RU2360111C2 - System of automatic control over actuator of selective operation of tunneling complex - Google Patents

Abstract

FIELD: mining.

SUBSTANCE: system consists of optical master of direction- laser, of diaphragm, of photo-receiving device, of interface module, of sensors of position of each degree of actuator mobility, of tilt sensor, of blocks of control over electro-hydro-valves and of computer device. The photo-receiving device consists of semi-transparent mirror assembled at angle of 45° to lengthwise axis of the case of the device, of two screens - the tail and knife ones with zero-marks, and of two video-modules. The tail screen is arranged above reflecting surface of the semi-transparent mirror so, that it is parallel to lengthwise axis of the device, while the knife screen is located at some distance beyond non-reflecting surface and perpendicular to lengthwise axis. Each video-module is installed behind the corresponding screen at the focal distance of the objective.

EFFECT: upgraded reliability and efficiency of control over actuator.

6 dwg

Description

The invention relates to the mining industry, and in particular to automation of management of mining complexes with a working body of selective action.

For automatic control of the working body of the selective action of the mining complex, it is necessary to solve two problems: determining the path of the working body and the position of the crown of the working body in space.

A device is known for automatic control of a swept executive body of a mining machine, which allows determining the reference points of the trajectory of the working body, containing sensors for horizontal and vertical movement of the executive body, actuators, a generator of shear pulses, a key with control inputs, a binary counter, a decoder, a block of program selection cells, blocks of task programs, blocks of cells of comparison and direction of movement (AS USSR No. 1040143 A, class E21C, 35/24, 1983).

The disadvantages of the known system include large overall dimensions, the difficulty of changing a given control program and the need to manually adjust the coordinates of a given position of the executive body relative to the actual position and body of the mining machine.

A device for determining the position of the tunnel shield, containing a collecting lens, a photosensor, a modulator with a zero position sensor, the modulator is made in the form of two lightproof plates located at an angle to each other, as well as two pendulum deviation sensors relative to the vertical (RF patent No. 2208166 , CL E21D 9/093, C 35/24 2003).

The disadvantages of the known system include a complex system for processing the signal from the photocell, as well as the lack of accuracy of the pendulum sensors.

A known system for the automatic control of the mechanisms of movement of the shield and the erection of the tunnel support complex containing an information-measuring system that allows you to determine the spatial position of the tunnel shield, taken as a prototype, which is closest to the proposed system, containing an optical direction adjuster, an electric modulator, aperture and a photoelectronic receiver , two signal sampling units, two current switches, bus former unit, voltage switch sensor, analog-to-digital converter, multiplexer, one-shot with a logical input, a waiting multivibrator, a master oscillator, an interface, a computing device and roll angle sensors, hydraulic jacks and copy-pickers extension sensors, as well as extension sensors for the attachment of the crusher manipulator (RF patent No. 2206751 C1, cl. E21D 9/093, C 35/24 2003).

The disadvantages of the known system include the large dimensions, the complexity of the information-measuring system, the need for modulation of the beam of the optical direction transmitter and the lack of reliability.

The invention is aimed at improving the reliability and efficiency of the management of the working body of the selective action of the tunnel complex.

This is achieved due to the fact that the automatic control system of the working body for the selective operation of the mining complex contains an optical direction adjuster - a laser, a diaphragm, a photodetector, an interface module, position sensors of each degree of mobility of the working body, a roll sensor, electrohydrogold control units and a computing device, moreover, the photodetector consists of a translucent mirror located at an angle of 45 ° to the longitudinal axis of the device body, two screens in - tail and knife - with zero marks and two video modules, while the tail screen is located above the reflective surface of the translucent mirror so that it is parallel to the longitudinal axis of the device, and the knife screen - at some distance behind the non-reflective surface and perpendicular to the longitudinal axis. Each video module is installed behind the corresponding screen at the focal length of the lens. Moreover, to determine the coordinates of the intersection point of the laser beam with the screens (knife and tail), screen images are used in the form of a two-dimensional array, where the horizontal and vertical coordinates of the pixels (points) correspond to the rows and columns, and the values of the elements are the color of the corresponding pixels, in which a rectangular region is determined containing the color of the laser beam.

Figure 1 shows a General view of the automatic control system of the working body of the selective action of the mining complex. Figure 2 shows the placement of the equipment of the automatic control system of the working body of the selective action on the mining complex and in the mine workings. Figure 3 shows a block diagram of the algorithm of the program that implements the management of the working body of the selective action of the mining complex. Figure 4 - block diagram of the algorithm for determining the coordinates of the points of the laser beam on the tail and knife screens of the photodetector. Figure 5 - image matrix of the screen of the photodetector. Figure 6 shows a screen diagram of a photodetector.

The system consists of an optical direction adjuster - a laser 1, optically coupled through a diaphragm 2 to a photodetector 3, the output of which is electrically connected to a computing device 4, to which position sensors 6, 7, 8 of each degree of mobility of the working body 9 of the mining tunnel are connected via an interface module 5 complex 10, the roll sensor 11 and control units 12, 13, 14 electrohydrozolotnikami. Moreover, the photodetector consists of a translucent mirror 15 mounted in the device 3 from the side of the laser setter 1, located at an angle of 45 ° to the longitudinal axis of the same device, two screens - tail 16 and knife 17 - with zero marks (shown in FIG. 5 and 6) and two video modules 18 and 19. In this case, the tail shield 16 is located above the reflective surface of the translucent mirror 15 so that it is parallel to the longitudinal axis, and the blade 17 at a distance of about 1 m (indicated in Fig. 1 by L ) behind a non-reflective surface and perpendi perpendicular to the longitudinal axis of the device 3. Each video module 18 and 19 is mounted behind the corresponding screen at the focal length of the lens of this video module.

The laser 1 and the diaphragm 2 are installed in the tunnel, and all other blocks on the mining complex 10 (figure 2).

The block diagram of the algorithm of the program (Fig. 3), which implements the control of the working body of selective action 9, consists of a starting block of the program 20, an input block of 21 scale factors, the color of the laser beam, the geometric dimensions of the working body, the values of the one-sided broadening of the mine working, the coordinate determination unit the intersection points of the reflected and transmitted unchanged parts of the laser beam 22 with the tail and knife screens, respectively, the coordinate determination unit of the mining complex 23 in space, the determination unit I coordinates of the working body 24, the block determining the coordinates of reference points 25, the block issuing control actions on the hydraulic cylinders of each degree of mobility 26, the block calculating control actions on the movement of the complex 27, the block issuing control actions on the drive of the movement mechanism of the complex 28. Information is processed in a computing device four.

The determination of the coordinates of the points of intersection of the reflected and transmitted parts of the laser beam with the tail and knife screens 16 and 17, respectively, by the block 22 is implemented as follows.

Images of screens 16 and 17, onto which a laser beam reflected from a mirror surface and transmitted through a semitransparent mirror, in the form of video streams, are transmitted through video modules 18 and 19 to a computing device 4, where the operating system transforms frame-by-frame into two-dimensional arrays, the rows and columns of which correspond horizontal and vertical coordinates of pixels (points), and the values of the elements are the color of the corresponding pixels (an example of an array with a dimension of 28 × 20 points is shown in FIG. 5). Moreover, the mirror image procedure is applied to the image of the tail screen, after which the same transformations can be used for both screens.

Software determination of the coordinates of the laser beam on the tail 16 and knife 17 screens is implemented according to the following algorithm (figure 4).

In block 21, the color of the laser beam is set in the form of numerical values of each color component: red R _c , green G _c and blue B _s . After starting the subroutine by block 29, in block 30, the variables w _s , h _s and w _k , h _k determining the beginning and end of the determined image area are assigned initial values

w _s = w _max ; h _s = h _max ; w _k = 0; h _k = 0,

where w _max and h _max are the resolution of the video module horizontally and vertically, respectively.

Further, in the body of cycle 31 with the parameter h varying from 0 to h _max , another cycle 32 is organized with the parameter w varying from 0 to w _max , in the body of which row-by-line consideration of the entire image matrix is carried out.

In block 33, the color of the current pixel p [w, h] is partitioned into color components: red r, blue b, and green g. Then, in block 34, the pixel p [w, h] of the color region is checked for the following expression:

.

.

If the pixel p [w, h] belongs to this region, then a check is made for the pixel boundary in the determined color region, blocks 35, 37, 39, 41 checking the following conditions:

w <w _S ; w> w _K ; h <h _S ; h> h _K.

Depending on the results of the comparison with blocks 36, 38, 40, 42, the coordinates of the pixels of the beginning w _s and h _s or the end w _k and h _{k of} the desired color region are equated with the current pixel value p [w, h] (Fig. 5).

After exiting the two above-described cycles 31 and 32, the coordinates of the points of intersection of the reflected and transmitted without changes parts of the laser beam with the tail 16 and knife 17 screens in block 43 are calculated according to the following formulas.

For knife

;

,

;

,

where M _y and M _z are the scale factors obtained when tuning the system;

w ₀ and h ₀ are the coordinates of the pixel corresponding to the zero mark.

For the coordinates on the tail screen Y _0X and Z _{0X, the} calculations are performed using similar formulas.

In block 44, the completion of the program of block 21 occurs (Fig.3).

The determination of the coordinates of the complex in space by block 23 (Fig. 3) is carried out according to the following formulas:

;

;

;

;

;

;

,

,

where Y _H , Z _H , Y _X and Z _X are the coordinates of the knife and tail points of the mining complex in space; L is the shortest distance between the knife screen 17 and the translucent mirror 15 (figure 1); l _n - the distance from the knife ring of the complex to the knife screen 17; l _x is the distance from the tail point of complex K to the translucent mirror 15 in the horizontal plane (figure 2); q is the installation size of the device 3 in a vertical plane relative to the longitudinal axis of the complex 10; α is the roll angle measured by the roll sensor 11.

The determination of the coordinates of the working body by block 24 is carried out according to the following formulas:

;

;

;

;

;

;

;

;

;

;

;

;

- угол отклонения комплекса в вертикальной плоскости;

- угол отклонения комплекса в горизонтальной плоскости.where X _M , Y _M , Z _M - coordinates of the center of gravity M of the crown of the working body in the coordinate system associated with the laser master; x _M , y _M , z _M - coordinates of the center of gravity of the crown of the working body in its own coordinate system; l ₁ , l ₂ , l ₃ - the lengths of the corresponding links of the working body; ΔS ₁ , ΔS ₂ , q ₃ - the generalized coordinates of the first, second and third links of the working body, which are determined by position sensors 6, 7, 8; a ₁ , b ₁ , a ₂ , b ₂ - installation dimensions of hydraulic actuators in the first and second links of the working body; x ₀ , y ₀ , z ₀ - installation dimensions of the working body 9 inside the complex 10 relative to the tail point K of the longitudinal axis; Δq ₁ , Δq ₂ - intermediate coordinates;

- the angle of deviation of the complex in a vertical plane;

- the angle of deviation of the complex in the horizontal plane.

The issuance of control actions on the hydraulic cylinders of each degree of mobility by means of control units 12, 13, 14 by electrohydrosolotors by block 26 is carried out according to the following algorithm.

From the memory of the computing device 4, the coordinate of the first reference point is loaded. All links are in the starting position. Through the interface module 5 and the control unit electrohydrozolotniki of the first link 12 is issued a control signal for the movement of the first link. When the first link moves, its location is determined by the position sensor of the first link 6, the information from which passes through the interface module 5 to the computing device 4. When the link reaches the desired position by the computing device 4, the control signal for the shutdown is generated through the interface module 5 and the electrohydrohammer control unit 12 drive the first link. Similar actions are carried out with the second and third links. When the third link is advanced, the crown is drilled into the face.

Then, again, the above steps are repeated for moving along the reference points for the first and second links.

After working out the last reference point by the second link, through the interface module 5 and the control unit of electrohydrosholters of the third link 14, a control signal is issued to move the third link to its original position. Similar actions are carried out with the first and second links.

Claims (1)

The automatic control system for the working body of the selective action of the mining complex, consisting of an optical direction adjuster - a laser, a diaphragm, a photodetector, an interface module, position sensors of each degree of mobility of the working body, a roll sensor, control units for electrohydrozolotniks and a computing device, characterized in that the photodetector made of a translucent mirror located at an angle of 45 ° to the longitudinal axis of the device’s body, two screens - tail and knife with zero marks and two video modules, and the tail screen is located above the reflective surface of the translucent mirror so that it is parallel to the longitudinal axis of the device, and the knife screen at some distance behind the non-reflective surface and perpendicular to the longitudinal axis, each video module is installed behind the corresponding screen on focal length of the lens.

Images