CN-122014333-A - Gangue filling system, position interference method between tamping mechanism and skylight and medium

CN122014333ACN 122014333 ACN122014333 ACN 122014333ACN-122014333-A

Abstract

The invention provides a gangue filling system, a position interference method between a tamping mechanism and a skylight and a medium, wherein the system comprises a monitoring device and an interference controller which are arranged on the end part of the skylight far away from a filling working surface, the monitoring device is used for monitoring the vertical distance from the end part of the skylight to the surface of the tamping mechanism and the angle value between the surface of the skylight and the vertical line corresponding to the vertical distance, and the vertical distance and the angle value are sent to the interference controller; and the interference controller is used for adjusting the position of the tamping mechanism according to the vertical distance, the angle value and the horizontal length of the skylight. The invention can reduce the number of relative position judgment variables, reduce the configuration quantity of monitoring devices, reasonably interfere the position relationship between the tamping mechanism and the skylight under different conditions, and improve the operability of fully-mechanized mining of minerals.

Inventors

YIN CHUNLEI
GAO LIANGLIANG
GU MINYONG
RONG YAO
WEI WENYAN
LIU SHUAI

Assignees

北京天玛智控科技股份有限公司
北京煤科天玛自动化科技有限公司

Dates

Publication Date: 20260512
Application Date: 20241111

Claims (10)

1. The gangue filling system is characterized by comprising a skylight and a tamping mechanism, and further comprising a monitoring device and an interference controller, wherein: the monitoring device is arranged on a first end part of the skylight, which is the end part of the skylight far away from the filling working surface, and is in signal connection with the interference controller; the monitoring device is used for monitoring the vertical distance between the first end part and the surface of the tamping mechanism and the angle value between the surface of the skylight and the vertical line corresponding to the vertical distance, and sending the vertical distance and the angle value to the interference controller; The interference controller is used for adjusting the position of the tamping mechanism according to the vertical distance, the angle value and the horizontal length of the skylight.
2. The mine waste filling system of claim 1, wherein the interference controller is specifically configured to: Determining a reference length according to the vertical distance and the angle value; and adjusting the position of the tamping mechanism based on the comparison result of the horizontal length of the skylight and the reference length.
3. The gangue filling system of claim 2, wherein the interference controller is configured to, during the process of adjusting the position of the tamping mechanism based on the comparison of the horizontal length of the skylight and the reference length: And reducing the angle between the tamping mechanism and the horizontal plane when the reference length is determined to be smaller than the horizontal length of the skylight based on the comparison result of the horizontal length of the skylight and the reference length.
4. The mine waste filling system of claim 1, wherein the monitoring device comprises a laser radar sensor comprising a distance calculation unit for determining the vertical distance based on the acquired radar signal and an angle calculation unit for determining the angle value based on the acquired radar signal.
5. The gangue filling system as claimed in claim 2, wherein the interference controller is adapted to, in the process of determining the reference length based on the vertical distance and the angle value: determining a reference length by adopting a preset calculation formula according to the vertical distance and the angle value; the preset calculation formula comprises: AB=AC/cos a; where AB is the reference length, AC is the vertical distance, and a is the angle value.
6. A method of position interference between a tamping mechanism adapted for use in the gangue filling system of any one of claims 1 to 5 and a skylight, comprising: Obtaining a vertical distance from a first end on a skylight to a surface of a tamping mechanism, and an angle value between the surface of the skylight and a vertical line corresponding to the vertical distance; And adjusting the position of the tamping mechanism according to the vertical distance, the angle value and the horizontal length of the skylight.
7. The method of position interference between a tamper mechanism and a skylight of claim 6, wherein the adjusting the tamper mechanism based on the vertical distance, the angle value, and the horizontal length of the skylight comprises: Determining a reference length according to the vertical distance and the angle value; and adjusting the position of the tamping mechanism based on the comparison result of the horizontal length of the skylight and the reference length.
8. The method of position interference between a tamper mechanism and a sunroof according to claim 6, wherein the adjusting the tamper mechanism based on the comparison of the horizontal length of the sunroof and the reference length comprises: And reducing the angle between the tamping mechanism and the horizontal plane when the reference length is determined to be smaller than the horizontal length of the skylight based on the comparison result of the horizontal length of the skylight and the reference length.
9. The method of position interference between a tamper mechanism and a skylight of claim 8, wherein determining a reference length based on the perpendicular distance and the angle value comprises: determining a reference length by adopting a preset calculation formula according to the vertical distance and the angle value; the preset calculation formula comprises: AB=AC/cos a; where AB is the reference length, AC is the vertical distance, and a is the angle value.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements a method of position intervention between a tamper mechanism and a skylight of any one of claims 6-9.

Description

Gangue filling system, position interference method between tamping mechanism and skylight and medium Technical Field The invention relates to the technical field of mineral fully-mechanized mining, in particular to a gangue filling system, a position interference method between a tamping mechanism and a skylight and a medium. Background In the mining process of a filling working face, the gangue filling system is a system for treating solid waste generated in the mining process of a coal mine, and aims to realize scale, intelligent and resource treatment of gangue. Referring to fig. 1, the gangue filling system comprises a bracket 1, a top beam 2, a fixed seat 3, a front upright 4, a rear upright 5, a skylight telescopic cylinder 6, a skylight 7, a tamping adjusting cylinder 8 and a tamping mechanism 9. The tamping mechanism is an important working part, and is efficient and accurate in tamping operation, so that the working intensity of personnel can be reduced, and the safe production is ensured. The existing tamping method usually uses inclination angle and height measurement sensors to monitor the position relationship between the tamping mechanism and the skylight, and the tamping method needs to install different types of sensors at a plurality of positions of a gangue filling system, but because the sensing data are all ground coordinate positions, the posture change of a bracket is complicated to the position calculation between the tamping mechanism and the skylight and needs a large number of sensors, so that the absolute positions of the tamping mechanism and the skylight are not accurate. Disclosure of Invention Aiming at the problems existing in the prior art, the invention provides a gangue filling system, a position interference method between a tamping mechanism and a skylight and a medium. The invention provides a gangue filling system, which comprises a skylight, a tamping mechanism, a monitoring device and an interference controller, wherein: the monitoring device is arranged on a first end part of the skylight, which is the end part of the skylight far away from the filling working surface, and is in signal connection with the interference controller; the monitoring device is used for monitoring the vertical distance between the first end part and the surface of the tamping mechanism and the angle value between the surface of the skylight and the vertical line corresponding to the vertical distance, and sending the vertical distance and the angle value to the interference controller; The interference controller is used for adjusting the position of the tamping mechanism according to the vertical distance, the angle value and the horizontal length of the skylight. According to the invention, the interference controller is specifically used for: Determining a reference length according to the vertical distance and the angle value; and adjusting the position of the tamping mechanism based on the comparison result of the horizontal length of the skylight and the reference length. According to the gangue filling system provided by the invention, the interference controller is specifically used for adjusting the position of the tamping mechanism in the process of comparing the horizontal length of the skylight with the reference length, wherein the interference controller is used for: And reducing the angle between the tamping mechanism and the horizontal plane when the reference length is determined to be smaller than the horizontal length of the skylight based on the comparison result of the horizontal length of the skylight and the reference length. The gangue filling system comprises a laser radar sensor, wherein the laser radar sensor comprises a distance calculating unit and an angle calculating unit, the distance calculating unit is used for determining the vertical distance based on collected radar signals, and the angle calculating unit is used for determining the angle value based on the collected radar signals. According to the gangue filling system provided by the invention, the interference controller is specifically used for determining the reference length in the processing process according to the vertical distance and the angle value: determining a reference length by adopting a preset calculation formula according to the vertical distance and the angle value; the preset calculation formula comprises: AB=AC/cos a; where AB is the reference length, AC is the vertical distance, and a is the angle value. The invention also provides a position interference method between the tamping mechanism of the gangue filling system and the skylight, which comprises the following steps: Obtaining a vertical distance from a first end on a skylight to a surface of a tamping mechanism, and an angle value between the surface of the skylight and a vertical line corresponding to the vertical distance; And adjusting the position of the tamping mechanism according to the vertical distance, the angle