CN-122014242-A - Dynamic load distribution method, equipment and medium for tunneling and anchoring integrated machine cooperation

CN122014242ACN 122014242 ACN122014242 ACN 122014242ACN-122014242-A

Abstract

The application provides a dynamic load distribution method, equipment and medium for cooperation of an excavating and anchoring integrated machine, and relates to the technical field of excavating and anchoring integrated machines; the method comprises the steps of carrying out power demand prediction on a plurality of operation units to obtain a plurality of operation power demands, judging whether a power residual space exists or not based on an available power upper limit and a power redundancy threshold value of a main drive system, carrying out load distribution according to the plurality of operation power demands to generate a load distribution decision if the power residual space exists, and carrying out dynamic load distribution on the plurality of operation units according to the load distribution decision. The application can solve the technical problem that the power distribution strategy in the prior art cannot be reasonably adjusted according to the actual load demand and the working condition change, and achieves the technical effect of improving the overall working efficiency.

Inventors

FAN JIULIN
ZHENG XIAOFENG
LIU JIANQIANG
ZHANG WENYUAN
ZHANG LIAO
YANG FENGLING
ZHANG HAIYANG
XU PENG
BAI RUIXUE
LI HAIFENG
WANG XUBIN
CHEN MINGJIAN
HE TAO
ZHANG KEGANG
WANG XIPENG
SUN SHAOHUA
LIU FENG
DUAN HONGFEI

Assignees

华电煤业集团数智技术有限公司
神木县隆德矿业有限责任公司
中国煤炭科工集团太原研究院有限公司
山西天地煤机装备有限公司

Dates

Publication Date: 20260512
Application Date: 20251229

Claims (10)

1. The dynamic load distribution method for the tunneling and anchoring integrated machine is characterized by comprising the following steps of: executing state identification of a plurality of operation units in the tunneling and anchoring integrated machine, and acquiring real-time load data; carrying out power demand prediction on the plurality of operation units according to the real-time load data to obtain a plurality of operation power demands; Judging whether a power residual space exists or not based on the upper limit of the available power of the main drive system and a power redundancy threshold value; If the power surplus space exists, load distribution is executed according to the plurality of job power demands, and a load distribution decision is generated; and carrying out dynamic load distribution on the plurality of operation units according to the load distribution decision.
2. The method for distributing dynamic loads in cooperation with an excavating and anchoring integrated machine according to claim 1, which is characterized by comprising the following steps: Acquiring state parameters of the plurality of operation units, wherein the state parameters comprise cutting motor current, cutting motor hydraulic oil pressure, pushing cylinder displacement speed, bolting machine torque and anchor cable tension; and establishing a state mapping model according to the state parameters, and mapping the state parameters into the real-time load data.
3. The method for distributing dynamic loads in cooperation with an excavating and anchoring integrated machine according to claim 1, which is characterized by comprising the following steps: Extracting a first operation unit according to the plurality of operation units; training a first operation power demand prediction channel by taking a load data sample set of the first operation unit as an input characteristic and a power demand sample set of the first operation unit as an output characteristic to obtain a first power prediction learning coefficient; if the first power prediction learning coefficient exceeds a first preset power prediction learning constraint, acquiring the first operation power demand prediction channel; Traversing the plurality of operation units according to the first operation power demand prediction channel to obtain an operation power demand prediction channel; and predicting the power demands of the plurality of operation units according to the real-time load data according to the operation power demand prediction channel to obtain the plurality of operation power demands.
4. The method for distributing dynamic loads in cooperation with an excavating and anchoring integrated machine according to claim 1, which is characterized by comprising the following steps: calculating residual power based on the maximum output power and the real-time main drive output power; And carrying out difference calculation on the plurality of operation power demands and the residual power, and judging that the power residual space exists if the difference is larger than or equal to a power redundancy threshold value.
5. The method for distributing dynamic loads in cooperation with an excavating and anchoring integrated machine according to claim 1, which is characterized by comprising the following steps: assigning a preset priority weight to the plurality of job units; Calculating a load distribution coefficient based on the product of each operation power requirement and each priority and the sum of the products of the plurality of operation unit power requirements and the priority weights; And distributing the load to be distributed according to the load distribution coefficient to obtain the load distribution decision.
6. The method for distributing dynamic loads in cooperation with an excavating and anchoring integrated machine according to claim 1, which is characterized by comprising the following steps: acquiring multi-parameter monitoring data of the plurality of operation units; Judging whether an abnormal event exists or not based on the multi-parameter monitoring data; If an abnormal event is detected, triggering a priority adjustment mechanism of the power scheduling instruction, updating a load distribution decision in real time, and determining a dynamic load distribution decision.
7. The method for distributing dynamic loads in cooperation with an excavating and anchoring integrated machine according to claim 6, comprising the following steps: Constructing an abnormal event identification model, wherein the abnormal event identification model is modeled based on multi-parameter monitoring data samples in the running process of the plurality of operation units, and the multi-parameter monitoring data samples comprise a power change rate, a hydraulic oil pressure fluctuation rate, a motor current slope and an anchoring load abrupt change amplitude; Feature fusion and critical value comparison are carried out on the multi-parameter monitoring data, and abnormal events are identified; After the abnormal event is identified, a power response scheme is automatically generated according to the event type and the impact grade, and the load distribution decision of at least one operation unit is adjusted.
8. The method for distributing dynamic loads in cooperation with an excavating and anchoring integrated machine according to claim 6, comprising the following steps: Training an evolution model based on the operation data of the plurality of operation units under different geological and load working conditions, wherein the evolution model is used for learning a power coupling relation and a priority evolution rule among the plurality of operation units; And according to the real-time working states of the plurality of working units, self-adaptively adjusting preset priority weights of the plurality of working units and the dynamic load distribution decision in the evolution model.
9. An electronic device, comprising: At least one processor; a memory communicatively coupled to the at least one processor; Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the method for dynamic load distribution in conjunction with the earth moving and anchoring integrated machine of any one of claims 1 to 8.
10. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program when executed implements the steps of the method for allocating dynamic loads in cooperation with the tunneling and anchoring integrated machine according to any one of claims 1 to 8.

Description

Dynamic load distribution method, equipment and medium for tunneling and anchoring integrated machine cooperation Technical Field The application relates to the technical field of excavating and anchoring integrated machines, in particular to a dynamic load distribution method, equipment and medium for cooperation of the excavating and anchoring integrated machines. Background The tunneling and anchoring integrated machine is used as key equipment for integrating tunneling, supporting and anchoring operations in coal mine and tunnel engineering, and the operation efficiency and the resource utilization rate of the tunneling and anchoring integrated machine are directly related to the overall construction progress and the engineering cost. Along with the continuous improvement of the complexity of underground engineering operation, the tunneling and anchoring integrated machine is developed in the forward direction of intellectualization and synergism. At present, the existing tunneling and anchoring integrated machine adopts a fixed power distribution strategy in the operation process, namely, the scheduling of power resources is carried out according to fixed priority or experience parameters preset by each operation unit. However, this static allocation has significant limitations in the face of complex, dynamically changing geological conditions and operating conditions. On one hand, the load state and the power requirement of different operation units are continuously changed in the operation process, for example, when a cutting system encounters hard rock, the power requirement is greatly improved, and a propulsion and anchor rod system can be in a low-load or waiting state in certain time periods, on the other hand, the current system generally lacks the deep sensing and data fusion capability for the real-time operation state, and abnormal working conditions such as hydraulic fluctuation, motor overload and the like cannot be accurately identified, so that a power distribution strategy cannot be timely adjusted to ensure the overall stable operation of the system. In summary, in the prior art, because the power distribution strategy is fixed and lacks of real-time sensing and dynamic response capability to the operation state of the operation unit, reasonable adjustment cannot be performed according to actual load demands and working condition changes, and further the technical problems of key performances such as operation efficiency, system stability and energy consumption control of the tunneling and anchoring integrated machine in a complex environment are further affected. Disclosure of Invention The application aims to provide a dynamic load distribution method, equipment and medium for cooperation of an excavating and anchoring integrated machine, which are used for solving the technical problems that in the prior art, due to the fact that a power distribution strategy is fixed and the real-time sensing and dynamic response capability to the operation state of an operation unit are lacking, reasonable adjustment cannot be performed according to actual load demands and working condition changes, and the operation efficiency, system stability, energy consumption control and other key performances of the excavating and anchoring integrated machine under a complex environment are further influenced. In view of the above problems, the application provides a dynamic load distribution method, equipment and medium for the cooperation of an excavating and anchoring integrated machine. The application provides a dynamic load distribution method of a tunneling and anchoring integrated machine, which comprises the steps of executing state identification of a plurality of operation units in the tunneling and anchoring integrated machine, obtaining real-time load data, carrying out power demand prediction on the operation units, obtaining a plurality of operation power demands, judging whether a power residual space exists or not based on an available power upper limit and a power redundancy threshold of a main drive system, executing load distribution according to the plurality of operation power demands if the power residual space exists, generating a load distribution decision, and carrying out dynamic load distribution on the operation units according to the load distribution decision. Preferably, the dynamic load distribution method of the tunneling and anchoring integrated machine further comprises the steps of obtaining state parameters of the plurality of operation units, wherein the state parameters comprise cutting motor current, cutting motor hydraulic oil pressure, pushing cylinder displacement speed, bolting machine torque and anchor rope tension, establishing a state mapping model according to the state parameters, and mapping the state parameters into the real-time load data. The dynamic load distribution method for the tunneling and anchoring integrated machine cooperation further comprises