AU2019100966A4 - Automatic coal drawing control system and method - Google Patents
Automatic coal drawing control system and method Download PDFInfo
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Abstract
The present invention discloses an automatic coal drawing control system and method. The system includes: a plurality of movable top coal movement trackers, uniformly arranged in a drill hole on a coal-gangue interface and moved with gangue; a plurality of fixed top coal movement trackers, uniformly fixed on a hydraulic support, and configured to obtain and store second distances between the movable top coal movement trackers near the hydraulic support and the fixed top coal movement trackers, and first distances stored by the movable top coal movement trackers near the hydraulic support; and a central computer, configured to process the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker, and send an instruction according to the real-time position information of each movable top coal movement tracker to control the hydraulic support to open or close a coal drawing port. The automatic coal drawing control system and method can determine the time that gangue is rushed into a coal drawing port massively, and thus determine the time for opening or closing the coal drawing port accurately and implement the high top coal mining rate and the low gangue rate.
Description
2019100966 29 Aug 2019
AUTOMATIC COAL DRAWING CONTROL SYSTEM AND METHOD TECHNICAL FIELD
The present invention relates to the technical field of top coal drawing exploitation in a well coal mine, and in particular to an automatic coal drawing control system and method.
BACKGROUND
At present, a top coal drawing exploitation process of a well coal mine mainly relies on manual work for coal drawing. A worker often depends on experience and a sound when coal and gangue flow to determine whether to terminate the coal drawing, and the coal drawing operation has the randomness, thus frequently causing a low top coal drawing rate and a high gangue rate. In addition, a great deal of dust and gas is produced in a coal drawing process to cause an occupational injury to the worker easily.
Based on the above reasons, more top coal drawing working faces are making an attempt to use an automatic coal drawing control system to replace the manual coal drawing, thus implementing the automatic control in the coal drawing process. The existing automatic coal drawing technology is mainly to record vibration from the impact of coal and the gangue, extract a signal having optical and acoustical characteristics and process the signal to identify the coal and the gangue and indirectly determine whether the gangue reaches to a coal drawing port of a hydraulic support, thereby determining time for closing the coal drawing port. However, as the coal and the gangue have the randomness to impact a shield beam of the support, there is a condition that the gangue has already been drawn when not contacting the support; meanwhile, when a coal layer has a dirt band, it is very easy for the coal drawing port to close early to lead to the low top coal mining rate. Additionally, the light rays behind the support are weak, the coal and the gangue are similar in color, and a video device is frequently covered by mine dust, so the degree of identification on the coal and the gangue in actual production is low. Therefore, there are huge defects and shortages to identify the coal and the gangue by vibration and different optical characteristics of the coal and the gangue.
SUMMARY
An objective of the present invention is to provide an automatic coal drawing control system and method, which can determine the time that gangue is rushed into a coal drawing port massively, and thus determine the time for opening or closing the coal drawing port accurately and implement the high top coal mining rate and the low gangue rate.
To achieve the above purpose, the present invention provides the following technical
2019100966 29 Aug 2019 solutions.
An automatic coal drawing control system includes:
a plurality of movable top coal movement trackers, uniformly arranged in a drill hole on a coal-gangue interface, and moved with gangue, where for every movable top coal movement tracker, each movable top coal movement tracker within a coverage range of a distance measurement signal of the movable top coal movement tracker is connected to the movable top coal movement tracker, and the movable top coal movement tracker is configured to send a distance measurement instruction to each movable top coal movement tracker within the coverage range of the distance measurement signal, and obtain and store a distance between each movable top coal movement tracker and the movable top coal movement tracker as well as a distance stored by each movable top coal movement tracker in itself, so that every movable top coal movement tracker stores a first distance between any two movable top coal movement trackers;
a plurality of fixed top coal movement trackers, uniformly fixed on a hydraulic support, where for every movable top coal movement tracker near the hydraulic support, the movable top coal movement tracker near the hydraulic support sends the distance measurement instruction to at least three fixed top coal movement trackers within the coverage range of the distance measurement signal, and for every fixed top coal movement tracker, the fixed top coal movement tracker is configured to obtain and store second distances between the movable top coal movement trackers near the hydraulic support and the fixed top coal movement tracker, and the first distances stored by the movable top coal movement trackers near the hydraulic support;
a central computer, connected to each fixed top coal movement tracker, and configured to process the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker, and send a control instruction of opening or closing a coal drawing port according to the real-time position information of each movable top coal movement tracker; and a hydraulic support, connected to the central computer, and configured to open or close the coal drawing port according to the control instruction of opening or closing the coal drawing port.
Optionally, for every movable top coal movement tracker, the movable top coal movement tracker includes:
a first housing, disposed in the drill hole on the coal-gangue interface, and moved with the gangue;
a first position sensor, disposed in the first housing, and configured to measure the first distance between the first position sensors of two movable top coal movement trackers; and a first ad-hoc network device, disposed in the first housing, respectively connected to the first
2019100966 29 Aug 2019 position sensor and the first ad-hoc network device of each movable top coal movement tracker within the coverage range of the distance measurement signal, and configured to send the distance measurement instruction to the first position sensor of each movable top coal movement tracker within the coverage range of the distance measurement signal, and receive and store the first distance sent by the first ad-hoc network device of each movable top coal movement tracker within the coverage range of the distance measurement signal.
Optionally, for every fixed top coal movement tracker, the fixed top coal movement tracker includes:
a second housing, fixed on the hydraulic support;
a second position sensor, disposed in the second housing, and configured to measure the second distances between the first position sensors of the movable top coal movement trackers near the hydraulic support and the second position sensor; and a second ad-hoc network device, disposed in the second housing, respectively connected to the second position sensor and the first ad-hoc network devices of the movable top coal movement trackers near the hydraulic support, and configured to obtain and store the second distances and the first distances according to the distance measurement instructions sent by the first ad-hoc network devices of the movable top coal movement trackers near the hydraulic support, and send the first distances and the second distances to the central computer.
An automatic coal drawing control method includes:
obtaining second distances between movable top coal movement trackers near a hydraulic support and fixed top coal movement trackers, and first distances stored by the movable top coal movement trackers near the hydraulic support;
processing the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker; and sending a control instruction of opening or closing a coal drawing port according to the realtime position information of each movable top coal movement tracker.
Optionally, the processing the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker specifically includes:
obtaining coordinates (xb, yb, Zb), (xc, yc, zc), (xd, yd, Zd) of any three fixed top coal movement trackers b, c, d;
obtaining distances z, j, k between the fixed top coal movement trackers b, c, d and any movable top coal movement tracker a; and calculating a coordinate (xa, ya, za) of the any movable top coal movement tracker a
2019100966 29 Aug 2019
according to a formula -y](xc -xa)2 + (yc - ya)2 + (zc -za)2 = j .
yl(Xd-xa/ + (yd-ya/ + (zd-z a/ =k
Optionally, the obtaining distances i,j, k between the fixed top coal movement trackers b, c, d and any movable top coal movement tracker a specifically includes:
if the fixed top coal movement trackers b, c, d are located within a coverage range of a distance measurement signal of the movable top coal movement tracker a, enabling the distances i, j, k between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a to be the second distances between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a; and if the fixed top coal movement trackers b, c, d are located out of the coverage range of the distance measurement signal of the movable top coal movement tracker a, taking any three coordinate-obtained movable top coal movement trackers within the coverage range of the distance measurement signal of the movable top coal movement tracker a as the fixed top coal movement trackers b, c, d, and enabling the distances i, j, k between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a to be the first distances between the three coordinate-obtained movable top coal movement trackers and the movable top coal movement tracker a.
Optionally, the sending a control instruction of opening or closing a coal drawing port according to the real-time position information of each movable top coal movement tracker specifically includes:
simultaneously determining whether an X-axis coordinate xa of each movable top coal movement tracker a is greater than an X-axis coordinate xm at a midpoint position of the coal drawing port, and whether a Z-axis coordinate za of each movable top coal movement tracker a is smaller than a Z-axis coordinate zcuttmg of a coal cutting height;
if yes, sending a control instruction of closing the coal drawing port; and if no, sending a control instruction of opening the coal drawing port.
According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: an automatic coal drawing control system disclosed by the present invention includes: a plurality of movable top coal movement trackers, uniformly arranged in a drill hole on a coal-gangue interface, and moved with gangue, thereby monitoring real-time position information of the gangue at the coal-gangue interface, where for every movable top coal movement tracker, each movable top coal movement tracker within a coverage
2019100966 29 Aug 2019 range of a distance measurement signal of the movable top coal movement tracker is connected to the movable top coal movement tracker, and the movable top coal movement tracker is configured to send a distance measurement instruction to each movable top coal movement tracker within the coverage range of the distance measurement signal, and obtain and store a distance between each movable top coal movement tracker and the movable top coal movement tracker as well as a distance stored by each movable top coal movement tracker in itself, so that every movable top coal movement tracker stores a first distance between any two movable top coal movement trackers, to implement sharing of position data between each movable top coal movement tracker; a plurality of fixed top coal movement trackers, uniformly fixed on a hydraulic support, where for every movable top coal movement tracker near the hydraulic support, the movable top coal movement tracker near the hydraulic support sends the distance measurement instruction to at least three fixed top coal movement trackers within the coverage range of the distance measurement signal, and for every fixed top coal movement tracker, the fixed top coal movement tracker is configured to obtain and store second distances between the movable top coal movement trackers near the hydraulic support and the fixed top coal movement tracker, and the first distances stored by the movable top coal movement trackers near the hydraulic support, to implement the sharing of the position data between each movable top coal movement tracker and each fixed top coal movement tracker; a central computer, connected to each fixed top coal movement tracker, and configured to process the first distances and the second distances to obtain the real-time position information of each movable top coal movement tracker, and send a control instruction of opening or closing a coal drawing port according to the real-time position information of each movable top coal movement tracker; and the hydraulic support, connected to the central computer, and configured to open or close the coal drawing port according to the control instruction of opening or closing the coal drawing port. According to the automatic coal drawing control system, by monitoring real-time position information of gangue at a coal-gangue interface, the time that the gangue is rushed into a coal drawing port massively is determined, and thus the time for opening or closing the coal drawing port is determined accurately. Therefore, the gangue is effectively prevented from flowing through the coal drawing port and the system implements the high top coal mining rate and the low gangue rate.
BRIEF DESCRIPTION OF THE DRAWINGS
To describe the technical solutions in the embodiments of the present invention or in the prior art more clearly, the following briefly describes the accompanying drawings required for describing the embodiments. Apparently, the accompanying drawings in the following description show some embodiments of the present invention, and a person of ordinary skill in the art may
2019100966 29 Aug 2019 still derive other drawings from these accompanying drawings without creative efforts.
FIG. 1 is a structural diagram of an embodiment of an automatic coal drawing control system according to the present invention.
FIG. 2 is a working schematic diagram of an embodiment of an automatic coal drawing control system according to the present invention.
FIG. 3 is a flowchart of an embodiment of an automatic coal drawing control method according to the present invention.
FIG. 4 is a flowchart for controlling a coal drawing port to open or close in an embodiment of an automatic coal drawing control method according to the present invention.
DETAILED DESCRIPTION
The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
An objective of the present invention is to provide an automatic coal drawing control system and method, which can determine the time that gangue is rushed into a coal drawing port massively, and thus determines the time for opening or closing the coal drawing port accurately and implements the high top coal mining rate and the low gangue rate.
To make the foregoing objective, features, and advantages of the present invention clearer and more comprehensible, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a structural diagram of an embodiment of an automatic coal drawing control system according to the present invention. Referring to FIG. 1, the automatic coal drawing control system includes: a plurality of movable top coal movement trackers 101, a plurality of fixed top coal movement trackers 102, a central computer 103 and a hydraulic support 105.
The plurality of movable top coal movement trackers 101 are uniformly arranged in a drill hole on a coal-gangue interface. In this embodiment, the drill hole is formed in the top coal, each movable top coal movement tracker 101 is fixed at a separation interface between the top coal and roof, and each movable top coal movement tracker 101 is moved with gangue. For every movable top coal movement tracker 101, each movable top coal movement tracker 101 within a coverage range of a distance measurement signal of the movable top coal movement tracker 101 is connected to the movable top coal movement tracker 101, and the movable top coal movement
2019100966 29 Aug 2019 tracker 101 is configured to send a distance measurement instruction to each movable top coal movement tracker 101 within the coverage range of the distance measurement signal, and obtain and store a distance between each movable top coal movement tracker 101 and the movable top coal movement tracker 101 as well as a distance stored by each movable top coal movement tracker 101 in itself, so that every movable top coal movement tracker 101 stores a first distance between any two movable top coal movement trackers 101.
The plurality of fixed top coal movement trackers 102 are uniformly fixed on the hydraulic support. For every movable top coal movement tracker 101 near the hydraulic support, the movable top coal movement tracker 101 near the hydraulic support sends the distance measurement instruction to at least three fixed top coal movement trackers 102 within the coverage range of the distance measurement signal; for every fixed top coal movement tracker 102, the fixed top coal movement tracker 102 is configured to obtain and store second distances between the movable top coal movement trackers 101 near the hydraulic support and the fixed top coal movement tracker 102, and the first distances stored by the movable top coal movement trackers 101 near the hydraulic support.
In this embodiment, the central computer 103 is a computer having coal safety authentication, is connected to each fixed top coal movement tracker 102, and is configured to process the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker 101, and send a control instruction of opening or closing a coal drawing port according to the real-time position information of each movable top coal movement tracker 101.
The hydraulic support 105 is connected to the central computer 103, and configured to open or close the coal drawing port 104 according to the control instruction of opening or closing the coal drawing port.
For every movable top coal movement tracker 101, the movable top coal movement tracker 101 includes:
a first housing, disposed in the drill hole on the coal-gangue interface, and moved with the gangue;
a first position sensor, disposed in the first housing, and configured to measure the first distance between the first position sensors of two movable top coal movement trackers 101, where the first position sensor may be a magnetic sensor based on magnetic induction intensity, an ultrasonic sensor, etc.;
a first ad-hoc network device, disposed in the first housing, respectively connected to the first position sensor and the first ad-hoc network device of each movable top coal movement tracker 101 within the coverage range of the distance measurement signal, and configured to send the
2019100966 29 Aug 2019 distance measurement instruction to the first position sensor of each movable top coal movement tracker 101 within the coverage range of the distance measurement signal, and receive and store the first distance sent by the first ad-hoc network device of each movable top coal movement tracker 101 within the coverage range of the distance measurement signal. With the first ad-hoc network device in each movable top coal movement tracker 101, the sharing of position data of each movable top coal movement tracker 101 is implemented. The first ad-hoc network device is composed of a signal transmitting and receiving device, and a storage device; and the position data of each movable top coal movement tracker 101 is recorded by the storage device.
The movable top coal movement tracker 101 further includes a power supply. The power supply supplies the power to each movable top coal movement tracker 101. Specifically, the power supply is a battery.
For every fixed top coal movement tracker 102, the fixed top coal movement tracker 102 includes:
a second housing, fixed on the hydraulic support;
a second position sensor, disposed in the second housing, and configured to measure the second distances between the first position sensors of the movable top coal movement trackers 101 near the hydraulic support and the second position sensor, where the second position sensor may be a magnetic sensor based on magnetic induction intensity, an ultrasonic sensor and the like, etc.;
a second ad-hoc network device, disposed in the second housing, respectively connected to the second position sensor and the first ad-hoc network devices of the movable top coal movement trackers 101 near the hydraulic support, and configured to obtain and store the second distances and the first distances according to the distance measurement instructions sent by the first ad-hoc network devices of the movable top coal movement trackers 101 near the hydraulic support, and send the first distances and the second distances to the central computer 103. The second ad-hoc network device is composed of a signal transmitting and receiving device, and a storage device. With the first ad-hoc network device in each movable top coal movement tracker
101 and the second ad-hoc network device in each fixed top coal movement tracker 102, the sharing of the position data between each movable top coal movement tracker 101 and each fixed top coal movement tracker 102 is implemented. As the second ad-hoc network device is composed of the signal transmitting and receiving device, and the storage device, the position data of each movable top coal movement tracker 101 is recorded by the storage device. Distance data of all movable top coal movement trackers 101 are finally sent to the fixed top coal movement trackers 102 fixed at the hydraulic support, and the fixed top coal movement trackers
102 fixed at the hydraulic support send the distance data to the central computer 103.
2019100966 29 Aug 2019
The fixed top coal movement tracker 102 further includes a power supply. The power supply supplies the power to each fixed top coal movement tracker 102. Specifically, the power supply is a battery.
FIG. 2 is a working schematic diagram of an embodiment of an automatic coal drawing control system according to the present invention. Referring to FIG. 2, each movable top coal movement tracker 101 is uniformly arranged in a coal-gangue separation interface at a certain interval. Specifically, each movable top coal movement tracker 101 is arranged at a separation interface between top coal and a roof thereon, and the specific arrangement parameters are pertinently analyzed in terms of different requirements of a geological condition to determine a reasonable spacing parameter. An ad-hoc network is implemented via a first ad-hoc network device to record real-time position data of each movable top coal movement tracker 101 in a coal drawing process. The real-time position data is distance data. The real-time position data is sent to a central computer 103 via an underground Ethernet.
A signal converter is mounted on a hydraulic support 105 at an end of a working face, and the central computer 103 is mounted in a head entry. The central computer 103 only receives the distance data between each movable top coal movement tracker 101 and the distance data between each movable top coal movement tracker 101 and each fixed top coal movement tracker 102. The distance data needs to be processed to obtain a specific space coordinate of each movable top coal movement tracker 101. A control instruction of opening or closing a coal drawing port is sent according to the specific space coordinate of each movable top coal movement tracker 101. That is, whether an X-axis coordinate xa of each movable top coal movement tracker a is greater than an X-axis coordinate xm at a midpoint position of the coal drawing port, and whether a Z-axis coordinate za of each movable top coal movement tracker a is smaller than a Z-axis coordinate zcuttmg of a coal cutting height are determined simultaneously; if yes, a control instruction of closing the coal drawing port is sent; and if no, a control instruction of opening the coal drawing port is sent.
FIG. 3 is a flowchart of an embodiment of an automatic coal drawing control method according to the present invention. Referring to FIG. 3, the automatic coal drawing control method includes the following steps:
Step 301: obtain second distances between movable top coal movement trackers near a hydraulic support and fixed top coal movement trackers, and first distances stored by the movable top coal movement trackers near the hydraulic support.
Step 302: process the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker.
The step 302 specifically includes the following steps:
2019100966 29 Aug 2019
Obtain coordinates (xb, yb, zk), (xc, yc, zc), (xa, ya, za) of any three fixed top coal movement trackers b, c, d.
Obtain distances i,j, k between the fixed top coal movement trackers b, c, d and any movable top coal movement tracker a. The step of obtaining distances z, j, k between the fixed top coal movement trackers b, c, d and any movable top coal movement tracker a specifically includes the following steps:
If the fixed top coal movement trackers b, c, d are located within a coverage range of a distance measurement signal of the movable top coal movement tracker a, enable the distances z, j, k between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a to be the second distances between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a.
If the fixed top coal movement trackers b, c, d are located out of the coverage range of the distance measurement signal of the movable top coal movement tracker a, take any three coordinate-obtained movable top coal movement trackers within the coverage range of the distance measurement signal of the movable top coal movement tracker a as the fixed top coal movement trackers b, c, d, and enable the distances z, j, k between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a to be the first distances between the three coordinate-obtained movable top coal movement trackers and the movable top coal movement tracker a.
Calculate a coordinate (xa, ya, za) of the any movable top coal movement tracker a according 7(% -%)2+(% -%)2+(% -%)2 = * to a formula 7(% ~xa)2 + (yc ~ ya)2 + (zc - za)2 = j . In the formula
7(%-%)2+(%-%)2+(%-%)2 =k yl(.xb-xa)2 + (.yb-ya)2+(.zb-z a)2 =i
7(% _%)2 + (% _%)2 + (% -%)2 = j > the coordinates (xh, yb, Zb), (xc, yc, zc), (xa, ya, za) of the
7(%-%)2+(%-%)2+(%-%)2 = k three fixed top coal movement trackers b, c, d are known; the distances i, j, k between the fixed top coal movement trackers b, c, d and the any movable top coal movement tracker a are known; three unknown variables xa, ya, za and three independent equations are provided; and with commercial computation software such as matrix laboratory (MATLAB) or other existing algorithms, the coordinate of the movable top coal movement tracker a can be solved.
Step 303: send a control instruction of opening or closing a coal drawing port according to the real-time position information of each movable top coal movement tracker.
The step 303 specifically includes the following steps:
Simultaneously determine whether an X-axis coordinate xa of each movable top coal
2019100966 29 Aug 2019 movement tracker a is greater than an X-axis coordinate xm at a midpoint position of the coal drawing port, and whether a Z-axis coordinate za of each movable top coal movement tracker a is smaller than a Z-axis coordinate zcuttmg of a coal cutting height.
If yes, send a control instruction of closing the coal drawing port.
If no, send a control instruction of opening the coal drawing port.
FIG. 4 is a flowchart for controlling a coal drawing port to open or close in an embodiment of an automatic coal drawing control method according to the present invention. Referring to FIG. 4, according whether an X-axis coordinate xa of a current movable top coal movement tracker 101 is greater than an X-axis coordinate xm at a midpoint position of a coal drawing port, and whether a Z-axis coordinate za of the current movable top coal movement tracker 101 is smaller than a Z-axis coordinate zcuttmg of a coal cutting height, a hydraulic support 105 is controlled to close or open the coal drawing port 104. If the X-axis coordinate xa of the current movable top coal movement tracker 101 is greater than the X-axis coordinate xm at the midpoint position of the coal drawing port, and the Z-axis coordinate za of the current movable top coal movement tracker 101 is smaller than the Z-axis coordinate zcuttmg of the coal cutting height, it is indicated that the gangue flows to the coal drawing port, and the hydraulic support 105 is controlled to close the coal drawing port 104. If the X-axis coordinate xa of the current movable top coal movement tracker 101 is smaller than the X-axis coordinate xm at the midpoint position of the coal drawing port, and the Z-axis coordinate za of the current movable top coal movement tracker 101 is greater than the Z-axis coordinate Zcutting of the coal cutting height, it is indicated that the gangue does not flow to the coal drawing port, and the hydraulic support 105 is controlled to open the coal drawing port 104. By continuously determining whether an X-axis coordinate xa of a next movable top coal movement tracker 101 is greater than the X-axis coordinate xm at the midpoint position of the coal drawing port, and whether a Z-axis coordinate za of the current movable top coal movement tracker 101 is smaller than the Z-axis coordinate Zcuttmg of the coal cutting height, the hydraulic support 105 is controlled to close or open the coal drawing port 104 to carry out coal drawing work of a next support, till the whole coal drawing work on the working face is completed.
According to the automatic coal drawing control system and method disclosed by the present invention, the principle is as follows: each movable top coal movement tracker in top coal sends a distance measurement instruction and an own identity (ID) to surrounding movable top coal movement trackers; and upon the reception of the distance measurement instruction, the surrounding movable top coal movement trackers complete distance measurement, and send distance measurement values and own IDs to the movable top coal movement tracker. After all
2019100966 29 Aug 2019 movable top coal movement trackers send the distance measurement values and the own IDs once, distances among the all movable top coal movement trackers may be determined. At this moment, the movable top coal movement trackers near a hydraulic support send the distance measurement instructions and the own IDs to at least three fixed top coal movement trackers fixed on the hydraulic support. In this way, by solving according to position coordinates of the fixed top coal movement trackers fixed on the hydraulic support, coordinates of the all movable top coal movement trackers may be obtained. The specific process is as follows: all movable top coal movement trackers send distance measurement instructions and own IDs to surrounding movable top coal movement trackers---->the surrounding movable top coal movement trackers send distance measurement values and IDs to the movable top coal movement trackers---->the movable top coal movement trackers surrounding a hydraulic support send the distance measurement instructions and the own IDs to fixed top coal movement trackers on the hydraulic support---->the fixed top coal movement trackers on the hydraulic support send the distance measurement values between the all movable top coal movement trackers and the distance measurement values between the fixed top coal movement trackers and the movable top coal movement trackers to a central computer; and the central computer solves a space position coordinate of each movable top coal movement tracker according to space positions of the fixed top coal movement trackers on the hydraulic support.
The automatic coal drawing control system and method based on a top coal movement tracker disclosed by the present invention can be applied to a fully-mechanized working face for automatic coal drawing; and by monitoring real-time position information of gangue at a coalgangue interface, the system and the method determine the time that the gangue is rushed into a coal drawing port massively, and thus accurately determine the time for opening or closing the coal drawing port, control a hydraulic support to open or close the coal drawing port, guarantee the high top coal drawing rate and the low gangue rate, and can be adaptable to a change of a geological condition to implement the automatic coal drawing. As real-time position data, i.e., distance data, is recorded by moving the top coal movement tracker, then the real-time position data is sent to a central computer, and the central computer processes the real-time position data and sends a control instruction according to a processing result to control the hydraulic support to open or close the coal drawing port, the automatic coal drawing process is implemented, the gangue rate in top coal is low and the coal drawing rate is stable.
Each embodiment of the present specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts between the embodiments may refer to each other. The method disclosed in the embodiment
2019100966 29 Aug 2019 corresponds to the system disclosed in the embodiment, so the description is simple and related part can be referred to the description on the system.
Several examples are used for illustration of the principles and implementation methods of the present invention. The description of the embodiments is used to help illustrate the method and its core principles of the present invention. In addition, those skilled in the art can make various modifications in terms of specific embodiments and scope of application in accordance with the teachings of the present invention. In conclusion, the content of this specification shall not be construed as a limitation to the invention.
Claims (5)
1. An automatic coal drawing control system, comprising:
a plurality of movable top coal movement trackers, uniformly arranged in a drill hole on a coal-gangue interface, and moved with gangue, wherein for every movable top coal movement tracker, each movable top coal movement tracker within a coverage range of a distance measurement signal of the movable top coal movement tracker is connected to the movable top coal movement tracker, and the movable top coal movement tracker is configured to send a distance measurement instruction to each movable top coal movement tracker within the coverage range of the distance measurement signal, and obtain and store a distance between each movable top coal movement tracker and the movable top coal movement tracker as well as a distance stored by each movable top coal movement tracker in itself, so that every movable top coal movement tracker stores a first distance between any two movable top coal movement trackers;
a plurality of fixed top coal movement trackers, uniformly fixed on a hydraulic support, wherein for every movable top coal movement tracker near the hydraulic support, the movable top coal movement tracker near the hydraulic support sends the distance measurement instruction to at least three fixed top coal movement trackers within the coverage range of the distance measurement signal, and for every fixed top coal movement tracker, the fixed top coal movement tracker is configured to obtain and store second distances between the movable top coal movement trackers near the hydraulic support and the fixed top coal movement tracker, and the first distances stored by the movable top coal movement trackers near the hydraulic support;
a central computer, connected to each fixed top coal movement tracker, and configured to process the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker, and send a control instruction of opening or closing a coal drawing port according to the real-time position information of each movable top coal movement tracker; and a hydraulic support, connected to the central computer, and configured to open or close the coal drawing port according to the control instruction of opening or closing the coal drawing port.
2. The automatic coal drawing control system according to claim 1, wherein for every movable top coal movement tracker, the movable top coal movement tracker comprises:
a first housing, disposed in the drill hole on the coal-gangue interface, and moved with the gangue;
a first position sensor, disposed in the first housing, and configured to measure the first
2019100966 29 Aug 2019 distance between the first position sensors of two movable top coal movement trackers; and a first ad-hoc network device, disposed in the first housing, respectively connected to the first position sensor and the first ad-hoc network device of each movable top coal movement tracker within the coverage range of the distance measurement signal, and configured to send the distance measurement instruction to the first position sensor of each movable top coal movement tracker within the coverage range of the distance measurement signal, and receive and store the first distance sent by the first ad-hoc network device of each movable top coal movement tracker within the coverage range of the distance measurement signal, or, wherein for every fixed top coal movement tracker, the fixed top coal movement tracker comprises:
a second housing, fixed on the hydraulic support;
a second position sensor, disposed in the second housing, and configured to measure the second distances between the first position sensors of the movable top coal movement trackers near the hydraulic support and the second position sensor; and a second ad-hoc network device, disposed in the second housing, respectively connected to the second position sensor and the first ad-hoc network devices of the movable top coal movement trackers near the hydraulic support, and configured to obtain and store the second distances and the first distances according to the distance measurement instructions sent by the first ad-hoc network devices of the movable top coal movement trackers near the hydraulic support, and send the first distances and the second distances to the central computer.
3. An automatic coal drawing control method applied to the system according to any one of claims 1 to 2, comprising:
obtaining second distances between movable top coal movement trackers near a hydraulic support and fixed top coal movement trackers, and first distances stored by the movable top coal movement trackers near the hydraulic support;
processing the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker; and sending a control instruction of opening or closing a coal drawing port according to the realtime position information of each movable top coal movement tracker.
4. The automatic coal drawing control method according to claim 3, wherein the processing the first distances and the second distances to obtain real-time position information of each movable top coal movement tracker specifically comprises:
obtaining coordinates (xb, yb, Zb), (xc, yc, zc), (xd, yd, Zd) of any three fixed top coal movement
2019100966 29 Aug 2019 trackers b, c, d;
obtaining distances z, j, k between the fixed top coal movement trackers b, c, d and any movable top coal movement tracker a; and calculating a coordinate (xa, ya, za) of the any movable top coal movement tracker a 7(¾-¾)2 + (¾-¾)2 + (¾ “A)2 =i according to a formula -J(xc -xfl)2 + (y, -ya)2 +(zc -za)2 = j , preferably, wherein the obtaining 7(¾-¾)2+(¾-¾)2+(¾-¾)2 =k distances z, j, k between the fixed top coal movement trackers b, c, d and any movable top coal movement tracker a specifically comprises:
if the fixed top coal movement trackers b, c, d are located within a coverage range of a distance measurement signal of the movable top coal movement tracker a, enabling the distances i, j, k between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a to be the second distances between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a; and if the fixed top coal movement trackers b, c, d are located out of the coverage range of the distance measurement signal of the movable top coal movement tracker a, taking any three coordinate-obtained movable top coal movement trackers within the coverage range of the distance measurement signal of the movable top coal movement tracker a as the fixed top coal movement trackers b, c, d, and enabling the distances i, j, k between the fixed top coal movement trackers b, c, d and the movable top coal movement tracker a to be the first distances between the three coordinate-obtained movable top coal movement trackers and the movable top coal movement tracker a.
5. The automatic coal drawing control method according to claim 3, wherein the sending a control instruction of opening or closing a coal drawing port according to the real-time position information of each movable top coal movement tracker specifically comprises:
simultaneously determining whether an X-axis coordinate xa of each movable top coal movement tracker a is greater than an X-axis coordinate xm at a midpoint position of the coal drawing port, and whether a Z-axis coordinate za of each movable top coal movement tracker a is smaller than a Z-axis coordinate zcuttmg of a coal cutting height;
if yes, sending a control instruction of closing the coal drawing port; and if no, sending a control instruction of opening the coal drawing port.
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| CN201910225624.6 | 2019-03-25 | ||
| CN201910225624.6A CN109763823B (en) | 2019-03-25 | 2019-03-25 | Automatic coal caving control system and method |
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| CN112963148A (en) * | 2021-03-19 | 2021-06-15 | 郑州煤机液压电控有限公司 | Automatic coal caving method for fully mechanized coal mining face of coal mine |
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| CN110145353B (en) * | 2019-06-14 | 2024-06-14 | 中国矿业大学(北京) | Automatic coal discharging control system and method based on RFID |
| CN111878170B (en) * | 2020-07-03 | 2022-02-11 | 太原理工大学 | Device and method for controlling top coal caving operation based on ultrasonic intensity test |
| CN111764902B (en) * | 2020-08-05 | 2021-09-14 | 天地科技股份有限公司 | Intelligent coal caving control method for fully-mechanized top coal caving working face |
| CN112637782B (en) * | 2020-11-25 | 2023-01-20 | 中煤科工开采研究院有限公司 | Wireless data acquisition method and device for top coal migration trajectory tracker |
| CN112611375B (en) * | 2020-11-25 | 2024-01-05 | 中煤科工开采研究院有限公司 | Method for monitoring three-dimensional dynamic space-time migration track of top coal based on inertial navigation technology |
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| CN101515035B (en) * | 2009-03-16 | 2011-09-21 | 中国矿业大学(北京) | Top-coal caving law tracking instrument and a method for measuring the top-coal caving law |
| RU2439324C2 (en) * | 2010-04-07 | 2012-01-10 | Государственное образовательное учреждение высшего профессионального образования Московский государственный горный университет (МГГУ) | Method to mine ore deposits with uncontrolled caving and discharge of caved ore |
| CN104504988B (en) * | 2014-12-30 | 2016-12-07 | 中国矿业大学(北京) | A kind of four-dimensional transparent visual laboratory table simulating top coal releasing and experimental technique |
| CN107676095B (en) * | 2017-11-01 | 2019-07-26 | 天地科技股份有限公司 | High seam top coal caving device and method |
| CN107725089B (en) * | 2017-11-21 | 2019-04-19 | 天地科技股份有限公司 | Unattended automatic coal discharge system and method |
| CN109026001B (en) * | 2018-09-25 | 2024-01-23 | 中国矿业大学 | Coal caving process for improving top coal caving rate and parameter adjusting method and device |
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| CN112963148A (en) * | 2021-03-19 | 2021-06-15 | 郑州煤机液压电控有限公司 | Automatic coal caving method for fully mechanized coal mining face of coal mine |
| CN112963148B (en) * | 2021-03-19 | 2022-06-24 | 郑州煤机液压电控有限公司 | Automatic coal caving method for fully mechanized coal mining face of coal mine |
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| CN109763823A (en) | 2019-05-17 |
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