CN112096384A - Fully-mechanized caving mining coal and gangue mixing degree monitoring system, and coal caving control method and system - Google Patents
Fully-mechanized caving mining coal and gangue mixing degree monitoring system, and coal caving control method and system Download PDFInfo
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- CN112096384A CN112096384A CN202011045864.7A CN202011045864A CN112096384A CN 112096384 A CN112096384 A CN 112096384A CN 202011045864 A CN202011045864 A CN 202011045864A CN 112096384 A CN112096384 A CN 112096384A
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- gangue
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Abstract
The invention discloses a fully mechanized caving mining coal and gangue mixing degree monitoring system, and a coal caving control method and system. Through taking pictures before and after the disturbance of the coal gangue accumulation body, the internal mixing degree of the coal gangue can be effectively identified, so that the best opportunity for closing the coal discharge port is determined, and the method has the advantages of improving the top coal extraction rate and reducing excessive mixing of the gangue.
Description
Technical Field
The invention relates to the technical field of fully mechanized caving mining, in particular to a fully mechanized caving mining coal gangue mixing degree monitoring system, a coal caving control method and a coal caving control system.
Background
Fully mechanized caving mining is one of the main methods for mining thick coal seams, is rapidly developed in recent years, and obtains remarkable technical and economic benefits in coal mine production. The fully mechanized caving mining is one of the main methods for mining the thick coal seam, and needs to be continuously improved and innovated in the aspects of production efficiency, mining rate, level of matched equipment and the like.
However, in the face of new technical requirements, in the existing fully-mechanized caving mining technology, in the top coal caving process, due to repeated disturbance of a coal rock interface, gangue in a goaf is easy to mix into a scattered coal flow in advance, the situation that a coal caving plate is closed too early often occurs in field operation, the top coal mining rate is low, and a large amount of top coal is lost, the current situation is against the aim of high-efficiency and high-recovery rate development of coal resources, too much gangue is mixed into the coal caving port after the closing time of the coal caving port is too late, and the coal quality is affected, so that the appropriate closing time of the coal caving port is particularly important.
Disclosure of Invention
The invention aims to provide a fully mechanized caving mining coal and gangue mixing degree monitoring system, a coal caving control method and a fully mechanized caving mining coal and gangue mixing degree monitoring system, which have the advantages of improving the top coal mining rate and reducing excessive gangue mixing.
In order to achieve the purpose, the invention provides the following scheme:
a fully mechanized caving mining coal gangue degree of mixing monitoring system includes:
the device comprises a hydraulic support group, a scraper conveyor, a control device, a plurality of camera devices and a plurality of turbulence devices; the hydraulic support group comprises a plurality of hydraulic supports with numbers;
the scraper conveyor is arranged below a coal discharge port of the hydraulic support and is used for conveying coal gangue falling through the coal discharge port;
the fixed end of the turbulence device is arranged on the first side of the scraper conveyor, the movable end of the turbulence device is arranged on the second side of the scraper conveyor in a working state, and the movable end of the turbulence device is arranged on the first side of the scraper conveyor in a non-working state; the positions of the turbulence devices correspond to the positions of the odd-numbered hydraulic supports except the first hydraulic support respectively, and the turbulence devices are used for disturbing the coal and gangue accumulation body and changing the space state of the coal and gangue accumulation body;
the plurality of camera devices are respectively arranged on the hydraulic supports with even numbers, and the camera devices are used for shooting space state diagrams of the coal and gangue accumulation bodies before and after disturbance;
the control device is respectively connected with the hydraulic support, the camera device and the flow disturbing device; the control device is used for controlling the opening and closing of the hydraulic support coal discharging plate according to the space state diagram of the coal and gangue accumulation bodies before and after the disturbance shot by the camera device, and the control device is also used for controlling the opening and closing of the camera device and controlling the state switching of the turbulence device.
Optionally, the hydraulic support specifically includes:
the device comprises a top beam, a base, a top beam jack, a shield beam, a tail beam and a shield beam jack;
the top beam jack is arranged between the top beam and the base, one end of the top beam jack is arranged on the lower surface of the top beam, and the other end of the top beam jack is arranged on the upper surface of the base; one side of the shield beam is connected with the top beam, and the other side of the shield beam is rotatably connected with the tail beam; one side of the shield beam jack is connected with the base, and the other side of the shield beam jack is connected with the lower surface of the shield beam.
Optionally, the plurality of cameras are respectively arranged on the shield beam jacks of the hydraulic supports with even numbers.
Optionally, the scraper conveyor specifically includes:
the scraper chain is positioned in a groove of the ledge steel.
The invention also provides a coal caving control method, which is applied to the fully mechanized caving mining coal gangue mixing degree monitoring system and comprises the following steps:
acquiring the serial number of the hydraulic support in a working state;
starting a camera device and a turbulence device which are matched with the serial number of the hydraulic support in the working state;
acquiring a space state diagram of the coal and gangue accumulation body transmitted by a camera device and before being disturbed by the disturbing flow device and a space state diagram of the coal and gangue accumulation body after being disturbed by the disturbing flow device;
and monitoring the mixing degree of the fully mechanized caving mining coal and gangue according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance, and controlling the closing time of the hydraulic support in the working state according to the monitoring result.
Optionally, after the controlling the closing time of the hydraulic support in the working state according to the monitoring result, the method further includes:
acquiring a coal discharge plate closing instruction of the hydraulic support in the working state;
when the command of closing the coal discharging plate is received, judging whether the hydraulic support is a tail end hydraulic support according to the number of the hydraulic support in the working state, and obtaining a first judgment result;
if the first judgment result is yes, stopping the coal caving operation;
and if the first judgment result is negative, starting the next hydraulic support, and returning to the step of acquiring the serial number of the hydraulic support in the working state.
Optionally, the starting of the camera device and the spoiler device matched with the serial number of the hydraulic support in the working state specifically includes:
judging whether the serial number of the hydraulic support in the working state is an odd number or an even number to obtain a second judgment result;
if the second judgment result is an odd number, starting a camera device on the hydraulic support with the number of N +1, a turbulence device corresponding to the hydraulic support with the number of N +2 and a camera device on the hydraulic support with the number of N + 3; wherein N is the serial number of the hydraulic support in the working state;
if the second judgment result is an even number, starting a camera device on the hydraulic support with the number of N +2, a turbulence device corresponding to the hydraulic support with the number of N +3 and a camera device on the hydraulic support with the number of N + 4; and N is the number of the hydraulic support in the working state.
Optionally, the monitoring of the degree of mixing of fully-mechanized caving mining coal and gangue according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance, and controlling the closing time of the hydraulic support in the working state according to the monitoring result specifically include:
determining the mixing degree of the actual coal and gangue accumulation body according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance;
comparing the absolute value of the difference value between the mixing degree of the actual coal gangue accumulation body and the preset mixing degree with a preset threshold value to obtain a third judgment result;
if the third judgment result is that the absolute value of the difference value is smaller than or equal to a preset threshold value, controlling the hydraulic support in the working state to close the coal discharge plate;
and if the third judgment result is that the absolute value of the difference is larger than the preset threshold, returning to the step of determining the mixing degree of the actual coal and gangue accumulation body according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance.
The invention also provides a system for controlling coal caving, comprising:
the number acquisition module is used for acquiring the number of the hydraulic support in the working state;
the camera device and turbulence device opening module is used for opening the camera device and the turbulence device which are matched with the serial number of the hydraulic support in the working state;
the device comprises a space state diagram acquisition module of the coal and gangue accumulation body, a disturbance device and a storage module, wherein the space state diagram acquisition module is used for acquiring a space state diagram of the coal and gangue accumulation body transmitted by a camera device before disturbance by the disturbance device and a space state diagram of the coal and gangue accumulation body after disturbance by the disturbance device;
and the closing time determining module of the hydraulic support is used for monitoring the mixing degree of fully-mechanized caving mining coal and gangue according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance, and controlling the closing time of the hydraulic support in the working state according to the monitoring result.
Optionally, the method further includes:
the coal discharge plate closing instruction acquisition module is used for acquiring a coal discharge plate closing instruction of the hydraulic support in the working state;
the tail end hydraulic support judging module is used for judging whether the hydraulic support in the working state is a tail end hydraulic support according to the serial number of the hydraulic support in the working state when the command of closing the coal discharge plate is received, and obtaining a first judgment result; if the first judgment result is yes, executing a coal caving stopping operation module; if the first judgment result is negative, executing a switching module;
the switching module is used for starting the next hydraulic support and executing the serial number acquisition module;
and the coal caving stopping operation module is used for stopping the coal caving operation.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a monitoring system for the mixing degree of coal and gangue in fully mechanized caving mining, a method and a system for controlling coal caving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a fully mechanized caving mining coal gangue mixing degree monitoring system in the embodiment of the invention;
FIG. 2 is a schematic view of a hydraulic support group in a non-coal-discharging state according to an embodiment of the present invention;
FIG. 3 is a schematic view of a hydraulic support set in a coal caving state according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a hydraulic mount according to an embodiment of the present invention;
FIG. 5 is a top view of a scraper conveyor in an embodiment of the invention;
FIG. 6 is a cross-sectional view of a scraper conveyor in an embodiment of the invention;
FIG. 7 is a flow chart of a method for controlling coal caving in accordance with an embodiment of the present invention;
FIG. 8 is a block diagram of a coal caving control system in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a fully mechanized caving mining coal and gangue mixing degree monitoring system, a coal caving control method and a fully mechanized caving mining coal and gangue mixing degree monitoring system, which have the advantages of improving the top coal mining rate and reducing excessive gangue mixing.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Examples
Fig. 1 is a schematic structural diagram of a fully-mechanized caving mining coal and gangue mixing degree monitoring system in an embodiment of the invention, fig. 2 is a schematic diagram of a hydraulic support group in a non-caving state in an embodiment of the invention, fig. 3 is a schematic diagram of a hydraulic support group in a caving state in an embodiment of the invention, and as shown in fig. 1-3, the fully-mechanized caving mining coal and gangue mixing degree monitoring system comprises: the device comprises a hydraulic support group 1, a scraper conveyor 2, a control device, a plurality of camera devices 3 and a plurality of turbulence devices (4-1 is a turbulence device in a working state, and 4-2 is a turbulence device in a non-working state). The hydraulic support group comprises a plurality of hydraulic supports with numbers.
The scraper conveyor is arranged below the coal discharge port of the hydraulic support and used for conveying coal gangue falling from the coal discharge port. The fixed end of the turbulence device is arranged on the first side of the scraper conveyor, the movable end of the turbulence device is positioned on the second side of the scraper conveyor in a working state, and the movable end of the turbulence device is positioned on the first side of the scraper conveyor in a non-working state; the positions of the turbulence devices correspond to the positions of the hydraulic supports with odd numbers except the first hydraulic support respectively, and the turbulence devices are used for disturbing the coal and gangue accumulation body and changing the space state of the coal and gangue accumulation body. The plurality of camera devices are respectively arranged on the hydraulic supports with even numbers, and the camera devices are used for shooting space state diagrams of the coal and gangue accumulation bodies before and after disturbance. The control device is respectively connected with the hydraulic support, the camera device and the flow disturbing device; the control device is used for controlling the opening and closing of the hydraulic support coal discharging plate according to the space state diagram of the coal and gangue accumulation body before and after the disturbance shot by the camera device, and the control device is also used for controlling the opening and closing of the camera device and controlling the state switching of the turbulence device.
Fig. 4 is a schematic structural view of a hydraulic support, and as shown in fig. 4, the hydraulic support specifically includes: top beam 5, base 6, top beam jack 7, shield beam 8, tail beam 9 and shield beam jack 10. The top beam jack is arranged between the top beam and the base, one end of the top beam jack is arranged on the lower surface of the top beam, and the other end of the top beam jack is arranged on the upper surface of the base; one side of the shield beam is connected with the top beam, and the other side of the shield beam is rotatably connected with the tail beam; one side of the shield beam jack is connected with the base, and the other side of the shield beam jack is connected with the lower surface of the shield beam. Wherein, a plurality of camera devices are respectively arranged on the shield beam jack of the hydraulic support with even number. The tail beam shields the scraper conveyor when the hydraulic support is in a non-working state, so that the coal gangue is positioned on the upper surfaces of the shield beam and the tail beam; the tail beam rotates when the hydraulic support is in a working state, so that the coal gangue falls to the scraper conveyor.
Fig. 5 is a plan view of the scraper conveyor, fig. 6 is a sectional view (along a-a direction in fig. 5) of the scraper conveyor, and as shown in fig. 5-6, the scraper conveyor specifically includes: ledge steel 11 and scraper chain 12, the scraper chain is located in the groove of the ledge steel. The flow disturbing device comprises a flow disturbing body 13 and a locking device, the flow disturbing body is of a columnar structure, one end of the flow disturbing body is fixedly connected with a fixing device 14-1 on the first side of the ledge steel, the other end of the flow disturbing body is movably connected with a first locking device 14-2 on the second side of the ledge steel when the flow disturbing device is in a working state, the other end of the flow disturbing body is movably connected with a second locking device 14-3 on the first side of the ledge steel when the flow disturbing device is in a non-working state,
fig. 7 is a flowchart of a coal caving control method, and as shown in fig. 7, the coal caving control method provided by the invention comprises the following steps:
step 101: and acquiring the serial number of the hydraulic support in the working state.
Step 102: and starting the camera device and the turbulence device which are matched with the serial number of the hydraulic support in the working state.
judging whether the serial number of the hydraulic support in the working state is an odd number or an even number to obtain a second judgment result;
if the second judgment result is an odd number, starting a camera device on the hydraulic support with the number of N +1, a turbulence device corresponding to the hydraulic support with the number of N +2 and a camera device on the hydraulic support with the number of N + 3; wherein N is the serial number of the hydraulic support in the working state;
if the second judgment result is an even number, starting a camera device on the hydraulic support with the number of N +2, a turbulence device corresponding to the hydraulic support with the number of N +3 and a camera device on the hydraulic support with the number of N + 4; and N is the number of the hydraulic support in the working state.
Step 103: and acquiring a space state diagram of the coal and gangue accumulation body transmitted by the camera device before the disturbance of the turbulence device and a space state diagram of the coal and gangue accumulation body after the disturbance of the turbulence device.
Step 104: and monitoring the mixing degree of the fully mechanized caving mining coal and gangue according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance, and controlling the closing time of the hydraulic support in the working state according to the monitoring result.
determining the mixing degree of the actual coal and gangue accumulation body according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance;
comparing the absolute value of the difference value between the mixing degree of the actual coal and gangue accumulation body and the preset mixing degree with a preset threshold value to obtain a third judgment result;
if the third judgment result is that the absolute value of the difference value is smaller than or equal to the preset threshold value, controlling the hydraulic support in the working state to close the coal discharging plate;
and if the third judgment result is that the absolute value of the difference is larger than the preset threshold, returning to the step of determining the mixing degree of the actual coal and gangue accumulation body according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance.
Step 105: and acquiring a closing coal discharge plate command of the hydraulic support in the working state.
Step 106: when a command of closing the coal discharging plate is received, judging whether the hydraulic support is a tail end hydraulic support according to the number of the hydraulic support in the working state, and obtaining a first judgment result; if the first determination result is negative, go to step 107; if the first determination result is yes, step 108 is executed.
Step 107: and opening the next hydraulic support, closing the camera device and the spoiler device in the opening state, and returning to the step 101.
Step 108: stopping the coal discharging operation.
In particular, the method comprises the following steps of,
1) the hydraulic supports of the fully mechanized mining face are numbered as No. 1, No. 2, No. 3, …, No. N, No. N +1 in sequence, N is an integer not less than 1, and the cameras and the disturbance devices located below the hydraulic supports are also numbered.
2) When the coal discharging plate of the bracket No. 1 is opened to discharge coal, the camera No. 2 and the camera No. 4 and the turbulence device No. 3 are activated to enter a working state, the camera No. 2 and the camera No. 4 can continuously shoot photos at a certain frequency to analyze the mixing degree of the coal and the gangue, the space state of a coal and gangue accumulation body after being disturbed by the turbulence device No. 3 can be changed, the mixing degree of the coal and gangue obtained by the photos shot by the camera No. 2 and the camera No. 4 is comprehensively analyzed and calculated to finally obtain the mixing degree close to a real coal and gangue accumulation body, when the mixing degree reaches an optimal value, the bracket No. 1 is closed, the camera No. 2 and the camera No. 4 stop working, the turbulence device No. 3 stops working and returns to a non-working position, and analogizes in sequence, when the coal discharging plate of the bracket No. N is opened to discharge coal, the camera No. N +1, the camera No. N +3 and the turbulence device No. N +2 are activated to enter a working state, Camera and disturbance device. The invention ensures that the coal discharging plates of the hydraulic supports are opened to discharge coal in sequence, thereby preventing the coal quality from being influenced by excessive gangue mixing and effectively preventing resource waste and economic loss caused by closing the coal discharging port too early.
Further, when opening No. 1, No. 2 hydraulic support's board of putting coal, activate No. 4 simultaneously, No. 6 cameras and No. 5 vortex devices get into operating condition, No. 4 and No. 6 cameras can constantly take the photo analysis its coal gangue mixture degree with certain frequency, coal gangue accumulation body space state after No. 5 vortex device disturbance can change, the coal gangue mixture degree comprehensive analysis that reachs the photo that 4 and No. 6 cameras were taken calculates, finally reachs the degree of mixing that is closer to true coal gangue accumulation body, reach the optimum value when its degree of mixing, then close No. 1, 2 supports, No. 4 and No. 6 cameras stop working simultaneously, No. 5 device stop working and return vortex non-operating position, analogize in proper order.
Fig. 8 is a structural diagram of a coal caving control system, and as shown in fig. 8, the coal caving control system provided by the invention comprises:
a number obtaining module 201, configured to obtain a number of a hydraulic support in a working state;
the camera device and turbulence device starting module 202 is used for starting the camera device and the turbulence device which are matched with the serial number of the hydraulic support in the working state;
the space state diagram acquisition module 203 of the coal and gangue accumulation body is used for acquiring a space state diagram of the coal and gangue accumulation body transmitted by the camera device before being disturbed by the spoiler device and a space state diagram of the coal and gangue accumulation body after being disturbed by the spoiler device;
and the closing time determining module 204 of the hydraulic support is used for monitoring the mixing degree of fully-mechanized caving mining coal and gangue according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance, and controlling the closing time of the hydraulic support in a working state according to the monitoring result.
A coal discharge plate closing instruction obtaining module 205, configured to obtain a coal discharge plate closing instruction of the hydraulic support in a working state;
the tail end hydraulic support judging module 206 is used for judging whether the tail end hydraulic support is the tail end hydraulic support according to the number of the hydraulic support in the working state when the command of closing the coal discharging plate is received, and obtaining a first judgment result; if the first judgment result is yes, the coal caving stopping operation module 208 is executed; if the first determination result is negative, the switching module 207 is executed.
And the switching module 207 is used for starting the next hydraulic support and executing the number acquisition module 201.
A stop coal discharge operation module 208 for stopping the coal discharge operation.
For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (10)
1. The utility model provides a combine and put mining coal gangue degree of mixing monitoring system which characterized in that includes:
the device comprises a hydraulic support group, a scraper conveyor, a control device, a plurality of camera devices and a plurality of turbulence devices; the hydraulic support group comprises a plurality of hydraulic supports with numbers;
the scraper conveyor is arranged below a coal discharge port of the hydraulic support and is used for conveying coal gangue falling through the coal discharge port;
the fixed end of the turbulence device is arranged on the first side of the scraper conveyor, the movable end of the turbulence device is arranged on the second side of the scraper conveyor in a working state, and the movable end of the turbulence device is arranged on the first side of the scraper conveyor in a non-working state; the positions of the turbulence devices correspond to the positions of the odd-numbered hydraulic supports except the first hydraulic support respectively, and the turbulence devices are used for disturbing the coal and gangue accumulation body and changing the space state of the coal and gangue accumulation body;
the plurality of camera devices are respectively arranged on the hydraulic supports with even numbers, and the camera devices are used for shooting space state diagrams of the coal and gangue accumulation bodies before and after disturbance;
the control device is respectively connected with the hydraulic support, the camera device and the flow disturbing device; the control device is used for controlling the opening and closing of the hydraulic support coal discharging plate according to the space state diagram of the coal and gangue accumulation bodies before and after the disturbance shot by the camera device, and the control device is also used for controlling the opening and closing of the camera device and controlling the state switching of the turbulence device.
2. The fully mechanized caving mining gangue mixing degree monitoring system according to claim 1, wherein the hydraulic support specifically comprises:
the device comprises a top beam, a base, a top beam jack, a shield beam, a tail beam and a shield beam jack;
one end of the top beam jack is arranged on the lower surface of the top beam, and the other end of the top beam jack is arranged on the upper surface of the base; one side of the shield beam is connected with the top beam, and the other side of the shield beam is rotatably connected with the tail beam; one side of the shield beam jack is connected with the base, and the other side of the shield beam jack is connected with the lower surface of the shield beam.
3. The system for monitoring the degree of mixing of fully mechanized caving mining coal and gangue according to claim 2, wherein a plurality of the cameras are respectively arranged on shield beam jacks of even-numbered hydraulic supports.
4. The fully mechanized caving mining gangue mixing degree monitoring system according to claim 3, wherein the scraper conveyor specifically comprises:
the scraper chain is positioned in a groove of the ledge steel.
5. A coal caving control method is applied to the fully mechanized caving mining gangue mixing degree monitoring system according to any one of claims 1 to 4, and is characterized by comprising the following steps:
acquiring the serial number of the hydraulic support in a working state;
starting a camera device and a turbulence device which are matched with the serial number of the hydraulic support in the working state;
acquiring a space state diagram of the coal and gangue accumulation body transmitted by a camera device and before being disturbed by the disturbing flow device and a space state diagram of the coal and gangue accumulation body after being disturbed by the disturbing flow device;
and monitoring the mixing degree of the fully mechanized caving mining coal and gangue according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance, and controlling the closing time of the hydraulic support in the working state according to the monitoring result.
6. The method for controlling coal caving according to claim 5, wherein after said controlling the closing time of said hydraulic support in working state according to the monitoring result, further comprising:
acquiring a coal discharge plate closing instruction of the hydraulic support in the working state;
when the command of closing the coal discharging plate is received, judging whether the hydraulic support is a tail end hydraulic support according to the number of the hydraulic support in the working state, and obtaining a first judgment result;
if the first judgment result is yes, stopping the coal caving operation;
and if the first judgment result is negative, starting the next hydraulic support, and returning to the step of acquiring the serial number of the hydraulic support in the working state.
7. The method for controlling coal caving according to claim 6, wherein the turning on of the image pickup device and the spoiler device matched with the number of the hydraulic support in the working state specifically comprises:
judging whether the serial number of the hydraulic support in the working state is an odd number or an even number to obtain a second judgment result;
if the second judgment result is an odd number, starting a camera device on the hydraulic support with the number of N +1, a turbulence device corresponding to the hydraulic support with the number of N +2 and a camera device on the hydraulic support with the number of N + 3; wherein N is the serial number of the hydraulic support in the working state;
if the second judgment result is an even number, starting a camera device on the hydraulic support with the number of N +2, a turbulence device corresponding to the hydraulic support with the number of N +3 and a camera device on the hydraulic support with the number of N + 4; and N is the number of the hydraulic support in the working state.
8. The method for controlling coal discharge according to claim 7, wherein the monitoring of the degree of mixing of fully-mechanized coal mining and the gangue according to the space state diagram of the gangue dump before disturbance and the space state diagram of the gangue dump after disturbance, and controlling the closing time of the hydraulic support in the working state according to the monitoring result specifically comprises:
determining the mixing degree of the actual coal and gangue accumulation body according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance;
comparing the absolute value of the difference value between the mixing degree of the actual coal gangue accumulation body and the preset mixing degree with a preset threshold value to obtain a third judgment result;
if the third judgment result is that the absolute value of the difference value is smaller than or equal to a preset threshold value, controlling the hydraulic support in the working state to close the coal discharge plate;
and if the third judgment result is that the absolute value of the difference is larger than the preset threshold, returning to the step of determining the mixing degree of the actual coal and gangue accumulation body according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance.
9. A controlled coal caving system comprising:
the number acquisition module is used for acquiring the number of the hydraulic support in the working state;
the camera device and turbulence device opening module is used for opening the camera device and the turbulence device which are matched with the serial number of the hydraulic support in the working state;
the device comprises a space state diagram acquisition module of the coal and gangue accumulation body, a disturbance device and a storage module, wherein the space state diagram acquisition module is used for acquiring a space state diagram of the coal and gangue accumulation body transmitted by a camera device before disturbance by the disturbance device and a space state diagram of the coal and gangue accumulation body after disturbance by the disturbance device;
and the closing time determining module of the hydraulic support is used for monitoring the mixing degree of fully-mechanized caving mining coal and gangue according to the space state diagram of the coal and gangue accumulation body before disturbance and the space state diagram of the coal and gangue accumulation body after disturbance, and controlling the closing time of the hydraulic support in the working state according to the monitoring result.
10. The controlled coal caving system of claim 9, further comprising:
the coal discharge plate closing instruction acquisition module is used for acquiring a coal discharge plate closing instruction of the hydraulic support in the working state;
the tail end hydraulic support judging module is used for judging whether the hydraulic support in the working state is a tail end hydraulic support according to the serial number of the hydraulic support in the working state when the command of closing the coal discharge plate is received, and obtaining a first judgment result; if the first judgment result is yes, executing a coal caving stopping operation module; if the first judgment result is negative, executing a switching module;
the switching module is used for starting the next hydraulic support and executing the serial number acquisition module;
and the coal caving stopping operation module is used for stopping the coal caving operation.
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