CN113294208B - Intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving - Google Patents
Intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving Download PDFInfo
- Publication number
- CN113294208B CN113294208B CN202110647257.6A CN202110647257A CN113294208B CN 113294208 B CN113294208 B CN 113294208B CN 202110647257 A CN202110647257 A CN 202110647257A CN 113294208 B CN113294208 B CN 113294208B
- Authority
- CN
- China
- Prior art keywords
- coal caving
- coal
- caving
- module
- action
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
-
- 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 intelligent coal caving method for a fully mechanized caving face without teaching memory, which enables memory coal caving to be free from the coal caving control only by memorizing the time sequence memory content of the previous round, but enables an operator to flexibly adjust a coal caving strategy according to the practical working condition, wherein the adjustable content comprises the number of supports participating in the coal caving, a coal caving interval, a coal caving sequence, coal caving duration and the like, and the method does not need manual teaching in the follow-up process except the first manual intervention control. And the method provides a scheme for counting the coal caving duration of a single support, so that an operator can intuitively adjust the coal caving duration to control the coal caving amount.
Description
Technical Field
The invention relates to an intelligent coal caving method, in particular to an intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving.
Background
At present, the mode of manual teaching is mostly adopted for memorizing the coal caving, a time sequence memory program is utilized to record the scientific continuity of the support coal caving, including the coal caving sequence, the coal caving time point, the coal caving amount and the like, and then the coal caving is controlled according to the last memorized support coal caving record and the time sequence. The general memory coal caving scheme only supports simple automatic time sequence coal caving control, the method needs manual teaching, has higher requirements on the technical level of operators, only has a simple time sequence memory function, and lacks a scheme for adjusting a coal caving strategy according to the condition of a real-time working face. The sequential control mode enables the coal caving process to carry out coal caving only according to the coal caving sequence of the previous round, the coal caving time point and other parameters, and flexible adjustment is difficult to carry out, so that the coal caving process is difficult to adapt to complex underground working conditions. Once the coal caving strategy needs to be adjusted according to the actual working condition, manual teaching needs to be carried out again, and the mode is complicated to operate and is not flexible. And the conventional coal caving scheme lacks a method for counting the coal caving duration of a single support, so that an operator is difficult to intuitively adjust the coal caving amount.
Disclosure of Invention
Aiming at the technical problem, the invention provides an intelligent coal caving method for fully mechanized caving face without teaching memory, which enables memory coal caving to be no longer controlled by memorizing the time sequence memory content of the previous round, but enables an operator to flexibly adjust a coal caving strategy according to the practical working condition, wherein the adjustable content comprises a support number participating in the coal caving, a coal caving interval, a coal caving sequence, coal caving duration and the like, and manual teaching is not needed in the follow-up process except for the first manual intervention control. And the method provides a scheme for counting the coal caving duration of a single support, so that an operator can intuitively adjust the coal caving duration to control the coal caving amount.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a fully mechanized caving face teaching-free memory coal caving intelligent coal caving method comprises the following steps: an action signal acquisition module, an electro-hydraulic control action interface module, a bracket controller, a computer communication module, a coal discharge module, a bidirectional linked coal discharge record table and a curve chart module,
the action signal acquisition module consists of a plurality of electromagnetic valves arranged at the spile and the tail beam of the hydraulic support and is used for acquiring the actions of the spile and the tail beam of the hydraulic support, and the action signal acquisition module sends acquired spile and tail beam action signals to the electric-hydraulic control action interface module;
the electro-hydraulic control action interface module is communicated with the computer communication module, converts the received action signal into a corresponding action code and sends the action code to the computer communication module, and meanwhile, the electro-hydraulic control action interface module can also receive the action code sent by the computer communication module, converts the action code into a control command and sends the control command to the bracket controller;
the bracket controller is communicated with the electro-hydraulic control action interface module and receives a control command of the electro-hydraulic control action interface module;
the computer communication module is communicated with the electro-hydraulic control action interface module, receives and sends action codes, is communicated with the coal caving module, stamps a timestamp on the action codes received from the electro-hydraulic control action interface module and forwards the action codes to the coal caving module, and can convert action instructions sent by the coal caving module into action codes and send the action codes to the electro-hydraulic control action interface module;
the coal caving module comprises a coal caving memory module and a coal caving control module, wherein the coal caving memory module is used for recording the coal caving times of a previous coal caving support, the coal caving duration time corresponding to each coal caving time is used as a previous coal caving record, and has a timing function to judge the coal caving duration time;
the two-way linked coal caving record table and curve graph module is used for adjusting coal caving data and generating a coal caving process table as a basis for coal caving control of the coal caving module;
the method comprises the following steps:
s1, in the previous coal caving process, the action signal acquisition module sends acquired insertion plate and tail beam action signals to the electro-hydraulic control action interface module, the electro-hydraulic control action interface module converts the received action signals into corresponding action codes and sends the action codes to the computer communication module, and the computer communication module stamps the received action codes and forwards the action codes to the coal caving module;
s2, after the previous coal caving is finished, calculating the coal caving duration time of each support in each turn by the coal caving memory module in the coal caving module according to the received action code with the timestamp, and recording the coal caving turns of the previous coal caving support and the coal caving duration time corresponding to each turn as the previous coal caving record;
s3, after the coal caving module obtains the coal caving turn of the coal caving bracket and the coal caving duration corresponding to each turn, the coal caving turns and the coal caving duration are led into a coal caving record table and curve graph module in bidirectional linkage, and the data of the table and the data of the curve graph are editable, mutually bound and in bidirectional linkage; the coal caving strategy maker edits and drags the curve chart according to the coal caving plan and the actual situation of the current shift so as to adjust the coal caving record curve chart, the table data changes and is automatically structured, the coal caving time is accurate to the second, and the changed table data is automatically stored and covers the original data, so that the modified coal caving record table and curve chart are obtained;
s4, setting two coal caving intervals and the number of brackets participating in coal caving according to the start time and the end time of the current shift, the preset stroke of the coal mining machine of the current shift and the load condition of the conveyor in the previous shift by a coal caving strategy maker so as to deal with the actual coal caving condition of the current shift;
s5, the bidirectional linkage coal caving record table and graph module obtains a hydraulic support coal caving turn and a corresponding coal caving duration according to the coal caving data recorded in the modified coal caving record table data obtained in the step S3, obtains a coal caving interval and a support number participating in coal caving according to the coal caving strategy in the step S4, automatically generates a coal caving process table by adopting a preset coal caving sequence, and ignores a support if the support is in the edited coal caving record table data and is not set as the support participating in coal caving at this time;
s6, after confirming the coal caving process table, saving the coal caving process table by taking the date and the shift as names, and sending the coal caving process table to a coal caving monitoring system, wherein after the coal caving monitoring system receives the coal caving process table, the centralized control center generates an ordered coal caving instruction according to the start time and the end time of the shift, the preset stroke of the coal mining machine of the shift and the load condition of a previous conveyer, and the coal caving control module in the coal caving module is used for selecting manual coal caving or according to the coal caving round, the coal caving duration and the coal caving sequence specified by the coal caving process table, and sending the ordered coal caving instruction to the computer communication module on time so as to carry out automatic coal caving;
the coal caving duration determination method in step S1 is:
a coal discharge memory module in the coal discharge module receives the action code sent by the electro-hydraulic control action interface module and judges whether the hydraulic support performs the following four actions: an extension board, a retraction board, an extension tail beam and a retraction tail beam,
when the coal caving memory module in the coal caving module judges that the action is irrelevant to the inserting plate and the tail beam, neglecting the action;
when a coal caving memory module in the coal caving module receives an action code for withdrawing the plugboard, the bracket is explained to enter the state that the plugboard is withdrawn and the coal is being caving, the coal caving memory module in the coal caving module starts to count the coal caving duration, when the coal caving memory module in the coal caving module receives an action signal for extending the plugboard, the bracket is explained to enter the state that the plugboard extends and the coal caving is stopped, and at the moment, the coal caving stop time is stopped to be counted;
when the coal caving memory module in the coal caving module does not receive the action code for withdrawing the plugboard; or the bracket is in the state that the inserting plate is retracted, when an action signal of the bracket inserting plate extending out is received in the coal caving state, the action signal of the tail beam is judged, and if the tail beam does not extend out or retract, the coal caving is stopped; if the tail beam extends or retracts, the tail beam is considered to swing and to discharge coal, and the coal discharge duration is counted;
when the coal caving memory module in the coal caving module receives the motion code of the motion of the tail beam of the support, the timing is started for 15 seconds, if the tail beam does not move within 15 seconds, the support stops coal caving after the tail beam motion signal of the support is received for 15 seconds, and the coal caving timing is stopped, otherwise, if the tail beam motion signal of the support is received again within 15 seconds, the support is determined to continue coal caving, the 15 second timer counts from the head again, the cycle is repeated until the tail beam motion signal of the support is not received within 15 seconds after the tail beam motion signal of the support is received, and the coal caving duration is obtained.
The automatic coal discharging operation process in the step S5 is as follows: according to the coal caving turn specified by the coal caving process table and the coal caving sequence corresponding to each bracket, a coal caving control module in the coal caving module executes a corresponding coal caving command to each bracket according to the turn and the sequence, and the sending mode of the coal caving command is as follows: the computer communication module sends the bracket number and the corresponding action code to be in the coal caving state to the electro-hydraulic control action interface module according to the coal caving command, and the electro-hydraulic control action interface module converts the bracket number and the action code into corresponding control signals and sends the control signals to the bracket controller, so that the bracket is controlled;
the action process of the coal caving command is as follows: when coal caving of a certain support is turned, the electro-hydraulic control action interface module sends a support number of the support and an action code corresponding to the action of 'inserting plate retracting' to the electro-hydraulic control action interface module, if the coal caving duration of the support in the turn is T, after the support waits for T seconds, the computer communication module sends the support number of the support and the action code corresponding to the action of 'inserting plate extending', so that coal caving is stopped, the supports are in a state that the inserting plates are retracted and coal dropping is allowed in the T seconds, so that the coal caving action of the supports is finished, after the coal caving action of one support is finished, whether the supports are waiting for coal caving is judged, the coal caving action is continuously carried out in sequence, and if no support is waiting for coal caving, the whole automatic coal caving process is finished.
After coal caving is started, if the rear scraper conveyor is overloaded in the coal caving process, coal caving is suspended until the current of the rear scraper conveyor is normal, and then coal caving is automatically resumed;
in the coal caving process, if the current of the conveyor is in a light load state, two coal caving intervals are allowed to simultaneously perform coal caving, and if the current of the conveyor is in an overload state, only 1 interval is allowed to perform coal caving.
The two coal caving intervals refer to that all supports of the fully mechanized caving face are divided into two parts so as to carry out coal caving management: if 90 supports are arranged on a fully mechanized caving face, No. 1-45 supports can be set as a coal caving interval A, and No. 46-90 supports can be set as a coal caving interval B.
Has the advantages that:
1. the coal caving control is not performed by memorizing the time sequence memory content of the previous round any more, but the operator can flexibly adjust the coal caving strategy according to the actual working condition, the adjustable content comprises the number of the supports participating in the coal caving, the coal caving interval, the coal caving sequence, the coal caving duration and the like, and the flexibility of the memory coal caving is greatly improved.
2. The memory coal caving is controlled through manual intervention for the first time, manual teaching is not needed in the follow-up process, the coal caving process table or the coal caving record curve graph is modified for adjustment, and the manual operation cost of the memory coal caving is reduced.
3. The scheme for counting the coal caving duration of a single support is provided, so that an operator can intuitively adjust the coal caving duration to control the coal caving amount, and managers can also visually check the coal caving condition every day, and the safety management of a coal mine is facilitated.
Drawings
FIG. 1 is a system structure diagram in an intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving.
FIG. 2 is a general flow chart of an intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving.
FIG. 3 is a flow chart of coal caving state judgment in the intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving.
FIG. 4 is a flow chart of automatic coal caving in the intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings and the specific embodiments in the specification.
As shown in fig. 1, the system for implementing the method includes: an action signal acquisition module, an electro-hydraulic control action interface module, a bracket controller, a computer communication module, a coal discharge module, a bidirectional linked coal discharge record table and a curve chart module,
the action signal acquisition module consists of a plurality of electromagnetic valves arranged at the spile and the tail beam of the hydraulic support and is used for acquiring the actions of the spile and the tail beam of the hydraulic support, and the action signal acquisition module sends acquired spile and tail beam action signals to the electric-hydraulic control action interface module;
the electro-hydraulic control action interface module is communicated with the computer communication module, converts the received action signal into a corresponding action code and sends the action code to the computer communication module, and meanwhile, the electro-hydraulic control action interface module can also receive the action code sent by the computer communication module, converts the action code into a control command and sends the control command to the bracket controller;
the bracket controller is communicated with the electro-hydraulic control action interface module and receives a control command of the electro-hydraulic control action interface module;
the computer communication module is communicated with the electro-hydraulic control action interface module, receives and sends action codes, is communicated with the coal caving module, stamps a timestamp on the action codes received from the electro-hydraulic control action interface module and forwards the action codes to the coal caving module, and can convert action instructions sent by the coal caving module into action codes and send the action codes to the electro-hydraulic control action interface module;
the coal caving module comprises a coal caving memory module and a coal caving control module, wherein the coal caving memory module is used for recording the coal caving times of a previous coal caving support, the coal caving duration time corresponding to each coal caving time is used as a previous coal caving record, and has a timing function to judge the coal caving duration time;
the two-way linkage coal caving record table and curve graph module is used for adjusting coal caving data and generating a coal caving process table as a basis for coal caving control of the coal caving module.
As shown in figure 2, the invention is a non-teaching memory coal caving intelligent coal caving method, and the once coal caving is mainly used as the control process basis of the new once coal caving, and the data of the once coal caving is flexibly changed, so that the method is used as the coal caving strategy of the new once coal caving.
In the previous coal caving process, the action signal acquisition module sends acquired spile and tail beam action signals to the electro-hydraulic control action interface module, the electro-hydraulic control action interface module converts the received action signals into corresponding action codes and sends the action codes to the computer communication module, and the computer communication module stamps the received action codes and forwards the action codes to the coal caving module;
and after the previous coal caving is finished, a coal caving memory module in the coal caving module records the coal caving times of the previous coal caving support, the coal caving duration corresponding to each coal caving time is used as a previous coal caving record, and the previous coal caving record is led into a coal caving record table and curve graph module in bidirectional linkage. The method for judging the coal caving duration is shown in fig. 3 and comprises the following steps: the coal caving memory module in the coal caving module receives signals of a hydraulic support sensor and mainly focuses on whether the hydraulic support performs the following four actions: the extension board, the retraction board, the extension tail beam and the retraction tail beam. When the action is judged to be irrelevant to the inserting plate and the tail beam, the action is ignored. When an action signal of the retraction of the plugboard is received, the bracket enters a state that the plugboard is retracted and the coal is being discharged, and therefore the coal discharging duration begins to be counted. When the bracket does not receive an action signal of retracting the inserting plate; or the bracket is in the state that the inserting plate is retracted, when the coal caving state receives the action signal of the extension of the inserting plate of the bracket, the action signal of the tail beam is judged, and if the tail beam does not perform the action of extension or retraction, the coal caving is stopped. If the tail beam is in the extending or retracting action, the tail beam is considered to swing at the moment and the coal is discharged, so that the coal discharging duration is counted. And starting to time for 15 seconds after receiving the signal of the motion of the tail beam of the bracket, and if the tail beam does not move (extend or retract) within 15 seconds, considering that the bracket stops coal discharge after receiving the signal of the motion of the tail beam of the bracket for 15 seconds at the last time, thereby stopping coal discharge timing. On the contrary, if the tail beam action signal of the bracket is received again within 15 seconds, the bracket is determined to continue to discharge coal, the 15-second timer counts again from the beginning, and the operation is repeated until the tail beam action signal of the bracket is not received within 15 seconds after the tail beam action signal of the bracket is received. Thereby obtaining the coal caving duration.
And (4) after the coal caving duration corresponding to each coal caving turn of the support is obtained, guiding the obtained coal caving duration into a coal caving record spreadsheet and a curve graph. The spreadsheet data and the graph data are editable and are bound with each other and linked in two directions. The coal-dropping strategy maker can modify the spreadsheet data by dragging and editing the graph.
And (4) editing and dragging the curve graph by a coal caving strategy maker according to the coal caving plan and the actual situation of the class so as to adjust the coal caving record curve graph, and automatically regulating the table data (accurate to the second). The changed table data can be automatically stored and can cover the original data, so that the modified coal caving record table and curve chart can be obtained.
And (4) setting two coal caving intervals and the number of supports participating in coal caving by a coal caving strategy maker according to the coal caving plan and the actual situation of the current class. The two coal caving intervals refer to that all the supports of the fully mechanized caving face are divided into two parts so as to carry out coal caving management. If 90 supports are arranged on a fully mechanized caving face, No. 1-45 supports can be set as a coal caving interval A, and No. 46-90 supports can be set as a coal caving interval B. After the coal caving interval is set, the number of the bracket participating in coal caving is also set so as to deal with the actual situation of the cutter.
And the automatic coal caving process table generation program obtains the coal caving turn number of the hydraulic support and the corresponding coal caving duration time according to the coal caving data recorded in the edited coal caving record table data, and automatically generates the coal caving process table by adopting a preset coal caving sequence. If the support is in the edited coal caving record table data but is not set as the support participating in coal caving at this time, the support is ignored and is not included in the coal caving process table. Wherein the preset coal caving sequence refers to a ' four-shelf-one-group bay coal caving scheme ', such as ' 1, 3, 5 and 7; 2. 4, 6, 8 ". Coal caving strategy making personnel can modify the coal caving sequence according to the actual situation.
And after the coal caving process table is confirmed, saving the coal caving process table by taking the date and the shift as names, and sending the coal caving process table to a coal caving monitoring system.
After the coal caving monitoring system receives the coal caving process table, the centralized control center selects manual coal caving according to real-time working conditions or automatically performs coal caving according to coal caving turns, coal caving duration and coal caving sequence specified by the coal caving process table.
The automatic coal caving flow is shown in fig. 4, according to the coal caving turn specified by the coal caving process table and the coal caving sequence corresponding to each support, the coal caving control module in the coal caving module executes corresponding coal caving instructions to each support according to the turn and the sequence, and the sending mode of the coal caving instructions is as follows: the computer communication module sends the bracket number and the corresponding action code to be in the coal caving state to the electro-hydraulic control action interface module according to the coal caving command, and the electro-hydraulic control action interface module converts the bracket number and the action code into corresponding control signals and sends the control signals to the bracket controller, so that the bracket is controlled;
the action process of the coal caving command is as follows: when coal caving of a certain support is turned, the electro-hydraulic control action interface module sends a support number of the support and an action code corresponding to the action of 'inserting plate retracting' to the electro-hydraulic control action interface module, if the coal caving duration of the support in the turn is T, after waiting for T seconds, the computer communication module sends the support number of the support and the action code corresponding to the action of 'inserting plate extending', so as to stop coal caving, the supports are in the state of inserting plate retracting and coal dropping allowing in the T seconds, so that the coal caving action of the supports is finished, after the coal caving action of one support is finished, whether the supports are waiting for coal caving and continue to carry out the coal caving action in sequence is judged, if no supports are waiting for coal caving, the whole automatic coal caving process is finished,
after coal caving is started, if the rear scraper conveyor is overloaded in the coal caving process, coal caving is suspended until the current of the rear scraper conveyor is normal, and then coal caving is automatically resumed. For safety reasons, the centralized control center can also be set to manually resume coal caving after the current of the rear scraper conveyor is restored to normal.
In the coal caving process, if the current of the conveyor is in a light load state, the two coal caving sections are allowed to simultaneously discharge coal. Otherwise, only 1 interval is allowed to be put (the centralized control center can select the coal putting interval A or the coal putting interval B).
Claims (5)
1. An intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving is characterized in that a system for realizing the method comprises the following steps: an action signal acquisition module, an electro-hydraulic control action interface module, a bracket controller, a computer communication module, a coal discharge module, a bidirectional linked coal discharge record table and a curve chart module,
the action signal acquisition module consists of a plurality of electromagnetic valves arranged at the spile and the tail beam of the hydraulic support and is used for acquiring the actions of the spile and the tail beam of the hydraulic support, and the action signal acquisition module sends acquired spile and tail beam action signals to the electric-hydraulic control action interface module;
the electro-hydraulic control action interface module is communicated with the computer communication module, converts the received action signal into a corresponding action code and sends the action code to the computer communication module, and meanwhile, the electro-hydraulic control action interface module receives the action code sent by the computer communication module, converts the action code into a control command and sends the control command to the bracket controller;
the bracket controller is communicated with the electro-hydraulic control action interface module and receives a control command of the electro-hydraulic control action interface module;
the computer communication module is communicated with the electro-hydraulic control action interface module, receives and sends action codes, is communicated with the coal caving module, stamps a timestamp on the action codes received from the electro-hydraulic control action interface module, forwards the action codes to the coal caving module, converts action instructions sent by the coal caving module into action codes and sends the action codes to the electro-hydraulic control action interface module;
the coal caving module comprises a coal caving memory module and a coal caving control module, wherein the coal caving memory module is used for recording the coal caving times of a previous coal caving support, the coal caving duration time corresponding to each coal caving time is used as a previous coal caving record, and has a timing function to judge the coal caving duration time;
the two-way linked coal caving record table and curve graph module is used for adjusting coal caving data and generating a coal caving process table as a basis for coal caving control of the coal caving module;
the method comprises the following steps:
s1, in the previous coal caving process, the action signal acquisition module sends acquired insertion plate and tail beam action signals to the electro-hydraulic control action interface module, the electro-hydraulic control action interface module converts the received action signals into corresponding action codes and sends the action codes to the computer communication module, and the computer communication module stamps the received action codes and forwards the action codes to the coal caving module;
s2, after the previous coal caving is finished, calculating the coal caving duration time of each support in each turn by the coal caving memory module in the coal caving module according to the received action code with the timestamp, and recording the coal caving turns of the previous coal caving support and the coal caving duration time corresponding to each turn as the previous coal caving record;
s3, after the coal caving module obtains the coal caving turn of the coal caving bracket and the coal caving duration corresponding to each turn, the coal caving turns and the coal caving duration are led into a coal caving record table and curve graph module in bidirectional linkage, and the data of the table and the data of the curve graph are editable, mutually bound and in bidirectional linkage; the coal caving strategy maker edits and drags the curve chart according to the coal caving plan and the actual situation of the current shift so as to adjust the coal caving record curve chart, the table data changes and is automatically structured, the coal caving time is accurate to the second, and the changed table data is automatically stored and covers the original data, so that the modified coal caving record table and curve chart are obtained;
s4, setting two coal caving intervals and the number of brackets participating in coal caving according to the start time and the end time of the current shift, the preset stroke of the coal mining machine of the current shift and the load condition of the conveyor in the previous shift by a coal caving strategy maker so as to deal with the actual coal caving condition of the current shift;
s5, the bidirectional linkage coal caving record table and graph module obtains a hydraulic support coal caving turn and a corresponding coal caving duration according to the coal caving data recorded in the modified coal caving record table data obtained in the step S3, obtains a coal caving interval and a support number participating in coal caving according to the coal caving strategy in the step S4, automatically generates a coal caving process table by adopting a preset coal caving sequence, and ignores a support if the support is in the edited coal caving record table data and is not set as the support participating in coal caving at this time;
and S6, after confirming the coal caving process table, saving the coal caving process table by taking the date and the shift as names, sending the coal caving process table to a coal caving monitoring system, and after the coal caving monitoring system receives the coal caving process table, the centralized control center generates an ordered coal caving instruction according to the start time and the end time of the shift, the preset stroke of the coal mining machine of the shift and the load condition of a previous conveyer by utilizing a coal caving control module in a coal caving module, or according to the coal caving round, the coal caving duration and the coal caving sequence specified by the coal caving process table, and sends the ordered coal caving instruction to a computer communication module on time so as to carry out automatic coal caving.
2. The intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving according to claim 1, wherein the coal caving duration determination method in step S1 is:
a coal discharge memory module in the coal discharge module receives the action code sent by the electro-hydraulic control action interface module and judges whether the hydraulic support performs the following four actions: an extension board, a retraction board, an extension tail beam and a retraction tail beam,
when the coal caving memory module in the coal caving module judges that the action is irrelevant to the inserting plate and the tail beam, neglecting the action;
when a coal caving memory module in the coal caving module receives an action code for withdrawing the plugboard, the bracket is explained to enter the state that the plugboard is withdrawn and the coal is being caving, the coal caving memory module in the coal caving module starts to count the coal caving duration, when the coal caving memory module in the coal caving module receives an action signal for extending the plugboard, the bracket is explained to enter the state that the plugboard extends and the coal caving is stopped, and at the moment, the coal caving stop time is stopped to be counted;
when the coal caving memory module in the coal caving module does not receive the action code for withdrawing the plugboard; or the bracket is in the state that the inserting plate is retracted, when an action signal of the bracket inserting plate extending out is received in the coal caving state, the action signal of the tail beam is judged, and if the tail beam does not extend out or retract, the coal caving is stopped; if the tail beam extends or retracts, the tail beam is considered to swing and to discharge coal, and the coal discharge duration is counted;
when the coal caving memory module in the coal caving module receives the motion code of the motion of the tail beam of the support, the timing is started for 15 seconds, if the tail beam does not move within 15 seconds, the support stops coal caving after the tail beam motion signal of the support is received for 15 seconds, and the coal caving timing is stopped, otherwise, if the tail beam motion signal of the support is received again within 15 seconds, the support is determined to continue coal caving, the 15 second timer counts from the head again, the cycle is repeated until the tail beam motion signal of the support is not received within 15 seconds after the tail beam motion signal of the support is received, and the coal caving duration is obtained.
3. The intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving according to claim 1, wherein the automatic coal caving operation process in step S5 is as follows: according to the coal caving turn specified by the coal caving process table and the coal caving sequence corresponding to each bracket, a coal caving control module in the coal caving module executes a corresponding coal caving command to each bracket according to the turn and the sequence, and the sending mode of the coal caving command is as follows: the computer communication module sends the bracket number and the corresponding action code to be in the coal caving state to the electro-hydraulic control action interface module according to the coal caving command, and the electro-hydraulic control action interface module converts the bracket number and the action code into corresponding control signals and sends the control signals to the bracket controller, so that the bracket is controlled;
the action process of the coal caving command is as follows: when coal caving of a certain support is turned, the electro-hydraulic control action interface module sends a support number of the support and an action code corresponding to the action of 'inserting plate retracting' to the electro-hydraulic control action interface module, if the coal caving duration of the support in the turn is T, after the support waits for T seconds, the computer communication module sends the support number of the support and the action code corresponding to the action of 'inserting plate extending', so that coal caving is stopped, the supports are in a state that the inserting plates are retracted and coal dropping is allowed in the T seconds, so that the coal caving action of the supports is finished, after the coal caving action of one support is finished, whether the supports are waiting for coal caving is judged, the coal caving action is continuously carried out in sequence, and if no support is waiting for coal caving, the whole automatic coal caving process is finished.
4. The intelligent coal caving method for the fully mechanized caving face without teaching memory coal caving of claim 3, wherein after coal caving is started, if the rear scraper conveyor is overloaded during the coal caving process, the coal caving is suspended until the coal caving is automatically resumed after the current of the rear scraper conveyor is normal;
in the coal caving process, if the current of the conveyor is in a light load state, two coal caving intervals are allowed to simultaneously perform coal caving, and if the current of the conveyor is in an overload state, only 1 interval is allowed to perform coal caving.
5. The intelligent coal caving method for the fully mechanized caving face without teaching memory is characterized in that the two coal caving intervals are that all supports of the fully mechanized caving face are divided into two parts so as to carry out coal caving management: if 90 supports are arranged on a fully mechanized caving face, No. 1-45 supports are set as a coal caving interval A, and No. 46-90 supports are set as a coal caving interval B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110647257.6A CN113294208B (en) | 2021-06-10 | 2021-06-10 | Intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110647257.6A CN113294208B (en) | 2021-06-10 | 2021-06-10 | Intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113294208A CN113294208A (en) | 2021-08-24 |
| CN113294208B true CN113294208B (en) | 2022-03-11 |
Family
ID=77327787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110647257.6A Active CN113294208B (en) | 2021-06-10 | 2021-06-10 | Intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113294208B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113738364B (en) * | 2021-09-26 | 2022-09-30 | 中国矿业大学 | Intelligent fully-mechanized top coal caving hydraulic support teaching-free memory coal caving system |
| CN113803069B (en) * | 2021-09-26 | 2023-01-17 | 中国矿业大学 | Teaching-memory-free cutting system and method for intelligent fully-mechanized caving face coal mining machine |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102493827B (en) * | 2011-11-30 | 2014-04-16 | 北京天地玛珂电液控制系统有限公司 | Automatic coal caving system on top coal caving working face and coal caving method thereof |
| CN102777199B (en) * | 2012-07-13 | 2015-02-18 | 北京天地玛珂电液控制系统有限公司 | Automatic coal carving control device with memory function for fully-mechanized carving mining face of coal mine underground and coal carving method thereof |
| CN111427291A (en) * | 2020-03-24 | 2020-07-17 | 中国矿业大学 | Intelligent control method for special working condition of top coal caving of fully mechanized caving face |
-
2021
- 2021-06-10 CN CN202110647257.6A patent/CN113294208B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113294208A (en) | 2021-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113294208B (en) | Intelligent coal caving method for fully mechanized caving face teaching-free memory coal caving | |
| US11085295B2 (en) | Tunnel boring robot and remote mobile terminal command system | |
| CN102155222B (en) | Device and control method for automatically aligning scraper conveyor body for fully-mechanized surface | |
| CN109469484B (en) | Automatic coal mining method based on upper computer planning | |
| CN108561134B (en) | Automatic coal caving control system and method for fully mechanized top coal caving working face | |
| CN112648010B (en) | Automatic filling mining control system and method | |
| CN101555799A (en) | Automatic grouting control device of push bench and method | |
| AU658168B2 (en) | A method of drilling a hole in a rock | |
| CN107381086A (en) | One kind movement falls mine car automatic blanking control system and its control method | |
| CN202263769U (en) | Novel flying shear device for high speed wire mill | |
| CN111980739A (en) | Intelligent coal caving control device and method for thick coal seam fully mechanized caving mining support | |
| CN113389592B (en) | Intelligent filling mining method for mine solids | |
| CN1950586B (en) | Method and system for controlling drilling parameter during initial period for drilling rock | |
| US4112999A (en) | Conveyor control system | |
| CN102828763B (en) | Hydraulic support automatic control system with memory function on fully mechanized coal face | |
| CN110578518B (en) | Vertical feed type mining process suitable for fully mechanized mining face of thin coal seam | |
| CN103272978A (en) | Automatic feeding device and full-automatic thread-rolling machine | |
| CN114803441B (en) | Raw coal accurate coal separation system, method, computer equipment and storage medium | |
| CN112727524A (en) | Hydraulic support automatic tracking machine electro-hydraulic control method and system | |
| CN115929302A (en) | Intelligent cutting system and control method | |
| CN110456836B (en) | Remote control method and system for GBL type water immersion type scraper slag conveyor | |
| CN219252874U (en) | Unmanned on duty system of crushing station | |
| CN104516336A (en) | Intelligent straw briquetting forming production line controller | |
| CN117196118A (en) | Autonomous coal caving control method based on generation type process | |
| EP1317602B1 (en) | Method for boring and placing bolts for imbedding adhesively and device for carrying out this method |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |