CN113775363A - Intelligent sensing system for roof condition of coal mine working face - Google Patents
Intelligent sensing system for roof condition of coal mine working face Download PDFInfo
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- CN113775363A CN113775363A CN202111042318.2A CN202111042318A CN113775363A CN 113775363 A CN113775363 A CN 113775363A CN 202111042318 A CN202111042318 A CN 202111042318A CN 113775363 A CN113775363 A CN 113775363A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/46—Telescopic props with load-measuring devices; with alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/46—Telescopic props with load-measuring devices; with alarm devices
- E21D15/465—Telescopic props with load-measuring devices; with alarm devices with essential hydraulic or pneumatic details
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Abstract
The invention relates to an intelligent sensing system for the roof condition of a coal mine working face, which comprises: the system comprises a double-shaft acceleration sensor, a pressure sensor, a sensing substation and a main control module; the double-shaft acceleration sensor is respectively arranged on a base, a shield beam and a top beam of the hydraulic support and is used for monitoring the angle changes of the base, the shield beam and the top beam; the pressure sensors are respectively arranged on the upright post and the balance jack of the hydraulic support and are used for monitoring the pressure change of liquid in the upright post and the balance jack; the sensing substations are respectively arranged on the hydraulic supports and used for receiving data of the double-shaft acceleration sensor and the pressure sensor and sensing the top plate conditions of the working surfaces corresponding to the hydraulic supports; the main control module is connected with each sensing substation and used for sensing the condition of the top plate of the whole working face. The pitch angle and the pose are monitored by the pressure of the hydraulic support upright post and the balance jack, the crushing or suspended ceiling area of the top plate of the whole working face is sensed, and the sinking amount, the sinking speed and the mining height distribution of the top plate are sensed.
Description
Technical Field
The invention relates to an intelligent sensing system for the roof condition of a coal mine working face, belongs to the technical field of coal mine safety monitoring, and particularly relates to the safety monitoring of a roof of a coal mine working face.
Background
The underground coal mine in China basically adopts a longwall stoping process, a working face is a main place for underground coal mine mining, a coal layer to be mined is arranged in front of the working face, a mined non-support area is arranged behind the working face, and a top plate of the area automatically collapses after coal is mined and fills a goaf.
The working face is the workplace of underground coal mining operators, and because the exposed area is large, the top plate always bears extremely high overlying strata load, and top plate accidents such as coal wall caving, roof caving and even roof cutting and frame pressing are easy to happen. The working face area is mainly supported by hydraulic supports, 100-200 hydraulic supports are usually arranged on one working face, the weight of each hydraulic support is 10-100 tons, the total weight reaches thousands of tons or even thousands of tons, the working condition of the hydraulic supports, particularly the supporting condition of the top plate of the working face of the coal mine, is directly related to the safety of the whole mine, and is the most main equipment for supporting and maintaining the safety of the top plate of the working face.
The existing hydraulic support mainly comprises a hydraulic cylinder, a bearing structural member, a coal wall maintenance structure, a pushing device, a control valve group and other auxiliary devices. The hydraulic support is supplied with liquid by an emulsion pump station arranged in a roadway or a chamber, and when high-pressure emulsion enters the upright post through the control valve group, the support lifts the supporting top plate. Along with the roof subsides, the working resistance of support to the roof increases, and the pressure of shutting liquid in the stand is injectd by the relief valve, realizes the constant resistance and supports. When the support is moved, the stand column is firstly reduced to enable the support to be unloaded and separated from the top plate, then the balance jack is pushed to act, the support is moved by taking the conveyor as a fulcrum, and then the conveyor is pushed by taking the supported support as the fulcrum. The support can also realize various auxiliary actions such as side protection, balance, support adjustment and the like through various balance jacks, thereby realizing comprehensive mechanization of coal falling, support and transportation of a working face by matching with a coal mining machine and a scraper conveyor. The hydraulic supports are arranged on the working face at certain intervals and move forwards sequentially along with coal mining operation.
The underground coal seam conditions of the coal mine are complex and variable, and various accidents such as roof cutting and frame pressing accidents, caving roof falling accidents and frame falling accidents occur frequently, wherein about 90% of accidents occur on a working face. The hydraulic support is used as a safety barrier of a working face, and a pressure frame accident is often caused by large-scale instability of an overlying rock layer. At present, a coal mine working face hydraulic support is only a heavy hydraulic drive supporting structure, the working condition of the support is difficult to master completely, related sensors are independent in monitoring, the functions of timely sharing and mutual feedback of information are lacked, and a monitoring blind area and an information isolated island are easily caused.
At present, the analysis of the top plate condition of the working face is mainly realized by monitoring the pressure of the upright columns of the hydraulic supports, namely, a group of pressure sensors are arranged every 5-10 supports to specially monitor the pressure of the upright columns of the supports. And the monitoring of the working performance of the bracket is only that a worker measures the compression amount of the hydraulic upright column by using a ruler occasionally. The method has high labor intensity and poor timeliness, and most importantly, the pressure of the upright post and the pose and working conditions of the support, such as the stretching amount of the upright post, the inclination angle of the top beam and the shield beam, the stress balance of the left upright post and the right upright post, and the like, are not comprehensively considered under uniform time and space dimensions, so that even if the pressure of the support fluctuates greatly, the real movement condition of the top plate is still difficult to reflect due to the fact that the pressure of the support is not combined with the pose and the working conditions of the on-site support.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a system for intelligent sensing of roof activity by continuously monitoring and analyzing a plurality of key basic parameters of a working surface.
In order to achieve the purpose, the invention adopts the following technical scheme: a coal mine working face roof condition intelligent sensing system comprises: the system comprises a plurality of double-shaft acceleration sensors, a plurality of pressure sensors, a plurality of sensing substations and a main control module; the plurality of double-shaft acceleration sensors are respectively arranged on a base, a shield beam and a top beam of the hydraulic support and are used for monitoring the working posture changes of the base, the shield beam and the top beam; the pressure sensors are respectively arranged on the upright post and the balance jack of the hydraulic support and are used for monitoring the pressure change of liquid in the upright post and the balance jack; the sensing substations are respectively arranged on the hydraulic supports and used for receiving data of the double-shaft acceleration sensor and the pressure sensor and sensing the top plate conditions of the working surfaces corresponding to the hydraulic supports; the main control module is connected with each sensing substation and used for sensing the condition of the top plate of the whole working face.
Further, the sensing substation calculates the mining height of the working face and the sinking speed of the top plate through data of the double-shaft acceleration sensor.
Further, the sensing substation receives data of each double-axis acceleration sensor, inclination angles of a base, a shield beam and a top beam of the hydraulic support are obtained, a length value of an upright column of the hydraulic support is obtained by combining triangular operation, and the working face mining height is obtained by adding the length value and the thicknesses of the base and the top beam; and acquiring the change value of the working surface height within a period of time to obtain the sinking speed of the top plate.
Further, the method for obtaining the length value of the upright column comprises the following steps: the method comprises the steps that the hinged position of a base and an upright post of a hydraulic support is taken as the origin of coordinates, and the coordinates of the hinged position of a front connecting rod of the hydraulic support, a rear connecting rod of the hydraulic support and the base are obtained through the inclination angle of the base and the combination of the structural parameters of the hydraulic support; acquiring the coordinates of the hinged positions of the shield beam and the top beam by combining the inclination angle of the shield beam and the coordinates of the hinged positions of the front connecting rod of the hydraulic support, the rear connecting rod of the hydraulic support and the base; acquiring the coordinates of the hinging positions of the upright post and the top beam by combining the coordinates of the hinging positions of the shield beam and the top beam according to the inclination angle of the top beam; and subtracting the coordinates of the hinged positions of the upright post and the top beam from the coordinates of the original point to obtain the mining height of the working face.
And further, the sensing substations receive data of each pressure sensor, the support top beam is used as a separator, a moment balance model is established by taking a hinge point of the top beam and the shield beam as a center, and the pressure of the working face top plate on the support top beam and the resultant force action position of the top beam are calculated according to the moment balance model.
Further, the method for sensing the top plate condition of each working surface by the sensing substations comprises the following steps: fitting the data of the pressure sensors of the hydraulic supports in a coal cutting cycle respectively to obtain corresponding fitting functions, then weighting or homogenizing the fitting functions of each hydraulic support to obtain a single fitting function containing all the hydraulic supports, classifying the fitting functions, and characterizing the roof condition of a working face according to the function types.
Further, the categories of the function classification include: a logarithmic function, a linear function, or an exponential function.
Further, extracting key coefficients or characteristic values according to function categories, dividing different conditions of the working face top plate into a plurality of intervals according to the key coefficients or the characteristic values, and judging the working face top plate to be in a corresponding condition if the actually measured key coefficients or the actually measured characteristic values are in a certain interval.
And further, extracting a key coefficient or a characteristic value according to the function type, setting a threshold value for the key coefficient or the characteristic value, and judging that the key coefficient or the characteristic value is in the corresponding working face top plate condition if the actually measured key coefficient or the characteristic value exceeds the threshold value.
Further, the main control module comprises an input sub-module, a storage sub-module, a processing sub-module and a display sub-module; the input submodule is used for inputting the structural parameters and the origin of coordinates of each hydraulic support; the storage submodule is used for storing the input submodule and data monitored by each sensor; the processing submodule is used for calculating and processing the overall distribution of the top plate of the coal mine working face according to the sensing data of each hydraulic support; and the display sub-module is used for displaying the result obtained by calculation and processing.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. according to the invention, a single hydraulic support is used as a large sensing unit, so that the hydraulic support is used as a core, and the subsidence, the subsidence speed and the mining height distribution of a top plate of the whole working face are sensed by monitoring the pressure of the upright column of the hydraulic support and the balance jack, monitoring the pitch angle and other postures.
2. According to the invention, the roof control effect of the roof can be sensed by fitting the pressure data of different supports of corresponding coal cutting circulation and classifying the fitting functions.
3. The invention can replay the area distribution of roof fall before the top plate or the suspended roof after the top plate by actually measuring the pose and the pressure distribution of the bracket, and can replay the fracture or roof cutting condition of the top plate by analyzing the pose of the bracket and the opening quantity and range of the safety valves.
4. The on-site related operations of the invention comprise safety supervision, mine pressure observation, support operation and maintenance, the operation is not performed through the back-and-forth inspection of operators, but the analysis is performed through the main control module, and the comprehensive intelligent perception of the working face roof conditions such as roof fall, roof cutting, roof suspension and periodic coming pressure is realized.
Drawings
FIG. 1 is a schematic diagram of a coal mine working face roof condition intelligent sensing system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a hydraulic mount according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the position of the hinge in the hydraulic mount according to an embodiment of the present invention.
Reference numerals:
1-a dual-axis acceleration sensor; 2-a base; 3-top beam; 4-a shield beam; 5-a pressure sensor; 6-balance jack; 7-upright post; 8-front connecting rod; 9-rear connecting rod; 10-sensing substations; and 11, a main control module.
Detailed Description
The present invention is described in detail by way of specific embodiments for better understanding of the technical aspects of the present invention by those skilled in the art. It should be understood, however, that the detailed description is provided for a better understanding of the invention only and that they should not be taken as limiting the invention. In describing the present invention, it is to be understood that the terminology used is for the purpose of description only and is not intended to be indicative or implied of relative importance.
The invention provides an intelligent sensing system for the roof condition of a coal mine working face, which is characterized in that a double-shaft acceleration sensor 1 is arranged on a base 2, a top beam 3 and a shield beam 4 of a hydraulic support to monitor the position information change of the hydraulic support in real time; arranging the pressure sensor 5 on the balance jack 6 and the upright post 7, and actually measuring the emulsion pressure in the balance jack 6 and the upright post 7; based on the monitoring data of the double-shaft acceleration sensor 1 and the pressure sensor 5, the information of the sinking amount and sinking speed of the top plate of the working face, the mining height distribution of the working face and the like is obtained by combining the inherent structural parameters of the hydraulic support; fitting the pressure data of different supports of corresponding coal cutting circulation, classifying fitting functions and sensing the roof control effect; by actually measuring the pose and pressure distribution of the bracket, the forward roof fall of the top plate or the rear overhang area distribution of the top plate are calculated; and analyzing the pose of the bracket and the opening number and range of the safety valves to return to the state of roof fracture or roof cutting. The system realizes comprehensive intelligent perception of working face top plate conditions such as roof fall, roof cutting, roof suspension and periodic incoming pressure. The invention will be explained in detail below with reference to the drawings by means of an exemplary embodiment.
Example one
This embodiment discloses colliery working face roof condition intelligent sensing system, as shown in fig. 1, 2, hydraulic support includes: the device comprises a base 2, a four-bar linkage mechanism, a top beam 3, a shield beam 4, a balance jack 6 and an upright post 7, wherein the four-bar linkage mechanism comprises a front connecting rod 8 and a rear connecting rod 9. The one end of this stand 7, preceding connecting rod 8, back connecting rod 9 all articulates on base 2, and stand 7 sets up the front end at base 2, and preceding connecting rod 8 sets up the middle part at base 2, and back connecting rod 9 sets up the rear portion at base 2. The other ends of the front connecting rod 8 and the rear connecting rod 9 are hinged with one end of the shield beam 4, the other end of the shield beam 4 is hinged with the top beam 3, and a balance jack 6 is arranged between the top beam 3 and the shield beam 4, namely one end of the balance jack 6 is arranged in the middle of the shield beam 4, and the other end of the balance jack is arranged at the tail of the top beam 3. The other end of the upright post 7 is arranged in the middle of the top beam 3 and is hinged with the top beam 3. The base 2, the top beam 3 and the upright post 7 are used as main bearing mechanisms of the hydraulic support and bear the load of the overlying strata. The four-bar mechanism is used as a balance mechanism of the hydraulic support to balance the stress of the top beam 3 through the shield beam 4, and the stretching of the upright post 7, the stretching of the balance jack 6 and the rotary motion of the four-bar mechanism control the pose of the support together.
The intelligent perception system of the roof condition of the coal mine working face comprises: the system comprises a plurality of double-shaft acceleration sensors 1, a plurality of pressure sensors 5, a plurality of sensing substations 10 and a main control module 11;
the double-shaft acceleration sensors 1 are respectively arranged on a base 2, a top beam 3 and a shield beam 4 of the hydraulic support and used for monitoring the angle changes of the base 2, the top beam 3 and the shield beam 4, in the embodiment, the double-shaft acceleration sensors 1 are connected with the sensing substation 10 through data lines, but can also transmit data in other modes such as wifi or Bluetooth;
the pressure sensors 5 are respectively arranged on the upright post 7 and the balance jack of the hydraulic support and are used for monitoring the pressure change of liquid in the upright post 7 and the balance jack;
the sensing substations 10 are respectively installed on each hydraulic support and used for receiving data of the double-shaft acceleration sensor 1 and the pressure sensor 5 and sensing the top plate condition of the working face corresponding to each hydraulic support, and the sensing substations 10 are in data transmission with the main control module 11 in a wired or wireless mode;
the main control module 11 is arranged in the crossheading and is connected with each sensing substation 10 for sensing the condition of the top plate of the whole working face. The main control module 11 comprises an input submodule, a storage submodule, a processing submodule and a display submodule;
the input submodule is used for inputting the structural parameters and the origin of coordinates of each hydraulic support; the structural parameters of the hydraulic support comprise the hinged position coordinates of the top beam 3, the shield beam 4, the balance jack 6, the upright post 7, the front connecting rod 8 and the rear connecting rod 9.
The storage submodule is used for storing the input submodule and data monitored by each sensor;
the processing submodule is used for calculating and processing the overall distribution of the top plate of the coal mine working face according to the sensing data of each hydraulic support; the method comprises the steps of performing operation processing according to structural parameters of a hydraulic support, actually measured inclination angles and pressure data to obtain the expansion and contraction amount of a movable column, the mining height, the sinking amount of a top plate, the pressure of the top plate and resultant force action position information of the hydraulic support on the whole working face, and bad pose and unqualified pressure distribution data of the support under various working conditions; the method can realize extraction of the subsidence of the top plate of the working face and the distribution characteristics of the pressure area of the top plate through modes of big data analysis, deep learning and the like, establish the relation between the pressure or the subsidence of the top plate and the working condition of the support, establish the relation between the pressure of the top plate and the extraction operation, and form indexes which can be quantized.
And the display sub-module is used for displaying the results obtained by calculation and processing, displaying a two-dimensional cloud picture or a three-dimensional graph of the expansion and contraction amount, the mining height, the roof subsidence amount, the roof pressure and the resultant force action position of the support movable column of the whole working face, and presenting the bad poses and the unqualified pressures of the hydraulic support under various working conditions in a list form.
The sensing substation 10 receives data of each double-axis acceleration sensor 1, obtains inclination angles of a base 2, a top beam 3 and a shield beam 4 of the hydraulic support, obtains a length value of an upright post 7 of the hydraulic support by combining triangular operation, and obtains a working face mining height by adding the length value and thicknesses of the base 2 and the top beam 3; and acquiring the change value of the height of the working face within a period of time to obtain the sinking speed of the top plate.
The specific method, as shown in fig. 3, includes the following steps: firstly, the point O of the hinged position of the base 2 and the upright post 7 of the hydraulic support is taken as the origin of coordinates, and the coordinates are O (x)O，yO) (ii) a Through the inclination angle alpha of the base 2 and by combining the structural parameters of the hydraulic support, the coordinates of the hinged positions of the front connecting rod 8 of the hydraulic support, the rear connecting rod 9 of the hydraulic support and the base 2 are obtained, wherein the hinged position of the front connecting rod 8 and the base 2 is a point A, and the coordinates are A (x)A，yA) The point B of the hinged position of the rear connecting rod 9 and the base 2 has the coordinate B (x)B，yB) (ii) a The coordinates of C, D points of the hinged positions of the front connecting rod 8 of the hydraulic support, the rear connecting rod 9 of the hydraulic support and the shield beam 4 and the coordinates of the hinged position E of the top beam 3 and the shield beam 4 are obtained by combining the inclination angle beta of the shield beam 4 with the coordinates of the hinged positions of the front connecting rod 8 of the hydraulic support, the rear connecting rod 9 of the hydraulic support and the shield beam 4, the hinged position of the front connecting rod 8 and the shield beam 4 is a point D, and the coordinates are D (x)D，yD) The point C of the hinged position of the rear connecting rod 9 and the shield beam 4 has the coordinate C (x)C，yC) (ii) a The coordinate of the point E is E (x)E，yE) Meanwhile, the inclination values of the front link 8 and the rear link 9 are obtained. According to the inclination angle theta of the top beam 3, the coordinates E (x) of the hinged position of the shield beam 4 and the top beam 3 are combinedE，yE) Obtaining the coordinate of the point F at the hinging position of the upright post 7 and the top beam 3, wherein the coordinate is F (x)F，yF) While obtaining the included angle between the upright post 7 and the top beam 3
Through the inclination angle beta of the shield beam 4 and the inclination angle theta of the top beam 3 and the hinged position coordinate E (x) of the top beam 3 and the shield beam 4E，yE) Obtaining the coordinates H (x) of the hinged positions of the balance jacks 6 and the shield beams 4 respectivelyH，yH) And the coordinates G (x) of the hinging position of the top beam 3G，yG) And the included angle delta between the balance jack 6 and the top beam 3, and the coordinate F (x) of the hinged position of the upright post 7 and the top beam 3F，yF) Coordinate with origin O (x)O，yO) And subtracting to obtain the mining height of the working face. And subtracting the height value of the upright post 7 under the working face mining height and normal working condition to obtain the plunger shrinkage within a period of time.
The sensing substation 10 receives data of each pressure sensor 5, the bracket top beam 3 is used as a separation body, and a hinge point E (x) of the top beam 3 and the shield beam 4E，yE) For the center, a moment balance model is established, at which the top beam 3 is subjected to a top plate pressure P1Pressure P exerted by the column 72And balancing the pressure P exerted by the jack 63Upright 7 and counterbalancing jack 6 pressure, i.e. P2And P3The position and attitude information of the hydraulic support obtained by the pressure sensor 5 and the double-shaft acceleration sensor 1 are combined to calculate the pressure of the working surface top plate on the support top beam 3 and the resultant force action position coordinate N (x) borne by the top beam 3N，yN)。
The method for sensing the top plate condition of each working surface by the sensing substations 10 comprises the following steps: fitting the data of the pressure sensors 5 of the hydraulic supports in a coal cutting cycle respectively to obtain corresponding fitting functions, then weighting or homogenizing the fitting functions of each hydraulic support to obtain a single fitting function containing all the hydraulic supports, classifying the fitting functions, and characterizing the roof condition of a working face according to the function types.
Classes of function classification include, but are not limited to: a logarithmic function, a linear function, or an exponential function.
There are two methods for characterizing the condition of the working face roof according to function categories:
the method comprises the following steps: extracting key coefficients or characteristic values according to function categories, dividing different conditions of the working face top plate into a plurality of intervals according to the key coefficients or the characteristic values, and judging the working face top plate to be in a corresponding condition if the actually measured key coefficients or the actually measured characteristic values fall into a certain interval. And judging the roof crushing degree index of the area according to the low head amplitude of the support top beam 3 and the amplitude of the pressure of the upright post 7 lower than the threshold value, and judging whether the roof is in a roof collapse or roof leakage area. And calculating to obtain a reasonable action point position according to the range that the pressure of the support head on the back or the upright post 7 is higher than the threshold value, and taking the reasonable action point position as an index for judging the suspended ceiling area. Then the roof fall or miss area, the normal area, and the overhang area can be calculated.
The second method comprises the following steps: and extracting key coefficients or characteristic values according to the function categories, setting a threshold value for the key coefficients or the characteristic values, and judging that the key coefficients or the characteristic values are in the corresponding working face top plate condition if the actually measured key coefficients or the characteristic values exceed the threshold value. And if the mother function is an exponential function and the sinking amount of the top plate exceeds a preset threshold value, the top plate is considered to be in an incoming pressure state.
Or the two methods can be combined, for example, according to the stress condition of the top beam 3, data of the pressure sensor 5 are fitted to obtain a mother function, a variation interval is set for a key coefficient or a characteristic value of the top plate according to the stable state of the top plate, threshold values of the sinking speed and the sinking amount of the top plate and the pressure of the support upright post 7 are set at the same time, and if the key coefficient or the characteristic value of the mother function is in the interval range, and the sinking speed and the sinking amount of the top plate and the pressure of the support upright post 7 exceed the preset threshold values, the top plate is considered to have a pre-frame fracture or top-cutting pressure price accident.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims. The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a colliery working face roof situation intelligence perception system which characterized in that includes: the system comprises a plurality of double-shaft acceleration sensors, a plurality of pressure sensors, a plurality of sensing substations and a main control module;
the plurality of double-axis acceleration sensors are respectively arranged on a base, a shield beam and a top beam of the hydraulic support and are used for monitoring the angle changes of the base, the shield beam and the top beam;
the pressure sensors are respectively arranged on the upright post and the balance jack of the hydraulic support and are used for monitoring the pressure change of liquid in the upright post and the balance jack;
the sensing substations are respectively arranged on the hydraulic supports and used for receiving data of the double-shaft acceleration sensor and the pressure sensor and sensing the top plate conditions of the working surfaces corresponding to the hydraulic supports;
the main control module is connected with each sensing substation and used for sensing the condition of the top plate of the whole working face.
2. The intelligent coal mine face roof condition sensing system as recited in claim 1 in which the sensing substation calculates face mining height and roof sinking velocity from data from the dual-axis acceleration sensor.
3. The intelligent coal mine working face roof condition sensing system as recited in claim 2 in which the sensing substation receives data from each of the two-axis acceleration sensors, obtains inclination angles of a base, a shield beam and a top beam of the hydraulic support, obtains a length value of an upright column of the hydraulic support by combining with trigonometric operation, and obtains a working face mining height by adding the length value to thicknesses of the base and the top beam; and acquiring the variation value of the mining height of the working face within a period of time to obtain the sinking speed of the top plate.
4. The intelligent coal mine face roof condition sensing system of claim 3, wherein the length value of the upright is obtained by: taking the hinged position of a base and an upright of the hydraulic support as a coordinate origin, and combining the structural parameters of the hydraulic support through a base inclination angle to obtain the coordinates of the hinged positions of a front connecting rod of the hydraulic support and a rear connecting rod of the hydraulic support and the base; acquiring the coordinates of the hinged positions of the shield beam and the top beam by combining the inclination angle of the shield beam with the coordinates of the hinged positions of the front connecting rod of the hydraulic support and the rear connecting rod of the hydraulic support and the base; according to the inclination angle of the top beam, combining the hinged position coordinates of the shield beam and the top beam to obtain the hinged position coordinates of the upright column and the top beam; and subtracting the coordinates of the hinged positions of the upright post and the top beam from the coordinates of the original point to obtain the mining height of the working face.
5. The intelligent coal mine working face roof condition sensing system as claimed in any one of claims 1 to 4, wherein the sensing substation receives data of each pressure sensor, a moment balance model is established by taking a support top beam as a separation body and taking a hinge point of the top beam and a shield beam as a center, and the pressure of the working face roof on the support top beam and the resultant force action position of the top beam are calculated according to the moment balance model.
6. The intelligent coal mine working face roof condition sensing system as recited in any one of claims 1-4, wherein the method for sensing the roof condition of each working face by the sensing substations comprises the following steps: fitting the data of the pressure sensors of the hydraulic supports in a coal cutting cycle respectively to obtain corresponding fitting functions, then weighting or homogenizing the fitting functions of each hydraulic support to obtain a single fitting function containing all the hydraulic supports, classifying the fitting functions, and characterizing the roof condition of the working face according to the function types.
7. The intelligent coal mine face roof condition sensing system as recited in claim 6, wherein the categories of the functional classification include: a logarithmic function, a linear function, or an exponential function.
8. The intelligent coal mine working face roof condition sensing system of claim 7, wherein key coefficients or feature values are extracted according to the function categories, different conditions of the working face roof are divided into a plurality of intervals according to the key coefficients or feature values, and if the actually measured key coefficients or feature values fall into a certain interval, the working face roof is judged to be in a corresponding condition.
9. The intelligent coal mine face roof condition sensing system as recited in claim 7, wherein key coefficients or feature values are extracted according to the function categories, threshold values are set for the key coefficients or feature values, and if the actually measured key coefficients or feature values exceed the threshold values, the situation that the actually measured key coefficients or feature values are in the corresponding face roof condition is judged.
10. The intelligent coal mine face roof condition sensing system as recited in any one of claims 1 to 4, wherein the master control module comprises an input sub-module, a storage sub-module, a processing sub-module and a display sub-module;
the input submodule is used for inputting the structural parameters and the origin of coordinates of each hydraulic support;
the storage submodule is used for storing the input submodule and data monitored by each sensor;
the processing submodule is used for calculating and processing the overall distribution of the top plate of the coal mine working face according to the sensing data of each hydraulic support;
and the display submodule is used for displaying the result obtained by the calculation and the processing.
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| CN117646754A (en) * | 2024-01-30 | 2024-03-05 | 太原理工大学 | Intelligent recognition method for hydraulic support cluster support state |
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