CN114718560A - Coal mining control method and device for fully mechanized mining face - Google Patents
Coal mining control method and device for fully mechanized mining face Download PDFInfo
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- 238000005065 mining Methods 0.000 title claims abstract description 353
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
- E21C25/10—Rods; Drums
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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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
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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
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention provides a coal mining control method and a coal mining control device for a fully mechanized coal mining face, wherein the method comprises the following steps: acquiring a walking track, a cutting state and a roller state of a coal mining machine; identifying the current working state of the fully mechanized coal mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; the working state comprises the following steps: beveling and feeding, cutting triangular coal and sweeping bottom coal; and controlling the fully mechanized mining face based on the current working state of the fully mechanized mining face. According to the coal mining control method and device for the fully mechanized coal mining face, the current working state of the fully mechanized coal mining face is identified based on the acquired walking track, cutting state and roller state of the coal mining machine and the walking track, cutting state and roller state of the coal mining machine, the fully mechanized coal mining face is controlled based on the current working state of the fully mechanized coal mining face, the current working state of the fully mechanized coal mining face can be identified more accurately, the fully mechanized coal mining face can be controlled more accurately, and control errors can be reduced.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to a coal mining control method and device for a fully mechanized coal mining face.
Background
The coal mine intelligent system with multiple industrial chains and multiple system integration is built, the coal mine intelligent system with intelligent sensing, intelligent decision making and automatic execution is built, and the method has very important significance for providing the production efficiency and the safety of the coal industry.
At present, the cutting feed mode of a coal mining machine of a fully mechanized coal mining face under a coal mine is a beveling cutting feed mode of cutting triangular coal at two ends of the working face, the length of a beveling cutting feed section is generally about 35m, the specific length is determined according to the equipment type selection of the coal mining working face and the working face condition, and the cutting depth is the cutting depth of a roller. As shown in fig. 1, the process flow for cutting triangular coal generally comprises: firstly, pushing a scraper conveyor after a coal cutter cuts through a coal wall at one end; when the bent section of the scraper conveyor behind the coal mining machine reaches the triangular coal transition section, the upper position and the lower position of the two rollers are exchanged, and the triangular coal at the bent section is cut by obliquely cutting the bent section, so that the coal mining machine reaches a normal cutting depth.
In the prior art, methods such as video image acquisition, coal rock identification and prediction model correction are often adopted, and most of the methods are to obtain and draw a cutting curve of a coal mining machine by recording the revolution of a walking gear or increasing a stroke sensor of an oil cylinder. According to the method, on one hand, a large amount of calculation is needed to improve the image processing precision, on the other hand, dust, fragments, caving and the like in the actual production process of the coal face affect the accuracy of calculation, the cutting route can be judged only by model prediction, large cutting errors are easily caused, and the deviation rectifying capability is weak.
Therefore, the existing method has the defects of large error and the like.
Disclosure of Invention
The invention provides a coal mining control method and device for a fully mechanized coal mining face, which are used for overcoming the defect of large error in the prior art and realizing higher-precision automatic coal mining control.
The invention provides a coal mining control method for a fully mechanized coal mining face, which comprises the following steps:
acquiring a walking track, a cutting state and a roller state of a coal mining machine;
identifying the current working state of the fully mechanized mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; the working state comprises: beveling and feeding, cutting triangular coal and sweeping bottom coal;
and controlling the fully mechanized mining face based on the current working state of the fully mechanized mining face.
According to the coal mining control method for the fully mechanized mining face, which is provided by the invention, the walking track of the coal mining machine is obtained, and the method comprises the following steps:
and acquiring the walking track of the coal mining machine based on an inertial navigation system arranged on the coal mining machine.
According to the coal mining control method for the fully mechanized coal mining face provided by the invention, the identification of the current working state of the fully mechanized coal mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine comprises the following steps:
acquiring position information of the coal mining machine based on the walking track of the coal mining machine;
and identifying the current working state of the fully mechanized mining face based on the walking track, the cutting state, the position information and the state of the roller of the coal mining machine.
According to the coal mining control method for the fully mechanized coal mining face provided by the invention, the control of the fully mechanized coal mining face based on the current working state of the fully mechanized coal mining face comprises the following steps:
and controlling at least one of the coal mining machine, the hydraulic support and the scraper conveyor based on the current working state of the fully mechanized mining face.
According to the coal mining control method for the fully mechanized coal mining face, provided by the invention, the position information of the coal mining machine is obtained based on the traveling track of the coal mining machine, and the method comprises the following steps:
and acquiring the position information of the coal mining machine based on the length of the walking track of the coal mining machine.
The invention also provides a coal mining control device of the fully mechanized coal mining face, which comprises:
the acquisition module is used for acquiring the walking track, the cutting state and the state of the roller of the coal mining machine;
the identification module is used for identifying the current working state of the fully mechanized coal mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; the working state comprises: beveling and feeding, cutting triangular coal and sweeping bottom coal;
and the control module is used for controlling the fully mechanized coal mining face based on the current working state of the fully mechanized coal mining face.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the coal mining control method for the fully mechanized mining face.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of coal mining control for a fully mechanized face as any of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the fully mechanized coal face coal mining control method as described in any of the above.
The coal mining control method and the coal mining control device for the fully mechanized coal face provided by the invention have the advantages that the memory model of the beveling feed and the cutting triangle coal track of the fully mechanized coal face is established by combining the processes of beveling feed and cutting triangle coal of the coal mining machine based on the acquisition of the travel track, the cutting state and the state of the roller of the coal mining machine, the current working state of the fully mechanized coal face is identified based on the travel track, the cutting state and the state of the roller of the coal mining machine, the fully mechanized coal face is controlled based on the current working state of the fully mechanized coal face, the current working state of the fully mechanized coal face can be identified more accurately, the fully mechanized coal face can be controlled more accurately, the control error can be reduced, and the errors of the beveling feed and the cutting triangle coal can be reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a fully mechanized mining face coal mining control method provided in the prior art;
FIG. 2 is a schematic flow chart of a fully mechanized coal mining face coal mining control method provided by the invention;
FIG. 3 is a schematic view of the position change of the coal mining machine and the process of operating the drum to cut according to the present invention;
FIG. 4 is a schematic flow chart of the drum running cutting provided by the present invention;
FIG. 5 is a schematic structural diagram of a fully mechanized coal mining face coal mining control device provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor order.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
The coal mining control method and device for the fully mechanized coal mining face provided by the invention are described below with reference to fig. 2 to 6.
FIG. 2 is a schematic flow chart of a fully mechanized coal mining face coal mining control method provided by the invention. The execution main body of the fully mechanized coal mining face coal mining control method can be a fully mechanized coal mining face coal mining control device. As shown in fig. 2, the method may include step 201, step 202, and step 203.
In particular, the fully mechanized mining face may include coal mining machines, hydraulic supports, scraper conveyors, and the like. Wherein the shearer can be a shearer loader. And the hydraulic support is used for supporting the working face by supporting the top plate.
Alternatively, the shearer may be a dual drum shearer, and the two drums may be located on the left and right sides of the shearer's body, respectively, a shearer left drum (may be simply referred to as "left drum") and a shearer right drum (may be simply referred to as "right drum").
During coal mining operations, the body of the shearer moves between the head and the tail of the scraper conveyor. The walking track of the coal mining machine refers to the moving track of the machine body of the coal mining machine on the scraper conveyor.
The state of the rollers may include a relative positional relationship between the rollers and a position adjustment state. For example, for a dual drum shearer, the state of the drums may include top left, bottom right (meaning the left drum is above and the right drum is below), bottom left, top right (meaning the left drum is below and the right drum is above), the left drum down and the right drum up, and the left drum up and the right drum down, etc.
The cutting state of the coal mining machine can comprise beveling feed, cutting triangle coal, bottom sweeping coal and the like.
Alternatively, the travel track of the coal mining machine may be acquired by at least one of an Inertial Navigation System (INS), a positioning System, and a odometer, which are provided on the coal mining machine.
Alternatively, the state of the drum may be acquired by a position sensor or a shearer control system, or the like.
Alternatively, the cutting state of the shearer may be acquired by a shearer control system or the like.
202, identifying the current working state of the fully mechanized coal mining face based on the traveling track, the cutting state and the state of the roller of the coal mining machine; the working state comprises the following steps: beveling and feeding, cutting triangular coal and sweeping bottom coal.
Specifically, the working state of the fully mechanized mining face mainly comprises beveling feed, cutting triangle coal and bottom sweeping coal.
The state of cutting the triangle coal may further include information of time, length, position, etc. of cutting the triangle coal.
FIG. 3 is a schematic view of the position change of the coal mining machine and the process of operating the drum to cut according to the present invention; fig. 4 is a schematic flow chart of the drum running cutting provided by the invention. Taking a dual-drum shearer with left and right drums as an example, as shown in fig. 3, the cutting process of a single cycle when cutting coal on a fully mechanized mining face may include the following procedures:
the process 1 is that a left roller of a coal mining machine is arranged above a right roller, and a machine body of the coal mining machine runs to the tail of a scraper conveyor to cut coal;
the flow 2 is that the coal mining machine runs to the tail, and the positions of the left and right rollers of the coal mining machine are adjusted;
the flow 3 is that the left roller of the coal mining machine is adjusted from top to bottom and the right roller is adjusted from bottom to top to the positions of the left roller and the right roller;
the flow 4 is that the left roller of the coal mining machine is arranged at the lower part and the right roller is arranged at the upper part, the machine body of the coal mining machine runs to the tail of the scraper conveyor and the oblique cutting feed of the coal mining machine is carried out; the flow is a beveling feed cutting route 1 which can be marked as red;
the flow 5 is that the coal mining machine runs to the position of the beveling feed end point and the left and right rollers are adjusted;
the flow 6 is that the left roller of the coal mining machine is adjusted from bottom to top and the right roller is adjusted from top to bottom to the positions of the left roller and the right roller which are at the top and the bottom;
the flow 7 is that the left roller of the coal mining machine is arranged above the right roller, the machine body of the coal mining machine runs to the tail of the scraper conveyor and the triangular coal is cut by the coal mining machine; the flow is a cutting triangle coal cutting route 2 which can be marked as green;
the flow 8 is that the coal mining machine runs to the tail, and the positions of the left and right rollers of the coal mining machine are adjusted;
the process 9 is that the left roller of the coal mining machine is adjusted from top to bottom and the right roller is adjusted from bottom to top to the positions of the left roller and the right roller;
the process 10 is that the left roller of the coal cutter is arranged at the lower part and the right roller is arranged at the upper part, and the coal cutter body moves towards the direction of the scraper conveyor head to cut coal; the flow is a cutting route 3 which can be marked as blue;
the flow 11 is that the coal cutter body runs to the direction of the scraper conveyor head to normally cut coal after obliquely cutting and feeding and cutting triangular coal;
the process 12 is that the left roller of the coal mining machine is arranged at the lower part and the right roller is arranged at the upper part, the machine body of the coal mining machine runs to the head of the scraper conveyor and the oblique cutting feed of the coal mining machine is carried out; the flow is a beveling feed cutting route 4 which can also be marked red;
the process 13 is that the coal mining machine runs to the position of the beveling feed end point and the left and right rollers are adjusted;
the process 14 is that the left roller of the coal mining machine is adjusted from bottom to top and the right roller is adjusted from top to bottom to the positions of the left roller and the right roller which are at the top and the bottom;
the flow 15 is that the left roller of the coal mining machine is arranged above the right roller, the machine body of the coal mining machine runs to the head of the scraper conveyor and the triangular coal is cut by the coal mining machine; the flow is a cutting triangle coal cutting route 5, and can be marked as green;
the process 16 is that the coal mining machine runs to the machine head, and the positions of the left roller and the right roller of the coal mining machine are adjusted;
the flow 17 is that the left roller of the coal mining machine is adjusted from top to bottom and the right roller is adjusted from bottom to top to the positions of the left roller and the right roller;
the process 18 is that the left roller of the coal cutter is arranged at the lower part and the right roller is arranged at the upper part, and the machine body of the coal cutter runs to cut coal towards the tail direction of the scraper conveyor; the flow is a cutting route 6, which can also be marked as blue;
the process 19 is that the coal mining machine runs to the machine head, and the positions of the left and right rollers of the coal mining machine are adjusted;
the process 20 is that the left roller of the coal mining machine is adjusted from bottom to top and the right roller is adjusted from top to bottom to the positions of the left roller and the right roller which are at the top and the bottom;
the flow 21 is that the left roller of the coal mining machine is arranged above the right roller, and the machine body of the coal mining machine runs to the tail of the scraper conveyor to cut coal;
the flow 22 is that the coal cutter body normally cuts coal when running towards the tail of the scraper conveyor after obliquely cutting the triangular coal and feeding the cutter.
As shown in fig. 4, fig. 4 shows a process in which the left drum 401 descends and the right drum 402 ascends.
Optionally, the working state of the fully mechanized mining face may be further refined, and each of the 22 processes may be used as a working state.
It can be understood that based on the above flows and the logical relationship among the flows, a memory model of the path of the inclined cutting feed and the cutting triangle coal of the fully mechanized coal mining face coal mining machine can be constructed
Optionally, based on the traveling track, the cutting state and the state of the drum of the coal mining machine, and based on the memory model of the inclined cutting feed and the cutting triangle coal track of the coal mining machine on the fully mechanized mining face, which flow of the above-mentioned flows 1 to 22 the fully mechanized mining face is currently in can be judged, and the flow is taken as the current working state of the fully mechanized mining face, so as to identify the current working state of the fully mechanized mining face.
It will be appreciated that other types of shearer machines cut coal with a single cycle cutting process similar to that shown in fig. 3, and thus, for other types of shearer machines, the current operating state of the fully mechanized face may also be identified based on the travel path of the shearer machine, the cutting state, and the state of the drums.
And step 203, controlling the fully mechanized mining face based on the current working state of the fully mechanized mining face.
Specifically, after the current working state of the fully mechanized coal mining face is identified, the fully mechanized coal mining face can be controlled, so that the mining face can enter the next flow of the current flow after the current flow is finished, that is, the coal mining operation of the next flow is performed.
It should be noted that, deep learning can be performed on basic data such as the track routes of the coal mining machine and the left and right rollers of the fully mechanized coal face, especially when the coal face encounters parameters such as geological conditions, mining height variation and inclination variation which affect the cutting triangular coal beveling feed factor, an intelligent and learning type cutting operation target of the link of cutting triangular coal of the fully mechanized coal face is established through an optimized logic model, an optimized logic model of cutting triangular coal of the coal face is completed, and an important basis is provided for realizing intellectualization and unmanned coal face of the coal face. And constructing a parameter determination model through the deep learning. The parameter determination model can be used for acquiring parameters such as the cutting depth of the coal mining machine, the angle of the beveling feed and the like.
The embodiment of the invention can accurately judge the states of beveling feed, cutting triangular coal, bottom sweeping coal and the like of the coal mining machine through the walking route of the coal mining machine, the up-down states of left and right rollers of the coal mining machine, the position of a machine body of the coal mining machine and the like, and accurately analyze the logic and the operation sequence among the beveling feed and cutting triangular coal route of the coal mining machine, a hydraulic support and a scraper conveyor in combination with a remote control technology and logic control, thereby providing an optimized logic model for cutting feed of triangular coal on a fully mechanized mining face by taking the walking track of the coal mining machine and the position states of the left and right rollers as reference and through logic steps and flow analysis of the tracks of the beveling feed and cutting triangular coal route. The fully mechanized coal mining face control method provided by the embodiment of the invention not only makes up the vacancy of the key process of the coal mining face, namely the intelligent identification control technology of the beveling feed cutting triangle coal, but also can avoid the influence caused by the operation required by the image processing precision and the image acquisition, improve the control precision, reduce the error and improve the efficiency of the fully mechanized coal mining face between links such as pushing, pulling and the like.
It should be noted that, in the embodiment of the present invention, the cutting flow of a single cycle when the fully mechanized mining face cuts coal is segmented and marked, and the working state of the coal mining machine is analyzed and determined by using the logical relationship between the flows; then, the cutting track route, the adjusting state of the left and right rollers and the cutting state of the coal mining machine are utilized, and the position of the coal mining machine is judged according to the length of the track route, so that the information of time, length, position and the like of cutting the triangular coal is judged; finally, multi-vector parameter acquisition of a single hydraulic support for beveling feed is judged according to the running direction of the machine body, real-time data screening and analysis are carried out on comprehensive parameters of the attitude of the hydraulic support, a loss function is established, the running attitude of the hydraulic support is determined through deep learning, the conditions of mining height, fluctuation, flatness and the like of a working face are obtained, a cutting route of the fully mechanized mining working face is established in the forward direction, a positive feedback mechanism among equipment is formed, and the deviation rectifying capability is higher. The identification memory model of the beveling feed and the triangular cutting coal of the coal mining machine on the fully mechanized working face is established by recording the coal mining walking track and the states of the left and right rollers and combining the processes of beveling feed and triangular cutting coal of the coal mining machine.
The embodiment of the invention establishes the memory model of the inclined cutting feed and the cutting triangle coal track of the fully mechanized coal face coal mining machine based on the acquisition of the walking track, the cutting state and the state of the roller of the coal mining machine and the combination of the flows of the inclined cutting feed and the cutting triangle coal of the coal mining machine, identifies the current working state of the fully mechanized coal face based on the walking track, the cutting state and the state of the roller of the coal mining machine, controls the fully mechanized coal face based on the current working state of the fully mechanized coal face, can more accurately identify the current working state of the fully mechanized coal face, can more accurately control the fully mechanized coal face, and can reduce control errors, thereby reducing errors of the inclined cutting feed and the cutting triangle coal.
Based on the content of any one of the above embodiments, obtaining a walking trajectory of a coal mining machine includes: and acquiring the walking track of the coal mining machine based on an inertial navigation system arranged on the coal mining machine.
Specifically, an inertial navigation system can be arranged on the coal mining machine, and the walking track of the coal mining machine is obtained based on the inertial navigation system.
An inertial navigation system is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside (as in radio navigation). The working environment of the device not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.
According to the embodiment of the invention, the walking track of the coal mining machine is obtained through the inertial navigation system, and the more accurate walking track of the coal mining machine can be obtained, so that the fully mechanized coal mining face can be more accurately controlled.
Based on the content of any one of the embodiments, the method for identifying the current working state of the fully mechanized coal mining face based on the traveling track, the cutting state and the state of the roller of the coal mining machine comprises the following steps: and acquiring the position information of the coal mining machine based on the walking track of the coal mining machine.
Specifically, the position of the body of the coal mining machine on the scraper conveyor can be acquired based on the traveling track of the coal mining machine, so that the position information of the coal mining machine is obtained.
And identifying the current working state of the fully mechanized mining face based on the walking track, the cutting state, the position information and the state of the roller of the coal mining machine.
Specifically, based on the traveling track, the cutting state, the position information and the state of the roller of the coal mining machine, which flow the fully mechanized coal mining face is in at present can be judged, and the flow is taken as the current working state of the fully mechanized coal mining face, so that the current working state of the fully mechanized coal mining face is identified.
According to the embodiment of the invention, the position information of the coal mining machine is acquired based on the walking track of the coal mining machine, the current working state of the fully mechanized coal mining face is identified based on the walking track, the cutting state, the position information and the state of the roller of the coal mining machine, and the current working state of the fully mechanized coal mining face can be identified more accurately, so that the fully mechanized coal mining face can be controlled more accurately.
Based on the content of any one of the above embodiments, the method for controlling the fully mechanized coal mining face based on the current working state of the fully mechanized coal mining face includes: and controlling at least one of the coal mining machine, the hydraulic support and the scraper conveyor based on the current working state of the fully mechanized mining face.
Specifically, at least one of the coal mining machine, the hydraulic support and the scraper conveyor can be correspondingly controlled based on the current working state of the fully mechanized mining face, so that the mining face can enter the next flow of the current flow after the current flow is finished, namely, the coal mining operation of the next flow is carried out.
The embodiment of the invention controls the fully mechanized coal mining face based on the current working state of the fully mechanized coal mining face, can more accurately identify the current working state of the fully mechanized coal mining face, can more accurately control the fully mechanized coal mining face, and can reduce control errors, thereby reducing cutting errors.
Based on the content of any one of the above embodiments, obtaining the position information of the coal mining machine based on the traveling track of the coal mining machine includes: and acquiring the position information of the coal mining machine based on the length of the walking track of the coal mining machine.
Specifically, the length and the current moving direction of the walking track of the coal mining machine can be obtained based on the walking track of the coal mining machine; after the length of the walking track of the coal mining machine and the current moving direction are obtained, the position of the machine body of the coal mining machine on the scraper conveyor can be obtained based on the length of the walking track of the coal mining machine and the current moving direction as well as the distance between the machine head and the machine tail of the scraper conveyor, so that the position information of the coal mining machine is obtained.
According to the embodiment of the invention, the position information of the coal mining machine is obtained based on the length of the walking track of the coal mining machine, and the more accurate position information of the coal mining machine can be obtained, so that the current working state of the fully mechanized coal face can be more accurately identified, and the fully mechanized coal face can be more accurately controlled.
The fully mechanized coal mining face coal mining control device provided by the invention is described below, and the fully mechanized coal mining face coal mining control device described below and the fully mechanized coal mining face coal mining control method described above can be referred to correspondingly.
Fig. 5 is a schematic structural diagram of a fully mechanized mining face coal mining control device provided by the invention. Based on the content of any of the above embodiments, as shown in fig. 5, the apparatus includes an obtaining module 501, an identifying module 502, and a control module 503, where:
the acquiring module 501 is used for acquiring the walking track, the cutting state and the state of the roller of the coal mining machine;
the identification module 502 is used for identifying the current working state of the fully mechanized coal mining face based on the traveling track, the cutting state and the state of the roller of the coal mining machine; the working state comprises the following steps: beveling and feeding, cutting triangular coal and sweeping bottom coal;
and the control module 503 is configured to control the fully mechanized mining face based on the current working state of the fully mechanized mining face.
Specifically, the acquisition module 501, the identification module 502, and the control module 503 are electrically connected in sequence.
The acquisition module 501 may acquire the travel track of the coal mining machine through at least one of an inertial navigation system, a positioning system, and a speedometer, which are provided on the coal mining machine.
The obtaining module 501 may obtain the status of the drum through a position sensor or a shearer control system.
The obtaining module 501 may obtain the cutting state of the coal mining machine through a coal mining machine control system and the like.
The identification module 502 can judge which flow the fully mechanized mining face is currently in based on the walking track, the cutting state and the state of the roller of the coal mining machine and based on a memory model of the inclined cutting feed and the cutting triangle coal track of the coal mining machine on the fully mechanized mining face, and the flow is used as the current working state of the fully mechanized mining face, so as to identify the current working state of the fully mechanized mining face.
The control module 503 may control the fully mechanized coal mining face, so that the fully mechanized coal mining face may enter the next process of the current process after the current process is finished, that is, perform the coal mining operation of the next process.
Optionally, the obtaining module 501 may include:
and the track acquisition unit is used for acquiring the walking track of the coal mining machine based on an inertial navigation system arranged on the coal mining machine.
Optionally, the identifying module 502 may include:
the position acquisition unit is used for acquiring position information of the coal mining machine based on the walking track of the coal mining machine;
and the state identification unit is used for identifying the current working state of the fully mechanized coal mining face based on the walking track, the cutting state, the position information and the state of the roller of the coal mining machine.
Optionally, the control module 503 may be specifically configured to control at least one of the shearer, the hydraulic support, and the face conveyor based on the current operating conditions of the fully mechanized face.
Optionally, the position obtaining unit may be specifically configured to obtain the position information of the coal mining machine based on the length of the travel track of the coal mining machine.
The coal mining control device for the fully mechanized coal mining face provided by the embodiment of the invention is used for executing the coal mining control method for the fully mechanized coal mining face provided by the invention, the implementation mode of the coal mining control device for the fully mechanized coal mining face is consistent with that of the coal mining control method for the fully mechanized coal mining face provided by the invention, the same beneficial effects can be achieved, and the details are not repeated here.
The coal mining control device for the fully mechanized coal mining face is used for the coal mining control method for the fully mechanized coal mining face in each embodiment. Therefore, the description and definition in the fully mechanized mining face coal mining control method in the foregoing embodiments can be used for understanding of the execution modules in the embodiments of the present invention.
The embodiment of the invention establishes the memory model of the inclined cutting feed and the cutting triangle coal track of the fully mechanized coal face coal mining machine based on the acquisition of the walking track, the cutting state and the state of the roller of the coal mining machine and the combination of the flows of the inclined cutting feed and the cutting triangle coal of the coal mining machine, identifies the current working state of the fully mechanized coal face based on the walking track, the cutting state and the state of the roller of the coal mining machine, controls the fully mechanized coal face based on the current working state of the fully mechanized coal face, can more accurately identify the current working state of the fully mechanized coal face, can more accurately control the fully mechanized coal face, and can reduce control errors, thereby reducing errors of the inclined cutting feed and the cutting triangle coal.
Fig. 6 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 6, the electronic device may include: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a method of full face coal mining control, the method comprising: acquiring a walking track, a cutting state and a roller state of a coal mining machine; identifying the current working state of the fully mechanized coal mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; and controlling the fully mechanized mining face based on the current working state of the fully mechanized mining face.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The processor 610 in the electronic device provided in the embodiment of the present application may call the logic instructions in the memory 630, and the implementation manner of the processor is consistent with the implementation manner of the coal mining control method for a fully mechanized mining face provided in the present application, and the same beneficial effects may be achieved, which are not described herein again.
In another aspect, the present invention also provides a computer program product including a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions which, when executed by a computer, enable the computer to perform the method for coal mining control of a fully mechanized coal face provided by the above methods, the method including: acquiring a walking track, a cutting state and a roller state of a coal mining machine; identifying the current working state of the fully mechanized coal mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; and controlling the fully mechanized mining face based on the current working state of the fully mechanized mining face.
When the computer program product provided by the embodiment of the application is executed, the coal mining control method for the fully mechanized coal mining face is realized, the specific implementation manner of the method is consistent with the implementation manner recorded in the embodiment of the method, and the same beneficial effects can be achieved, and the details are not repeated here.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the fully mechanized coal face coal mining control method provided above, the method comprising: acquiring a walking track, a cutting state and a roller state of a coal mining machine; identifying the current working state of the fully mechanized coal mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; and controlling the fully mechanized mining face based on the current working state of the fully mechanized mining face.
When the computer program stored on the non-transitory computer-readable storage medium provided in the embodiment of the present application is executed, the method for controlling coal mining on a fully mechanized coal mining face is implemented, and a specific implementation manner of the method is consistent with the implementation manner described in the embodiments of the foregoing method, and the same beneficial effects can be achieved, which is not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A coal mining control method for a fully mechanized coal mining face is characterized by comprising the following steps:
acquiring a walking track, a cutting state and a roller state of a coal mining machine;
identifying the current working state of the fully mechanized coal mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; the working state comprises: beveling and feeding, cutting triangular coal and sweeping bottom coal;
and controlling the fully mechanized mining face based on the current working state of the fully mechanized mining face.
2. The fully mechanized mining face coal mining control method of claim 1, wherein obtaining the travel trajectory of the coal mining machine comprises:
and acquiring the walking track of the coal mining machine based on an inertial navigation system arranged on the coal mining machine.
3. The method for controlling coal mining of a fully mechanized coal mining face according to claim 1, wherein identifying the current working state of the fully mechanized coal mining face based on the travel track, the cutting state and the state of the drum of the coal mining machine comprises:
acquiring position information of the coal mining machine based on the walking track of the coal mining machine;
and identifying the current working state of the fully mechanized mining face based on the walking track, the cutting state, the position information and the state of the roller of the coal mining machine.
4. The fully mechanized coal mining face coal mining control method according to claim 1, wherein the controlling the fully mechanized coal mining face based on a current working state of the fully mechanized coal mining face comprises:
and controlling at least one of the coal mining machine, the hydraulic support and the scraper conveyor based on the current working state of the fully mechanized mining face.
5. The fully mechanized mining face coal mining control method according to claim 3, wherein the obtaining of the position information of the coal mining machine based on the travel trajectory of the coal mining machine includes:
and acquiring the position information of the coal mining machine based on the length of the walking track of the coal mining machine.
6. A fully mechanized coal mining face coal mining control device is characterized by comprising:
the acquisition module is used for acquiring the walking track, the cutting state and the state of the roller of the coal mining machine;
the identification module is used for identifying the current working state of the fully mechanized mining face based on the walking track, the cutting state and the state of the roller of the coal mining machine; the working state comprises: beveling and feeding, cutting triangular coal and sweeping bottom coal;
and the control module is used for controlling the fully mechanized coal mining face based on the current working state of the fully mechanized coal mining face.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of coal mining control of a fully mechanized coal face of any of claims 1 to 5 when executing the program.
8. A non-transitory computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the fully mechanized coal face coal mining control method according to any of claims 1 to 5.
9. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the fully mechanized coal face coal mining control method of any of claims 1 to 5.
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| CN202210220488.3A CN114718560A (en) | 2022-03-08 | 2022-03-08 | Coal mining control method and device for fully mechanized mining face |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115822594A (en) * | 2023-02-10 | 2023-03-21 | 太原向明智控科技有限公司 | Device and method for judging coal mining process of end part feed of coal mining machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115822594A (en) * | 2023-02-10 | 2023-03-21 | 太原向明智控科技有限公司 | Device and method for judging coal mining process of end part feed of coal mining machine |
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