System of automatic control over actuator of selective operation of tunneling complex

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

 

The invention relates to the mining industry, namely to automate the management of mining complexes with the working body of the selective action.

For automatic control of the working body of the selective mining complex is necessary to solve two tasks: determining the trajectory of the working body and the position of the crowns of the working body in space.

A device for automatic control of the swept Executive body of the mining combine, allowing to determine the reference point of the trajectory of movement of the working body, containing sensors horizontal and vertical displacement of the Executive body, the Executive elements, the generator shift pulses, the key control inputs binary counter, a decoder, a block of cells, select programs, blocks job programs, blocks cell comparison and the direction of motion (as the USSR №1040143 And class. ES, 35/24, 1983).

The disadvantages of the known systems include large dimensions, the complexity of the changes specified program management and the need for manual adjustment of the coordinates of the specified position of the actuator relative to the actual position and the corps of mining combine.

A device for determining the position of the tunneling shield containing Sobir the expansion of the lens, the photosensor modulator with sensor zero position, the modulator is designed as two opaque plates arranged at an angle to each other, and two pendulum sensor deviation relative to the vertical (RF patent No. 2208166, CL E21D 9/093, 35/24 2003).

The disadvantages of the known systems include a complex system of processing the signal from the photocell, and the lack of precision pendulum sensors.

Known automatic control mechanisms of movement of the shield and the construction of the tunnel lining of the complex containing the information-measuring system to determine the spatial position of the tunneling machine, taken as a prototype, which is closest to the proposed system containing optical unit areas, electric modulator, aperture and photoelectric receiving device, two block selection signals, two switch current block tire shapers, switch, voltage, analog-to-digital Converter, a multiplexer, a one-shot with a logical entrance, waiting multivibrator oscillator, interface computing device and the sensor roll angle, extension of the hydraulic Jack and kopiranje, and the automatic extension of the links of the manipulator of repeatediy (RF patent No. 2206751 C1, CL E21D 9/093,35/24 2003).

The disadvantages of the known systems are of large dimensions, the complexity of the information-measuring system, need for modulation of the beam optical unit areas and lack of reliability.

The invention is directed to improving the reliability and efficiency of management of the working body of the selective action of the tunnel system.

This is due to the fact that the system of automatic control of the working body of the selective mining complex, contains an optical unit in the direction of the laser, the aperture photodetector, interface module, position sensors each degree of freedom of the working body, a roll sensor, the control units electrohydraulically and computing device and photodetecting device consists of a semi-transparent mirror located at an angle of 45° to the longitudinal axis of the device, two screens - tail and knife - with zero marks and two video, while the rear screen is located above the reflecting surface of the semitransparent mirror so that it is parallel to the longitudinal the axis of the device, and the knife - some distance behind the non-reflecting surface and perpendicular to the longitudinal axis. Each module has a corresponding screen on the focal length of the lens. And fordetermination of the coordinates of the intersection point of the laser beam with screens (blade and tail) is used the screen as a two-dimensional array, where rows and columns correspond to the horizontal and vertical coordinates of the pixels (dots), and the values are the color of the corresponding pixel, which is defined by a rectangular area containing the color of the laser beam.

1 shows a General view of the system of automatic control of the working body of the selective mining complex. Figure 2 illustrates the placement of the equipment of system of automatic control of the working body of selective action on mining complex in the mine workings. Figure 3 shows the block diagram of the algorithm that implements the control of work authority of the electoral action of mining complex. Figure 4 - block diagram of the algorithm of determination of coordinates of points of the laser beam on the tail and stab screens photodetecting devices. Figure 5 - matrix screen image photodetecting devices. Figure 6 is a diagram of screen photodetecting devices.

The system consists of an optical unit in the direction of the laser 1, the optically linked through the diaphragm 2 with a photodetector 3, the output of which is electrically connected with the computing device 4, which via the interface module 5 is connected to the position sensors 6, 7, 8 each degree of freedom of the working body 9 road to the of complex 10, the tilt sensor 11 and the control units 12, 13, 14 electrohydraulically. Moreover, the photodetector consists of a semitransparent mirror 15, is installed in the device 3 from the laser unit 1, located at an angle of 45° to the longitudinal axis of the same device, two screens - tail 16 and blade 17 with zero marks (shown in figure 5 and 6) and two video 18 and 19. This rear screen 16 is located above the reflecting surface of the semitransparent mirror 15 so that it is parallel to the longitudinal axis, and the blade 17 is at a distance of about 1 m (figure 1 denoted as L) for non-reflective surface and perpendicular to the longitudinal axis of the device 3. Each module 18 and 19 has a corresponding screen on the focal length of the lens of this module.

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

The block diagram of the algorithm (figure 3)that implements the control of work authority of the electoral action 9, consists of a start program 20, the input block 21 of scaling factors, the color of the laser beam, the geometrical dimensions of the working body, the values of one-sided Bay mining, block coordinates of the points of intersection of the reflected and passed unchanged parts of the laser beam 22 with the tail and the knife is the second screens, respectively, block coordinates evaluation of complex 23 in the space, the unit coordinates the working body 24, the block coordinates of reference points 25, block issuing control actions on the cylinders of each degree of freedom 26, of the computing unit of the control actions on the movement of complex 27, block issuing control actions to drive the movement mechanism of complex 28. The information is processed at the computing device 4.

Determination of coordinates of points of intersection of the reflected and passed unchanged parts of the laser beam with the tail and stab screens 16 and 17, respectively, the block 22 is implemented as follows.

Image screens 16 and 17, which are reflected from the mirror surface and passing through the translucent mirror laser beam, in the form of streams, through video 18 and 19 are received in the computing device 4, where the frame is converted by the operating system in two-dimensional arrays of rows and columns which correspond to the horizontal and vertical coordinates of the pixels (dots), and the values are the color of the corresponding pixels (an example of an array dimension 28×20 points shown in figure 5). Moreover, the image of the tail of the screen, there is a procedure mirroring, after which D. whom I both screens, you can use the same conversion.

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

In block 21 sets the color of the laser beam in the form of numerical values for each color components: red Rcgreen Gcand bluewith. After you run the subroutine block 29, block 30 variables wshsand wkhkdetermining the beginning and end of the designated area of the image are assigned initial values

ws=wmax; hs=hmax; wk=0; hk=0,

where wmaxand hmaxresolution module horizontally and vertically, respectively.

Next in the loop body 31 with parameter h varying from 0 to hmaxorganized another round of 32 with a parameter w, which varies from 0 to wmaxin the body which is carried out line-by-line review of the entire matrix of the image.

In block 33 is split color of the current pixel p[w,h] into its component colors: red r, blue b and green g. Then in the unit 34 verifies the identity of the pixel p[w,h] color area according to the following expression:

.

If the pixel p[w,h] belongs to this area, it checks to granicrete pixel in the designated color region, the blocks 35, 37, 39, 41 reviewer the following conditions:

w<wS; w>w ; h<hS; h>hK.

Depending on the results of the comparison blocks 36, 38, 40, 42, the pixel coordinates of the beginning of wsand hsor the end of wkand hkthe area of the desired color equals the current value of the pixel p[w,h] (figure 5).

After the release of the above two loops 31 and 32 calculates the coordinates of the points of intersection of the reflected and passed unchanged parts of the laser beam with the tail 16 and knife 17 screens in the block 43 by the following formulas.

For knife

;,

where Myand Mz- the scale factors obtained from the configuration of the system;

w0and h0the coordinates of the pixel corresponding to the zero-mark.

For coordinates on the tail-screen Y0Xand Z0Xcalculations are made on a similar formula.

In block 44 is the end of the program block 21 (Fig 3).

Determination of coordinates of the complex space unit 23 (Fig 3) by the following formulas:

;

;

;

,

where YH, ZH, YXand ZX- coordinates of the stab and tail points of mining complex in space; L is the shortest distance between the blade of the screen 17 and the floor is retronym mirror 15 (1); ln- the distance from the blade ring of the complex to stab screen 17; lx- the distance from the tail point of the complex To the semitransparent 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 tilt sensor 11.

The coordinates of the working body unit 24 is performed by the following formulas:

;

;

;

;

;

;

where XM, YM, ZM- the coordinates of the center of gravity M of the crown of the working body in the coordinate system associated with the laser unit; xM,M, zMthe coordinates of the center of gravity of the crowns of the working body in its own coordinate system; l1, l2, l3- lengths of the respective links of the working body; ΔS1That ∆ S2, q3- generalized coordinates of the first, second and third links of the working body, which are determined by the position sensors 6, 7, 8; a1b1, a2b2- installation dimensions hydraulic actuators in the first and second links of the working body; x0,0z 0mounting dimensions of the working body 9 within the system 10 relative to the tail point K to the longitudinal axis; Δq1, Δq2- intermediate coordinates;the deflection angle of the complex in a vertical plane;the deflection angle of the complex in the horizontal plane.

Issuing control actions on the cylinders of each degree of freedom by means of the control units 12, 13, 14 electrohydraulically unit 26 is performed by the following algorithm.

From the memory of the computing device 4 is loaded coordinate of the first anchor point. All parts are in their initial position. Via the interface module 5 and the control unit electrohydraulically the first link 12 is given a control signal for movement of the first link. When the movement of the first link its location is determined by the position sensor of the first link 6 which, through the interface module 5 is supplied to the computing device 4. When the link of the desired position of the computing device 4 via the interface module 5 and the control unit electrohydraulically the first link 12 is given a control signal to disable the drive of the first link. Similar steps are carried out with the second and third links. When nominating a third link happens the performance crown in the face.

Then again repeat the above steps for the movement on the control points for the first and second links.

After working the last anchor point to the second element, via the interface module 5 and the control unit electrohydraulically third link 14 is given a control signal for movement of the third link to the original position. Similar actions are performed with the first and second links.

The system of automatic control of the working body of the selective mining complex, consisting of an optical unit direction of the laser aperture photodetector device, the interface module, position sensors each degree of freedom of the working body, roll sensor, control blocks electrohydraulically computing device, wherein the photodetector is made of translucent mirror set at a 45° angle to the longitudinal axis of the device, two screens - tail and stab with zero marks and two video and tail screen is located above the reflecting surface of the semitransparent mirror so that it is parallel to the longitudinal axis of the device, and knife - some distance behind the non-reflecting surface and perpendicular to the longitudinal axis, each module has a corresponding screen on FD is the STS distance of the lens.



 

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3 dwg

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