2585results about "Slitting machines" patented technology

A method for three-dimensional (3D) imaging of an underground goaf includes: obtaining a video image and point cloud data of an underground goaf; determining a posture transformation matrix, and aligning the video image and the point cloud data; identifying a material texture based on the video image to obtain material texture information; dividing the point cloud data into triangular meshes to form an initial 3D model of the underground goaf; mapping the material texture information onto the 3D model to form a target 3D model with a material texture attribute; calculating a bidirectional reflectance distribution function (BRDF) of the target 3D model based on the material texture attribute; simulating global illumination, and constructing a rendering equation; and making a setting to emit ray from a viewpoint, and performing ray tracing based on the rendering equation to obtain a high-brightness real scene image of the underground goaf.

The invention discloses a hard rock stratum continuous excavation automatic cutting depth control method based on deep learning. The control method comprises the steps of establishment and training of a deep neural network model, pre-drilling fracturing operation and rock stratum strength parameter prediction, determination of a reasonable cutting depth control value and monitoring and control of continuous excavation operation. The cutting performance of the hard rock stratum is improved through pre-drilling fracturing operation, meanwhile, the strength parameter of the fractured rock stratum is predicted according to a deep learning algorithm, then a reasonable cutting depth value is determined, the excavation efficiency of continuous excavation equipment in the hard rock stratum environment can be improved, and the consumption of cutting tools is reduced; and then, according to real-time monitoring data and the trained deep neural network model, a current continuous mining equipment operation strategy is calculated in real time, so that real-time monitoring and control of the cutting depth, the cutting mechanism power and the mining working face flatness are realized, and improvement of the control precision, safety and automation of the continuous mining equipment is facilitated.

A method for training a coal rock interface recognition model is performed by a cloud server. The method includes receiving a sample coal rock distribution and sample multi-modal data from an edge processor, acquiring a sample load state feature based on the sample vibration data and the sample noise data; acquiring a sample cutting feature of a coal rock interface based on the sample video data. The method further includes acquiring a sample load feature for drum cutting based on the sample current data and the sample pressure data; calling the coal rock interface recognition model, and performing a decision-level fusion based on the sample load state feature; and training the coal rock interface recognition model based on the sample predicted coal rock distribution and the sample coal rock distribution to obtain a target coal rock interface recognition model

The present disclosure provides a method and system for monitoring a coal shearer status based on digital twinning, and an electronic device, and relates to the technical field of real-time status monitoring. The method includes: obtaining physical parameters, real-time driving data, and real-time status data of a coal shearer physical entity, where the physical parameters include geometric parameters, material properties, and positional parameters; the real-time driving data includes a real-time position, a real-time speed, and a real-time angle of a rocker arm; and the real-time status data includes real-time vibration information; building a coal shearer digital twin model on a Unity3D engine according to the physical parameters of the coal shearer physical entity; and updating a status of the coal shearer digital twin model based on the real-time driving data and the real-time status data. The present disclosure achieves visual monitoring of a coal shearer status.

The invention discloses an intelligent safety monitoring method and system for coal mine excavation, and belongs to the technical field of coal mine safety, and the method specifically comprises the steps: deploying a plurality of adaptive sensing nodes in an excavation area, each node comprising an environment state collection unit and an equipment vibration collection unit, and collecting environment data and mechanical vibration waveforms respectively; then, according to the position of the mining machine and the tunnel structure change, node physical connection is adjusted to form a dynamic topology network, and when mechanical movement exceeds a threshold value, adjacent nodes are subjected to high-density monitoring; then, synchronously generating a coupling data stream according to the collected data timestamps, inputting the coupling data stream into a pre-constructed model, and predicting the overlap ratio of mechanical vibration abnormity and a target gas accumulation area space; when the overlap ratio exceeds a critical value, an emergency response is triggered, the speed is reduced firstly, inert gas is released, and power is cut off if set duration is continued; and finally, reversely correcting surrounding rock stress parameters in the model according to emergency data. According to the invention, the accuracy and response timeliness of early warning of coal mine disasters are improved.

The invention discloses a heading equipment cutting head position calibration method based on image acquisition, which comprises the following steps: S1, acquiring image data and preprocessing the image data; s2, extracting cutting head feature points, and constructing a two-dimensional feature point set; s3, calculating a three-dimensional coordinate by using perspective transformation, and generating a point cloud set; s4, performing rigid registration on the point cloud set and a standard structure model of the tunneling equipment, and iteratively solving a rotation matrix and a translation vector to obtain pose parameters; s5, simulating change tracks of the feature points in continuous frames, constructing a time consistency constraint, and optimizing pose parameters; s6, the optimized three-dimensional coordinates are converted to a reference coordinate system, space alignment is completed, and a position calibration result is generated; and S7, outputting a calibration result for control instruction generation and path planning. According to the invention, high-precision and non-contact three-dimensional position calibration of the cutting head of the tunneling equipment is realized, and operation automation and control precision are improved.

The invention belongs to the technical field of lithology identification, and discloses a coal cutter self-adaptive regulation and control method for coal rock identification based on cutting pick stress monitoring, so as to realize accurate and efficient identification of coal rock and self-adaptive regulation and control of a coal cutter based on cutting pick stress data and in combination with operation parameters of the coal cutter. According to the coal mining machine self-adaptive regulation and control method based on cutting pick stress monitoring and coal rock recognition, the pressure sensors arranged at the roots of all the cutting picks are used for obtaining cutting pick stress original data in real time, the coal rock interface is accurately and efficiently recognized by combining the operation parameters of the coal mining machine and utilizing a data processing and analysis algorithm, and the coal mining machine self-adaptive regulation and control method is high in practicability. And the cutting parameters of the coal mining machine are dynamically adjusted, so that safe, efficient and high-precision coal rock identification and self-adaptive regulation and control of the coal mining machine are realized, the intelligentization of coal mining operation is improved, the coal mining efficiency is improved, the abrasion of equipment is reduced, and the safety and stability of the mining operation are guaranteed.

The invention discloses an efficient thin seam coaling roller for a coal mining machine and a using method, and relates to the field of coal mining equipment. A thin seam efficient coaling roller for a coal mining machine comprises a coal mining spiral roller which is fixedly installed at the power output end of a driving rocker arm of the coal mining machine through a fixing bolt; the mounting cover is fixedly mounted at the position, close to the coal mining spiral drum, of the coal mining machine driving rocker arm; while the coal mining spiral drum rotates to mine coal, water spraying at the rocker arm of the coal mining machine, water spraying at the cutting tooth seat and mist curtains sprayed by the wide-angle fan-shaped atomizing nozzles work cooperatively, the dust falling effect is enhanced, a water mist cover is rapidly formed under the assistance of the mounting cover, and the water mist cover can effectively isolate coal dust inside, so that the dust falling effect is improved. And the coal dust diffusion is greatly reduced, the body health of miners is guaranteed, the occupational health risk is reduced, the abrasion of the coal dust to equipment is reduced, the service life of the equipment is prolonged, the maintenance frequency and cost of the equipment are reduced, and the comprehensive benefits of coal mining operation are improved.

The invention discloses a mining equipment positioning system and method based on radar, ultra wide band and inertial navigation, and the system is characterized in that a multi-source sensor unit, a data synchronization and collection module and a preprocessing module are connected in sequence, and a state fusion module is connected with the preprocessing module, a UWB ranging error compensation module, a radar motion estimation module and a pose output module; the upper computer is connected with the pose output module; the method comprises the steps of collecting multi-source data; timestamp alignment and format conversion processing are carried out, and feature and speed constraint information extraction is carried out on the point cloud data; fitting correction is carried out on the ranging data by adopting a weighted least square method, and position information is obtained through an error weighted average algorithm; feature matching is carried out, and in combination with a KISS-ICP point cloud registration method, a speed estimation result is obtained; carrying out data fusion, and obtaining a pose estimation result by adopting an extended Kalman filtering algorithm; and outputting equipment position and attitude information. According to the invention, high-precision real-time estimation of the attitude and position information of the mining equipment can be realized.

The invention discloses a shield pressure relief drill tool for a protruding coal seam and an out-of-hole closed slag discharge system. The drill tool is composed of a plurality of sieve hole drill rods, a transition drill rod and a plug-in drill bit. The sieve hole drill rod and the transition drill rod are composed of different special-shaped outer tubes, inner tubes and tapered hole strips. The axial space between the outer tube and the inner tube is a flow supply channel of the drill tool. The central hole of the inner tube is an internal slag discharge channel of the drill tool. The slag discharge sieve hole is arranged in an axial groove of the special-shaped outer tube and is connected with the internal slag discharge channel. The tapered hole strip is welded in the axial groove of the special-shaped outer tube and the tapered hole is coaxially aligned with the slag discharge sieve hole. Male buckles and female buckles are arranged at both ends of the sieve hole drill rod. A female buckle connected to the male buckle of the sieve hole drill rod is arranged at one end of the transition drill rod, and a plug-in interface connected to the plug-in drill bit is arranged at the other end of the transition drill rod. The out-of-hole closed slag discharge system comprises a sliding closed tube placed in the inner cavity of the out-of-hole sieve hole drill rod, a sealing hole pipe moving device installed at the hole mouth and a hollow slag discharge water (wind) tail connected to the tail of the drill rod.

The invention is applicable to the technical field of coal mine tunneling, and provides a coal mine tunneling working method based on a digital twinning system, which comprises the following steps: S1, constructing a three-dimensional dynamic geological twinning model integrating geological radar, measurement while drilling and optical fiber sensing; s2, in the three-dimensional dynamic geological twinborn model, rock stratum characteristic changes are predicted through a digital twinborn body, and a self-adaptive cutting control instruction is generated; s3, simulating gas diffusion and roof stress distribution in real time while the control instruction is sent out, and triggering a grading early warning mechanism; s4, optimizing cutting parameters and emergency plans in a virtual environment according to early warning conditions, reversely controlling physical equipment, setting geological-equipment two-way closed-loop control, breaking through a traditional one-way data acquisition mode, realizing real-time two-way interaction between a geological model and tunneling equipment, establishing a digital twinning driven tunneling process parameter optimization standard library, and realizing real-time two-way interaction between the geological model and the tunneling equipment. Data support is provided for iteration of the technology, and improvement of coal mine tunneling work is facilitated.

The present invention discloses a method and system for monitoring and diagnosing the state of key equipment in a mine, and relates to the field of mine monitoring technology. The method comprises the following steps: extracting the operating characteristic parameters of a coal mining machine; identifying the key factors that affect the operating state of the coal mining machine; establishing a coal mining machine fault prediction model based on the key factors, and using the coal mining machine fault prediction model to predict the health state of the coal mining machine at future moments, and identifying the changing trend of the health state of the coal mining machine; according to the changing trend of the health state of the coal mining machine, combined with the operating conditions and safety thresholds of the coal mining machine, issuing an early warning signal, monitoring the operating state of the coal mining machine in real time, and dynamically adjusting the operating strategy of the coal mining machine. The present invention dynamically adjusts the operating strategy, and combines the health state prediction results and the working condition requirements to optimize the operating efficiency of the coal mining machine, while reducing energy consumption and maintenance costs, and helping coal mines to mine efficiently.

The invention provides a control method and device, a coal mining machine, a readable storage medium and a chip. The method comprises the following steps: acquiring a rated load of a cutting motor and target cutting specific energy consumption corresponding to the rated load; determining a load interval corresponding to the rated load; acquiring an actual load value of the cutting motor; under the condition that the actual load value is out of the load interval, the target traction speed is determined according to the running rotating speed of the roller and the target cutting specific energy consumption; and adjusting the moving speed of the traction part to the target traction speed. By means of the scheme, accurate matching of the cutting rotating speed and the traction speed can be achieved.

The invention discloses a thin coal seam unmanned working face intelligent mining control method which comprises the following steps that after a thin coal seam working face is mined, mining parameters of the working face are collected through a detection system, and the mining parameters comprise three-machine operation parameters and mining working condition data; the detection system is used for processing the mining parameters and obtaining mining data, and then the communication system is used for sending the mining data to the control system; the control system is used for carrying out validity analysis on mining data, if the mining data does not meet requirements, the mining data are obtained again, and if the mining data meet the requirements, the electric hydraulic control system is controlled to drive the hydraulic component to act, the cutting control system is controlled to drive the coal mining machine to carry out cutting operation, and the straightening system is controlled to straighten the working face. According to the mining control method, intelligent mining of the thin coal seam can be achieved, the accuracy and efficiency of the whole monitoring and control process are high, and the continuity and safety of mining of the thin coal seam are fully guaranteed.

The present invention provides a support assembly and a tunnel boring machine. The support assembly is applied to the tunnel boring machine and includes: a base; a drive assembly, one end of which is connected to the tunnel boring machine and the other end of which is connected to the base, for driving the base to move; a support plate, which is arranged on the base and is used to support the anchor net; and a support beam assembly, which is arranged on the base and is used to lift and support the top beam. The present application integrates the support beam assembly on the support assembly, improves the functional integration of the tunnel boring machine, saves equipment space, improves the production efficiency of the equipment, and saves the production cost of the equipment. In addition, the support plate and the support beam assembly share a set of drive assemblies, thus saving a set of drive assemblies. Compared with the separate arrangement of temporary support and support beam device, the number of components is greatly simplified, and the contradiction that the temporary support and support beam device cannot be installed on the tunnel boring machine at the same time due to the overlapping installation positions of the temporary support and the support beam device is resolved, providing more operating space for the anchoring operation and beam erection operation of the tunnel boring machine.

The invention belongs to the technical field of coal mine dust prevention, and relates to a fully mechanized coal mining face pedestrian area dust treatment method and device.The device mainly comprises a hydraulic support, an injection dust removal device, a dust removal control box, a main control box and a coal mining machine, the hydraulic support is used for supporting a coal mining face, and the injection dust removal device is arranged at the top of the hydraulic support; the device is used for generating negative pressure to suck and purify dust-containing airflow in a pedestrian area below the hydraulic support. The dust removal control box receives working signals of the hydraulic support and the coal mining machine, controls the injection dust removal device and is electrically connected with the main control box and the automatic pressure regulating valve. A locator is arranged on the leeward side of the coal mining machine to identify the position of the coal mining machine The device purifies dust-containing airflow through spray injection, covers a roadway bottom plate and a dust production area of the scraper conveyor, captures and wets coal dust, reduces raised dust and transverse diffusion of dust, reduces the dust concentration of a pedestrian area, improves the working environment and reduces dust harm.

The vertical feeding coal mining machine comprises a rack, a traction part and a cutting assembly, the traction part is connected with the rack so as to be used for dragging the rack to move, the cutting assembly comprises a roller body and cutting teeth, the roller body comprises a cylinder body, an end disc and an end cover, the end disc is arranged on the cylinder body, and the cutting teeth are arranged on the end disc. The end disc is arranged on the outer circumferential wall of the roller body in a sleeving mode, the end disc and the first end of the roller body are arranged in a flush mode, the end cover is connected with the inner circumferential wall of the roller body, a groove is defined between the end cover and the roller body, the multiple cutting teeth are arranged in the circumferential direction of the center line of the roller body at intervals, and the cutting teeth are arranged in the groove. One part of the plurality of cutting teeth is connected with the end disc, and the other part of the plurality of cutting teeth is connected with the end cover. According to the vertical feeding coal mining machine, the arrangement positions of the cutting picks are optimized, the possibility of abrasion of the cutting picks is reduced, and the cutting efficiency is improved.

The invention discloses comprehensive rock drift rapid tunneling equipment and a using method thereof.According to the tunneling equipment, a drilling and anchoring integrated multifunctional drilling machine is arranged on one side of a cantilever type tunneling machine body, and a temporary supporting mechanism is arranged above an oscillation cutting part; a deep hole is formed in a to-be-crushed rock by utilizing the multifunctional drilling machine, the deep hole is further expanded and cracked by utilizing the pulsating fracturing system, the strength of a rock mass is weakened, then the rock mass is milled by adopting the oscillating cutting part, and finally, the rock mass is anchored and protected by utilizing the multifunctional drilling machine and the temporary supporting device, so that a guarantee is provided for an operation environment. According to the equipment and the technology, a traditional roadway tunneling procedure is simplified into a continuous procedure, the tunneling efficiency of roadway rock mass is greatly improved, and meanwhile the cost is saved.

The invention discloses an intelligent working face remote monitoring method and system based on coal machine equipment, and the method comprises the steps: collecting the operation data and environment data of the coal machine equipment, and carrying out the preprocessing; and analyzing the preprocessed data according to a multi-level hybrid integrated deep neural network algorithm to obtain a current risk coefficient. Different measures are taken for different risk conditions, and one-time monitoring is completed. According to the intelligent working face remote monitoring method and system based on the coal machine equipment provided by the invention, spatial and temporal features are extracted by using a convolutional layer in a deep learning model, a recursive layer captures a time sequence dependency relationship, and different weights are given to different features by an attention mechanism, so that the operation state and potential risks of the equipment are accurately evaluated. According to the step, the fusion analysis of high-dimensional data is realized through the multi-level design of the deep neural network model, and the accuracy and real-time performance of risk assessment are remarkably improved.

The invention discloses a mechanical top pre-cutting medium-length hole blasting top and bottom column efficient stoping technical method. Relates to the technical field of underground mining, and comprises the following steps: S1, performing tailing filling on a goaf, dividing an ore body stope into panels after the strength meets the requirement, and performing stoping in the panels in a first-step stope and a second-step stope; s2, taking the reserved pedestrian ventilation united lane as a cutting lane, and tunneling a cutting courtyard upwards in the middle of the cutting lane in the step 1; s3, top cutting is carried out on the ore body top plate of the top and bottom columns, supporting operation is carried out on the ore body top plate, and top cutting ore is lowered to the reserved pedestrian ventilation combined roadway through the cutting courtyard for ore removal; s4, forming a cutting groove by taking the cutting raise and the cutting roadway as free surfaces, and digging downward parallel medium-length holes in the steps for forward blasting and inclined upward stoping; and S5, by means of the directional throwing effect of downward parallel medium-length hole blasting, the ore is thrown into the reserved pedestrian ventilation combined roadway, and finally the ore enters a vein-following transportation roadway through an ore removal transverse vein through a carry-scraper for trackless ore removal. And S6, tailings filling is conducted on the stope where stoping of the top and bottom columns is completed in the first step, and after maintenance is completed, stoping of the second step is conducted according to the above steps till stoping of the whole top and bottom columns is completed.

The invention belongs to the technical field of coal mining and filling. In order to solve the problems of high mining and filling cost and large branch roadway supporting workload in the prior art, the strip branch roadway unmanned mining and filling method based on the remote control continuous mining machine is provided, the remote control continuous mining machine, coal transportation equipment and ventilation equipment are adopted in cooperation with remote control to complete coal transfer and ventilation, traditional branch roadway supporting is omitted, and the working efficiency is improved. Unmanned operation of the branch roadway is achieved, the workload of workers is reduced, the supporting time is shortened, the yield is increased, the cost is reduced, use of operators is reduced, the problem that due to space limitation, the opening position of the branch roadway is difficult to transfer and unload is solved, meanwhile, the requirement for the transportation volume can be met, safe and efficient mining is achieved, and the mining efficiency is improved. Through combination of single-side plugging and drilling filling, the workload of opening plugging and filling templates is reduced, the filling efficiency is improved, and hazards such as construction potential safety hazards, air flow short circuit or insufficient air quantity caused by branch roadway penetration are avoided.

The invention relates to a spray dust fall accurate control method for coal face dust source tracking, and belongs to the field of coal face spray dust fall control of coal mines. By arranging a wind speed and wind direction sensor, a laser displacement sensor and a roadway dust concentration sensor, the wind speed and wind direction of a working face, the position of a coal mining machine and the dust concentration are monitored in real time, and opening and closing of a spraying set and adjustment of spraying pressure are automatically controlled according to preset control logic; and accurate tracking and efficient dust falling of the dust source of the coal face are realized. According to the dust production characteristics of downwind coal cutting and upwind coal cutting, an accurate control strategy is adopted, and the dust falling effect is effectively improved; according to the dust concentration value fed back after spraying, the spraying pressure is intelligently adjusted, the dust falling effect is guaranteed, and meanwhile waste of water and electric energy is reduced; and when the condition of against-wind coal cutting is treated, all the spraying groups are started, so that the working face is fully covered, and the dust falling effect is effectively improved.

The invention discloses a planned cutting curve issuing control method based on a predictive coal cutting technology, and belongs to the technical field of coal mine collection. Comprising the following steps: acquiring coal mining machine operation cutting data; a mathematical model is established based on the predicted coal cutting data, and a next cutting prediction curve is obtained; monitoring the running state and environmental parameters of the coal mining machine in real time, and generating an optimal cutting planning curve path; an operator judges whether the cutting curve path is optimal or not, if not, the above steps are executed circularly, and if yes, the following steps are executed; and issuing the generated optimal cutting planning curve path to the coal mining machine. The invention provides a planned cutting curve issuing control method based on a predictive coal cutting technology, which can realize generation of a planned cutting curve of a next cut based on historical cutting data, can edit and issue in advance according to geological data, reduces manual intervention in a production process, improves mining efficiency, realizes visualization of a predictive coal cutting curve, and is suitable for popularization and application. And the production process can be controlled, and the mining stability and safety are improved.

The invention relates to the field of coal mining, in particular to an ultra-narrow multifunctional reversed loader suitable for a coal mine tunnel, and aims to solve the problem that an excavator in the prior art is inconvenient to convey a coal mine in a narrow pipeline. The crawler walking assembly is mounted at the bottom of the saddle, the mounting frame is fixed to the top of the saddle, and a conveying space is formed between the mounting frame and the top of the saddle; the excavating mechanism comprises a rotary table rotationally connected to the top of the mounting frame, an excavating arm assembly mounted on the rotary table and a driving part mounted on the top surface of the mounting frame and used for driving the rotary table to rotate; and the material conveying mechanism comprises a fixing frame mounted at the top of the saddle, a conveying belt mounted on the fixing frame and a material receiving table mounted at the head of the fixing frame. According to the excavator, excavated coal in the bucket can be conveniently conveyed to the rear portion of the excavator through the conveying belt, and coal cinder adhering to the material guide plate can be conveniently cleaned.

Systems and methods for industrial robotic platforms. Squads of industrial robots autonomously communicate and work together. A control center may monitor the autonomous operations. Software at the control center, squad, and robot levels forms a distributed control system that analyzes various data related to the platform for monitoring of the various systems. Artificial intelligence, such as machine learning, is implemented at the control center, squad, and / or robot levels for swarm behavior driven by intelligent decision making. Each robot may include a universal platform attached to a task-specific tooling system. A robot may be elected as a squad leader, cartographer leader, or task planning leader. A squad leader, cartographer leader, or task planning leader may perform specialized planning functions for a squad of robots. Information generated by robots performing a task may be transmitted to the control center for further development of machine learning models.

The invention relates to a fully mechanized coal mining face respirable dust concentration management limit value determination method, belongs to the technical field of coal mine dust treatment, and is used for solving the problem of inaccurate respirable dust control caused by the fact that a traditional fixed threshold value cannot adapt to a multi-dust-source coupling working condition. The method comprises the following steps: acquiring dust falling efficiency data of multiple dustproof measures, establishing a mathematical model of dustproof parameters and dust concentration, calculating a dynamic management limit value by combining an industrial standard threshold value, and performing self-adaptive adjustment by monitoring and triggering parameters such as spraying pressure and dust removal air volume in real time. Compared with a traditional method, the dynamic limit value enables the respirable dust concentration to be reduced by 40% or above, the multi-measure cooperative dust falling efficiency is improved to 85%, water is saved by 15%-20%, the equipment energy consumption is reduced by 10%, and intelligent and precise dust treatment is achieved.

The invention provides a scraper conveyor coal flow real-time monitoring system and method, and belongs to the technical field of coal flow monitoring. The problem that the coal flow on the scraper conveyor is not uniformly distributed due to the fact that the coal cutting amount and the coal sweeping amount are not organically combined in the coal flow monitoring of the scraper conveyor in the prior art is solved. Comprising coal flow monitoring devices used for collecting coal flow data generated by coal cutting or coal sweeping of a left rocker arm or a right rocker arm in the coal mining process in real time, the two coal flow monitoring devices are connected with a coal flow resolver, and the coal flow resolver communicates with a coal mining machine control system and a scraper conveyor control system. The coal flow resolver is used for receiving data acquired by the coal flow monitoring devices on the left / right rocker arm, resolving the acquired data into actual coal flow, and sending the coal flow of the left / right rocker arm and total coal flow data to the coal mining machine control system and the scraper conveyor control system; the method is applied to monitoring and adjusting the coal flow of the scraper conveyor on the fully mechanized coal mining face.

The invention provides a construction method of a self-adaptive cutting guide control system of a coal mining machine based on digital twinning, and relates to the technical field of self-adaptive cutting of coal mining machines. The method specifically comprises the following steps: designing a complex dirt band thin coal seam coal mining machine cutting state sensing method and a complex dirt band thin coal seam coal mining machine self-adaptive control strategy; the method comprises the following steps: based on a complex dirt band thin coal seam coal mining machine cutting state sensing method and a complex dirt band thin coal seam coal mining machine self-adaptive control strategy, establishing a complex dirt band thin coal seam coal mining machine self-adaptive cutting digital twinborn model for simulating the self-adaptive cutting process of the complex dirt band thin coal seam coal mining machine; and constructing a mechanism characteristic life prediction model driven by a digital model and a digital twinborn monitoring model for the adaptive cutting dynamic reliability of the coal mining machine for the complex dirt band thin coal seam, wherein the model is used for evaluating the reliability of the adaptive cutting process of the coal mining machine for the complex dirt band thin coal seam in real time. According to the invention, the adaptive capacity of the coal mining machine to the complex dirt band thin coal seam can be effectively improved.

The invention discloses a high-pressure jet flow intelligent mining self-adaptive monitoring control system which comprises a jet flow rock breaking dynamic monitoring module, a rock mass analysis and data processing module, a neural network deep learning module and a mining machine controller. The jet flow rock breaking dynamic monitoring module is used for obtaining jet flow parameters, calculating jet flow axial reverse thrust, obtaining the three-dimensional shape of a mining face and obtaining cutting and crack shapes. Wherein the three-dimensional shape of the mining face at least comprises cutting depth information; the rock mass analysis and data processing module is used for acquiring three-dimensional coordinates of the mining machine in a working environment, calculating rock mass confining pressure and acquiring rock mass characteristics; the neural network deep learning module establishes a jet cutting process parameter and mining process parameter intelligent model; the mining machine controller is used for generating a mining machine control instruction. According to the invention, the high-pressure jet mining equipment can be safely and efficiently controlled to carry out self-adaptive cutting on the ore / rock mass.

The invention discloses a hard rock cutting pick with a double-clamp-spring structure, and belongs to the technical field of cutting picks. A hard rock cutting pick with a double-clamp-spring structure comprises a cutting pick body, the cutting pick body comprises a pick handle and a pick head which are detachably connected, a protruding block protruding outwards is formed on the bottom wall, corresponding to the pick handle, of the pick head, and a plurality of inserting parts extending outwards are formed on the outer wall of the protruding block at equal intervals; a butt joint groove matched with the bottom wall of the tooth head is formed in the top wall of the tooth handle, inserting grooves which are concave inwards and matched with the protruding block and the inserting parts are formed in the bottom wall of the butt joint groove, and the protruding block is used for being matched with the inserting parts to limit the tooth head in the circumferential direction. The cutting pick is provided with the pick handle and the pick head which are detachably connected, when the pick head needs to be replaced due to abrasion or damage, only the pick head part needs to be replaced, the whole cutting pick does not need to be replaced, material waste is reduced, and the production cost and the maintenance cost are reduced.