CN103726844A - Automatic coal mining method based on coal mining work surface - Google Patents

Automatic coal mining method based on coal mining work surface Download PDF

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Publication number
CN103726844A
CN103726844A CN201310535390.8A CN201310535390A CN103726844A CN 103726844 A CN103726844 A CN 103726844A CN 201310535390 A CN201310535390 A CN 201310535390A CN 103726844 A CN103726844 A CN 103726844A
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coal
cutting
winning machine
work plane
cutter
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CN103726844B (en
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翟桂武
王继生
王铁军
王海军
潘涛
贺海涛
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Information Technology Co Ltd Of Hollysys Of Shenhua
Shenhua Group Corp Ltd
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Information Technology Co Ltd Of Hollysys Of Shenhua
Shenhua Group Corp Ltd
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Abstract

The invention discloses an automatic coal mining method based on a coal mining work surface. The method comprises the step as follows: an upper work surface, a lower work surface, a coal seam height, a coal seam thickness and coal mining equipment layout condition of a to-be-mined area are determined according to a mining engineering planar graph and geological borehole data of the to-be-mined area; and automatic coal mining operation is performed by a coal mining machine according to the upper work surface, the lower work surface, the coal seam height and the coal seam thickness of the to-be-mined area.

Description

Based on the automatic coal-mining method of coal-face
Technical field
The present invention relates to a kind of automatic coal-mining method based on coal-face.
Background technology
China's coal-mine is exploited take underground mine exploitation as main, at coal mine work area, is extremely prone to accidents, and causes stop work and production, causes very large loss.In order to improve the automatization level of coal-face, reduce underground operators, improve Safety of Coal Mine Production level, reduce coal mine waste rock and go out cash amount, energy conservation, unmanned or few people that just must realize coal-face melts and adopts, and realizes the operated from a distance of coal excavation apparatus, just must realize the coal and rock identify of coal-face, realize the automatic or Long-distance Control coal cutting of coal-winning machine.
In the course of the work, the height of cylinder regulates at present mainly by manually completing coal-winning machine.On the one hand, be because the coal petrography work plane of coal-face is unclear, do not know when cut rock.On the other hand, geologic data and other position, device data information do not merge, and people for the utilization of information not enough, can not also dare not judge.In real work, coal-winning machine produces a large amount of coal ash dust in the course of the work, makes to be manually difficult to observe whether cutting rock of cylinder with vision.Meanwhile, the noise of machine itself is very strong, by sound status, is also difficult to judge whether cutting rock.And, manually closely operating control coal-winning machine, there is great danger, the environment of high dust, easily causes gas explosion.And, for manual adjustment roller height, have very big hysteresis quality, coal mining machine roller cut brings a large amount of rocks, sneaks into raw coal, reduced the quality of raw coal, also to coal separation work, bring great inconvenience, and, the cutting rock coal-winning machine equipment that also weares and teares, reduce the life-span, increased the cost of maintenance and repair.Meanwhile, lasting cutting rock also can cause the rimrock at coal mining interface to cave in, and accident creates greater casualties.The working environment of coal-winning machine is high-risk, high dust, and strong noise, dark space, has been difficult to for the duty of artificial acquisition coal-winning machine.Realize coal mining machine roller automatic adjustment height and be not only the important step that realizes coal-face Automation of Manufacturing Process, and to extending service life of a machine, having improved the operating efficiency of coal-winning machine, the maintenance of raising equipment dependability, the wearing and tearing that alleviate pick, minimizing coal-winning machine, ensure safety of workers, make the safety of operating personnel away from dangerous work face, raising coal mining activity, improve Coal Quality significant, and the prerequisite of automatic adjustment height is first will identify coal-rock interface.
Coal-Rock Interface Recognition can make coal-winning machine have the ability of automatic tracing coal petrography cut face, not only contributes to guide the automation of coal mining activity under coal mine, improves coal production benefit; And reduce the spoil that must remove and other mineral content in coal separation process.Coal-Rock Interface Recognition technology can be used for manually-operated coal-winning machine and computer-controlled coal-winning machine.Reliably Coal-Rock Interface Recognition system all has advantages of outstandingly aspect economic benefit and safety work two, and it can improve the rate of extraction in coal seam, reduces the content of spoil, ash and sulphur in coal; Improve coal mining activity efficiency; Alleviate equipment attrition; Reduce maintenance of equipment amount and downtime; Due to wear and tear in machines, reduced airborne rock dust content, and can make operating personnel away from dangerous work face.As realizing one of key equipment of coal mining automation, Coal-Rock Interface Recognition system needs further investigation.Therefore carry out the research of coal and rock identify technology, will further improve the operating efficiency of coal road automation driving face.Coal and rock identify technology is one of key technology realizing digging automation, coal and rock identify technology not only can make development machine in operation process, can realize the automatic identification to top board or base plate reliably, but also can realize coal seam to roadway's sides and the identification of rock stratum, and can realize the identification to coal seam dirt band and judge the position of its existence.
Foreign country starts from the beginning of the sixties to the research of coal and rock identify.The method that research in recent years is taked both at home and abroad mainly contains the methods such as gamma-ray detection method, radar detection method, infrared detecting method, active power monitoring method, vibration analysis method, optical detection.
Although Chinese scholars has proposed multiple coal-rock interface detection method, but great majority are still in theoretical and experimental study stage, also do not possess practical value, simultaneously due to various reasons such as the complexity of geological conditions, the scope of application of some practical Coal-Rock Interface Recognition systems is severely limited, and result of use is not good.
The shortcoming of γ back dispersion method is artificial gamma-ray penetration capacity deficiency, is difficult to guarantee and top coal good contact.In addition, in coal, field trash also exists impact to detection accuracy.
The technology comparative maturity of natural Gamma ray method, its advantage is non-cpntact measurement, signal analysis is simple, but the method has following shortcoming: (1) requires to stay certain thickness top coal; (2) the method can not be applicable to top board not containing radioactive element or the lower work plane of radioactive element content, and for example the method is poor for sandstone top board compliance, for China's coal mines, only has the mine of 20% left and right to apply; (3) affected by dirt band amount in coal seam, because content and the gamma Rays intensity of spoil in bastard coal mixture have direct relation, and gamma Rays intensity is very sensitive to distance between probe and bastard coal mixture, therefore the minor variations of distance may cause the variation that gamma Rays intensity is larger, detection accuracy is reduced, therefore for the serious situation of dirt band in coal seam, the method is also difficult to realize coal petrography boundary; (4) be difficult to commercialization, because each fully mechanized coal face has up to a hundred hydraulic supports, the coal let-down degree of each hydraulic support all needs to detect, therefore a fully mechanized coal face just need to be installed up to a hundred natural Gamma ray bastard coal sensors, and the cost of the bastard coal interface identification sensor based on natural Gamma ray is very high.(5) survey meter installation and maintenance inconvenience, puts coal environment on coalface complexity, and survey meter probe positions is difficult for fixing, and bastard coal mixture may block the aperture on steel plate to the impact of tail boom, causes gamma-rays cannot arrive smoothly probe.
Radar detection method is subject to the problem of signal attenuation that high seam causes, the dispersivity impact of coal characteristic is serious, and signal is difficult to detect, and the scope of application of this technology under coal mine is limited.United States Bureau of Mines and then developed a kind of continuous wave Doppler radar technology, for overcoming the caused scattering problems of coal and antenna, the advantage of the method is oneself to know the physical characteristic of coal petrography in advance, the scope of application is wider.Shortcoming is that investigative range is less, and signal attenuation is comparatively serious.The shortcoming of electron spin resonance is that while measuring bastard coal mixing coal seam, accuracy of measurement can decline.
When infrared detecting method runs into coal and rock Protodyakonov coefficient and approaches, be difficult for calculating coal-rock interface.In addition the method can cause temperature and heighten between intercouple.And the geological conditionss such as its None-identified dirt band.
When the limitation of active power monitoring method is that coal and rock Protodyakonov coefficient approach, be difficult to calculate coal petrography boundary.And while only having cut to rock stratum, just can calculate coal-rock interface.
Vibration detection requires coal petrography Protodyakonov coefficient difference large equally, and only has cut to rock stratum, just can calculate coal-rock interface.In addition it is not very good, using general mode identification method effect.The factors such as the vibration signal that United States Bureau of Mines vibration coal-rock interface probe method collects and the method for geologic body mechanical property, mining machines type, pick state and the cut coal of coal-winning machine institute cut are all relevant, and these vibration signals are imported into self-adapting signal discrimination system and vibration signal are classified and identify.United States Bureau of Mines has adopted three cover self-adapting signal discrimination systems to carry out analysis of vibration signal, but these self-adapting signal discrimination systems are not considered the particularity of coal industry field application, all common-mode classification software, therefore, although " cutting coal " and " cutting rock " classification accuracy of two states is obviously inferior to the test of the sample of known type at UNKNOWN TYPE sample.
The shortcoming of dust probe method is, while only having cut cutter rock, could calculate coal-rock interface.
High-pressure water jet-flash spotting result of the test shows, the shower nozzle that diameter is 1.5mm, and when detection 200mm top coal is thick, must pressure 42MPa.The required water flow pressure of increase with coal seam thickness also can increase greatly, and therefore this kind of method has certain requirement for surveyed coal seam thickness.
Other method, for example, utilize acoustic signal to carry out the identification of bastard coal interface, have signals collecting easily, non-cpntact measurement, do not affect the features such as miscellaneous equipment work, simplified technical difficulty, reduced cost.But method require coal and rock medium difference large, and while only having cut to rock stratum, just can calculate coal-rock interface.Colliery subsurface environment is very severe, and the noise that the acoustic signal that bastard coal let-down produces is often excited by environment pollutes, and signal component complexity, has proposed very high requirement to follow-up signal analysis.
Summary of the invention
For the deficiencies in the prior art, the object of this invention is to provide a kind of automatic coal-mining method based on coal-face.
To achieve these goals, one aspect of the present invention provides a kind of automatic coal-mining method based on coal-face, and the method comprises: according to treating that the mining engineering plan of production zone and geotechnical boring data treat the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios described in determining; And coal-winning machine is according to treating that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatically mining operation described in determined.
Other features and advantages of the present invention are described in detail the specific embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for manual, is used from explanation the present invention, but is not construed as limiting the invention with the specific embodiment one below.In the accompanying drawings:
Fig. 1 is according to the flow chart of the automatic coal-mining method based on coal-face of an embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, the specific embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
Fig. 1 is according to the flow chart of the automatic coal-mining method based on coal-face of an embodiment of the invention.As shown in Figure 1, according to an embodiment of the invention, disclose a kind of automatic coal-mining method based on coal-face, the method can comprise:
According to treating the mining engineering plan of production zone and geotechnical boring data, described in determining, treat the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios; And
Coal-winning machine is according to treating that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatically mining operation described in determined.
Treat production zone and carry out geotechnical boring and can obtain geotechnical boring data, can determine the mining engineering plan for the treatment of production zone according to geology borehole data.According to mining engineering plan, can determine coal seam height, coal seam thickness, the layout of coal excavation apparatus (such as support, scraper plate etc.) also can be decided.In addition, according to geology borehole data, can determine boring point coal seam and the separation of floor strata and the separation of coal seam and roof strata.According to mining engineering plan with can determine the upper work plane (being the upper line of demarcation of coal seam and rock stratum) of coal seam and rock stratum and the lower work plane (being the lower line of demarcation of coal seam and rock stratum) of coal seam and rock stratum in conjunction with the borehole data of multiple boring points alternatively.In simple terms, according to mining work plan view, the initial border of coal mining and termination border are confirmable, at this moment just can determine upper work plane and lower work plane.If there is borehole data in border, can also determine upper work plane and lower work plane in conjunction with borehole data.
In an embodiment of the invention, to above-mentioned process, can complete by the mode of modeling.For example, can set up the coal-mining model for coal-winning machine control according to mining engineering plan and the geotechnical boring data for the treatment of production zone, described in this model can comprise, treat the upper parameters of mining face of production zone, lower parameters of mining face, coal seam height parameter, coal seam thickness parameter and coal excavation apparatus arrangement parameter.
Set up after coal-mining model, coal-winning machine can carry out automatically mining operation based on this coal-mining model.Owing to having set up in advance coal-mining model, coal-winning machine can be according to this model from starting to carry out coal cutting along up/down work plane.
In the process of coal cutting, can revise the cutting track of coal-winning machine cutting drum.In other words, can revise the up/down work plane in coal-mining model.Some embodiments of correction in this paper below.
The first embodiment can be revised upper work plane, comprising:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, with cutting track, described upper work plane is revised, to be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
Alternatively or additionally, can revise lower work plane, comprise:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, with cutting track, described lower work plane is revised, to be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
In the first embodiment, correction can adopt conventional curve-fitting method.To revise upper work plane as example, for any point-of-interest on cutting track, if judge that this point-of-interest is in coal seam, and this point is arranged in the below of work plane corresponding points, retains the corresponding points in upper work plane, ignores this point-of-interest; If this point-of-interest is in coal seam, and this point is arranged in the top of work plane corresponding points, retain this point-of-interest, ignore corresponding points; If judge that this point-of-interest is in rock stratum, and this point is arranged in the below of work plane corresponding points, retains this point-of-interest, ignores this corresponding points; If this point-of-interest is in rock stratum, and this point is arranged in the top of work plane corresponding points, retain corresponding points, ignore this point-of-interest.Be appreciated that point-of-interest refers to respectively the crossing intersection point of cutting track and upper work plane and same vertical curve with corresponding points here.
The method of revising lower work plane is similar to the method for revising upper work plane, repeats no more.
After above-mentioned processing, the point of reservation can be linked up with line, to obtain revised up/down work plane.
Above-mentioned just schematic to the modification method of upper work plane, and the scope of unrestricted our face.It may occur to persons skilled in the art that and can also to two lines, carry out matching by other method.
The second embodiment can be revised upper work plane, comprising:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, determine whether to revise described upper work plane;
If determine and need to revise described upper work plane, according to described judged result, described upper work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised upper work plane, and records the cutting track of coal-winning machine cutting drum.
Alternatively or additionally, can revise lower work plane, comprise:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, determine whether to revise described lower work plane;
If determine and need to revise described lower work plane, according to judged result, described lower work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised lower work plane, and records the cutting track of coal-winning machine cutting drum.
The second embodiment can be manually to revise, namely by people according to upper under judged result manual correction/work plane or revise the parameter relevant with up/down work plane in coal-mining model.
In the first and the second embodiment, judge that the method for point-of-interest in which kind of location status can have a variety of.For example, in, can be by the following method any one or multiple combination determine point-of-interest is in which kind of location status:
1, analyze the coal petrography ratio that cut gets off; This method can be passed through gateway belt on-line element analysis of coal, and the weight change of for example measuring the coal (being likely rock or coal petrography mixture) on gateway belt judges that point-of-interest is arranged in coal seam or rock stratum (this is different from the density of rock based on coal).
2, the running parameter state of coal-winning machine is analyzed to judgement, determine whether to cut rock stratum; The running parameter of coal-winning machine for example has electric current, voltage, power etc.Because density or the quality of coal and rock are different, the resistance bringing to coal-winning machine has difference, and when therefore coal-winning machine cuts coal and cutting rock, the power of voltage, electric current or consumption may have difference.Therefore can judge that point-of-interest is arranged in coal seam or rock stratum according to the variation of the coal-winning machine running parameters such as electric current, voltage, power
By the coal petrography boundary situation on artificial supervision coal-winning machine travel track.This mode is the most direct mode, can directly observe by people's naked eyes.
The third embodiment need to be used coal and rock identify device.This coal and rock identify device can be existing for identifying the device of coal seam and rock stratum, and it can for example use image technique, infrared technique etc.Coal and rock identify device can be arranged on coal-winning machine, follows coal-winning machine and moves together.Or the work plane along coal-winning machine is arranged.
In this embodiment, a cutting drum of coal-winning machine cuts along described upper work plane, and coal and rock identify device is identified coal seam and rock stratum near described upper work plane simultaneously;
Often cut a cutter coal, according to the recognition result of described coal and rock identify device, be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
Alternatively or additionally, a cutting drum of coal-winning machine cuts along described lower work plane, coal and rock identify device is identified coal seam and rock stratum near described lower work plane simultaneously;
Often cut a cutter coal, according to the recognition result of described coal and rock identify device, be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
Specifically, above work plane is example, at coal-winning machine cutting drum, carries out in the process of coal cutting, and cylinder often cut one section, is positioned at the coal and rock identify device of arranging on coal-winning machine or along upper work plane and just can identifies the coal petrography line of demarcation of upper work plane at this section.When after the complete cutter coal of coal mining machine cut, (for example treating apparatus) can determine coal petrography line of demarcation according to the recognition result of coal and rock identify device, can set it as the cutting path of cutting off a cutter coal.Because coal-winning machine is generally back and forth reciprocating coal cutting, often cut a cutter, can determine according to the recognition result of coal and rock identify device the cutting path of next cutter.
The situation to upper work plane to lower work plane identification is similar, repeats no more.
In interchangeable embodiment, the method can also comprise the duty of using Video Supervision Technique to monitor coal-winning machine.Even according to said method provided by the invention, coal-winning machine can carry out cutting process automatically.But scene is monitored also and is necessary.
The automatic coal-mining method based on coal-face that embodiments of the present invention provide, utilizes mining engineering plan and geotechnical boring data to set up the coal-mining model for coal-winning machine control.Also proposed in addition the up/down work plane of coal-mining model to revise, made coal-winning machine coal mining efficiency higher, more economical.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment, in reconcilable situation, can combine by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible combinations.
In addition, between various embodiment of the present invention, also can be combined, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.

Claims (9)

1. the automatic coal-mining method based on coal-face, the method comprises:
According to treating the mining engineering plan of production zone and geotechnical boring data, described in determining, treat the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios; And
Coal-winning machine is according to treating that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatically mining operation described in determined.
2. method according to claim 1, wherein, coal-winning machine carries out automatically mining to operate comprising:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, with cutting track, described upper work plane is revised, to be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
3. method according to claim 1, wherein, coal-winning machine carries out automatically mining to operate comprising:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, with cutting track, described lower work plane is revised, to be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
4. method according to claim 1, wherein, coal-winning machine carries out automatically mining to operate comprising:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, determine whether to revise described upper work plane;
If determine and need to revise described upper work plane, according to described judged result, described upper work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised upper work plane, and records the cutting track of coal-winning machine cutting drum.
5. method according to claim 1, wherein, coal-winning machine carries out automatically mining to operate comprising according to described coal-mining model:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judged the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result, determine whether to revise described lower work plane;
If determine and need to revise described lower work plane, according to judged result, described lower work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised lower work plane, and records the cutting track of coal-winning machine cutting drum.
6. according to the method described in any one in claim 2 to 5, the location status that wherein judges the multiple point-of-interests on described cutting track is that any one or multiple combination by the following method determined:
Analyze the coal petrography ratio that cut gets off;
Running parameter state to coal-winning machine is analyzed judgement, determines whether to cut rock stratum; Or
By the coal petrography boundary situation on artificial supervision coal-winning machine travel track.
7. method according to claim 1, the method also comprises the duty of using Video Supervision Technique to monitor coal-winning machine.
8. method according to claim 1, wherein, coal-winning machine carries out automatically mining to operate comprising:
A cutting drum of coal-winning machine cuts along described upper work plane, and coal and rock identify device is identified coal seam and rock stratum near described upper work plane simultaneously;
Often cut a cutter coal, according to the recognition result of described coal and rock identify device, be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
9. method according to claim 1, wherein, coal-winning machine carries out automatically mining to operate comprising:
A cutting drum of coal-winning machine cuts along described lower work plane, and coal and rock identify device is identified coal seam and rock stratum near described lower work plane simultaneously;
Often cut a cutter coal, according to the recognition result of described coal and rock identify device, be identified for the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
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CN106089201A (en) * 2016-04-26 2016-11-09 山东科技大学 A kind of cut paths planning method for unmanned coal-face
CN107676095A (en) * 2017-11-01 2018-02-09 天地科技股份有限公司 High seam top coal caving device and method
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CN109060145A (en) * 2018-08-27 2018-12-21 山西焦煤集团岚县正利煤业有限公司 A kind of Coal-Rock Interface Recognition system for simulating downhole coal mine cutting
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CN111764902A (en) * 2020-08-05 2020-10-13 天地科技股份有限公司 Intelligent coal caving control method for fully-mechanized top coal caving working face
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CN112668109A (en) * 2020-11-30 2021-04-16 中煤科工开采研究院有限公司 Method for establishing fully mechanized coal mining face cutting route model
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CN113027505A (en) * 2021-05-24 2021-06-25 天津美腾科技股份有限公司 Multi-hydraulic support control method and device and multi-hydraulic support control system
CN113339074A (en) * 2021-07-16 2021-09-03 国能神东煤炭集团有限责任公司 Fully-mechanized coal mining face coal rock identification and detection system

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