a hydraulic support follow-up operation time sequence planning method in a coal mining process, belongs to the field of hydraulic systems of coal mine working faces, and aims to solve the problem that accurate follow-up of a hydraulic support group is difficult to guarantee in the conventional mode. The method comprises the following steps: determining an action event set of a machine following process of a working face hydraulic support group; determining a time element relation between any two action events in the action event set, and converting the time element relation into a point logic time relation matrix of the action of the hydraulic support on the working surface; performing time planning calculation on the point logic time relation matrix to obtain a plurality of R _ timetables; verifying each R _ timetable, and correcting a point logic time relation matrix according to a verification result; carrying out time planning calculation on the new point logic time relation matrix, and verifying the time planning result until a time sequence set which accords with the actions of the hydraulic support and the machine on the working face is obtained; and applying the time sequence set which accords with the machine following action of the hydraulic support on the working face to the time sequence planning of the machine following action of the hydraulic support in the coal mining process.)

1. A hydraulic support and motor operation time sequence planning method in a coal mining process is characterized by comprising the following steps:

s1, determining that the action event set N of the working face hydraulic support group and the machine following process is N, wherein N is {1, 2, …, N } and comprises N action events;

s2, determining the time element relation between any two action events in the action event set N according to the time world model, and converting the time element relation between any two action events into a logic time relation matrix M of the point of the action of the hydraulic support on the working face;

s3, performing time planning calculation on the point logic time relation matrix M to obtain a plurality of R _ time tables meeting all time constraint relations of the action event set N;

s4, verifying each R _ timetable, and correcting the dot logic time relation matrix M according to the verification result to obtain a new dot logic time relation matrix M';

s5, continuing time planning calculation on the new point logic time relation matrix M', and continuing verification on a time planning result until a time sequence set which accords with the follow-up action of the hydraulic support on the working face is obtained;

and S6, applying the time sequence set which accords with the machine following action of the hydraulic support of the working face to the time sequence planning of the machine following action of the hydraulic support in the coal mining process.

2. The method for hydraulic support and motor action scheduling planning in a coal mining process according to claim 1, wherein the types of the action events in the action event set N include an action of moving a center point of a coal mining machine from a current support to a next support, an action of collecting and protecting a side panel of a hydraulic support in front of the coal mining machine, a lifting action behind the coal mining machine, a lowering action behind the coal mining machine, a pushing and sliding action behind the coal mining machine, a moving action behind the coal mining machine, and a stretching and pulling action behind the coal mining machine.

3. The method for planning the hydraulic support and locomotive operation timing sequence in the coal mining process according to claim 1, wherein the S1 determines the action event set N of the hydraulic support group and locomotive follow process according to basic parameters of the hydraulic support group of the working face when determining the action event set N of the hydraulic support group and locomotive follow process of the working face, wherein the basic parameters at least include the number and model of supports included in the hydraulic support group of the working face.

4. The method for hydraulic support and motor action scheduling planning in a coal mining process according to claim 1, wherein the S2 represents the time element relationship between any two action events in the action event set N by the time element relationship in the time world model according to at least one action constraint condition selected from a working face coal cutting process, a hydraulic support space-time position and a predefined constraint when determining the time element relationship between any two action events in the action event set N according to the time world model.

Technical Field

The invention relates to the technical field of hydraulic systems of coal mine working faces, in particular to a hydraulic support and motor operation time sequence planning method in a coal mining process.

Background

The modern coal mining is mainly realized by a coal mining machine, a hydraulic support, a scraper conveyor and other motion-related three-machine coal mining equipment group on a fully mechanized mining face. The hydraulic support is not only a supporting device of a fully mechanized coal mining face of a coal mine, but also a main power device for pushing three machines to move in a coordinated mode. The operation of the hydraulic support group and the machine on the working face is a process which is executed by a plurality of supports and a plurality of actions according to process requirements and possible time logics such as step by step, synchronization, overlapping and the like. The time relationship between the execution of the actions of each support is limited by a plurality of factors such as the position of the coal mining machine, the speed of the coal mining machine, the following process requirement, the safety distance between the coal mining machine and the hydraulic support and the like. Therefore, in the coal cutting process of the coal mining machine on the working face, each hydraulic support and the motor action event need to meet certain time relation constraint, and therefore the time sequence of the hydraulic support and the motor action in the coal cutting process needs to be planned.

The existing time sequence planning strategy for the machine following actions of the hydraulic support is mostly action rules and logics of a hydraulic support group which are made according to conditions such as a coal cutting mode, position information of a coal mining machine, machine following process logics and the like, and is mostly action logic functions which meet space constraints among the coal mining machine, the support and a support body, and time constraints among all actions of equipment only consider a single front-back time relation. At present, the single curing process and static parameters cannot guarantee the accurate following characteristic of the hydraulic support group, and the variable working face propelling speed cannot be adapted.

Disclosure of Invention

The invention provides a hydraulic support and motor operation time sequence planning method in a coal mining process, aiming at solving the technical problems that the existing hydraulic support and motor operation time sequence planning method in the coal mining process has a single solidification process and static parameters are difficult to ensure the accurate motor following characteristics of a hydraulic support group and cannot adapt to variable working face propelling speeds.

In order to solve the technical problems, the invention adopts the technical scheme that:

a hydraulic support and motor operation time sequence planning method in a coal mining process comprises the following steps:

s1, determining that the action event set N of the working face hydraulic support group and the machine following process is N, wherein N is {1, 2, …, N } and comprises N action events;

s2, determining the time element relation between any two action events in the action event set N according to the time world model, and converting the time element relation between any two action events into a logic time relation matrix M of the point of the action of the hydraulic support on the working face;

s3, performing time planning calculation on the point logic time relation matrix M to obtain a plurality of R _ time tables meeting all time constraint relations of the action event set N;

s4, verifying each R _ timetable, and correcting the dot logic time relation matrix M according to the verification result to obtain a new dot logic time relation matrix M';

s5, continuing time planning calculation on the new point logic time relation matrix M', and continuing verification on a time planning result until a time sequence set which accords with the follow-up action of the hydraulic support on the working face is obtained;

and S6, applying the time sequence set which accords with the machine following action of the hydraulic support of the working face to the time sequence planning of the machine following action of the hydraulic support in the coal mining process.

Optionally, the types of the action events in the action event set N include an action of moving a central point of the shearer from a current support to a next support, an action of retracting a protective plate of a hydraulic support in front of the shearer, an action of lifting a column behind the shearer, an action of lowering the column behind the shearer, an action of pushing and sliding behind the shearer, an action of moving a frame behind the shearer, and an action of extending a wall behind the shearer.

Optionally, when determining the action event set N of the working face hydraulic support group following process, the S1 determines the action event set N of the working face hydraulic support group following process according to basic parameters of the working face hydraulic support group, where the basic parameters at least include the number of supports and the type of supports included in the working face hydraulic support group.

Optionally, the S2, when determining the time element relationship between any two action events in the action event set N according to the time world model, represents the time element relationship between any two action events in the action event set N by the time element relationship in the time world model according to at least one action constraint condition of the working face coal-cutting process, the hydraulic support spatio-temporal position, and the predefined constraint.

The invention has the beneficial effects that:

by establishing an action event set N of a working surface hydraulic support group and a machine following process and determining a point logic time relation matrix M of the action of the working surface hydraulic support based on the action event set N, and the steps of time planning calculation and verification of the point logic time relation matrix M and the like are carried out, a mode of carrying out time planning based on the action process of the hydraulic support group on the working face is provided, the problem of solidification of the combined action flow of the hydraulic support group and the machine following process is solved, more support action time sequence sets meeting the machine following process requirements are scientifically obtained, a decision space is provided for the optimal cooperative control of the hydraulic support group, and the action time sequence set of the hydraulic support following process is scientifically and reasonably planned according to the technological requirements of the coal face, the feasible logic of the action of the hydraulic support group is expanded, the hydraulic support group can accurately follow the machine, and therefore the hydraulic support group can better adapt to the variable working face following propulsion speed.

Drawings

FIG. 1 is a flow chart of an embodiment of the present invention.

FIG. 2 is a diagram illustrating the relationship between time elements in the time world model and the transformation method of the time elements and the point-based time logic in the embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1, the hydraulic support and vehicle operation time sequence planning method in the coal mining process in the embodiment includes the following steps:

and S1, determining that the action event set N of the working face hydraulic support group and the machine following process, wherein N is {1, 2, …, N } comprises N action events.

The action event set N comprises all events of coal mining machine position movement, support whole action and the like in the coal mining process. Specifically, the types of the action events in the action event set N include the action of moving a central point of the coal mining machine from a current support to a next support, the action of collecting and protecting a side plate by a hydraulic support in front of the coal mining machine, the action of lifting a column behind the coal mining machine, the action of lowering the column behind the coal mining machine, the action of pushing and sliding behind the coal mining machine, the action of moving a support behind the coal mining machine and the action of extending a side behind the coal mining machine.

Specifically, when determining the action event set N of the working face hydraulic support group following process, the S1 determines the action event set N of the working face hydraulic support group following process according to basic parameters of the working face hydraulic support group, where the basic parameters at least include the number and model of supports included in the working face hydraulic support group.

And S2, determining the time element relation between any two action events in the action event set N according to the time world model, and converting the time element relation between any two action events into a working surface hydraulic support action point logic time relation matrix M.

Specifically, when the time meta-relationship between any two action events in the action event set N is determined according to the time World Model, the S2 represents the time meta-relationship between any two action events in the action event set N by the time meta-relationship in the time World Model (Temporal World Model) according to at least one action constraint condition of the working face coal-cutting process, the hydraulic support spatio-Temporal position, and the predefined constraint. The predefined constraints are predefined constraints according to the needs of the working plane. Any two events in the time world model include 13 time-element relationships as shown in fig. 2, and thus, the time-element relationships of any two action events in the action event set N can be represented by one or more of the 13 time-element relationships defined in the time world model.

For example, the space-time position of a hydraulic support requires that a column lowering action and a support moving action of a certain hydraulic support should be sequentially performed, and the time element relationship between the two action events may be represented by the time element relationship in the time world model as follows: before (<) or meet (m). For another example, the moving link of the coal cutting process on the working face allows two adjacent hydraulic supports to act either one by one or in groups simultaneously, and the time element relationship between the column lowering actions may be represented by the time element relationship in the time world model as follows: before (<) or equal (═). For another example, in the pushing and sliding link of the coal cutting process of the working face, the supports of x adjacent supports (x is determined according to the length of the bent section of the scraper) are required to move simultaneously, and the time element relation between the pushing and sliding motion of a certain support and the x-1 supports adjacent to the left and right is only expressed as follows through the time element relation in the time world model: equal (═ o). For another example, the time element relationship between the actions of the front side protection plate of the coal mining machine and the series of actions of the rear support can be all 13 types in the time world model, but the time element relationship between the actions of the position of the coal mining machine moving by one support distance and the actions of the front side protection plate can only be finished by (fi), contacts (di), equal (═) and Startby (si) in the time world model. By analogy, the time element relation between any two action events in the action event set N can be determined according to the action constraint conditions of the specific working surface hydraulic support.

Further, when converting the time element relation between any two action events into a point logic time relation matrix M of the action of the hydraulic support of the working face, the method is completed by the following steps:

first, the time element relationship between any two action events is converted into 3 point-based time logic relationships (<, ═ and >), and a specific conversion method of 13 time element relationships is shown in fig. 2.

Next, the time interval of occurrence of each action event in the action event set N is represented by two time points (a start time point and an end time point), and the ith action event in the action event set N is defined as I, then the time interval of the action event I can be represented by the available time points, i.e. I ═ ai, bi ], where ai is less than bi, ai is the start time point of occurrence of the action event I, and bi is the end time point of occurrence of the action event I.

On the basis, the point-based time logic relationship between every two action events of the hydraulic support is represented by the following method: let a { -1, 0, 1} be an interval defined at the start time point, -1, 0 and 1 represent (- ∞, a), [ a ] respectively]Three intervals of (a, ∞); b { -1, 0, 1} represents an interval defined at the end time point, -1, 0 and 1 each represents (- ∞, B), [ B ]]And (b, ∞) three intervals. Then, the product of the sets can be used to represent the time relationship constraint between any two motion events I and J of the hydraulic strut group, i.e., R (I, J) ═ a₁(i，j)×A₂(i，j))×(B₁(i，j)×B₂(I, j)), action event I ═ a_i，b_i]Action event J ═ a_j，b_j]，A₁(i, j) is a_iAnd a_jA constraint therebetween, i.e. a_jFall to a_iThe interval of (1); a. the₂(i, j) is a_iAnd b_jA constraint between, i.e. b_jFall to a_iThe interval of (1); b is₁(i, j) is b_iAnd a_jA constraint therebetween, i.e. a_jFall to b_iThe interval of (1); b is₂(i, j) is b_iAnd b_jA constraint between, i.e. b_jFall to b_iThe interval of (2).

In light of the above, the point-based time logical relationship of any two action events I and J in the action event set N can be represented by a 2 × 2 matrix as shown in formula (1), i.e.

For example, when the shearer moves from a K bracket to a K +1 bracket action event (set as action event 1), the bracket and machine following process requires the K + a bracket to complete the action of the side protection plate (set as action event 2). The time element relationship between action event 1 and action event 2 may be: fi, di, and si, the corresponding point-based temporal logical relationship is: a is₁＜a₂＜b₂＝b₁，a₁＜a₂＜b₂＜b₁，a₁＝a₂And b is₂＝b₁，a₁＝a₂＜b₂＜b₁According to the method, the time relation matrix of the two action events can be obtained as the following formula (2):

in summary, the point-based time logical relationship between the hydraulic support group and N action events in the whole action event set N of the machine action can be determined byn²The 2 × 2 order matrix representation obtained by nesting the 2 × 2 order matrices is expressed as the following formula (3):

equation (3) may represent a point-based temporal logical relationship for any two of all the action events in the set of action events N, and M may be referred to as a point logical temporal relationship matrix for the face hydraulic mount action.

S3, time planning calculation is carried out on the point logic time relation matrix M to obtain a plurality of R _ timetables meeting all time constraint relations of the action event set N.

Specifically, the time planning calculation of the point logic time relationship matrix M is to process the point logic time relationship matrix M by a mathematical method to obtain an ordered division of a plurality of time point sets satisfying all time relationship constraints of the action event set N, which is called an R _ schedule of the action event set N. Specifically, a time point set T ═ T of the action event set N may be defined₁，t₂，…，t_2nA total of 2n time points, let E ═ E₁，e₂，…，e_mIs an ordered partition of T, then x < y (E) denotes x e_i，y∈e_j，

x to y (E) represents x, y ∈ e_iAnd satisfy

The ordered partition E is called as the basic partition of the point logic time relation matrix M, and the elements of T are arranged on the time axis according to the order of E, that is, x and y of x to y (E) are placed at the same point, so that an R _ time table of the action event set N meeting the point logic time relation matrix M can be obtained.

According to the above definition, the algorithm for solving the R _ timetable includes simplifying the point logic time relation matrix M, judging the non-normal row vector, solving the compatible subset, and the like, so as to obtain the R _ timetable meeting the action event set N, that is, a time point sequence of a plurality of groups of supports and action events meeting the time logic constraint.

S4, verifying each R _ timetable, and correcting the dot logic time relation matrix M according to the verification result to obtain a new dot logic time relation matrix M'.

Some of the resulting R _ schedules may not be feasible because the R _ schedules only satisfy temporal relationship constraints between action events, but do not take into account the temporal width constraints of the action events themselves. For example, on the basis of the above-mentioned coal mining machine position moving action event 1 and the coal mining machine front support protective side plate receiving action event 2, the support column descending action No. K-b behind the coal mining machine is set as an action event 3, and the time element relationship between the action event 1 and the action event 3 may be defined as follows: fi. di, si, the time element relation between action event 2 and action event 3 may be 13 arbitrary time element relations in the time world model, and then a time point sequence of three action events may be defined by a certain R _ time table as: (a)₁，a₂)→b₂→a₃→b₃→…→b₁The coal mining machine reaches the K number support, the action of the front support for collecting and protecting the side plate is started, the action of collecting and protecting the side plate is started after the action is finished for a period of time, the action of descending the column of the rear support is started, the action of the coal mining machine reaches the K +1 number support after the action of the support is finished for a period of time, but the logic of the time may cause that the action of the coal mining machine is finished during the actual action, and a series of actions of the support after the action of descending the column is not finished or can not be finished, so that. If the situation occurs, the time element relationship between the action event 2 and the action event 3 needs to be deleted, and the point logic time relationship matrix M is corrected by the time element relationship, so as to obtain a new point logic time relationship matrix M'.

During specific verification, a support and motor action time sequence can be formulated according to the obtained R _ time table, and experimental verification is carried out on the support and motor action time sequence in a coal mine fully-mechanized mining equipment laboratory. The feasibility of the R _ schedule can be judged by operating the time sequence actions of the coal mining machine, the hydraulic support group and the liquid supply system in the test. Further, according to the test result, combining the actual situation of the working face, adding or deleting the time relation constraint of the working face bracket and the mobile working event, and reasonably correcting the point logic time relation matrix M to obtain a new point logic time relation matrix M'.

And S5, continuing time planning calculation on the new point logic time relation matrix M', and continuing verification on a time planning result until a time sequence set which accords with the follow-up action of the hydraulic support on the working face is obtained.

The manner of continuing to perform the time plan calculation and the time plan result verification is similar to the principle in steps S3 and S4, and will not be described again here. The time sequence set which accords with the actions of the hydraulic support and the hydraulic support on the working face refers to an R _ schedule which meets the constraint conditions of time relation constraint and time width constraint.

And S6, applying the time sequence set which accords with the machine following action of the hydraulic support of the working face to the time sequence planning of the machine following action of the hydraulic support in the coal mining process.

The time sequence set which accords with the actions of the hydraulic support and the machine on the working face can carry out reasonable time planning on the actions of the hydraulic support group and the machine, ensure that a scientific time logic model can be automatically established for the hydraulic support and the machine, and further scientifically deduce more automatic control flows and logics of the support and the machine which accord with the process requirements. The invention belongs to the research direction of an optimal operation trajectory planning and cooperative control method under the influence of time-varying multi-factors in coal mining, and aims to solve the problem of optimal cooperative control of a complex mining system in a big data environment.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.