CN117196118A - Autonomous coal caving control method based on generation type process - Google Patents
Autonomous coal caving control method based on generation type process Download PDFInfo
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Abstract
The invention discloses an autonomous coal caving control method based on a generating type process, which relates to the technical field of coal mining and comprises the following steps: s1, recording sample data, and generating a primary coal caving process version; s2, performing data analysis and data calculation processing to generate an optimized coal caving process version; s3, using an optimized coal discharging process to automatically discharge coal, and automatically adjusting the process version in the step S2 by combining the manual operation condition in the process; and (3) sequentially circulating the step (S3) to continuously optimize and generate a new coal discharging process version. Through three steps of sample data recording, sample data analysis processing and automatic parameter adjustment, the coal discharging action difference caused by different coal bed distributions of coal discharged from the head and tail of the same working face and the difference caused by different coal bed distributions with different cutting depths are realized in the automatic coal discharging process; the stored coal caving process data is adjusted automatically by combining manual and automatic actions, so that the purposes of self-adjusting parameters and continuously adapting to geological conditions are achieved.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to an autonomous coal caving control method based on a generating process.
Background
The existing mining method of the thick coal seam mainly comprises 3 mining methods of layering, caving the top coal and large mining height, wherein the caving the top coal mining method is that a front coal mining system and a rear coal caving system are operated simultaneously, the yield is 2-3 times of that of a common working face, tunnel tunneling is reduced, the problem of continuous mining tension can be effectively relieved, meanwhile, the top coal depends on factors such as low pressure of the coal seam and self gravity to influence, and mining cost can be saved.
In the prior art, although the caving coal mining method has a plurality of advantages, the caving coal control of the existing caving coal working face is mainly operated manually due to the intelligent development of the caving coal technology and some key technologies, such as the gangue recognition technology, which are not broken through yet. On the other hand, the coal-discharging control method based on the time sequence control method or the parameter configuration method can realize remote automatic coal discharging, but the coal discharging effect is uncontrollable, and the geological conditions are also changed along with the advancement of coal seam exploitation, so that the frequent manual parameter modification is unfavorable for the convenience of production.
In order to solve the problems, we propose an autonomous coal caving control method based on a production type process.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an autonomous coal caving control method based on a generating process, which aims to solve the problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: an autonomous coal caving control method based on a generating process comprises the following steps:
s1, recording process sample data during manual coal caving by one cutter, and generating an initial coal caving process version based on the sample data;
s2, generating an optimized coal caving process version through a data processing mode of data analysis and data calculation on the generated initial coal caving process;
s3, using an optimized coal discharging process to automatically discharge coal, and combining the action of manually closing or opening a coal port again in advance in the execution process to automatically adjust the process version in the step S2; and each cutter sequentially circulates the step S3, and continuously optimizes and generates a new coal discharging process version.
Further optimizing the technical scheme, in the step S1, further includes:
s101, when a certain knife starts to manually put coal, recording sample data of the knife;
and S102, stopping recording sample data after the coal discharge of the cutter is finished.
Further optimizing the technical scheme, in step S101, the recorded sample data includes frame moving data and coal caving process data, wherein:
the frame moving data comprises the steps of recording the frame moving completion state and frame moving completion time of all the frames of the working face in the cutter;
the coal caving process data comprise coal caving action data and sensor data of all supports of the working face in the cutter.
Further optimizing the technical scheme, when the frame moving completion state of the frame moving data is recorded, judging by adopting data of a travel sensor arranged in a pushing oil cylinder, wherein the judgment condition is that the value of the pushing travel is changed from the maximum value to 0mm;
the coal discharging action data and the sensor data are specifically the action starting time, the action ending time and the sensor value of each action of the tail beam, the folding board, the tail beam and the extending board of each bracket, and the sensor comprises an inclination angle sensor arranged on the tail beam and a travel sensor arranged in the board inserting oil cylinder.
Further optimizing the technical scheme, in the step S2, further includes:
s201, carrying out data analysis processing on sample data;
s202, performing data calculation processing on sample data;
s203, generating an optimized coal caving process version based on analysis and calculation processing results.
Further optimizing the technical scheme, in step S201, further includes:
analyzing the frame moving data recorded in the step S1;
analyzing the coal caving process data recorded in the step S1;
and merging the actions.
Further optimizing the technical scheme, when analyzing the frame moving data, analyzing whether individual frames do not record sample data, if so, taking the intermediate value of the completion time of the adjacent frames as supplement, if a plurality of frames do not record the sample data, taking the front and back time of the frames recorded with the sample data, and generating the frame moving state completion time of the corresponding frames by using an average distribution method according to the number of frames lacking in the time period;
when the coal caving process data are analyzed, whether the last sensor value of the coal caving action of each frame reaches a preset completely-extending target value is analyzed, if the last sensor value does not reach the preset target value, the actions of a tail extending beam and a plug board are required to be inserted at the tail end of the coal caving action of the corresponding bracket, and the action execution time and the sensor target value adopt preset values;
and when the actions are combined, the same actions with the single frame adjacent time less than or equal to 2 seconds in the coal caving process data recorded in the step S1 are combined, the combined logic is addition of action execution time, and the target value of the next action is used as the sensor target value.
Further optimizing the technical scheme, in step S202, further includes:
calculating the interval time between the single frame moving completion time of the complete frame moving data processed in the step S201 and the single frame coal discharging action starting time in the initial edition coal discharging process version, and generating parameter frame moving and coal discharging interval time T1;
the execution time T2x of each coal discharging action of the single rack processed in step S201 and the interval time T3x between each coal discharging action are calculated.
Further optimizing the technical scheme, in the step S3, further includes:
s301, starting automatic coal feeding, and performing automatic action control by using an optimized coal feeding process version;
s302, in the process, combining with the manual operation condition, automatically adjusting the coal caving process version, sequentially generating the optimal and closest coal caving process version to the geological environment, sequentially accumulating the versions, using the latest version each time of executing automatic coal caving, and generating the new version after the coal caving is finished.
Further optimizing the technical scheme, in step S301, further includes:
collecting the state and time of the cutter bracket completing the frame moving in real time, and triggering automatic coal discharging action by adding the frame moving time completed by the bracket and the interval time T1 between the frame moving and the coal discharging in the step S202;
in the process of automatically executing the coal discharging action, a coal discharging port can be closed from a controller in advance by a person, if the coal discharging port is detected to be closed manually, the subsequent action of the bracket is not performed, and meanwhile, the manual operation is inserted into the coal discharging action data of the bracket, and the subsequent action is deleted;
in the process of automatically executing the coal discharging action, if the coal is not completely discharged by the manpower, continuing to open the coal opening to discharge the coal until the coal is completely discharged, and manually closing the coal discharging opening; the program can supplement the manually performed coal discharging action data to the coal discharging process data of the corresponding bracket.
Compared with the prior art, the invention provides an autonomous coal caving control method based on a generating process, which has the following beneficial effects:
according to the autonomous coal discharging control method based on the generating process, the difficult problem of automatic coal discharging can be solved through three steps of sample data recording, sample data analysis processing and automatic parameter adjustment, and the coal discharging action difference caused by different coal bed distributions of coal discharging at the head and tail of the same working face and the difference caused by different coal bed distributions with different cutting depths are realized in the automatic coal discharging process; the method can automatically adjust the memorized coal discharging process data in combination with manual and automatic actions in the coal discharging process, thereby achieving the purposes of automatically adjusting parameters and continuously adapting to geological conditions.
Drawings
Fig. 1 is a schematic flow chart of an autonomous coal caving control method based on a production process.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples:
referring to fig. 1, an autonomous coal-discharging control method based on a generating process can solve the problem of automatic coal-discharging through three steps of sample data recording, sample data analysis processing and automatic parameter adjustment, and realize the coal-discharging action difference caused by different coal bed distributions of coal discharged from the head and tail of the same working face and the difference caused by different coal bed distributions of different depths in the automatic coal-discharging process; the method can automatically adjust the memorized coal discharging process data in combination with manual and automatic actions in the coal discharging process, thereby achieving the purposes of automatically adjusting parameters and continuously adapting to geological conditions.
The method comprises the following steps:
s1, recording process sample data during manual coal caving by one cutter, and generating an initial coal caving process version based on the sample data.
Wherein, in the step S1, the method further includes:
s101, when a certain knife starts to manually discharge coal, recording sample data of the knife.
The recorded sample data comprises frame moving data and coal caving process data, wherein:
the frame moving data comprises the steps of recording the frame moving completion state and frame moving completion time of all the frames of the working face in the cutter;
the coal caving process data comprise coal caving action data and sensor data of all supports of the working face in the cutter.
Further, when the frame moving completion state of the frame moving data is recorded, judging by adopting data of a travel sensor arranged in a pushing cylinder, wherein the judging condition is that the value of the pushing travel is changed from the maximum value to 0mm;
the coal discharging action data and the sensor data are specifically the action starting time, the action ending time and the sensor value of each action of the tail beam, the folding board, the tail beam and the extending board of each bracket, and the sensor comprises an inclination angle sensor arranged on the tail beam and a travel sensor arranged in the board inserting oil cylinder.
And S102, stopping recording sample data after the coal discharge of the cutter is finished.
S2, generating an optimized coal caving process version through a data processing mode of data analysis and data calculation on the generated initial coal caving process.
Wherein, in the step S2, the method further includes:
s201, performing data analysis processing on the sample data.
Further, the method further comprises the following steps:
analyzing the frame moving data recorded in the step S1;
analyzing the coal caving process data recorded in the step S1;
and merging the actions.
Further, when analyzing the frame moving data, analyzing whether the sample data is not recorded by the individual frames, if so, taking the intermediate value of the completion time of the adjacent frames as a supplement, and if the sample data is not recorded by the continuous frames, taking the front and back time of the frames recorded to the sample data, and generating the frame moving state completion time of the corresponding frames by using an average distribution method according to the lack of the frames in the time period;
when the coal caving process data are analyzed, whether the last sensor value of the coal caving action of each frame reaches a preset completely-extending target value is analyzed, if the last sensor value does not reach the preset target value, the actions of a tail extending beam and a plug board are required to be inserted at the tail end of the coal caving action of the corresponding bracket, and the action execution time and the sensor target value adopt preset values; therefore, this step requires the advance of the actions of extending the tail boom and extending the insert plate, the time from the complete retraction to the complete extension of the execution in-place action, and the tilt sensor value of the tail boom fully extended, the stroke sensor value of the insert plate fully extended.
And when the actions are combined, the same actions with the single frame adjacent time less than or equal to 2 seconds in the coal caving process data recorded in the step S1 are combined, the combined logic is addition of action execution time, and the target value of the next action is used as the sensor target value. For example, if a patch panel operation occurs at 1 second, the operation execution time is 2 seconds, the target value of the stroke sensor is 200mm, and if a patch panel operation occurs at 2 seconds, the operation execution time is 2 seconds, the target value of the stroke sensor is 400mm, then the two operations are combined into one operation, the parameter of the new operation is the operation execution time of 4 seconds, and the target value of the stroke sensor is 400mm. If the actions of adjacent times are not the same, the actions are not combined, and if the adjacent time of the same action is more than 2 seconds, the actions are not combined.
S202, performing data calculation processing on the sample data.
Wherein, still include:
calculating the interval time between the single frame moving completion time of the complete frame moving data processed in the step S201 and the single frame coal discharging action starting time in the initial edition coal discharging process version, and generating parameter frame moving and coal discharging interval time T1;
the execution time T2x (action end time-action start time) of each coal discharging action of the single rack processed in step S201 and the interval time T3x between each coal discharging action are calculated.
S203, generating an optimized coal caving process version based on analysis and calculation processing results.
S3, using an optimized coal discharging process to automatically discharge coal, and combining the action of manually closing or opening a coal port again in advance in the execution process to automatically adjust the process version in the step S2; and each cutter sequentially circulates the step S3, and continuously optimizes and generates a new coal discharging process version.
Wherein, in the step S3, the method further includes:
s301, starting automatic coal feeding, and performing automatic action control by using an optimized coal feeding process version;
s302, in the process, combining with the manual operation condition, automatically adjusting the coal caving process version, sequentially generating the optimal and closest coal caving process version to the geological environment, sequentially accumulating the versions, using the latest version each time of executing automatic coal caving, and generating the new version after the coal caving is finished.
Further, in the step S301, the method further includes:
collecting the state and time of the cutter bracket completing the frame moving in real time, and triggering automatic coal discharging action by adding the frame moving time completed by the bracket and the interval time T1 between the frame moving and the coal discharging in the step S202;
in the process of automatically executing the coal discharging action, a coal discharging port can be closed from a controller in advance by a person, if the coal discharging port is detected to be closed manually, the subsequent action of the bracket is not performed, and meanwhile, the manual operation is inserted into the coal discharging action data of the bracket, and the subsequent action is deleted;
in the process of automatically executing the coal discharging action, if the coal is not completely discharged by the manpower, continuing to open the coal opening to discharge the coal until the coal is completely discharged, and manually closing the coal discharging opening; the program can supplement the manually performed coal discharging action data to the coal discharging process data of the corresponding bracket.
Through the three steps, the automatic coal discharge of the production process can be realized, and the aim of adapting to geological environment can be achieved by continuously and autonomously adjusting parameters in combination with manual judgment, so that the coal discharge ratio is optimal.
Compared with the prior art, the autonomous coal caving control method based on the generation type process in the embodiment has the advantages that:
(1) The method does not need to carry out excessive coal discharging parameter configuration, and the coal discharging process of each frame is different, so that different coal discharging processes caused by the coal seam distribution difference of the same working face in the machine head direction and the machine tail direction are met.
(2) According to the method, the moving frame and the coal discharging can be automatically associated by recording the completion state and time of the moving frame and the starting time of the coal discharging action, so that real automatic coal discharging is realized, and the simultaneous coal discharging of a plurality of coal discharging ports can be realized.
(3) According to the method, through continuous autonomous parameter adjustment, manual teaching learning is not required frequently, and the coal caving process action can be automatically adjusted in the coal caving operation process.
(4) Through the mode, the method can effectively ensure the coal discharging quality and reduce the workload of coal discharging workers in the coal discharging process.
The beneficial effects of the invention are as follows:
according to the autonomous coal discharging control method based on the generating process, the difficult problem of automatic coal discharging can be solved through three steps of sample data recording, sample data analysis processing and automatic parameter adjustment, and the coal discharging action difference caused by different coal bed distributions of coal discharging at the head and tail of the same working face and the difference caused by different coal bed distributions with different cutting depths are realized in the automatic coal discharging process; the method can automatically adjust the memorized coal discharging process data in combination with manual and automatic actions in the coal discharging process, thereby achieving the purposes of automatically adjusting parameters and continuously adapting to geological conditions.
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 invention. 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.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An autonomous coal caving control method based on a generating process is characterized by comprising the following steps:
s1, recording process sample data during manual coal caving by one cutter, and generating an initial coal caving process version based on the sample data;
s2, generating an optimized coal caving process version through a data processing mode of data analysis and data calculation on the generated initial coal caving process;
s3, using an optimized coal discharging process to automatically discharge coal, and combining the action of manually closing or opening a coal port again in advance in the execution process to automatically adjust the process version in the step S2; and each cutter sequentially circulates the step S3, and continuously optimizes and generates a new coal discharging process version.
2. The autonomous coal caving control method based on the production process according to claim 1, wherein in the step S1, further comprising:
s101, when a certain knife starts to manually put coal, recording sample data of the knife;
and S102, stopping recording sample data after the coal discharge of the cutter is finished.
3. The autonomous coal caving control method based on the generative process according to claim 2, wherein in the step S101, the recorded sample data includes frame moving data and coal caving process data, wherein:
the frame moving data comprises the steps of recording the frame moving completion state and frame moving completion time of all the frames of the working face in the cutter;
the coal caving process data comprise coal caving action data and sensor data of all supports of the working face in the cutter.
4. The autonomous coal caving control method based on the production process according to claim 3, wherein the frame moving completion state of the frame moving data is judged by adopting data of a stroke sensor installed in a pushing cylinder when recording, and the judgment condition is that the value of the pushing stroke is changed from the maximum value to 0mm;
the coal discharging action data and the sensor data are specifically the action starting time, the action ending time and the sensor value of each action of the tail beam, the folding board, the tail beam and the extending board of each bracket, and the sensor comprises an inclination angle sensor arranged on the tail beam and a travel sensor arranged in the board inserting oil cylinder.
5. The autonomous coal caving control method based on the production process according to claim 1, wherein in the step S2, further comprising:
s201, carrying out data analysis processing on sample data;
s202, performing data calculation processing on sample data;
s203, generating an optimized coal caving process version based on analysis and calculation processing results.
6. The method for autonomous coal caving control based on the generative process of claim 5, wherein in step S201, further comprising:
analyzing the frame moving data recorded in the step S1;
analyzing the coal caving process data recorded in the step S1;
and merging the actions.
7. The autonomous coal caving control method based on the generating process according to claim 6, wherein when analyzing the frame moving data, analyzing whether the sample data is not recorded in the individual frames, if so, taking the intermediate value of the completion time of the adjacent frames as supplement, if the sample data is not recorded in the continuous frames, taking the front and back time of the frames recorded in the sample data, and generating the frame moving state completion time of the corresponding frames by using an average distribution method according to the lack of the frames in the period;
when the coal caving process data are analyzed, whether the last sensor value of the coal caving action of each frame reaches a preset completely-extending target value is analyzed, if the last sensor value does not reach the preset target value, the actions of a tail extending beam and a plug board are required to be inserted at the tail end of the coal caving action of the corresponding bracket, and the action execution time and the sensor target value adopt preset values;
and when the actions are combined, the same actions with the single frame adjacent time less than or equal to 2 seconds in the coal caving process data recorded in the step S1 are combined, the combined logic is addition of action execution time, and the target value of the next action is used as the sensor target value.
8. The method for autonomous coal caving control based on the generative process of claim 5, further comprising, in step S202:
calculating the interval time between the single frame moving completion time of the complete frame moving data processed in the step S201 and the single frame coal discharging action starting time in the initial edition coal discharging process version, and generating parameter frame moving and coal discharging interval time T1;
the execution time T2x of each coal discharging action of the single rack processed in step S201 and the interval time T3x between each coal discharging action are calculated.
9. The autonomous coal caving control method based on the production process according to claim 1, wherein in the step S3, further comprising:
s301, starting automatic coal feeding, and performing automatic action control by using an optimized coal feeding process version;
s302, in the process, combining with the manual operation condition, automatically adjusting the coal caving process version, sequentially generating the optimal and closest coal caving process version to the geological environment, sequentially accumulating the versions, using the latest version each time of executing automatic coal caving, and generating the new version after the coal caving is finished.
10. The autonomous coal caving control method based on the generative process of claim 9, wherein in step S301, further comprising:
collecting the state and time of the cutter bracket completing the frame moving in real time, and triggering automatic coal discharging action by adding the frame moving time completed by the bracket and the interval time T1 between the frame moving and the coal discharging in the step S202;
in the process of automatically executing the coal discharging action, a coal discharging port can be closed from a controller in advance by a person, if the coal discharging port is detected to be closed manually, the subsequent action of the bracket is not performed, and meanwhile, the manual operation is inserted into the coal discharging action data of the bracket, and the subsequent action is deleted;
in the process of automatically executing the coal discharging action, if the coal is not completely discharged by the manpower, continuing to open the coal opening to discharge the coal until the coal is completely discharged, and manually closing the coal discharging opening; the program can supplement the manually performed coal discharging action data to the coal discharging process data of the corresponding bracket.
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