CN114215588B - Cooperative control method and device for equipment in fully mechanized caving face of coal mine - Google Patents
Cooperative control method and device for equipment in fully mechanized caving face of coal mine Download PDFInfo
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- CN114215588B CN114215588B CN202111241449.3A CN202111241449A CN114215588B CN 114215588 B CN114215588 B CN 114215588B CN 202111241449 A CN202111241449 A CN 202111241449A CN 114215588 B CN114215588 B CN 114215588B
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- 239000003245 coal Substances 0.000 title claims abstract description 258
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000007599 discharging Methods 0.000 claims abstract description 77
- 230000000007 visual effect Effects 0.000 claims abstract description 48
- 238000003062 neural network model Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
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- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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Abstract
The application provides a method and a device for cooperatively controlling equipment in a fully-mechanized caving face of a coal mine, wherein the method comprises the following steps: the coal flow load state on the scraper conveyor can be automatically determined by analyzing the visual data corresponding to the scraper conveyor, and the coal discharging equipment and the scraper conveyor are cooperatively controlled by combining the coal flow load state. Therefore, the coal flow load condition on the scraper machine is not required to be monitored manually, and the cooperative control of the coal discharging equipment and the scraper conveyor can be realized under the condition that the manual work is not required.
Description
Technical Field
The application relates to the technical field of underground coal mines, in particular to a method and a device for cooperatively controlling equipment in a fully mechanized caving face of a coal mine.
Background
At present, in the process of coal mining on a fully-mechanized caving face of a coal mine, coal workers generally monitor the coal flow load state on a scraper conveyor in the fully-mechanized caving face of the coal mine, and when the coal flow state on the scraper conveyor has an overload coal flow state, related equipment of the fully-mechanized caving face of the coal mine is manually controlled so as to enable the coal flow load on the scraper conveyor to be recovered to be normal. However, the underground coal mine environment is bad, and coal mine workers are in a working environment with relatively high personal safety hazard coefficient, so that the coal mine safety production efficiency is restricted to a certain extent.
Disclosure of Invention
The application provides a method and a device for cooperatively controlling equipment in a fully mechanized caving face of a coal mine.
An embodiment of one aspect of the present application provides a method for cooperatively controlling equipment in a fully mechanized caving face of a coal mine, the method comprising: the fully-mechanized caving face of the coal mine comprises caving equipment and a scraper conveyor corresponding to the caving equipment, and the method comprises the following steps: visual data acquisition is carried out on a chute area of the scraper conveyor so as to obtain visual data of the chute area; determining a coal flow load state of the scraper conveyor according to the visual data; and controlling the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor according to the coal flow load state.
In one embodiment of the present application, the controlling the transporting speed of the scraper conveyor and the coal discharging speed of the coal discharging device corresponding to the scraper conveyor according to the coal flow load state includes: and under the condition that the coal flow load state is a full load state, the transportation speed of the scraper conveyor is increased, and the coal discharging speed of the coal discharging equipment is reduced.
In one embodiment of the application, the method further comprises: and outputting first prompt information, wherein the first prompt information is used for prompting that the coal flow load state is a full load state.
In one embodiment of the present application, the controlling the transporting speed of the scraper conveyor and the coal discharging speed of the coal discharging device corresponding to the scraper conveyor according to the coal flow load state includes: and under the condition that the coal flow load state is an empty state, reducing the transportation speed of the scraper conveyor and improving the coal discharging speed of the coal discharging equipment.
In one embodiment of the application, the method further comprises: and outputting second prompt information, wherein the second prompt information is used for prompting that the coal flow load state is an idle state.
In one embodiment of the present application, the controlling the transporting speed of the scraper conveyor and the coal discharging speed of the coal discharging device corresponding to the scraper conveyor according to the coal flow load state includes: and under the condition that the coal flow load state is in a normal state, controlling the scraper conveyor to continue to run at the current conveying speed, and controlling the coal discharging equipment to continue discharging coal at the current coal discharging speed.
According to the equipment cooperative control method in the fully-mechanized caving face of the coal mine, the coal flow load state on the scraper conveyor can be automatically determined by analyzing the visual data corresponding to the scraper conveyor, and the coal caving equipment and the scraper conveyor are cooperatively controlled by combining the coal flow load state. Therefore, the coal flow load condition on the scraper machine is not required to be monitored manually, and the cooperative control of the coal discharging equipment and the scraper conveyor can be realized under the condition that the manual work is not required.
Another embodiment of the present application provides a device cooperative control apparatus in a fully-mechanized caving face of a coal mine, where the fully-mechanized caving face includes a caving device and a scraper conveyor corresponding to the caving device, the apparatus includes: the visual data acquisition module is used for acquiring visual data of a chute area of the scraper conveyor so as to obtain visual data of the chute area; the determining module is used for determining the coal flow load state of the scraper conveyor according to the visual data; and the control module is used for controlling the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor according to the coal flow load state.
In one embodiment of the present application, the control module is specifically configured to: and under the condition that the coal flow load state is a full load state, the transportation speed of the scraper conveyor is increased, and the coal discharging speed of the coal discharging equipment is reduced.
In one embodiment of the present application, the control module is specifically configured to: and under the condition that the coal flow load state is an empty state, reducing the transportation speed of the scraper conveyor and improving the coal discharging speed of the coal discharging equipment.
In one embodiment of the present application, the control module is specifically configured to: and under the condition that the coal flow load state is in a normal state, controlling the scraper conveyor to continue to run at the current conveying speed, and controlling the coal discharging equipment to continue discharging coal at the current coal discharging speed.
According to the device for cooperatively controlling the coal mine fully-mechanized caving face, disclosed by the embodiment of the application, the coal flow load state on the scraper conveyor can be automatically determined by analyzing the corresponding visual data on the scraper conveyor, and the coal caving device and the scraper conveyor are cooperatively controlled by combining the coal flow load state. Therefore, the coal flow load condition on the scraper machine is not required to be monitored manually, and the cooperative control of the coal discharging equipment and the scraper conveyor can be realized under the condition that the manual work is not required.
In another aspect, the present application provides a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the method for controlling equipment in a fully mechanized caving face of a coal mine disclosed in the embodiment of the present application.
In another aspect, the embodiment of the application provides a computer program product, which when executed by an instruction processor in the computer program product, implements the device cooperative control method in the fully mechanized caving face of the coal mine in the embodiment of the application.
Other effects of the above alternative will be described below in connection with specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present application and are not to be construed as limiting the application. Wherein:
fig. 1 is a flow chart of a method for cooperative control of equipment in a fully mechanized caving face of a coal mine according to an embodiment of the application.
Fig. 2 is a flow chart of a method for cooperatively controlling equipment in a fully mechanized caving face of a coal mine according to another embodiment of the application.
Fig. 3 is a schematic structural view of a cooperative control apparatus for equipment in a fully mechanized caving face of a coal mine according to an embodiment of the present application.
Fig. 4 is a schematic structural view of a cooperative control apparatus for equipment in a fully mechanized caving face of a coal mine according to another embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a device cooperative control method, a device, an electronic device and a storage medium in a fully mechanized caving face of a coal mine according to an embodiment of the application with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for cooperative control of equipment in a fully mechanized caving face of a coal mine according to an embodiment of the application. The implementation main body of the device cooperative control method in the fully-mechanized caving face of the coal mine provided by the embodiment is a device cooperative control device in the fully-mechanized caving face of the coal mine, the device cooperative control device in the fully-mechanized caving face of the coal mine can be realized in a software and/or hardware mode, and the device cooperative control device in the fully-mechanized caving face of the coal mine can be configured in a management system of the fully-mechanized caving face of the coal mine, wherein the management system manages and controls the devices in the fully-mechanized caving face of the coal mine. The coal mine fully mechanized caving face management system can be configured in electronic equipment, the electronic equipment in the embodiment can comprise equipment such as terminal equipment, a server and the like, and the embodiment is not particularly limited to the electronic equipment. The fully-mechanized caving face in the embodiment may include, but is not limited to, a caving device and a scraper conveyor corresponding to the caving device.
As shown in fig. 1, the method for cooperatively controlling equipment in the fully mechanized caving face of the coal mine can comprise the following steps:
and step 101, visual data acquisition is carried out on a chute area of the scraper conveyor so as to obtain visual data of the chute area.
In some embodiments, visual data acquisition modules can be deployed at preset equal intervals in the fully mechanized caving face of the coal mine, and a face coal flow video monitoring system can be built to visually cover and monitor the full face of the fully mechanized caving face of the coal mine.
The visual data acquisition module can stably monitor the chute area of the scraper conveyor.
The visual data acquisition module in this embodiment may include a camera.
It can be understood that the control device in this embodiment is connected to the coal stream video monitoring system, where the connection may include wireless connection and wired connection, and the connection manner of the control device and the coal stream video monitoring system is not specifically limited in this embodiment.
And 102, determining the coal flow load state of the scraper conveyor according to the visual data.
The above-mentioned determination of the coal flow load of the scraper conveyor according to the visual data may be achieved in various ways, and is exemplified as follows:
as an exemplary embodiment, visual data may be input into a pre-trained neural network model to determine the coal flow load status of the scraper conveyor through the neural network model.
Specifically, the neural network model analyzes the coal flow load of the visual data, and outputs a corresponding coal flow load state according to the analysis result.
The coal flow load state can be divided into a normal load state, an idle state and a full load state.
As another exemplary embodiment, the visual data may be analyzed to determine a current amount of coal in the chute area and, based on the current amount of coal, a coal flow load condition of the scraper conveyor.
And step 103, controlling the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor according to the coal flow load state.
In some embodiments, in the event that the coal flow load condition is a full load condition, the transport speed of the scraper conveyor is increased and the coal discharge speed of the coal discharge apparatus is decreased. That is, in order to ensure smooth transfer of the coal flow of the working surface to the auxiliary conveyor belt in the case where the coal flow load state is the full load state, the scraper conveyor may be controlled to speed up and the coal discharging equipment may be controlled to speed down. Therefore, the scraper conveyor and the coal caving equipment can be controlled without manual work, the automatic control of the fully mechanized caving face of the coal mine is improved, and the manual control in the fully mechanized caving face of the coal mine is reduced.
In some embodiments, in order to enable a person in the fully-mechanized caving face of the coal mine to clearly know the coal flow load state of the scraper conveyor, first prompt information can be output, wherein the first prompt information is used for prompting that the coal flow load state is a full load state.
In other embodiments, in the event that the coal flow load condition is an empty condition, the transport speed of the scraper conveyor is reduced and the coal discharge speed of the coal discharge apparatus is increased. That is, in order to save underground power energy and improve the mining efficiency of the fully mechanized caving face of the coal mine, the coal caving device can be controlled in an acceleration manner and the scraper conveyor can be adjusted in a deceleration manner under the condition that the coal flow load state is in an idle state. Therefore, the scraper conveyor and the coal caving equipment can be controlled without manual work, the automatic control of the fully mechanized caving face of the coal mine is improved, and the manual control in the fully mechanized caving face of the coal mine is reduced.
In some embodiments, in order to enable a person in the fully-mechanized caving face of the coal mine to clearly know the coal flow load state of the scraper conveyor, a second prompt message can be output, wherein the second prompt message is used for prompting that the coal flow load state is in an idle state.
In other embodiments, under the condition that the coal flow load state is normal, the scraper conveyor is controlled to continue to operate at the current conveying speed, and the coal discharging equipment is controlled to continue to discharge coal at the current coal discharging speed, so that smooth and normal transfer of the coal flow of the working face to the auxiliary conveying belt can be ensured.
The coal discharging device in this embodiment may be a hydraulic bracket for discharging coal.
According to the equipment cooperative control method in the fully-mechanized caving face of the coal mine, the visual data acquisition is carried out on the chute area of the scraper conveyor to obtain the visual data of the chute area, the visual data of the chute area are analyzed to determine the coal flow load state of the chute area, and the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor are controlled according to the coal flow load state. Therefore, the coal flow load state on the scraper conveyor can be determined without manual work through analyzing the visual data corresponding to the scraper conveyor, and the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor can be controlled according to the coal flow load state, so that the cooperative control of related equipment in the comprehensive coal mine discharging working face based on the coal flow load state is realized, and the mining efficiency of the comprehensive coal mine discharging working face is improved.
In order to make it clear to a person skilled in the art that the method of this embodiment of the application is further described below in connection with fig. 2, the method may comprise, as shown in fig. 2:
step 201, inputting coal flow to monitor corresponding coal caving hydraulic support frame numbers.
Step 202, corresponding camera identification information is determined according to the frame number of the coal caving hydraulic support.
And step 203, acquiring corresponding video stream image frames according to the camera identification information.
And 204, detecting the coal flow according to the video image frames to obtain the coal flow load state on the scraper conveyor.
Specifically, the intelligent analysis of the coal flow rate is carried out on the video image frames, and the coal flow load state on the scraper conveyor is determined according to the analysis result.
Step 205, judging the coal flow load state on the scraper conveyor, and executing step 206 if the coal flow load state on the scraper conveyor is a full load state; if the coal flow state on the scraper conveyor is an empty state, executing step 207; if the coal flow condition on the scraper conveyor is normal, step 208 is skipped.
And 206, triggering full-load early warning of the coal flow of the scraper conveyor, deceleration control of coal discharging equipment, acceleration control of the scraper conveyor and storage of the coal flow load of the scraper conveyor in a full-load state.
Step 207, triggering no-load early warning of coal flow of the scraper conveyor, acceleration control of coal discharging equipment, deceleration adjustment of the scraper conveyor and storage of no-load state of coal flow of the scraper conveyor
Step 208, storing the coal flow load of the scraper conveyor to be in a normal state.
Specifically, the coal discharging equipment is controlled to keep the current speed at a constant speed for forward control, the scraper conveyor is controlled to keep running at a constant speed, and the coal flow load of the scraper conveyor is stored to be in a normal state.
In the embodiment, the coal flow load state on the scraper conveyor can be automatically determined by analyzing the corresponding visual data on the scraper conveyor, and the coal discharging equipment and the scraper conveyor are cooperatively controlled by combining the coal flow load state. Therefore, the coal flow load condition on the scraper machine is not required to be monitored manually, and the cooperative control of the coal discharging equipment and the scraper conveyor can be realized under the condition that the manual work is not required.
Corresponding to the method for cooperatively controlling the equipment in the fully-mechanized caving face of the coal mine provided by the above embodiments, an embodiment of the present application further provides a device for cooperatively controlling the equipment in the fully-mechanized caving face of the coal mine, and because the device for cooperatively controlling the equipment in the fully-mechanized caving face of the coal mine provided by the embodiment of the present application corresponds to the method for cooperatively controlling the equipment in the fully-mechanized caving face of the coal mine provided by the above embodiments, the implementation of the method for cooperatively controlling the equipment in the fully-mechanized caving face of the coal mine is also applicable to the device for cooperatively controlling the equipment in the fully-mechanized caving face of the coal mine provided by the embodiment, which is not described in detail in the embodiment.
Fig. 3 is a schematic structural view of a cooperative control apparatus for equipment in a fully mechanized caving face of a coal mine according to an embodiment of the present application. The fully-mechanized caving face of the coal mine comprises caving equipment and a scraper conveyor corresponding to the caving equipment.
As shown in fig. 3, the device cooperative control apparatus 300 in the fully mechanized caving face of the coal mine includes a visual data acquisition module 301, a determination module 302 and a control module 303, wherein:
the visual data acquisition module 301 is configured to perform visual data acquisition on a chute area of the scraper conveyor, so as to obtain visual data of the chute area.
A determination module 302 is configured to determine a coal flow load condition of the scraper conveyor based on the visual data.
And the control module 303 is used for controlling the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor according to the coal flow load state.
In one embodiment of the present application, the control module 303 is specifically configured to: under the condition that the coal flow load state is the full load state, the conveying speed of the scraper conveyor is increased, and the coal discharging speed of the coal discharging equipment is reduced.
In one embodiment of the present application, based on the embodiment of the apparatus shown in fig. 3, as shown in fig. 4, the apparatus may further include;
the first output module 304 is configured to output a first prompt message, where the first prompt message is configured to prompt that the coal flow load status is a full load status.
In one embodiment of the present application, the control module 303 is specifically configured to: under the condition that the coal flow load state is an empty state, the transportation speed of the scraper conveyor is reduced, and the coal discharging speed of the coal discharging equipment is improved.
In one embodiment of the present application, as shown in fig. 4, the apparatus may further include:
the second output module 305 is configured to output a second prompt message, where the second prompt message is used to prompt that the coal flow load state is an idle state.
In one embodiment of the present application, the control module 303 is specifically configured to: under the condition that the coal flow load state is normal, controlling the scraper conveyor to continue to run at the current conveying speed, and controlling the coal discharging equipment to continue to discharge coal at the current coal discharging speed.
According to the device for cooperatively controlling the coal mine fully-mechanized caving face, disclosed by the embodiment of the application, the coal flow load state on the scraper conveyor can be automatically determined by analyzing the corresponding visual data on the scraper conveyor, and the coal caving device and the scraper conveyor are cooperatively controlled by combining the coal flow load state. Therefore, the coal flow load condition on the scraper machine is not required to be monitored manually, and the cooperative control of the coal discharging equipment and the scraper conveyor can be realized under the condition that the manual work is not required.
According to an embodiment of the present application, there is also provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the apparatus cooperative control method in the fully mechanized caving face of a coal mine disclosed in the embodiment of the present application.
The application also provides a computer program product, which realizes the device cooperative control method in the fully mechanized caving face of the coal mine when the instruction processor in the computer program product executes.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (4)
1. The utility model provides a colliery comprehensive caving face's equipment cooperative control method, its characterized in that, colliery comprehensive caving face includes coal caving equipment and the scraper conveyor who corresponds with the coal caving equipment, the method includes:
visual data acquisition is carried out on a chute area of the scraper conveyor so as to obtain visual data of the chute area;
determining a coal flow load state of the scraper conveyor according to the visual data;
controlling the transportation speed of the scraper conveyor and the coal discharging speed of coal discharging equipment corresponding to the scraper conveyor according to the coal flow load state;
the visual data acquisition is performed on the chute area of the scraper conveyor so as to obtain the visual data of the chute area, and the visual data acquisition comprises the following steps:
acquiring a corresponding coal discharging hydraulic support frame number of coal flow monitoring;
determining corresponding camera identification information according to the frame number of the coal caving hydraulic support;
acquiring corresponding video image frames as visual data of the chute area according to the camera identification information;
the determining the coal flow load state of the scraper conveyor according to the visual data comprises the following steps:
inputting visual data into a pre-trained neural network model to determine the coal flow load state of the scraper conveyor through the neural network model;
according to the coal flow load state, controlling the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor, comprising:
under the condition that the coal flow load state is a full load state, the transportation speed of the scraper conveyor is increased, and the coal discharging speed of the coal discharging equipment is reduced;
under the condition that the coal flow load state is an empty state, reducing the transportation speed of the scraper conveyor and improving the coal discharging speed of the coal discharging equipment;
and under the condition that the coal flow load state is in a normal state, controlling the scraper conveyor to continue to run at the current conveying speed, and controlling the coal discharging equipment to continue discharging coal at the current coal discharging speed.
2. The method of claim 1, wherein the method further comprises:
and outputting first prompt information, wherein the first prompt information is used for prompting that the coal flow load state is a full load state.
3. The method of claim 1, wherein the method further comprises:
and outputting second prompt information, wherein the second prompt information is used for prompting that the coal flow load state is an idle state.
4. The utility model provides a colliery comprehensive mechanized caving face's equipment cooperative control device, its characterized in that, colliery comprehensive mechanized caving face includes coal caving equipment and the scraper conveyor who corresponds with coal caving equipment, the device includes:
the visual data acquisition module is used for acquiring visual data of a chute area of the scraper conveyor so as to obtain visual data of the chute area;
the determining module is used for determining the coal flow load state of the scraper conveyor according to the visual data;
the control module is used for controlling the transportation speed of the scraper conveyor and the coal discharging speed of the coal discharging equipment corresponding to the scraper conveyor according to the coal flow load state;
the visual data acquisition module is specifically used for:
acquiring a corresponding coal discharging hydraulic support frame number of coal flow monitoring;
determining corresponding camera identification information according to the frame number of the coal caving hydraulic support;
acquiring corresponding video image frames as visual data of the chute area according to the camera identification information;
the determining the coal flow load state of the scraper conveyor according to the visual data comprises the following steps:
inputting visual data into a pre-trained neural network model to determine the coal flow load state of the scraper conveyor through the neural network model;
the control module is specifically configured to:
under the condition that the coal flow load state is a full load state, the transportation speed of the scraper conveyor is increased, and the coal discharging speed of the coal discharging equipment is reduced;
under the condition that the coal flow load state is an empty state, reducing the transportation speed of the scraper conveyor and improving the coal discharging speed of the coal discharging equipment;
and under the condition that the coal flow load state is in a normal state, controlling the scraper conveyor to continue to run at the current conveying speed, and controlling the coal discharging equipment to continue discharging coal at the current coal discharging speed.
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