WO2024114779A1

WO2024114779A1 - Control method and apparatus for mining height of coal mining machine

Info

Publication number: WO2024114779A1
Application number: PCT/CN2023/135766
Authority: WO
Inventors: 郑闯; 冯银辉; 王峰; 李丹宁
Original assignee: 北京天玛智控科技股份有限公司; 北京煤科天玛自动化科技有限公司
Priority date: 2022-12-02
Filing date: 2023-12-01
Publication date: 2024-06-06
Also published as: CN115773109A

Abstract

Provided are a control method and apparatus for mining height of a coal mining machine, a computer device, a computer-readable storage medium, a computer program product and a computer program. The method comprises: acquiring a mining height limit value of each coal mining section of a coal mining machine in the current coal web, and the mining height limit values of each mining section in a first preset number of historical coal webs before the current coal web; according to the corresponding mining height limit values of the same mining section in the historical coal webs, correcting the corresponding mining height limit values of the same mining section in the current coal web, so as to acquire a corresponding corrected mining height limit value of each mining section in the current coal web; performing smoothing processing on the corresponding corrected mining height limit value of each mining section in the current coal web so as to determine a mining height curve for the current coal web; and, according to the mining height curve, controlling the cutting height of a drum of the coal mining machine in the next coal web after the current coal web.

Description

Coal mining machine mining height control method and device

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No. 2022115380205 filed in China on December 02, 2022, the entire contents of which are incorporated herein by reference.

Technical Field

The present disclosure relates to the technical field of coal mines, and in particular to a method and device for controlling the mining height of a coal mining machine, computer equipment, a computer-readable storage medium, a computer program product, and a computer program.

Background technique

With the vigorous promotion of unmanned and intelligent comprehensive mechanized coal mining (referred to as fully mechanized mining), automatic cutting technology of coal mining machines has gradually become an important means of coal mining machine automation. However, due to the complex geological conditions of coal mines or factors such as sensor damage, the coal mining machine may not cut the coal seam, resulting in unreliable coal mining.

Summary of the invention

The embodiments of the present disclosure provide a method and device for controlling the mining height of a coal mining machine, a computer device, a computer readable storage medium, a computer program product, and a computer program. The specific scheme is as follows:

In one aspect, an embodiment of the present disclosure provides a method for controlling the mining height of a coal mining machine, the method comprising:

Obtain the mining height limit of each mining interval of the coal mining machine in the current coal cut, and the mining height limit of each mining interval in the first preset number of historical coal cuts before the current coal cut;

According to the mining height limit value corresponding to the same collection interval in the historical knife coal, the mining height limit value corresponding to the same collection interval in the current knife coal is corrected to obtain the corrected mining height limit value corresponding to each collection interval in the current knife coal;

Smoothing the corrected mining height limit corresponding to each collection interval in the current knife coal to determine the current knife coal mining height curve;

According to the mining height curve, the cutting height of the coal mining machine drum in the next coal cut of the current coal cut is controlled.

Another aspect of the present disclosure provides a control device for the height of a coal mining machine, comprising:

An acquisition module, used to acquire the mining height limit of each mining interval of the coal mining machine in the current cut coal, and the mining height limit of each mining interval in the first preset number of historical cut coals before the current cut coal;

A correction module is used to correct the mining height limit value corresponding to the same collection interval in the current knife coal according to the mining height limit value corresponding to the same collection interval in the historical knife coal, so as to obtain the corrected mining height limit value corresponding to each collection interval in the current knife coal;

A processing module is used to smooth the corrected mining height limit corresponding to each sampling interval in the current knife coal to determine the current knife coal mining height curve;

The control module is used to control the cutting height of the coal mining machine drum in the next coal cut of the current coal cut according to the mining height curve.

Another aspect of the present disclosure provides a computer device, including a processor and a memory;

The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method as described in the above embodiment.

Another aspect of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the method of the above embodiment when executed by a processor.

Another aspect of the present disclosure provides a computer program product, including a computer program, which implements the method according to the above embodiment when executed by a processor.

Another aspect of the present disclosure provides a computer program, which includes computer program code. When the computer program code is run on a computer, the computer is enabled to execute the method as described in the above embodiment.

Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or additional aspects and advantages of the embodiments of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

FIG1 is a schematic flow chart of a method for controlling the mining height of a coal mining machine provided by an embodiment of the present disclosure;

FIG2 is a schematic flow chart of another method for controlling the mining height of a coal mining machine provided by an embodiment of the present disclosure;

FIG3 is a flow chart of another method for controlling the mining height of a coal mining machine provided by an embodiment of the present disclosure;

FIG4 is a schematic flow chart of another method for controlling the mining height of a coal mining machine provided by an embodiment of the present disclosure;

FIG5 is a schematic diagram of the structure of a control device for the mining height of a coal mining machine provided in an embodiment of the present disclosure.

Detailed ways

Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

Generally, when coal seams are in layered form, they are stable, continuous, with small and regular thickness variations.

In the embodiment of the present disclosure, in order to improve the reliability of coal mining machine cutting coal seams, based on the morphological characteristics of coal seam occurrence, the mining height limit of the same mining interval in the current cutter coal is adjusted according to the mining height limit of the adjacent mining intervals in the same mining interval. The mining height curve of the next coal cut is determined according to the corrected mining height limit of each mining interval in the current coal cut. Thus, the accuracy of the determined mining height curve is improved, and then the reliability of coal cutting by the coal cutter is improved.

The following describes a method for controlling the mining height of a coal mining machine according to an embodiment of the present disclosure with reference to the accompanying drawings.

FIG1 is a schematic flow chart of a method for controlling the mining height of a coal mining machine provided in an embodiment of the present disclosure.

The method for controlling the mining height of a coal mining machine in the embodiment of the present disclosure is executed by a control device for the mining height of a coal mining machine (hereinafter referred to as the control device) provided in the embodiment of the present disclosure. The device can be configured in a computer device or a terminal device to realize the control of the mining height of the coal mining machine and improve the reliability of the control of the coal mining machine.

As shown in FIG. 1 , the method for controlling the mining height of a coal mining machine includes steps 101 to 104 .

Step 101, obtaining the mining height limit of each mining interval of the coal mining machine in the current cut coal, and the mining height limit of each mining interval in a first preset number of historical cut coals before the current cut coal.

The mining height limit may be the top rock layer position information or the bottom rock layer position information. The top rock layer position information is also the highest coal mining height, and the bottom rock layer position information is also the lowest coal mining height.

In the disclosed embodiment, when the coal mining machine is performing coal mining operations, the coal mining machine completes the mining of the coal seam of the entire fully mechanized mining working face by controlling the height of the drum. Since the fully mechanized mining working face is very large, the coal mining machine needs to mine with multiple cutters. Among them, one cut of coal of the coal mining machine includes the coal seam from the head of the coal mining machine to the tail of the coal mining machine. After completing the mining of one cut of coal, the coal mining machine moves forward to mine the next cut of coal. In the process of cutting the coal seam, the coal mining machine can obtain the coal mining height of each collection interval of each cut of coal through the sensor. Among them, the coal mining height includes the height of the left and right drums of the coal mining machine. Afterwards, according to the maximum coal mining height and the minimum coal mining height in each collection interval, the mining height limit of the coal mining machine in each collection interval is determined.

In addition, in order to facilitate the determination of the position of each position point in each cut coal corresponding to the adjacent cut coal, so as to facilitate the determination of the mining height curve of the current cut coal, each cut coal can be divided into multiple collection intervals according to the preset length. For example, assuming that the maximum width of a cut coal is 20 meters and the preset length is 0.5 meters, each cut coal can be divided into 40 collection intervals. Alternatively, each cut coal can also be divided into multiple collection intervals according to the position of the support and the width of the support in the comprehensive mining working face. For example, the comprehensive mining working face includes 50 supports, and the width of the support is 0.5 meters. According to the support frame number, 50 collection intervals are divided in sequence, and the width of each collection interval is 0.5 meters. Or the collection intervals are divided according to the width of a preset number of consecutive supports. The embodiments of the present disclosure are not limited to this.

Step 102, according to the mining height limit corresponding to the same sampling interval in the historical coal cutter, correct the mining height limit corresponding to the same sampling interval in the current coal cutter to obtain the corrected mining height limit corresponding to each sampling interval in the current coal cutter.

In the disclosed embodiment, due to the influence of complex coal mine geological conditions or sensor damage and other factors, the obtained current knife coal mining height limit may be incorrect. Therefore, the mining height limit of each collection interval in the historical knife coal and the mining height limit of each collection interval in the current knife coal can be used to correct the mining height limit of each collection interval in the current knife coal to remove abnormal mining height limit, thereby improving the accuracy of the determined mining height limit.

In the disclosed embodiment, for layered coal seams, from a vertical perspective, the mining height limits corresponding to the same collection intervals of adjacent knife coals are similar. For example, the positions of the roof rock layers corresponding to the same collection intervals of adjacent knife coals are similar, and the positions of the lower plate rock layers corresponding to the same collection intervals of adjacent knife coals are similar. Therefore, the mining height limit corresponding to the same collection interval in the current knife coal can be corrected according to the mining height limit corresponding to the same collection interval in the historical knife coal, so as to obtain the corrected mining height limit corresponding to each collection interval in the current knife coal. For example, the position of the roof rock layer corresponding to the same collection interval in the current knife coal can be corrected according to the position of the roof rock layer corresponding to the same collection interval in the historical knife coal. The position of the bottom rock layer corresponding to the same collection interval in the current knife coal can be corrected according to the position of the bottom rock layer corresponding to the same collection interval in the historical knife coal.

In a possible implementation of the embodiment of the present disclosure, the mining height limit value corresponding to the same sampling interval in the current cutting coal can be corrected by using the average or weighted sum of the mining height limit values corresponding to the same sampling interval in the historical cutting coal.

Step 103, smoothing the corrected mining height limit corresponding to each sampling interval in the current cut coal to determine the mining height curve of the current cut coal.

In the disclosed embodiment, the corrected mining height limit corresponding to each sampling interval in the current knife coal can be input into a preset smoothing function to obtain the smoothed mining height limit corresponding to each sampling interval in the current knife coal output by the smoothing function to remove abnormal mining height limit. Afterwards, a linear fit is performed on the smoothed mining height limit corresponding to each sampling interval in the current knife coal to obtain the mining height curve of the current knife coal. This improves the accuracy of the mining height curve of the current knife coal.

In the disclosed embodiment, the corrected top rock layer position corresponding to each acquisition interval in the current knife coal can be smoothed to determine the top mining height curve corresponding to the current knife coal. Alternatively, the corrected bottom rock layer position corresponding to each acquisition interval in the current knife coal can be smoothed to determine the bottom mining height curve corresponding to the current knife coal.

In addition, the embodiment of the present disclosure only corrects and smoothes the mining height limit values of each mining interval of the current knife coal, which reduces the complexity of the method for determining the mining height curve, thereby facilitating improving the efficiency of determining the mining curve.

In a possible implementation of the embodiment of the present disclosure, the current mining height curve of the cutter coal may be saved in the system to prevent the loss of the mining height curve data due to system failure or the like.

Step 104, controlling the cutting height of the shearer drum in the next coal cut of the current coal cut according to the mining height curve.

In the disclosed embodiment, due to the morphological characteristics of the coal seam, the distribution morphology of the current cut coal is close to the distribution morphology of the next cut coal of the current cut coal. Therefore, the mining height limit of each collection interval in the next cut coal can be determined from the mining height curve according to the order and length of each collection interval. Afterwards, according to the mining height limit of each collection interval in the next cut coal, the coal mining height of the drum of the coal mining machine in each collection interval can be controlled to complete the cutting of the next cut coal.

In a possible implementation of the embodiment of the present disclosure, when only the coal seam in the designated collection interval in the next coal cut needs to be collected, the mining height limit corresponding to the designated collection interval can be determined according to the mining height curve, and the coal seam in the designated collection interval can be cut according to the mining height limit corresponding to the designated collection interval. Alternatively, through the above steps 102-103, only the mining height curve corresponding to the designated collection interval in the next coal cut is determined, and the coal mining machine is controlled to cut the coal seam in the designated collection interval according to the mining height curve.

In the disclosed embodiment, after obtaining the mining height limit of each mining interval of the coal mining machine in the current cut coal and the mining height limit of each mining interval in the first preset number of historical cut coals before the current cut coal, the mining height limit corresponding to the same mining interval in the current cut coal is corrected according to the mining height limit corresponding to the same mining interval in the historical cut coal, so as to obtain the corrected mining height limit corresponding to each mining interval in the current cut coal, and the corrected mining height limit corresponding to each mining interval in the current cut coal is smoothed to determine the mining height curve of the current cut coal, and then, according to the mining height curve, the cutting height of the coal mining machine drum in the next cut coal of the current cut coal is controlled. Thus, according to the mining height limit corresponding to the same mining interval in the historical cut coal, the mining height limit of the same mining interval in the current cut coal is corrected, and the corrected mining height limit corresponding to each mining interval in the current cut coal is smoothed to determine the mining height curve of the current cut coal, so as to determine the mining height limit of the next cut coal according to the mining height curve. Thereby, the accuracy of the mining height curve of the current cut coal is improved, and the reliability of the coal mining machine cutting is improved.

FIG2 is a schematic flow chart of a method for controlling the mining height of a coal mining machine provided in an embodiment of the present disclosure.

As shown in FIG. 2 , the method for controlling the mining height of the coal mining machine includes steps 201 to 206 .

Step 201, obtaining the mining height limit of each mining interval of the coal mining machine in the current cut coal, and the mining height limit of each mining interval in a first preset number of historical cut coals before the current cut coal.

Step 202, according to the mining height limit value corresponding to the same sampling interval in the historical cut coal, correct the mining height limit value corresponding to the same sampling interval in the current cut coal, so as to obtain the corrected mining height limit value corresponding to each sampling interval in the current cut coal.

In the embodiments of the present disclosure, the specific implementation process of step 201-step 202 can be found in the detailed description of any embodiment of the present disclosure, and will not be repeated here.

Step 203: determine the average of the mining height limits of a second preset number of adjacent mining intervals of each mining interval in the current knife coal.

In the disclosed embodiment, the average of the mining height limits of a second preset number of adjacent mining intervals in each mining interval in the current knife coal is calculated to determine whether the mining height limit corresponding to each mining interval is abnormal based on the average corresponding to the mining interval.

Step 204, when the difference between the mining height limit corresponding to any sampling interval in the current knife coal and the corresponding mean value is greater than the first threshold, the mining height limit corresponding to any sampling interval is updated using the mean value corresponding to any sampling interval.

In the disclosed embodiment, when the difference between the mining height limit corresponding to any collection interval in the current knife coal and the corresponding mean value is greater than the first threshold value, it indicates that the mining height limit corresponding to any collection interval is abnormal. At this time, the mean value corresponding to any collection interval can be used to update the mining height limit corresponding to any collection interval. In this way, the abnormal mining height limit corresponding to each collection interval of the current knife coal is removed, thereby improving the accuracy of the mining height limit corresponding to each collection interval of the current knife coal.

Step 205, determining the mining height curve of the current cutter coal according to the mining height limit corresponding to each updated sampling interval in the current cutter coal.

In the disclosed embodiment, the mining height limit values corresponding to the updated collection intervals of the current cutter coal can be smoothly connected in sequence, so as to obtain the mining height curve of the current cutter coal.

Step 206, controlling the cutting height of the shearer drum in the next coal cut of the current coal cut according to the mining height curve.

In the embodiments of the present disclosure, the specific implementation process of step 206 can be found in the detailed description of any embodiment of the present disclosure, and will not be repeated here.

In the disclosed embodiment, the mining height limit of the same collection interval in the current cut coal is corrected according to the corresponding mining height limit of the same collection interval in the historical cut coal, and the corrected mining height limit corresponding to each collection interval in the current cut coal is smoothed to determine the mining height curve of the current cut coal, so as to determine the mining height limit of the next cut coal according to the mining height curve. Thus, the accuracy of the mining height curve of the current cut coal is improved, and then the reliability of the coal mining machine cutting is improved.

FIG3 is a schematic flow chart of a method for controlling the mining height of a coal mining machine provided in an embodiment of the present disclosure.

As shown in FIG. 3 , the method for controlling the mining height of the coal mining machine includes steps 301 to 307 .

Step 301, obtaining a plurality of reference mining height limit values of the coal mining machine in each mining interval in the current cutting coal.

In the disclosed embodiment, when the coal mining machine cuts the coal seam in each collection interval of the current cutter coal, a plurality of reference mining height limit values can be collected in each collection interval by means of sensors.

Step 302 , pre-processing a plurality of reference mining height limits in each sampling interval in the current knife coal respectively, and determining a mining height limit corresponding to each sampling interval in the current knife coal.

In the embodiment of the present disclosure, the average of multiple reference mining height limits in each current coal collection interval can be determined as the mining height limit corresponding to each current coal collection interval.

Alternatively, when the mining height limit is the top rock layer position, the maximum reference mining height limit in each acquisition interval can be determined as the mining height limit corresponding to each acquisition interval. When the mining height limit is the bottom rock layer position, the minimum reference mining height limit in each acquisition interval can be determined as the mining height limit corresponding to each acquisition interval.

In a possible implementation of the embodiment of the present disclosure, the multiple reference mining height limits in each current coal collection interval can be pre-processed by weighted averaging, Gaussian filtering, normal extraction and other methods to determine the mining height limit corresponding to each current coal collection interval.

Step 303, storing the mining height limit corresponding to each mining interval in the current coal cutting machine in the system.

In the disclosed embodiment, the mining height limit values corresponding to each current coal mining interval are stored in the system, so as to determine the next coal mining height curve based on the mining height limit values corresponding to each current coal mining interval.

In a possible implementation of the disclosed embodiment, when the reference high limit value of the current coal mining in any collection interval fails to be obtained, the average of the reference high limit values of the third preset number of collection intervals adjacent to any collection interval can be determined as the high limit value of the collection interval, so as to ensure the integrity of the data and thus ensure the reliability of the coal mining machine cutting.

Step 304, obtaining the mining height limit of each mining interval of the coal mining machine in a first preset number of historical coal cuttings before the current coal cutting.

Step 305, according to the mining height limit corresponding to the same sampling interval in the historical cutter coal, correct the mining height limit corresponding to the same sampling interval in the current cutter coal, so as to obtain the corrected mining height limit corresponding to each sampling interval in the current cutter coal.

Step 306, smoothing the corrected mining height limit corresponding to each sampling interval in the current cut coal to determine the mining height curve of the current cut coal.

Step 307, according to the mining height curve, control the cutting height of the coal mining machine drum in the next coal cut of the current coal cut.

In the embodiments of the present disclosure, the specific implementation process of steps 304 to 307 can be found in the detailed description of any embodiment of the present disclosure, and will not be repeated here.

FIG4 is a schematic flow chart of a method for controlling the mining height of a coal mining machine provided in an embodiment of the present disclosure.

As shown in FIG. 4 , the method for controlling the mining height of the coal mining machine includes steps 401 to 407 .

Step 401, obtaining the mining height limit of each mining interval of the coal mining machine in the current cut coal, and the mining height limit of each mining interval in a first preset number of historical cut coals before the current cut coal.

Step 402, according to the mining height limit corresponding to the same sampling interval in the historical cut coal, correct the mining height limit corresponding to the same sampling interval in the current cut coal, so as to obtain the corrected mining height limit corresponding to each sampling interval in the current cut coal.

Step 403, smoothing the corrected mining height limit corresponding to each sampling interval in the current cut coal to determine the mining height curve of the current cut coal.

Step 404, according to the mining height curve, controls the cutting height of the coal mining machine drum in the next coal cutting of the current coal cutting.

In the embodiments of the present disclosure, the specific implementation process of steps 401 to 404 can be found in the detailed description of any embodiment of the present disclosure, and will not be repeated here.

Step 405, in the process of controlling the cutting height of the shearer drum in the next coal cut according to the mining height curve, the cutting state parameters of the shearer drum in each mining interval of the next coal cut are obtained.

Usually, when the occurrence form of coal seams changes, for example, when coal seams change from layered to quasi-layered and non-layered, it is difficult to predict the mining height curve of quasi-layered and non-layered coal seams based on the mining height limit corresponding to each mining interval in the excavated coal seams, because the thickness of quasi-layered and non-layered coal seams varies greatly and irregularly.

In the embodiment of the present disclosure, the cutting state parameters of the coal mining machine drum can be obtained in real time through the acquisition device, and according to the cutting state parameters of the coal mining machine drum, it is determined whether the current cutting is a coal seam. If it is not a coal seam, the upper limit of the mining height is adjusted to improve the accuracy of the coal mining machine cutting. Among them, the cutting state parameters may include cutting current, vibration frequency or amplitude, cutting head dust concentration, sound print, etc., which are not limited by the present disclosure.

Step 406: Compare the cutting state parameter with the second threshold value to determine whether the sampling height limit of each sampling interval is correct.

In the disclosed embodiment, the cutting state parameters when cutting the coal seam and the cutting rock layer are different. Therefore, the cutting state parameters collected in each collection interval of the next coal cutter can be compared with the preset second threshold value to determine whether the coal seam or the rock layer is cut in each collection interval. For example, when the cutting current is greater than the preset second threshold value, it is determined that the rock layer is cut. When the cutting current is less than the preset second threshold value, it is determined that the coal seam is cut. When the rock layer is cut in any collection interval, it is determined that the mining height limit corresponding to any collection interval determined according to the mining height curve is incorrect.

In a possible implementation of the embodiment of the present disclosure, it is also possible to obtain monitoring video images of the coal seams at the mining height limit positions corresponding to each acquisition interval, and identify the coal seam images in the monitoring video images to determine whether the coal seams or rock layers are being collected in each acquisition interval, thereby determining whether the mining height limit of each acquisition interval is correct.

Step 407 , in response to the sampling upper limit value of any sampling interval being incorrect, adjusting the sampling upper limit value corresponding to any sampling interval according to a preset adjustment value or an adjustment value in an acquired adjustment instruction.

In the disclosed embodiment, an adjustment value for adjusting the mining height limit can be pre-set in the system. When the mining height limit corresponding to the collection interval is incorrect, the mining height limit can be adjusted according to the adjustment value. For example, when the mining height limit is the top rock layer position, the top rock layer position can be lowered by the adjustment value. When the mining height limit is the bottom rock layer position, the bottom rock layer position can be raised by the adjustment value. In this way, the operations of step 405 to step 407 can be executed repeatedly until the coal seam is cut.

Alternatively, the coal mining machine operator can also send an adjustment instruction including an adjustment value and a collection interval to be adjusted to the control device through a communication device during the next coal cutting process of the coal mining machine. Afterwards, the control device can adjust the mining height limit corresponding to the collection interval to be adjusted according to the adjustment value in the adjustment instruction.

In a possible implementation of the disclosed embodiment, the mining height curve of the current cut coal can also be sent to the client corresponding to the coal mining machine operator, and the coal mining machine operator can adjust the mining height curve in the client, and send the adjusted mining height curve to the control device through the client. Afterwards, the control device can control the cutting height of the coal mining machine drum in the next cut coal according to the adjusted mining height curve.

In the disclosed embodiment, when cutting the next cut of coal according to the cutting height curve of the current cut of coal, it is possible to determine whether the cutting height limit of each collection interval is correct according to the cutting state parameters of the coal mining machine drum in each collection interval in the next cut of coal, thereby further improving the reliability of the coal mining machine cutting.

In order to implement the above embodiment, the embodiment of the present disclosure further provides a control device for the mining height of a coal mining machine. FIG5 is a schematic diagram of the structure of a control device for the mining height of a coal mining machine provided by the embodiment of the present disclosure.

As shown in FIG. 5 , the control device 500 for the mining height of the coal mining machine includes an acquisition module 510 , a correction module 520 , a processing module 530 and a control module 540 .

The acquisition module 510 is used to acquire the mining height limit of each mining interval of the coal mining machine in the current cut coal, and the mining height limit of each mining interval in the first preset number of historical cut coals before the current cut coal;

The correction module 520 is used to correct the mining height limit value corresponding to the same sampling interval in the current knife coal according to the mining height limit value corresponding to the same sampling interval in the historical knife coal, so as to obtain the corrected mining height limit value corresponding to each sampling interval in the current knife coal;

Processing module 530, used for smoothing the corrected mining height limit corresponding to each sampling interval in the current knife coal, so as to determine the mining height curve of the current knife coal;

The control module 540 is used to control the cutting height of the coal mining machine drum in the next coal cut of the current coal cut according to the mining height curve.

In a possible implementation of the embodiment of the present disclosure, the processing module 530 is further configured to:

Determine the average of the mining height limits of a second preset number of adjacent mining intervals of each mining interval in the current knife coal;

When the difference between the mining height limit value corresponding to any sampling interval in the current knife coal and the corresponding mean value is greater than the first threshold, the mining height limit value corresponding to any sampling interval is updated using the mean value corresponding to any sampling interval;

According to the mining height limit values corresponding to each updated collection interval in the current knife coal, the mining height curve of the current knife coal is determined.

In a possible implementation of the embodiment of the present disclosure, the above-mentioned device further includes a storage module, which is used to:

Obtain multiple reference mining height limit values of the coal mining machine in each mining interval in the current cut coal;

Preprocessing multiple reference mining height limits in each collection interval of the current knife coal respectively, and determining the mining height limit corresponding to each collection interval of the current knife coal;

The mining height limit corresponding to each mining interval in the current knife coal is stored in the system.

In a possible implementation of the embodiment of the present disclosure, the storage module is further used to:

In response to a failure in obtaining a reference mining high limit value in any collection interval in the current knife coal, the mining high limit value in any collection interval is determined according to the reference mining high limit values in a third preset number of collection intervals adjacent to any collection interval.

In a possible implementation of the embodiment of the present disclosure, the above-mentioned device further includes an adjustment module, which is used to:

In the process of controlling the cutting height of the shearer drum in the next coal cut according to the mining height curve, the cutting state parameters of the shearer drum in each mining interval of the next coal cut are obtained;

Compare the cutting state parameter with the second threshold value to determine whether the sampling height limit of each sampling interval is correct;

In response to the sampling height limit value of any acquisition interval being incorrect, the sampling height limit value corresponding to any acquisition interval is adjusted according to a preset adjustment value or an adjustment value in an acquired adjustment instruction.

It should be noted that the above explanation of the embodiment of the method for controlling the mining height of a coal mining machine is also applicable to the control device for the mining height of a coal mining machine of this embodiment, so it will not be repeated here.

In the embodiment of the present disclosure, after obtaining the mining height limit of each mining interval of the coal mining machine in the current cut coal and the mining height limit of each mining interval in the first preset number of historical cut coals before the current cut coal, the mining height limit of each mining interval in the same mining interval in the historical cut coal is obtained. The corresponding mining height limit in the knife coal is used to correct the mining height limit corresponding to the same collection interval in the current knife coal to obtain the corrected mining height limit corresponding to each collection interval in the current knife coal, and the corrected mining height limit corresponding to each collection interval in the current knife coal is smoothed to determine the mining height curve of the current knife coal. After that, according to the mining height curve, the cutting height of the coal mining machine drum in the next knife coal of the current knife coal is controlled. Therefore, according to the corresponding mining height limit of the same collection interval in the historical knife coal, the mining height limit of the same collection interval in the current knife coal is corrected, and the corrected mining height limit corresponding to each collection interval in the current knife coal is smoothed to determine the mining height curve of the current knife coal, so as to determine the mining height limit of the next knife coal according to the mining height curve. Thereby, the accuracy of the mining height curve of the current knife coal is improved, and then the reliability of the coal mining machine cutting is improved.

In order to implement the above embodiment, the embodiment of the present disclosure also provides a computer device, including a processor and a memory;

The processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method for controlling the mining height of the coal mining machine as in the above-mentioned embodiment.

In order to implement the above embodiment, the embodiment of the present disclosure further proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method for controlling the mining height of a coal mining machine as in the above embodiment is implemented.

In order to implement the above embodiments, the embodiments of the present disclosure further provide a computer program product, including a computer program, which implements the method according to the above embodiments when executed by a processor.

In order to implement the above embodiments, the embodiments of the present disclosure further provide a computer program, wherein the computer program includes computer program code. When the computer program code is run on a computer, the computer executes the method as described in the above embodiments.

It should be noted that the aforementioned explanations of the method and apparatus embodiments are also applicable to the computer devices, computer-readable storage media, computer program products, and computer programs of the above embodiments, and will not be repeated here.

Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are illustrative and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

All embodiments of the present disclosure may be implemented individually or in combination with other embodiments, and are deemed to be within the protection scope required by the present disclosure.

Claims

A method for controlling the mining height of a coal mining machine, characterized by comprising:

Obtaining the mining height limit of each coal mining interval of the coal mining machine in the current cut coal, and the mining height limit of each mining interval in a first preset number of historical cut coals before the current cut coal;

According to the mining height limit value corresponding to the same sampling interval in the historical cut coal, the mining height limit value corresponding to the same sampling interval in the current cut coal is corrected to obtain the corrected mining height limit value corresponding to each sampling interval in the current cut coal;

Smoothing the corrected mining height limit corresponding to each sampling interval in the current cut coal to determine the mining height curve of the current cut coal;

According to the mining height curve, the cutting height of the coal mining machine drum in the next coal cutting of the current coal cutting is controlled.
The method according to claim 1 is characterized in that the smoothing of the corrected mining height limit corresponding to each sampling interval in the current knife coal to determine the mining height curve of the current knife coal includes:

Determine the average of the mining height limits of a second preset number of adjacent mining intervals of each mining interval in the current knife coal;

When the difference between the mining height limit value corresponding to any sampling interval in the current knife coal and the corresponding mean value is greater than a first threshold, the mining height limit value corresponding to any sampling interval is updated using the mean value corresponding to any sampling interval;

The mining height curve of the current cutter coal is determined according to the mining height limit values corresponding to each updated mining interval in the current cutter coal.
The method according to claim 1 or 2, characterized in that the step of obtaining the mining height limit of each coal mining interval in the current coal mining operation of the coal mining machine comprises:

Acquire multiple reference mining height limit values of the coal mining machine in each mining interval of the current cut coal;

Preprocessing a plurality of reference mining height limits in each sampling interval of the current knife coal respectively to determine the mining height limit corresponding to each sampling interval of the current knife coal;

The mining height limit values corresponding to each mining interval in the current knife coal are stored in the system.
The method according to claim 3 is characterized in that, before preprocessing the multiple reference mining height limits in each sampling interval of the current knife coal respectively, it also includes:

In response to a failure in obtaining a reference mining height limit in any sampling interval of the current knife coal, the mining height limit in any sampling interval is determined according to reference mining height limits in a third preset number of sampling intervals adjacent to the any sampling interval.
The method according to any one of claims 1 to 4, further comprising:

In the process of controlling the cutting height of the shearer drum in the next coal cut according to the mining height curve, obtaining the cutting state parameters of the shearer drum in each mining interval of the next coal cut;

Comparing the cutting state parameter with a second threshold value to determine whether the sampling height limit of each sampling interval is correct;

In response to the sampling height limit value of any sampling interval being incorrect, the sampling height limit value corresponding to the any sampling interval is adjusted according to a preset adjustment value or an adjustment value in an acquired adjustment instruction.
A control device for the mining height of a coal mining machine, characterized by comprising:

An acquisition module, used to acquire the mining height limit of each mining interval of the coal mining machine in the current cut coal, and the mining height limit of each mining interval in a first preset number of historical cut coals before the current cut coal;

A correction module, used for correcting the mining height limit value corresponding to the same sampling interval in the current cutter coal according to the mining height limit value corresponding to the same sampling interval in the historical cutter coal, so as to obtain the corrected mining height limit value corresponding to each sampling interval in the current cutter coal;

A processing module, used for smoothing the corrected mining height limit corresponding to each sampling interval in the current cut coal, so as to determine the mining height curve of the current cut coal;

A control module is used to control the cutting height of the coal mining machine drum in the next coal cutting of the current coal cutting according to the mining height curve.
The device according to claim 6, characterized in that the processing module is used to:

Determine the average of the mining height limits of a second preset number of adjacent mining intervals of each mining interval in the current knife coal;

When the difference between the mining height limit value corresponding to any sampling interval in the current knife coal and the corresponding mean value is greater than a first threshold, the mining height limit value corresponding to any sampling interval is updated using the mean value corresponding to any sampling interval;

The mining height curve of the current cutter coal is determined according to the mining height limit values corresponding to each updated mining interval in the current cutter coal.
The device according to claim 6 or 7, further comprising an adjustment module for:

In the process of controlling the cutting height of the shearer drum in the next coal cut according to the mining height curve, obtaining the cutting state parameters of the shearer drum in each mining interval of the next coal cut;

Comparing the cutting state parameter with a second threshold value to determine whether the sampling height limit of each sampling interval is correct;

In response to the sampling height limit value of any acquisition interval being incorrect, the sampling height limit value corresponding to the any acquisition interval is adjusted according to a preset adjustment value or an adjustment value in an acquired adjustment instruction.
A computer device, comprising a processor and a memory;

The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method according to any one of claims 1 to 5.
A computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.
A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 5.
A computer program, characterized in that the computer program comprises computer program code, and when the computer program code is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 5.