CN113279755A - Automatic control method and system for coal mining process - Google Patents

Automatic control method and system for coal mining process Download PDF

Info

Publication number
CN113279755A
CN113279755A CN202110726265.XA CN202110726265A CN113279755A CN 113279755 A CN113279755 A CN 113279755A CN 202110726265 A CN202110726265 A CN 202110726265A CN 113279755 A CN113279755 A CN 113279755A
Authority
CN
China
Prior art keywords
coal mining
mining machine
coal
cutting
preset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110726265.XA
Other languages
Chinese (zh)
Inventor
闫东
华贤兵
李梦菲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Meike Information Technology Co.,Ltd.
Tiandi Shanghai Mining Equipment Technology Co Ltd
Original Assignee
Shanghai Meike Information Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Meike Information Technology Co ltd filed Critical Shanghai Meike Information Technology Co ltd
Priority to CN202110726265.XA priority Critical patent/CN113279755A/en
Publication of CN113279755A publication Critical patent/CN113279755A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • 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
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/18—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms
    • 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
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/26—Hydraulic or pneumatic control
    • 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
    • E21F17/04—Distributing means for power supply in mines
    • E21F17/08—Distributing hydraulic power; Pipe networks for hydraulic liquid
    • 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 provides an automatic control method and system for a coal mining process, wherein in the manual coal cutting process, two paths of geographic position information and geological information are correspondingly connected with coal cutting parameters, a coal cutting parameter lookup table is created for flexibly selecting the coal cutting parameters in the subsequent automatic coal cutting process according to an actual advancing path and the actual geological parameters, and the automatic coal cutting process with high safety and high accuracy is realized; in the automatic coal cutting process, the execution of the coal cutting result and the coal cutting parameters are monitored in real time, and if abnormity exists, the coal cutting result is reported immediately, even the operation is stopped, so that the safety of the coal cutting process is guaranteed; the travel path curve can be obtained through an inertial navigation system arranged in the coal mining machine, whether the coal mining surface of the coal mining machine is a straight line or not is judged, if not, the coal mining surface is adjusted in time to enable the coal mining surface to perform coal mining operation on the same straight line, and the situations of low coal mining efficiency and mutual interference of all coal mining paths caused by bending of the coal mining surface are prevented.

Description

Automatic control method and system for coal mining process
Technical Field
The invention relates to the technical field of coal mine fully mechanized mining, in particular to an automatic control method and system for a coal mining process.
Background
The high-efficiency intensive production of coal is the development direction of the coal industry, and the adoption of advanced mining technology and equipment is the core of the high-efficiency intensive production of mines. The new development situation of the coal industry puts higher updating requirements on coal mine equipment, the coal production is intensified, the coal mine equipment is required to be developed towards the direction of complete set and high reliability, and the safety production of the coal process has increased requirements on the automatic, intelligent and informationized coal mine equipment.
The realization of the automatic mining technology of few people and no people is a research hotspot of the mining world at present, the technologies of the United states and Australia are positioned at the front of the world, and the automation of 'three machines' and the real-time monitoring of underground environment safety information are realized in the 80 s of the 20 th century. In the early 90 s, canada began to study remote mining technologies, and finland also announced intelligent mining solutions. The high-yield and high-efficiency technology of the main coal producing countries in the world is rapidly developed, and the automation technology of the fully mechanized mining face is generated. The hydraulic support is used as important supporting equipment of the fully mechanized coal mining face, and the automation degree of the hydraulic support directly influences the high yield, high efficiency and the automation degree of the fully mechanized coal mining face.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide an automatic control method and system for a coal mining process, which have the advantages of high automation degree, high efficiency and high safety.
The invention discloses an automatic control method for a coal mining process, which comprises the following steps:
continuously acquiring geographical position information of a coal mining path by taking a first preset distance as an interval in a coal mining advancing process of manual operation of a coal mining machine, storing externally input cutting parameters corresponding to each geographical position on the coal mining path, and acquiring a first cutting parameter extraction table corresponding to the geographical position information and the cutting parameters; continuously collecting geological parameters of the coal body to be mined on the coal mining path at intervals of a second preset distance, and storing externally input cutting parameters corresponding to the position of each coal body to be mined on the coal mining path; judging which range of a plurality of preset geological information ranges the geological parameter is located in, connecting the stored cutting parameter with the preset geological information range to which the geological parameter of the corresponding position of the coal mining body to be mined belongs, and acquiring a second cutting parameter extraction table corresponding to the geological parameter and the cutting parameter; selecting a first cutting parameter extraction table and/or a second cutting parameter extraction table according to the real-time cutting parameters of the coal mining machine, and performing coal mining cutting according to the real-time cutting parameters;
the coal mining machine is arranged on the hydraulic support, the hydraulic support comprises a guide rail and a plurality of groups of supporting frames arranged on the guide rail, and the hydraulic support drives the coal mining machine to move on the guide rail through a frame moving action and is connected with different groups of the supporting frames; the hydraulic support also reserves a coal mining space for the coal mining machine through the action of a frame folding; the hydraulic support is connected with a pump station, the pump station comprises a plurality of pump groups, and the number of the opened pump groups is judged according to the pressure of the hydraulic support; the coal mining machine is provided with position detection components, and each support frame is provided with a position receiving component communicated and connected with the position detection components; each support frame is also provided with a controller, the controller is connected with the position receiving assembly, and after the position receiving assembly on the support frame receives a position signal of the position detection assembly, the controller controls the support frame to perform a frame folding action;
acquiring three-dimensional position data of the coal mining machine in a coal mining working process through an inertial navigation module arranged on the coal mining machine, wherein the three-dimensional position data comprises longitude and latitude information and altitude information; drawing a coal mining working track curve of the coal mining machine according to the three-dimensional position data; continuously judging whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, controlling the coal mining surface of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction for a preset distance; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.
Preferably, the support frame further comprises a central control integrator, wherein the central control integrator is connected with the controller on each support frame and controls each controller independently; the coal mining machine, each support frame and the central control integrator are provided with communication modules, and the communication modules are communicated through a 5G network or wireless WIFI.
Preferably, the central control integrator comprises a first central control integrator arranged on the ground and a second central control integrator arranged in the coal mine; when the controller receives the control signal of the first central control integrator, stopping receiving the control signal of the second central control integrator; and when the controller receives the control signal of the second central control integrator, stopping receiving the control signal of the first central control integrator.
Preferably, the coal mining machine is provided with a position detection assembly, and each support frame is provided with a position receiving assembly in communication connection with the position detection assembly; each support frame is also provided with a controller, the controller is connected with the position receiving assembly, and when the position receiving assembly on the support frame receives the position signal of the position detection assembly, the controller controls the support frame to perform frame folding actions, including:
the position detection assembly is an infrared emission assembly, and the position receiving assembly is an infrared receiving assembly; the infrared signal emission range of the infrared emission component is S1The distance between two adjacent support frames is S2， S2<S1<2S2(ii) a Acquiring the current displacement speed V of the coal mining machine according to the time difference of infrared signal receiving between two adjacent support frames; when the displacement speed V is lower than a first preset speed, carrying out the frame folding action on a rear group of support frames of the currently supported support frame; when the displacement velocity V is greater than the first preset velocity and less than the second preset velocity, the current support is supportedThe rear two groups of support frames of the frame perform the frame folding action; when the displacement speed V is greater than a second preset speed, the rear three groups of support frames of the current support frame perform the frame folding action; the first preset speed is half of the speed required by the coal mining machine to pass between two adjacent support frames in one minute, and the second preset speed is the speed required by the coal mining machine to pass between two adjacent support frames in one minute;
or the position detection component is a shaft encoder and is used for acquiring the displacement distance S between the current position of the coal mining machine and the starting base point3The position receiving component is a coded data receiver; the displacement distance S received by the encoder data receiver3The distance difference between the support frame corresponding to the encoder and the starting base point is S4(ii) a The distance between two adjacent support frames is S2(ii) a When S is2<S4<2S2When the encoder is used, the support frame corresponding to the encoder performs a frame folding action.
Preferably, the coal mining machine is arranged on a hydraulic support, and the hydraulic support drives the coal mining machine to move through the action of an expansion bracket; the controlling the coal mining face of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction comprises: and controlling the hydraulic support to execute the action of the telescopic frame so as to enable the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance.
Preferably, the continuously judging whether the straightness of the curve of the coal mining working trajectory is smaller than a preset straightness threshold value at intervals of a first preset time in the coal mining working process of the coal mining machine, if not, controlling the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction by a preset distance further comprises:
the method comprises the steps of reducing the moving speed of the advancing direction of the coal mining machine while controlling the coal mining surface of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction; the method comprises the steps of accumulatively controlling the times C of movement of a coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction; and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.
Preferably, the position detection assembly is a shaft encoder, the position receiving assembly is a coded data receiver, the coal mining machine is further provided with an infrared transmitting assembly, and each group of support frames is further provided with an infrared receiving assembly; acquiring the current displacement speed V of the coal mining machine through the time difference of infrared signal receiving between two adjacent support frames;
when the displacement speed V is lower than a first preset speed, carrying out the frame folding action on a group of support frames behind the current support frame; when the displacement speed V is greater than a first preset speed and less than a second preset speed, the rear two groups of support frames of the current support frame perform the frame folding action; when the displacement speed V is greater than a second preset speed, the rear three groups of support frames of the currently supported support frame perform the frame folding action; the first preset speed is half of the speed required by the coal mining machine to pass between two adjacent support frames in one minute, and the second preset speed is the speed required by the coal mining machine to pass between two adjacent support frames in one minute.
Preferably, in the automatic coal mining advancing process of the coal mining machine, selecting to extract real-time cutting parameters according to the first cutting parameter extraction table and/or the second cutting parameter extraction table, and performing coal mining cutting according to the real-time cutting parameters further includes:
in the automatic coal mining advancing process of the coal mining machine, after a coal cutting period is finished, selecting again to extract real-time cutting parameters according to the first cutting parameter extraction table and/or the second cutting parameter extraction table, and performing coal mining cutting according to the real-time cutting parameters; the coal cutting period is a coal cutting process of the coal mining machine advancing for a first preset distance or a second preset distance.
Preferably, the judging whether each item of actual cutting information is within the cutting parameter range includes: if the current extraction is the first cutting parameter extraction table, judging whether each item of actual cutting information is respectively located in a first cutting parameter range corresponding to the current geographic position information; the first cutting parameter range is the range of the error value of plus or minus five percent of the cutting parameter corresponding to the geographic position information in the first cutting parameter extraction table; if the current extraction is the second cutting parameter extraction table, judging whether each item of actual cutting information is respectively located in a second cutting parameter range corresponding to the current geological parameter; the second cutting parameter range is a range of error values of plus or minus ten percent of the cutting parameters corresponding to the preset geological information range to which the geological parameters belong in the second cutting parameter extraction table.
The invention also discloses an automatic control system for the coal mining process, wherein an inertial navigation module is arranged on the coal mining machine, and the central control integrator is connected with the coal mining machine and the inertial navigation module; the central control integrator acquires positioning navigation data of the inertial navigation module, so that three-dimensional position data of the coal mining machine in the coal mining working process is acquired;
the central control integrator comprises a processing module, and the processing module continuously acquires geographical position information of a coal mining path at intervals of a first preset distance through the inertial navigation module in the process of manually-operated coal mining advancing of the coal mining machine; the processing module stores externally input cutting parameters corresponding to each geographic position on the coal mining path, and processes and obtains a first cutting parameter extraction table corresponding to geographic position information and the cutting parameters;
the central control integrator comprises a geological exploration module, and the processing module controls the geological exploration module to continuously acquire geological parameters of a body to be mined on a coal mining path at intervals of a second preset distance in the coal mining advancing process of manual operation of the coal mining machine; the processing module stores externally input cutting parameters corresponding to each position of the coal mining body to be mined on the coal mining path, judges which range of a plurality of preset geological information ranges the geological parameters are located in, and connects the stored cutting parameters with the preset geological information range to which the geological parameters of the corresponding position of the coal mining body to be mined belong so as to obtain a second cutting parameter extraction table corresponding to the geological parameters and the cutting parameters;
in the automatic coal mining advancing process of the coal mining machine, the processing module selects to extract real-time cutting parameters according to the first cutting parameter extraction table and/or the second cutting parameter extraction table, and controls the coal mining machine to perform coal mining cutting according to the real-time cutting parameters;
the coal mining machine is arranged on the hydraulic support, the hydraulic support comprises a plurality of groups of support frames, and the hydraulic support drives the coal mining machine to move through a frame moving action so as to be connected with different groups of support frames; the hydraulic support also reserves a coal mining space for the coal mining machine through the action of a frame folding; the coal mining machine is provided with position detection assemblies, and each support frame is provided with a position receiving assembly in communication connection with the position detection assemblies; each support frame is also provided with a controller, the controller is connected with the position receiving assembly, and after the position receiving assembly on the support frame receives a position signal of the position detection assembly, the controller controls the support frame to perform a frame folding action;
the hydraulic support is connected with a pump station, the pump station comprises a plurality of pump groups, and the number of the started pump groups is judged according to the pressure of the hydraulic support;
each support frame is provided with an inclination angle detector for detecting the inclination angle of the support frame; the central control integrator comprises an alarm module; when the angle detected by the dip angle detector exceeds the range of a preset dip angle threshold value, the controller on the support frame controls the support frame to stop dynamic action and sends an alarm signal to the alarm module of the central control integrator;
the support frame is also provided with a camera which is arranged on the holder; adjusting the angle of the holder to enable the camera to shoot and acquire pictures of each position and each angle of the support frame; the camera is connected with the central control integrator; the central control integrator controls the holder to rotate and sends the pictures shot by the camera to the central control integrator through the communication module;
the central control integrator draws a coal mining working track curve of the coal mining machine according to the three-dimensional position data; the central control integrator continuously judges whether the straightness of the curve of the coal mining working track is smaller than a preset straightness threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, the central control integrator controls the coal mining face of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance and simultaneously reduces the moving speed of the advancing direction of the coal mining machine; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction;
the central control integrator accumulatively controls the times C of movement of the coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction; and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. in the manual coal cutting process, two paths of geographic position information and geological information are correspondingly connected with coal cutting parameters, a coal cutting parameter lookup table is created for the subsequent automatic coal cutting process to flexibly select coal cutting parameters according to an actual advancing path and actual geological parameters, and the automatic coal cutting process with high safety and high accuracy is realized; in the automatic coal cutting process, the execution of the coal cutting result and the coal cutting parameters are monitored in real time, if abnormity exists, the coal cutting result is reported immediately, even the operation is stopped, and the safety of the coal cutting process is guaranteed;
2. the travel path of the coal mining machine can be monitored through an inertial navigation system arranged in the coal mining machine to obtain a travel path curve, whether the coal mining surface of the coal mining machine is a straight line or not is judged according to the curve straightness of the curve, if the coal mining surface is not a straight line, the coal mining surface is timely adjusted to perform coal mining operation on the same straight line, and the situations of low coal mining efficiency and mutual interference of all coal mining paths caused by bending of the coal mining surface are prevented;
3. each support frame is independently controlled and communicates with each other through a network to transmit information, and when the coal mining machine runs, the support frames are timely collected through the position of the coal mining machine to reserve a coal mining space for the coal mining machine; the support frame is judged to be folded or a plurality of support frames are folded according to the running speed of the coal mining machine, when the running speed of the coal mining machine is too high, the support frames are required to be folded in order to prevent the coal mining machine from running to the moment and being untimely to fold the frames, and the operation is safer.
Drawings
FIG. 1 is a flow chart of a memory cutting process of coal mining parameters provided by the present invention;
FIG. 2 is another flow chart of the process of memory cutting of coal mining parameters provided by the present invention;
FIG. 3 is a flow chart of the automatic hydraulic support tracking process provided by the present invention;
fig. 4 is a flow chart of the automatic coal face alignment process provided by the invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like numerals refer to the same or similar elements throughout the different views, unless otherwise specified. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are used in a broad sense, and for example, they may be mechanically or electrically connected, or they may be connected internally to two elements, directly or indirectly through an intermediate, and those skilled in the art will understand the specific meaning of the terms as they are used in the specific case.
In the following description, suffixes such as "module", "part", or "unit" used to indicate elements are used only for facilitating the explanation of the present invention, and do not have a specific meaning per se. Thus, "module" and "component" may be used in a mixture.
The automatic control method for the coal mining process mainly comprises the automatic support following process of a hydraulic support, the automatic coal face alignment process of the coal mining process and the coal mining parameter memory cutting process, and realizes the automation of the whole coal mining work through the high automation in the three directions.
Referring to the attached figure 1, in the memory cutting process of coal mining parameters, firstly, in the manual coal cutting process, various coal cutting parameters in the process are stored, and then in the next automatic coal cutting process, the parameters are extracted for automatic coal cutting, and the method specifically comprises the following steps:
continuously acquiring geographical position information of a coal mining path by taking a first preset distance as an interval in a coal mining advancing process of manual operation of a coal mining machine, storing externally input cutting parameters corresponding to each geographical position on the coal mining path, and acquiring a first cutting parameter extraction table corresponding to the geographical position information and the cutting parameters;
continuously collecting geological parameters of a body to be mined on a coal mining path at intervals of a second preset distance in a coal mining advancing process of a coal mining machine in a manual operation, and storing externally input cutting parameters corresponding to the position of each body to be mined on the coal mining path; judging which range of a plurality of preset geological information ranges the geological parameter is located in, connecting the stored cutting parameter with the preset geological information range to which the geological parameter of the corresponding position of the coal mining body to be mined belongs, and acquiring a second cutting parameter extraction table corresponding to the geological parameter and the cutting parameter;
and selecting the real-time cutting parameters extracted according to the first cutting parameter extraction table and/or the second cutting parameter extraction table during the automatic coal mining advancing process of the coal mining machine, and performing coal mining cutting according to the real-time cutting parameters.
In the automatic coal mining advancing process of the coal mining machine, after a coal cutting period is finished, real-time cutting parameters are extracted according to the first cutting parameter extraction table and/or the second cutting parameter extraction table again, coal mining cutting is carried out according to the real-time cutting parameters, and the coal cutting period is the coal cutting process of the coal mining machine advancing by a first preset distance or a second preset distance. That is, if the previous cycle is the first cutting parameter extraction table, the previous cycle is the coal cutting process of the first preset distance, and after the coal cutting process of the cycle is finished, the first cutting parameter extraction table may be selected to be continuously extracted, or the second cutting parameter extraction table may be used instead.
Coal cutting parameters include, but are not limited to, cutting height, speed, power (expressed as voltage, current), drum inclination of the shearer, and the like.
Geological information parameters include, but are not limited to, moisture, hardness, chemical elements, etc. of the coal seam.
Preferably, referring to fig. 2, in order to ensure the safety of the coal cutting process, monitoring the coal cutting process is performed, and if an abnormality occurs, the monitoring is reported in time, a warning message is sent, and even the cutting operation is stopped. The method comprises the steps that coal mining result information is continuously detected in the automatic coal mining advancing process of a coal mining machine, whether the coal mining result information is located in a preset coal mining information threshold range is judged, if not, coal mining abnormity prompting information is uploaded, and current geographic position information, geological parameters and cutting parameters actually adopted are recorded.
Preferably, the coal mining result information includes an actual coal mining amount, and whether the coal cutting process is normal is judged according to the coal amount obtained by actual coal cutting.
Preferably, the abnormity of the coal cutting process is judged according to the coal cutting result, and the judgment can be carried out according to the execution condition of the coal cutting parameters, namely whether each item of actual cutting information is within the cutting parameter range is judged, if not, the coal mining abnormity prompting information is uploaded, the current geographic position information, the geological parameters and the actually adopted cutting parameters are recorded, and the cutting operation is stopped. And the first cutting parameter extraction table or the second cutting parameter extraction table can be selected and extracted in the next coal cutting period.
Specifically, the method comprises the following steps:
if the current extraction is the first cutting parameter extraction table, whether each item of actual cutting information is respectively located in the first cutting parameter range corresponding to the current geographic position information is judged. The first cutting parameter range is the range of the error value of plus or minus five percent of the cutting parameter corresponding to the geographic position information in the first cutting parameter extraction table. For example, if the cutting height parameter corresponding to the current geographical location information is 3m, the first cutting height range is 3.15-2.85 m.
It should be noted that the error value of plus or minus five percent is not an error range limited by the implementation of the present invention, and in an actual process, other error value ranges may also be used.
If the current extraction is the second cutting parameter extraction table, whether each item of actual cutting information is respectively located in the second cutting parameter range corresponding to the current geological parameter is judged. The second cutting parameter range is a range of error values of plus/minus ten percent of the cutting parameter corresponding to the preset geological information range to which the geological parameter belongs in the second cutting parameter extraction table.
Similarly, the error values of plus or minus ten percent are not limited to the error range for implementing the present invention, and other error value ranges can be used in the actual process.
Preferably, in order to ensure that the second cutting parameter extraction table can adapt to complex coal mining geological topography, the larger the preset geological information range is, the better the preset geological information range is, and generally, the preset geological information range at least more than 5 preset geological information ranges are included. The various choices make the finally determined parameters more consistent with the actual situation.
Preferably, the preset geological information range can be set according to the upper threshold and the lower threshold of each parameter of the geological parameters. The preset geological information range is set in sequence according to the upper threshold and the lower threshold of each parameter, and the multiple parameters are not affected each other.
In addition, each parameter of the geological parameters can be synthesized through an algorithm to obtain a preset geological information range. The parameters are combined and comprehensively analyzed through an algorithm to obtain a preset geological information range.
The automatic support following process of the hydraulic support is based on an automatic support following system, the automatic support following system mainly comprises a coal mining machine, a transportation assembly and a support assembly, the support assembly mainly plays a role of supporting a working face and can effectively prevent the working face from collapsing, the support assembly mainly comprises the hydraulic support, the hydraulic support is a coal face device which is used for supporting and controlling a top plate and is formed by combining a plurality of hydraulic elements (oil cylinders and valve pieces) and metal structural members according to a certain connection mode and is used for effectively and reliably supporting and controlling the top plate of the working face and simultaneously can move forward and push a conveying assembly of the working face, the hydraulic support is matched with the coal mining machine and the conveying assembly for use, and has the advantages of high structural strength, good support performance, high support moving speed, safety, reliability and the like, so that the coal face can achieve high yield, High efficiency and high recovery rate, reduces labor intensity, reduces cost, improves tunneling productivity and realizes safe production.
The hydraulic support can realize four basic actions of lifting, retracting, pushing and sliding and moving the support by depending on high-pressure liquid, a vertical column and a corresponding power jack: the operating valve is arranged at the position of the lifting frame by the lifting frame, and high-pressure liquid conveyed by the pump station through the pressure rubber pipe enters the lower cavity of the upright post through the hydraulic control one-way valve; liquid in the upper cavity of the upright post flows to the liquid return pipe through the operating valve, so that the upright post extends outwards out of the bracket to be lifted; pushing and slipping, namely placing the operating valve at a pushing and slipping position under the supporting state of the bracket, and enabling high-pressure liquid to enter a left cavity of the pushing jack through the operating valve; the liquid in the right cavity flows to the liquid return pipe through the operating valve. At this time, the piston rod of the pushing jack extends out to push the working face conveyor to the coal wall. The advancing distance is generally one cutting depth of the coal mining machine; the operating valve is driven to the 'frame folding' position by the frame folding, high-pressure liquid flows into the upper cavity of the upright post through the operating valve, and the hydraulic control one-way valve is opened at the same time; the liquid in the lower cavity of the upright post flows to the liquid return pipe through the hydraulic control one-way valve and the operating valve, so that the upright post retracts, and the height of the bracket is reduced; moving the support, namely after the support is unloaded (collected) or partially unloaded, driving the operating valve to a 'moving support' position, and allowing high-pressure liquid to enter a right cavity of the pushing jack; the low-pressure liquid in the left cavity of the jack flows back to the liquid return pipeline, and at the moment, the cylinder body of the jack drives the support to move rightwards. Typically it moves the same distance as the push away.
The coal mining machine is arranged on a hydraulic support, the hydraulic support comprises a guide rail and a plurality of groups of support frames arranged on the guide rail, and the hydraulic support drives the coal mining machine to move on the guide rail through the movement of a moving frame and is connected with different groups of support frames; the hydraulic support also reserves a coal mining space for the coal mining machine through a support retracting action, specifically, the hydraulic support is required to support before and after the coal mining machine performs coal mining, when the coal mining machine performs coal mining, the support frame connected with the coal mining machine at present needs to perform support retracting action, a coal mining space is reserved for the coal mining machine, and even the support frame to be connected in the next process needs to perform support retracting action to serve as a preparation action, so that the situation that the coal mining machine cannot retract the support in time when the coal mining machine runs to the moment is avoided.
Specifically, the coal mining machine 1 is arranged on a scraper machine, and the scraper machine moves on a hydraulic support, so that the coal mining machine 1 is driven to move.
The hydraulic support is connected with the pump station, and the pump station comprises a plurality of pump sets, and the number of the opened pump sets is judged according to the pressure of the hydraulic support.
The invention provides two realization modes of the position detection assembly and the position receiving assembly, one mode is infrared detection equipment, and the other mode is a shaft encoder.
The controller is arranged on each support frame and connected with the position receiving assembly, after the position receiving assembly on the support frame receives a position signal of the position detecting assembly, the support frame is controlled by the controller to perform frame receiving action, and each support frame is independently controlled, so that the mutual interference is less, the error rate is low, and the safety is higher.
The coal mining machine further comprises a central control integrator, wherein the central control integrator is connected with the controller on each supporting frame and is also connected with the coal mining machine and used for controlling the coal mining machine and each controller. The coal mining machine, each support frame and the central control integrator are provided with communication modules, and the communication modules are communicated through a 5G network or wireless WIFI.
The controller 4 is an execution controller for individually controlling the operation of one of the supporting frames 2. Usually, the controllers 4 are connected to an electro-hydraulic control module of a central control integrator, and the central control integrator controls each controller 4 through the electro-hydraulic control module.
Preferably, when the shaft encoder is adopted as the position detection assembly and the coded data receiver is adopted as the position receiving assembly, the coal mining machine is further provided with an infrared transmitting assembly, and each group of supporting frames is further provided with an infrared receiving assembly. With the use of shaft encoder cooperation, the position is judged and is compared in independent infrared ray check out test set more accurate.
Preferably, in order to monitor the inclination angle of each supporting part of the supporting frame and ensure the supporting safety, each supporting frame is further provided with an inclination angle detector for detecting the inclination angle of the supporting frame. The central control integrator comprises an alarm module, when the angle detected by the dip angle detector exceeds the preset dip angle threshold range, the controller on the support frame controls the support frame to stop dynamic action, and sends an alarm signal to the alarm module of the central control integrator to remind a person to pay attention.
Preferably, the central control integrator comprises a first central control integrator and a second central control integrator, the first central control integrator is arranged on the ground, the second central control integrator is arranged in the coal mine, and is preferably arranged in the coal mining machine, and the control can be realized both underground and on the well. In order to ensure the control safety, when the controller receives the control signal of the first central control integrator, the controller stops receiving the control signal of the second central control integrator; when the controller receives the control signal of the second central control integrator, the controller stops receiving the control signal of the first central control integrator, that is, each controller is only controlled by one central control integrator and cannot be controlled by two central control integrators at the same time.
The preferred still is equipped with the camera on the support frame, and on the cloud platform was located to the camera, the angle of adjusting the cloud platform made the camera shoot the picture that acquires each position, each angle of support frame, realized the real-time video monitoring to the support frame. The camera is connected with the central control integrator, and the central control integrator controls the rotation of the holder, and sends the picture shot by the camera to the central control integrator through the communication module for the operator to check. Usually, one camera is arranged on every six support frames.
Referring to fig. 3, an infrared ray emitting assembly may be used as the position detecting assembly, an infrared ray receiving assembly may be used as the position receiving assembly, and the infrared ray emitting assembly has an infrared ray signal emitting range S1The distance between two adjacent support frames is S2Can set S2<S1<2S2。
And acquiring the displacement speed V of the current coal mining machine through the time difference of infrared signal receiving between the two adjacent support frames. When the displacement speed V is lower than a first preset speed, carrying out a frame folding action on a rear group of the currently supported support frames; when the displacement speed V is greater than a first preset speed and less than a second preset speed, the rear two groups of support frames of the current support frame perform frame folding actions; and when the displacement speed V is greater than a second preset speed, the rear three groups of support frames of the current support frame perform a frame folding action. The first preset speed is one half of the speed required by the coal mining machine to pass between two adjacent support frames in one minute, and the second preset speed is the speed required by the coal mining machine to pass between two adjacent support frames in one minute. Whether one support frame is used for collecting frames or a plurality of support frames are used for collecting frames is judged according to the running speed of the coal mining machine, when the running speed of the coal mining machine is too high, the frames are collected by the plurality of support frames in order to prevent the coal mining machine from running too late to collect the frames timely, and the operation is safer.
The shaft encoder can also be used as a position detection component for acquiring the displacement distance S between the current position of the coal mining machine and the starting base point3The coded data receiver is adopted as a position receiving component. Displacement distance S received by encoder data receiver3The distance difference between the support frame corresponding to the encoder and the starting base point is S4The distance between two adjacent support frames is S2When S is2<S4<2S2And when the coal mining machine runs to the position of the upper support frame, the support frame corresponding to the encoder performs a frame folding action.
Preferably, when the shaft encoder is adopted as the position detection assembly and the coded data receiver is adopted as the position receiving assembly, the coal mining machine is further provided with an infrared transmitting assembly, and each group of supporting frames is further provided with an infrared receiving assembly.
Specifically, similar to the infrared detection, the displacement speed V of the current coal mining machine is obtained through the time difference of infrared signal reception between two adjacent support frames: when the displacement speed V is lower than a first preset speed, carrying out a frame folding action on a rear group of support frames of the currently supported support frame; when the displacement speed V is greater than a first preset speed and less than a second preset speed, the rear two groups of support frames of the current support frame perform frame folding actions; and when the displacement speed V is greater than a second preset speed, the rear three groups of support frames of the current support frame perform frame folding actions.
The first preset speed is one half of the speed required by the coal mining machine to pass between two adjacent support frames in one minute, and the second preset speed is the speed required by the coal mining machine to pass between two adjacent support frames in one minute.
Also judge a support frame promptly through the functioning speed of coal-winning machine and receive the frame, still a plurality of support frames receive the frame, use with the shaft encoder cooperation, the position is judged and is compared in solitary infrared ray check out test set more accurate.
Referring to fig. 4, the automatic coal mining face alignment process includes the following steps:
acquiring three-dimensional position data of the coal mining machine in the coal mining working process through an inertial navigation system arranged on the coal mining machine;
drawing a coal mining working track curve of the coal mining machine according to the three-dimensional position data;
and continuously judging whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, controlling the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance.
The first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction. It is understood that the first direction and the second direction are the left and right directions of the shearer, respectively, and the third direction and the fourth direction are the up and down directions of the shearer, respectively. That is, the shearer is controlled to maintain a straight line in the left and right directions, and the shearer is controlled to maintain a straight line in the up and down directions. Of course, the first direction and the second direction may also be the up-down direction of the shearer, respectively, and the third direction and the fourth direction may be the left-right direction of the shearer, respectively.
The invention can obtain the three-dimensional position data of the coal mining machine in real time through the inertial navigation system, draw the moving track curve of the coal mining machine in the coal mining work on a coordinate system according to the three-dimensional position data, and can intuitively judge whether the movement of the coal mining machine in the coal mining work is a straight line according to the curve so as to judge whether the coal mining working surface is a straight line.
Specifically, the central control integrator comprises a curve drawing component, and the central control integrator draws the three-dimensional position data into a coal mining working track curve through the curve drawing component.
Preferably, the coal mining machine is arranged on the hydraulic support, and the hydraulic support drives the coal mining machine to move through the action of the telescopic frame. The telescopic frame acts by driving the coal mining machine to move left and right through left and right telescopic movement and driving the coal mining machine to move up and down through up and down telescopic movement, so that the positions of the coal mining surface in the up, down, left and right directions are controlled.
And controlling the hydraulic support to execute the action of the telescopic frame, so that the coal mining surface of the coal mining machine moves towards the first direction, the second direction, the third direction or the fourth direction by a preset distance.
It should be noted that the preset distance may be a fixed distance, or an obtained automatic distance may be calculated after measuring relevant parameters of the curve according to an algorithm. If the distance is a fixed distance, the displacement is not in place at one time, and the displacement is carried out after the next curvature judgment until whether the curvature is smaller than a preset curvature threshold value or not. If the distance is automatic, the distance can be obtained in one step, but an algorithm is needed, and the algorithm needs to be corrected regularly to ensure the accuracy of the algorithm.
Preferably, when the adjustment distance is the movement distance, after the adjustment for one time, the curvature of the current coal mining working track curve is stopped to be obtained, the curvature of the coal mining working track curve of the initial position and the current position is obtained, whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not is judged, if not, the coal mining surface of the coal mining machine is continuously controlled to move towards the first direction or the second direction or the third direction or the fourth direction for a first preset distance until the curvature of the coal mining working track curve of the initial position and the current position is smaller than the preset curvature threshold value.
In addition, manual input by an operator can also be set.
Preferably, the three-dimensional position data comprises longitude and latitude information and altitude information, and the three-dimensional geographic position data of the coal mining machine can be intuitively acquired according to the information without being influenced by the depth of the underground coal mining well.
Preferably, the faults of the coal mining machine, the hydraulic support and the like may cause that the coal mining surface of the coal mining machine cannot work on the same straight line all the time, or cause that the coal mining surface cannot work on the same straight line all the time under the conditions of abnormal geology and the existence of interferents.
Therefore, whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not needs to be continuously judged at intervals of first preset time in the coal mining working process of the coal mining machine, if not, the coal mining surface of the coal mining machine is controlled to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance, meanwhile, the number C of times that the coal mining surface of the coal mining machine moves towards the first direction, the second direction, the third direction or the fourth direction is controlled in an accumulated mode, and when the number C is larger than the preset number, a fault prompt message of the coal mining machine is sent or geological exploration is requested.
That is, when the position of the coal mining surface of the coal mining machine is continuously adjusted for multiple times, a prompt is sent to warn an operator to perform equipment judgment or geological judgment.
In addition, more accurate judgment can be set, namely, the judgment is carried out in a time period, a preset time period is given, and if the adjustment times C of the coal mining machine in the preset time period are greater than the preset times, fault prompt information of the coal mining machine is sent or geological exploration is requested. However, if the determination method is adopted, more invalid prompts may be caused, that is, the prompt information is in a normal condition and does not correspond to the fault or the geological abnormal condition.
Specifically, the central control integrator further comprises a counting assembly, and the counting assembly accumulates the number C of times that the coal mining surface of the coal mining machine moves towards the first direction, the second direction, the third direction or the fourth direction.
Preferably, in one case, the coal mining work is stopped when the position of the coal mining face is adjusted, and the coal mining work is continued until the coal mining face returns to the normal position, and in another case, the coal mining work is performed simultaneously when the position of the coal mining face is adjusted, and if the normal coal mining speed is maintained at this time, an error in the adjustment accuracy may be caused, so that the moving speed of the advancing direction of the coal mining machine is reduced while the coal mining face of the coal mining machine is controlled to move towards the first direction, the second direction, the third direction or the fourth direction, and the normal speed is returned after the adjustment is completed.
The invention also provides an automatic control system for the coal mining process, wherein the coal mining machine is provided with an inertial navigation module, and the central control integrator is connected with the coal mining machine and the inertial navigation module; the central control integrator acquires the positioning navigation data of the inertial navigation module, so that the three-dimensional position data of the coal mining machine in the coal mining working process is acquired.
The central control integrator comprises a processing module, and the processing module continuously acquires the geographical position information of a coal mining path at intervals of a first preset distance through the inertial navigation module in the coal mining advancing process of manual operation of the coal mining machine; the processing module stores externally input cutting parameters corresponding to each geographic position on the coal mining path, and processes and obtains a first cutting parameter extraction table corresponding to the geographic position information and the cutting parameters.
The central control integrator comprises a geological exploration module, and the processing module controls the geological exploration module to continuously acquire geological parameters of a body to be mined on a coal mining path at intervals of a second preset distance in the coal mining advancing process of manual operation of the coal mining machine; the processing module stores externally input cutting parameters corresponding to each position of the coal body to be mined on the coal mining path, judges which range of a plurality of preset geological information ranges the geological parameters are located in, and connects the stored cutting parameters with the preset geological information range to which the geological parameters of the corresponding position of the coal body to be mined belong to so as to obtain a second cutting parameter extraction table corresponding to the geological parameters and the cutting parameters.
And in the automatic coal mining advancing process of the coal mining machine, the processing module selects to extract real-time cutting parameters according to the first cutting parameter extraction table and/or the second cutting parameter extraction table, and controls the coal mining machine to perform coal mining cutting according to the real-time cutting parameters.
The coal mining machine is arranged on a hydraulic support, the hydraulic support comprises a plurality of groups of support frames, and the hydraulic support drives the coal mining machine to move through the movement of the support frames so as to be connected with different groups of support frames; the hydraulic support also reserves a coal mining space for the coal mining machine through the action of a retracting frame; the coal mining machine is provided with a position detection assembly, and each support frame is provided with a position receiving assembly in communication connection with the position detection assembly; and each support frame is also provided with a controller, the controller is connected with the position receiving assembly, and after the position receiving assembly on the support frame receives a position signal of the position detection assembly, the controller controls the support frame to perform a frame receiving action.
The hydraulic support is connected with the pump station, and the pump station comprises a plurality of pump sets, and the number of the opened pump sets is judged according to the pressure of the hydraulic support.
Each support frame is provided with an inclination angle detector for detecting the inclination angle of the support frame; the central control integrator comprises an alarm module; when the angle detected by the inclination angle detector exceeds the preset inclination angle threshold range, the controller on the support frame controls the support frame to stop dynamic action, and sends an alarm signal to an alarm module of the central control integrator.
The supporting frame is also provided with a camera which is arranged on the holder; adjusting the angle of the holder to enable the camera to shoot and acquire pictures of each position and each angle of the support frame; the camera is connected with the central control integrator; the central control integrator controls the holder to rotate and sends the pictures shot by the camera to the central control integrator through the communication module.
The central control integrator draws a coal mining working track curve of the coal mining machine according to the three-dimensional position data; the method comprises the steps that a central control integrator continuously judges whether the straightness of a coal mining working track curve is smaller than a preset straightness threshold value or not at intervals of first preset time in the coal mining working process of a coal mining machine, and if not, the central control integrator controls the coal mining surface of a coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance and simultaneously reduces the moving speed of the advancing direction of the coal mining machine; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not limited to any particular form, and those skilled in the art may modify and modify the above-described embodiments in accordance with the principles of the present invention without departing from the scope of the present invention.

Claims (10)

1. An automated control method for a coal mining process, comprising:
continuously acquiring geographical position information of a coal mining path by a coal mining machine at intervals of a first preset distance in a manually operated coal mining advancing process, storing externally input cutting parameters corresponding to each geographical position on the coal mining path, and acquiring a first cutting parameter extraction table corresponding to the geographical position information and the cutting parameters; continuously collecting geological parameters of the coal bodies to be mined on the coal mining path at intervals of a second preset distance, and storing externally input cutting parameters corresponding to the positions of all the coal bodies to be mined on the coal mining path; judging which range of a plurality of preset geological information ranges the geological parameter is located in, connecting the stored cutting parameter with the preset geological information range to which the geological parameter of the corresponding position of the coal mining body to be mined belongs, and acquiring a second cutting parameter extraction table corresponding to the geological parameter and the cutting parameter;
selecting a first cutting parameter extraction table and/or a second cutting parameter extraction table according to the real-time cutting parameters of the coal mining machine, and performing coal mining cutting according to the real-time cutting parameters;
the coal mining machine is arranged on the hydraulic support, the hydraulic support comprises a guide rail and a plurality of groups of support frames arranged on the guide rail, and the hydraulic support drives the coal mining machine to move on the guide rail through a frame moving action and is connected with different groups of support frames; the hydraulic support also reserves a coal mining space for the coal mining machine through the action of a frame folding;
the hydraulic support is connected with a pump station, the pump station comprises a plurality of pump groups, and the number of the started pump groups is judged according to the pressure of the hydraulic support;
the coal mining machine is provided with position detection assemblies, and each support frame is provided with a position receiving assembly in communication connection with the position detection assemblies; each support frame is also provided with a controller, the controller is connected with the position receiving assembly, and after the position receiving assembly on the support frame receives a position signal of the position detection assembly, the controller controls the support frame to perform a frame folding action;
acquiring three-dimensional position data of the coal mining machine in a coal mining working process through an inertial navigation module arranged on the coal mining machine, wherein the three-dimensional position data comprises longitude and latitude information and altitude information; drawing a coal mining working track curve of the coal mining machine according to the three-dimensional position data; continuously judging whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, controlling the coal mining surface of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction for a preset distance; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.
2. The automated control method of claim 1, further comprising a central control integrator connected to the controller on each of the support stands for individually controlling each of the controllers;
the coal mining machine, each support frame and the central control integrator are provided with communication modules, and the communication modules are communicated through a 5G network or wireless WIFI.
3. The automated control method of claim 2, wherein the central control integrator comprises a first central control integrator disposed at the surface and a second central control integrator disposed within the coal mine;
when the controller receives the control signal of the first central control integrator, stopping receiving the control signal of the second central control integrator; and when the controller receives the control signal of the second central control integrator, stopping receiving the control signal of the first central control integrator.
4. The automatic control method according to claim 1, wherein a position detection assembly is arranged on the coal mining machine, and a position receiving assembly in communication connection with the position detection assembly is arranged on each support frame; each support frame is also provided with a controller, the controller is connected with the position receiving assembly, and when the position receiving assembly on the support frame receives the position signal of the position detection assembly, the controller controls the support frame to perform frame folding actions, including:
the position detection assembly is an infrared emission assembly, and the position receiving assembly is an infrared receiving assembly; the infrared signal emission range of the infrared emission component is S1The distance between two adjacent support frames is S2，S2<S1<2S2(ii) a Acquiring the current displacement speed V of the coal mining machine through the time difference of infrared signal receiving between two adjacent support frames; when the displacement speed V is lower than a first preset speed, carrying out the frame folding action on a group of support frames behind the current support frame; when the displacement speed V is greater than a first preset speed and less than a second preset speed, the rear two groups of support frames of the current support frame perform the frame folding action; when the displacement speed V is greater than a second preset speed, the rear three groups of support frames of the current support frame perform the frame folding action; the first preset speed is half of the speed required for the coal mining machine to pass between two adjacent support frames for one minute, and the second preset speedThe speed required for the coal mining machine to pass between two adjacent support frames within one minute;
or the position detection component is a shaft encoder and is used for acquiring the displacement distance S between the current position of the coal mining machine and the starting base point3The position receiving component is a coded data receiver; the displacement distance S received by the encoder data receiver3The distance difference between the support frame corresponding to the encoder and the starting base point is S4(ii) a The distance between two adjacent support frames is S2(ii) a When S is2<S4<2S2When the encoder is used, the support frame corresponding to the encoder performs a frame folding action.
5. The automated control method according to claim 1, wherein the shearer loader is arranged on a hydraulic support, and the hydraulic support drives the shearer loader to move through the action of a telescopic frame;
the controlling the coal mining face of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction comprises:
and controlling the hydraulic support to execute the action of the telescopic frame so as to enable the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance.
6. The automatic control method according to claim 1, wherein the coal mining machine continuously judges whether the straightness of the coal mining track curve is smaller than a preset straightness threshold value at intervals of a first preset time in a coal mining process, and if not, the method controls the coal face of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance further comprises:
the method comprises the steps of reducing the moving speed of the advancing direction of the coal mining machine while controlling the coal mining surface of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction;
the method comprises the steps of accumulatively controlling the times C of movement of a coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction;
and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.
7. The automatic control method according to claim 1, wherein the position detection component is a shaft encoder, the position receiving component is a coded data receiver, an infrared transmitting component is further arranged on the coal mining machine, and an infrared receiving component is further arranged on each group of supporting frames;
acquiring the current displacement speed V of the coal mining machine through the time difference of infrared signal receiving between two adjacent support frames;
when the displacement speed V is lower than a first preset speed, carrying out the frame folding action on a group of support frames behind the current support frame; when the displacement speed V is greater than a first preset speed and less than a second preset speed, the rear two groups of support frames of the current support frame perform the frame folding action; when the displacement speed V is greater than a second preset speed, the rear three groups of support frames of the current support frame perform the frame folding action;
the first preset speed is half of the speed required by the coal mining machine to pass between two adjacent support frames in one minute, and the second preset speed is the speed required by the coal mining machine to pass between two adjacent support frames in one minute.
8. The automatic control method according to claim 1, wherein the selecting, by the shearer, real-time cutting parameters to be extracted according to the first cutting parameter extraction table and/or the second cutting parameter extraction table during the automatic coal mining progress, and performing coal mining cutting according to the real-time cutting parameters further comprises:
in the automatic coal mining advancing process of the coal mining machine, after a coal cutting period is finished, selecting again to extract real-time cutting parameters according to the first cutting parameter extraction table and/or the second cutting parameter extraction table, and performing coal mining cutting according to the real-time cutting parameters; the coal cutting period is a coal cutting process of the coal mining machine advancing for a first preset distance or a second preset distance.
9. The automated control method of claim 1, wherein said determining whether each item of actual clipping information is within a clipping parameter range comprises:
if the current extraction is the first cutting parameter extraction table, judging whether each item of actual cutting information is respectively located in a first cutting parameter range corresponding to the current geographic position information; the first cutting parameter range is the range of the error value of plus or minus five percent of the cutting parameter corresponding to the geographic position information in the first cutting parameter extraction table;
if the current extraction is the second cutting parameter extraction table, judging whether each item of actual cutting information is respectively located in a second cutting parameter range corresponding to the current geological parameter; the second cutting parameter range is a range of error values of plus or minus ten percent of the cutting parameters corresponding to the preset geological information range to which the geological parameters belong in the second cutting parameter extraction table.
10. An automatic control system for a coal mining process is characterized in that an inertial navigation module is arranged on a coal mining machine, and a central control integrator is connected with the coal mining machine and the inertial navigation module; the central control integrator acquires positioning navigation data of the inertial navigation module, so that three-dimensional position data of the coal mining machine in the coal mining working process is acquired;
the central control integrator comprises a processing module, and the processing module continuously acquires the geographical position information of a coal mining path at intervals of a first preset distance through the inertial navigation module in the process of manually-operated coal mining advancing of the coal mining machine; the processing module stores externally input cutting parameters corresponding to each geographic position on the coal mining path, and processes and obtains a first cutting parameter extraction table corresponding to geographic position information and the cutting parameters;
the central control integrator comprises a geological exploration module, and the processing module controls the geological exploration module to continuously acquire geological parameters of a body to be mined on a coal mining path at intervals of a second preset distance in the coal mining advancing process of manual operation of the coal mining machine; the processing module stores externally input cutting parameters corresponding to each position of the coal mining body to be mined on the coal mining path, judges which range of a plurality of preset geological information ranges the geological parameters are located in, and connects the stored cutting parameters with the preset geological information range to which the geological parameters of the corresponding position of the coal mining body to be mined belong so as to obtain a second cutting parameter extraction table corresponding to the geological parameters and the cutting parameters;
in the automatic coal mining advancing process of the coal mining machine, the processing module selects to extract real-time cutting parameters according to the first cutting parameter extraction table and/or the second cutting parameter extraction table, and controls the coal mining machine to perform coal mining cutting according to the real-time cutting parameters;
the coal mining machine is arranged on the hydraulic support, the hydraulic support comprises a plurality of groups of support frames, and the hydraulic support drives the coal mining machine to move through a frame moving action so as to be connected with different groups of support frames; the hydraulic support also reserves a coal mining space for the coal mining machine through the action of a frame folding; the coal mining machine is provided with position detection assemblies, and each support frame is provided with a position receiving assembly in communication connection with the position detection assemblies; each support frame is also provided with a controller, the controller is connected with the position receiving assembly, and after the position receiving assembly on the support frame receives a position signal of the position detection assembly, the controller controls the support frame to perform a frame folding action;
the hydraulic support is connected with a pump station, the pump station comprises a plurality of pump groups, and the number of the started pump groups is judged according to the pressure of the hydraulic support;
each support frame is provided with an inclination angle detector for detecting the inclination angle of the support frame; the central control integrator comprises an alarm module; when the angle detected by the dip angle detector exceeds the range of a preset dip angle threshold value, the controller on the support frame controls the support frame to stop dynamic action and sends an alarm signal to the alarm module of the central control integrator;
the support frame is also provided with a camera which is arranged on the holder; adjusting the angle of the holder to enable the camera to shoot and acquire pictures of each position and each angle of the support frame; the camera is connected with the central control integrator; the central control integrator controls the holder to rotate and sends the pictures shot by the camera to the central control integrator through the communication module;
the central control integrator draws a coal mining working track curve of the coal mining machine according to the three-dimensional position data; the central control integrator continuously judges whether the straightness of the curve of the coal mining working track is smaller than a preset straightness threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, the central control integrator controls the coal mining face of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance and simultaneously reduces the moving speed of the advancing direction of the coal mining machine; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction;
the central control integrator accumulatively controls the times C of movement of the coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction; and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.
CN202110726265.XA 2021-06-29 2021-06-29 Automatic control method and system for coal mining process Pending CN113279755A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110726265.XA CN113279755A (en) 2021-06-29 2021-06-29 Automatic control method and system for coal mining process

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110726265.XA CN113279755A (en) 2021-06-29 2021-06-29 Automatic control method and system for coal mining process

Publications (1)

Publication Number Publication Date
CN113279755A true CN113279755A (en) 2021-08-20

Family

ID=77286145

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110726265.XA Pending CN113279755A (en) 2021-06-29 2021-06-29 Automatic control method and system for coal mining process

Country Status (1)

Country Link
CN (1) CN113279755A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114167832A (en) * 2021-11-09 2022-03-11 北京天玛智控科技股份有限公司 Control method, device and equipment of hydraulic support control equipment and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114167832A (en) * 2021-11-09 2022-03-11 北京天玛智控科技股份有限公司 Control method, device and equipment of hydraulic support control equipment and storage medium

Similar Documents

Publication Publication Date Title
CN107238385A (en) A kind of absolute position and posture detection method of coal-winning machine
WO2021056717A1 (en) Shaft inspection system and method for ultra-deep vertical shaft
CN113279755A (en) Automatic control method and system for coal mining process
CN111911153B (en) Economical gantry type intelligent tunneling robot system and working process thereof
CN112878981B (en) Control system and control method of drill jumbo
CN112012759A (en) A tunnelling is equipped with navigation positioning system for coal mine tunnel
CN109505608A (en) Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing
CN112878912B (en) Intelligent detection, pressure relief, monitoring and early warning integrated machine for deep space engineering disasters
CN106996272A (en) A kind of method and device for controlling rig to be automatically positioned drilling
CN111379526A (en) Electro-hydraulic control hydrostatic leveling double-cylinder lifting hanging basket type anchor protection large arm
CN107575225A (en) The high prominent unattended automatic driving system in tunnel of gas
CN217950357U (en) Automatic control system for coal mining process
CN110206528B (en) Blasthole construction method
CN109838210A (en) A kind of application method of rigid contact net suspension fully-automatic intelligent positioning drilling device
CN209195410U (en) Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system
CN113931669A (en) Anchor rod supporting method based on automatic drilling rig
CN109488358A (en) Movable-type intelligent advance support system and method for protecting support
CN111577275B (en) Interference detection device and method for coal mining machine roller and hydraulic support side protection plate
CN113982662A (en) Coal mine underground intelligent anchoring unit and dynamic control method thereof
CN212454224U (en) Electro-hydraulic anchor-protection control double-hanging-basket type two-arm anchor cable and anchor rod drill carriage
CN113279753A (en) Automatic frame following system and method applied to coal mining machine
CN113431579A (en) Coal mining face alignment method and system
CN115929302A (en) Intelligent cutting system and control method
CN105004532B (en) Automatic conveying device and its method for Tail gas measuring
CN114753845A (en) Automatic coal mining system device and method for fully mechanized coal mining face

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20211103

Address after: No.1 Tianyaoqiao Road, Xuhui District, Shanghai 200030

Applicant after: Shanghai Meike Information Technology Co.,Ltd.

Applicant after: Tiandi Shanghai Excavating Equipment Technology Co.,Ltd.

Address before: No.1 Tianyaoqiao Road, Xuhui District, Shanghai 200030

Applicant before: Shanghai Meike Information Technology Co.,Ltd.

TA01 Transfer of patent application right