An intelligent control method and system for fully-mechanized mining equipment of a complex condition working face

Abstract

This invention addresses the problems of excessive error accumulation and equipment interference / abnormal mechanical states in automated mining systems under complex geological conditions after multiple cycles. It discloses an intelligent decision-making and control method and system for fully mechanized mining equipment in complex working faces, comprising a full-position measurement system for the fully mechanized mining equipment, a mine pressure monitoring system, a virtual simulation system, an analysis and decision-making system, and a distributed control system. The system comprehensively measures 15 spatial parameters and mine pressure data of the equipment's real-time operating status. By overlaying data to simulate the actual mining process, it calculates equipment anomalies caused by complex geological conditions and predicts the surrounding rock condition. It proposes error elimination and surrounding rock control methods based on known technological methods and historical data learning results, and predicts subsequent mining control parameters. Based on real data and virtual simulation results, it optimizes and makes decisions on the control parameters of the underground fully mechanized mining equipment, thereby ensuring that the equipment control under complex geological conditions matches the actual environmental conditions and significantly improving the operational quality of the fully mechanized mining equipment.

Description

Technical Field

[0001] This invention relates to the field of equipment control for fully mechanized coal mining faces, and particularly to an intelligent decision-making control method and system for fully mechanized coal mining face equipment. Background Technology

[0002] After decades of continuous large-scale development, shallow coal resources are becoming increasingly scarce, and mining depths are constantly increasing. Deep mining faces constraints from multiple factors, including high ground pressure, high ground temperature, and complex geological conditions. The fully mechanized mining equipment (hydraulic supports, coal mining machines, scraper conveyors, transfer conveyors, and advanced support equipment, etc.), which is the core operating system of underground mining, is in a dynamically changing environment of surrounding rock deformation and mine pressure impact. The originally neatly arranged and coordinated equipment group tilts and shifts randomly with the roof, floor, and coal seam conditions, making it impossible to maintain normal spatial posture and mechanical state. Existing automated mining equipment systems have limited applicability and are ill-suited to this highly dynamic application environment.

[0003] While existing centralized control systems for fully mechanized mining faces are connected to the individual control systems of various equipment, they merely aggregate information from each device without further data mining and application, and cannot perform intelligent decision-making or collaborative control of fully mechanized mining equipment. Invention patent 201910064818.2 discloses a simulation method for collaborative propulsion of fully mechanized mining equipment based on a virtual reality physics engine. This method models and repairs the coal seam and various equipment in the fully mechanized mining face within the virtual reality physics engine, updates virtual coal seam data in real time, and realistically reproduces the propulsion process of underground equipment. Invention patent 201711138800.X discloses a method for solving and predicting the attitude of mining and transportation equipment in a fully mechanized mining face. This method can solve the attitude data of the coal mining machine and scraper conveyor under suitable working conditions where the floor of the fully mechanized mining face is uneven, and predict the form of the scraper conveyor and the working state of the coal mining machine in the next cycle based on the cutting curve of the roof and floor of the coal mining machine in the current cycle. These methods only provide a way to map real-world equipment into virtual reality and simulate it; while they can guide the operation of fully mechanized mining equipment, they cannot directly control it.

[0004] Invention patent 201811422886.3 discloses an unmanned intelligent fully mechanized mining face, which consists of a face body, signal transceiver mechanism, control mechanism, and monitoring mechanism. These mechanisms replace manual labor to achieve unmanned operation of the fully mechanized mining face. Invention patent 201510527484.X provides a method for implementing a centralized control platform for large equipment in a coal mine fully mechanized mining face. This method achieves centralized control of large equipment in an underground fully mechanized mining face based on a video monitoring system. These methods rely on sensors, underground network technology, and video technology for centralized control of fully mechanized mining face equipment. However, the control methods are relatively simple, all relying on feedback control based on sensor signals. They lack comprehensive data utilization and modeling of the entire fully mechanized mining face, making it difficult to handle equipment control under complex conditions. Summary of the Invention

[0005] In view of this, the present invention provides an intelligent decision-making and control method and system for fully mechanized mining equipment under complex conditions. It can optimize and make decisions on the control parameters of the underground fully mechanized mining equipment based on real data and virtual simulation results, thereby ensuring that the equipment control under complex geological conditions can match the actual environmental conditions and greatly improve the operating quality of the fully mechanized mining equipment.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides an intelligent decision-making and control method and system for fully mechanized mining equipment in complex working conditions, including a full-position measurement system for fully mechanized mining equipment, used to measure 15 necessary parameters that comprehensively describe the real-time operating status of the equipment.

[0008] The mine pressure monitoring system is used to collect and analyze mine pressure data from fully mechanized mining faces, providing a data foundation for the analysis and decision-making system.

[0009] The virtual simulation system is used to receive the necessary parameters obtained by the full-position measurement system of the fully mechanized mining equipment, load the mine pressure data along the working face direction monitored by the mine pressure monitoring system and update it over time, and drive the equipment three-dimensional model to simulate the real mining process.

[0010] The analysis and decision-making system is used to calculate abnormal equipment position deviations and random tilting caused by complex geological conditions, and to predict the deformation, collapse and spalling of surrounding rock (roof, coal wall and floor). Based on known process methods and historical data learning results, it gives control strategies to automatically eliminate posture errors and surrounding rock changes, and determines the control parameters for the next coal cutting cycle.

[0011] The distributed control system is used for collaborative management and control of the entire process, sending equipment status information and operating parameters to the coal mining machine, hydraulic support and scraper conveyor, and completing the comprehensive decision-making and control of the fully mechanized mining equipment system.

[0012] Preferably, the fully mechanized mining equipment full-position measurement system is installed in the global coordinate system of the working face. It simultaneously acquires the minimum set of parameters describing the equipment itself and its mutual spatial constraints and positional relationships through an inertial navigation device, tilt and displacement sensors, and image analysis methods. These parameters include the three rotation tilt angles of the coal mining machine and the height of the rocker arm; the tilt angle of the hydraulic support base, the tilt angle of the top beam, the support height, the pushing distance, and the side protection status; the horizontal bending of the scraper conveyor, the undulation of the bottom plate, and the torsion angle; and the three relative positions between the equipment, including the distance between the coal mining machine drum and the support side protection plate, the distance between the coal mining machine and the scraper conveyor head, and the angle between the middle trough of the scraper conveyor and the support push rod.

[0013] Preferably, the mining pressure monitoring system, in addition to having the function of acquiring mining pressure data at the working face, also has the function of analyzing and predicting mining pressure data at working faces with complex geological conditions based on deep learning or expert feature databases, and calculates subsequent mining control parameters together with equipment position data.

[0014] Preferably, the virtual simulation system is developed using a modular approach, featuring a motion simulation module driven by real data, a scene generation module, a simulation scene, and a feedback control module. The full-position measurement system accesses a real-time database for storage and analysis via a low-level data interface, with interface parameters corresponding one-to-one with simulation model driving parameters. The motion simulation module filters data with large deviations and that do not meet actual working conditions, stores reliable data, performs collaborative simulation and extrapolation calculations of equipment operating status, drives the virtual model's motion, and can generate historical data change trends and time-shift curves of key equipment parameters. Upon receiving motion simulation commands, the scene generation module reconstructs the underground three-dimensional geological environment by collecting geological conditions and mine pressure monitoring system data through a data interface, and imports the reconstructed scene data into the simulation scene. With the support of the analysis and decision-making system, equipment operating data and geological environment data generate a simulation scene and perform analysis and prediction. The decision results are transmitted back to the feedback control module via a virtual link for graphical interface display, and feedback control is implemented on the actual equipment at the working face through the data interface.

[0015] Preferably, the analysis and decision-making system is the core of the entire system's backend operation service. It models specific working scenarios, equipment objects, and processes underground based on real data and virtual simulation, runs intelligent decision-making and control methods for fully mechanized mining equipment, and completes the optimization and decision-making of control parameters for underground fully mechanized mining equipment.

[0016] Preferably, the distributed control system includes a central main controller and an application program expansion interface module, as well as controllers and encoding / decoding modules for the coal mining machine, hydraulic support, and scraper conveyor. This module establishes an overall architecture of data link layer, protocol layer, and application layer based on underground industrial Ethernet, connects the above-mentioned devices, and completes control signal transmission, interface communication, and distributed coordinated control.

[0017] Preferably, the distributed control system has a three-layer architecture of data link layer, protocol layer and application layer, which correspond to system signal transmission, interface communication and control functions, respectively; wherein, the protocol layer system interface is compatible with multiple communication protocols and can exchange information with equipment from different manufacturers through their encoding and decoding modules; the application layer has API (Application Programming Interface), which realizes unified control of hardware from different manufacturers by calling the underlying control commands in the function library.

[0018] This invention also provides an intelligent decision-making and control method for fully mechanized mining equipment. It integrates the spatial orientation of the fully mechanized mining equipment during operation with surrounding rock geological parameters and mine pressure data, forming a spatial field model and a stress field model of the equipment operation along the time dimension. The superposition of these two data fields determines the equipment status at a given moment, including the surrounding rock morphology, face height, roof fall and sidewall spalling, straightness, pitching and sloping, and whether it is normal. Based on the goals of restoring normal operation, improving equipment efficiency and adaptability, it calculates in advance the hydraulic support resistance, optimal support shifting time, coal cutting speed and height of the coal mining machine, sidewall extension and retraction time, roof subsidence, scraper conveyor pushing distance, and sloping and sloping amounts, among other operating control parameters. Furthermore, after each cutting cycle, the model is automatically revised and the predicted calculation data is updated based on actual data, ensuring the consistency between the preset control and actual geological conditions and improving the quality of face operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a block diagram of the intelligent decision-making control system for fully mechanized mining equipment used in complex working faces according to the present invention.

[0021] Figure 2 This invention describes the full-position composition diagram of the fully mechanized mining equipment at the working face.

[0022] Figure 3 This invention provides a full-position measurement solution for fully mechanized mining equipment in working faces. Detailed Implementation

[0023] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0024] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. To more clearly illustrate the present invention, numerous technical details are described in the following specific embodiments. Those skilled in the art should understand that the present invention can be implemented even without some of these details. Furthermore, to highlight the inventive spirit of the present invention, some methods, means, components, and applications well-known to those skilled in the art are not described in detail; however, this does not affect the implementation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] See Figure 1 As shown in the figure, the intelligent decision control system for fully mechanized mining equipment in complex working faces provided by this embodiment of the invention is used to optimize and make decisions on the control parameters of the underground fully mechanized mining equipment, thereby improving the operating quality of the fully mechanized mining equipment.

[0026] The intelligent decision control system for fully mechanized mining equipment includes a fully mechanized mining equipment full-position measurement system 100, which is used to measure 15 necessary parameters that comprehensively describe the real-time operating status of the equipment.

[0027] The mine pressure monitoring system 200 is used to collect and analyze mine pressure data from fully mechanized mining faces, providing a data foundation for the analysis and decision-making system.

[0028] The virtual simulation system 300 is used to receive the necessary parameters obtained by the full-position measurement system of the fully mechanized mining equipment, load the mine pressure data along the working face direction monitored by the mine pressure monitoring system and update it over time, and drive the equipment three-dimensional model to simulate the real mining process.

[0029] The analysis and decision system 400 is used to calculate abnormal equipment position deviations and random tilting caused by complex geological conditions, and to predict deformation, collapse and spalling of surrounding rock (roof, coal wall and floor). Based on known process methods and historical data learning results, it gives control strategies to automatically eliminate posture errors and surrounding rock changes, and determines the control parameters for the next coal cutting cycle.

[0030] The Distributed Control System 500 is used for full-process collaborative management and control, sending equipment status information and operating parameters to the coal mining machine, hydraulic support and scraper conveyor, and completing the comprehensive decision-making and control of the fully mechanized mining equipment system.

[0031] Specifically, such as Figure 2 As shown, the fully mechanized mining equipment's full-position posture measurement system is installed in the global coordinate system of the working face. It simultaneously acquires the minimum set of parameters describing the equipment itself and its mutual spatial constraints and posture relationships through inertial navigation devices, tilt and displacement sensors, and image analysis methods. Its mathematical expression is:

[0032]

[0033] in, S i The four positional parameters of the coal mining machine include three rotation angles and the rocker arm height; H j Five hydraulic support position parameters, including base tilt angle around the Y-axis, top beam tilt angle, support height, pushing distance, and side protection status; C k The three scraper conveyor pose parameters include horizontal bending, bottom plate undulation (rotation around the Y-axis), and torsion angle; R m The three relative positions between the equipment are: the distance between the coal mining machine drum and the support side plate, the distance between the coal mining machine and the scraper conveyor head, and the angle between the middle trough of the scraper conveyor and the support push rod.

[0034] Specifically, such as Figure 3 As shown, the minimum set of parameters describing the equipment itself and its mutual spatial constraints and pose relationships can be obtained through a fusion vision scheme. The inertial navigation system installed on the coal mining machine measures its rotation angles along three axes. S 1 、S 2 、S 3 High-precision shaft encoder measures rocker arm rotation angle S 4 The traveling wheel axle encoder measures the traveling displacement of the coal mining machine. R 14 Tilt sensors are installed on the top beam, connecting rod, and base of the hydraulic support to measure the overall posture of the support. H 5 and H 6 And calculate the height of the support frame. H 7 Displacement sensors are installed on the support jacks to measure the displacement distance. H 8 Install a fiber optic grating bending measurement device on the scraper conveyor to monitor the horizontal curvature. C 10 ; C 11 and C 12 Depend on S 1 , S 3 and H 5 The distance between the coal mining machine and the support was calculated using a fusion method. R 13 Angle between scraper conveyor and supportR 15 and the condition of the side panels H 9 Images acquired by visual sensors can be analyzed and calculated. These sensors first obtain accurate and reliable values ​​through their respective calculation modules, and then send them to a unified full pose fusion calculation system, which is then connected to the virtual simulation model of the virtual simulation system 300.

[0035] Specifically, visual measurement devices are deployed with the end hydraulic supports as a reference, one device every 5-10 supports. These devices are used to measure the state of the hydraulic support sidewalls, the relative pose of the coal mining machine and the hydraulic supports, and the relative pose of the hydraulic supports and the scraper conveyor. Furthermore, the straightness of the working face can be measured through the fusion of multiple visual measurement devices. The visual measurement devices are calibrated by the pose monitoring device on the support they are installed on. An inertial navigation system is installed on the coal mining machine, which, combined with the machine's built-in shaft encoder, can also measure the pose of the coal mining machine and the straightness of the scraper conveyor. With visual measurement fusion correction, the accuracy requirements and correction time of the inertial navigation system are reduced.

[0036] Specifically, in addition to the function of collecting mining pressure data from the working face, the mining pressure monitoring system 200 also has the function of analyzing and predicting mining pressure data from working faces with complex geological conditions based on deep learning or expert feature databases, and calculates subsequent mining control parameters together with equipment position data.

[0037] Specifically, the virtual simulation system 300 is developed using a modular approach, including a motion simulation module 310 driven by real data, a scene generation module 320, a simulation scene 330, and a feedback control module 340.

[0038] The full-position measurement system 100 accesses a real-time database for storage and analysis via a low-level data interface, with interface parameters corresponding one-to-one with simulation model driving parameters. The motion simulation module 310 filters data with large deviations and that do not meet actual working conditions, stores reliable data, performs collaborative simulation and extrapolation calculations of equipment operating status, drives the virtual model's motion, and can generate historical data change trends and time-shift curves of key equipment parameters. Upon receiving motion simulation commands, the scene generation module 320 reconstructs the underground three-dimensional geological environment by collecting geological conditions and mine pressure monitoring system data through a data interface, and imports the reconstructed scene data into the simulation scene. With the support of the analysis and decision-making system 400, equipment operating data and geological environment data generate a simulation scene and are analyzed and predicted. The decision results are transmitted back to the feedback control module 340 via a virtual link for graphical interface display, and feedback control is implemented on the actual equipment at the working face through the data interface.

[0039] Specifically, the motion simulation module 310 includes motion simulation of hydraulic supports, motion simulation of the coal mining machine, motion simulation of the scraper conveyor, and coordinated motion simulation of the fully mechanized mining equipment group. The motion simulation states of the hydraulic supports mainly include: retracting the side plates, lowering the support column, moving the support, raising the support column, extending the side plates, and pushing the conveyor. During the raising and lowering of the support column, the hydraulic supports as a whole undergo coordinated motion. The single-machine motion process of the coal mining machine mainly includes: drum cutting the coal seam, linear motion of the coal mining machine, rotation of the rocker arm, turning of the coal mining machine at the end of the roadway, and advancement of the coal mining machine's cutting depth. Based on the different motion modes of the coal mining machine body, rocker arm, and drum, they are divided into three node levels, with the body as the parent node, the rocker arm as a first-level child node, and the drum as a second-level child node. A node tree is created according to the control logic of the coal mining machine. Operating the parent node affects all its child nodes, and the operation of each child node is relative to the parent node. The scraper conveyor model is loaded into the simulation system using a segmented approach. During the hydraulic support pushing process, the scraper conveyor moves forward with the hydraulic support as the fulcrum. Under the action of the time difference of the hydraulic support pushing cylinders, the scraper conveyor is in an approximately bending state. Based on the motion simulation of single equipment, the coordinated motion simulation of the fully mechanized mining equipment group is carried out. In the scenario, each model and each component is independent of each other, and the motion between them can be realized by establishing parent-child relationships and motion driving equations.

[0040] Specifically, the scene generation module 320 uses 3D software such as Creo, Solidworks, and UG to complete the 3D modeling of the fully mechanized mining equipment and import it into Unity3D. In Unity3D, parent-child relationship constraints are applied to different models and components, and coordinate systems and collision motion rules are established to complete the creation of a virtual simulation model of the fully mechanized mining equipment at the working face. Through the Unity3D software scene generation module, the Line Renderer and Mesh components are used to construct the surrounding rock environment of the working face.

[0041] Specifically, the scenario simulation module 330 controls the movement of each piece of equipment and its components in the virtual simulation system based on the actual working condition perception data, and reflects the movement status of each piece of equipment in real time during the coal mining process.

[0042] Specifically, the feedback control module 340 feeds back the control parameters obtained from analysis, calculation, and simulation optimization to the scene generation module 320 and motion simulation module 310 via a virtual control link. The scene generation module 320 and motion simulation module 310 control the operation of the fully mechanized mining equipment in the virtual simulation system based on the control signals generated by the optimized data. If the operation result of the fully mechanized mining equipment does not match the optimization expectation, the data is transmitted back to the analysis and decision system 400 to re-enter the parameter optimization calculation process until the expected control effect is achieved. After confirming that the operating parameters of the fully mechanized mining equipment are correctly optimized, the motion simulation module 310 transmits them via network to the roadway control center of the coal face corresponding to the virtual simulation system. The roadway control center transmits the obtained control parameters to the fully mechanized mining equipment controller via the underground ring network. The fully mechanized mining equipment controller judges the received control signals. If the control parameters do not meet the current operating conditions of the fully mechanized mining equipment controller, it sends a feedback signal to the virtual simulation system, requesting recalculation of the control parameters until the correct control parameters are received. After the control parameters are confirmed by the equipment's own control system, they are transmitted to the actuators of the fully mechanized mining equipment via fieldbus communication protocols such as Profibus, CAN, Modbus, and RS232 / 485 to execute the control commands generated by the virtual simulation system.

[0043] Specifically, the analysis and decision-making system 400 is the core of the entire system's backend operation service. Based on real data and virtual simulation, it models specific working scenarios, equipment objects, and processes in the mine, runs intelligent decision-making and control methods for fully mechanized mining equipment, and completes the optimization and decision-making of control parameters for the underground fully mechanized mining equipment.

[0044] Specifically, the analysis and decision-making system 400 can establish a coupled model of equipment spatial posture and stress state under general conditions. It calculates the controllable pressure zone and attitude instability zone for different control parameters, and determines a set of optimal control parameters based on specific adjustment objectives. These parameters include hydraulic support resistance, optimal support shifting time, coal cutting speed and mining height of the mining machine, sidewall extension and retraction time, roof subsidence, scraper conveyor pushing distance, and upward and downward sliding amounts. This parameter set can be transmitted back to the simulation model to simulate mining effects before actual operation, thereby avoiding conflicting or potentially risky mining processes.

[0045] Specifically, the distributed control system 500 includes a central main controller and an application program expansion interface module, as well as controllers and encoding / decoding modules for the coal mining machine, hydraulic support, and scraper conveyor. This module establishes an overall architecture of data link layer, protocol layer, and application layer based on underground industrial Ethernet, connects the above-mentioned devices, and completes control signal transmission, interface communication, and distributed coordinated control.

[0046] Specifically, the distributed control system 500 has a three-layer architecture: a data link layer, a protocol layer, and an application layer, which correspond to system signal transmission, interface communication, and control functions, respectively. The protocol layer system interface is compatible with multiple communication protocols and can exchange information with devices from different manufacturers through their encoding and decoding modules. The application layer has an API (Application Programming Interface), which enables unified control of hardware from different manufacturers by calling the underlying control commands in the function library.

[0047] This invention also provides an intelligent decision-making and control method for fully mechanized mining equipment. This method integrates the spatial orientation of the fully mechanized mining equipment during operation with surrounding rock geological parameters and mine pressure data. A spatial field model and a stress field model of the equipment's operation are formed along the time dimension. The superposition of these two data fields determines the equipment's state at a given moment, including surrounding rock morphology, face height, roof fall and sidewall spalling, straightness, pitching and sloping, and whether it is normal. Based on the goals of restoring normal operation, improving equipment efficiency and adaptability, the method calculates in advance operating control parameters such as hydraulic support resistance, optimal support shifting time, coal cutting speed and height, sidewall extension and retraction time, roof subsidence, scraper conveyor pushing distance, and sloping. Furthermore, after each cutting cycle, the model is automatically revised and the predicted calculation data is updated based on actual data, ensuring the consistency between the preset control and actual geological conditions and improving the quality of face operation.

[0048] The intelligent decision control system for complex working faces proposed in this invention optimizes and makes decisions on the control parameters of underground fully mechanized mining equipment based on real data and virtual simulation results. This ensures that the equipment control under complex geological conditions can match the actual environmental conditions, significantly improves the operational quality of fully mechanized mining equipment, meets the needs of coal mine workers for automated control of fully mechanized mining faces, fills the gap in the market for intelligent decision control systems for fully mechanized mining equipment, and is of great significance to the research and development of intelligent systems for coal mining faces.

[0049] It should be noted that the various embodiments in this specification are described in a related manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In addition, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0050] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent decision control system for fully mechanized mining equipment of a complex condition working face, characterized in that: The system comprises a fully pose measuring system of fully mechanized mining equipment, a mine pressure monitoring system, a virtual simulation system, an analysis and decision system, and a distributed control system. The fully pose measuring system measures parameters comprehensively describing the real-time operation state of the equipment. The mine pressure monitoring system collects and analyzes mine pressure data of the coal mining face. The virtual simulation system loads the mine pressure data along the direction of the coal mining face obtained by the mine pressure monitoring system and updates over time, and drives the three-dimensional model of the equipment to simulate the real mining process according to the data obtained by the fully pose measuring system of the fully mechanized mining equipment. The analysis and decision system calculates the abnormal deviation of the equipment position, the random inclination of the direction caused by the complex geological conditions, and predicts the deformation, caving and spalling of the surrounding rock, and gives the control strategy for automatically eliminating the pose error and the change of the surrounding rock based on the known process method and the learning results of historical data, and determines the control parameters of the next coal cutting cycle. The distributed control system performs collaborative management and control of the whole process, sends the equipment state information and operation parameters to the shearer, hydraulic support and scraper conveyor, and implements the comprehensive decision control of the fully mechanized mining equipment system. The spatial pose of the operation process of the fully mechanized mining equipment of the coal mining face, the geological parameters of the surrounding rock and the mine pressure data are fused together to form a spatial field model and a stress field model of the equipment operation along the time dimension. The two field data are superimposed to determine the surrounding rock shape, the mining height of the coal mining face, the roof caving and spalling, the straightness, the inclination and the upward and downward sliding state of the equipment at a certain moment, and to judge whether it is normal. Based on the goals of restoring the normal state and improving the operation efficiency and adaptability of the equipment, the supporting resistance of the hydraulic support, the best support moving time, the cutting speed and mining height of the shearer, the time of retracting and extending the support plate, the roof subsidence, the pushing distance of the scraper conveyor and the upward and downward sliding amount are calculated in advance. After each cutting cycle is completed, the spatial field model and the stress field model are automatically corrected and the prediction calculation data are updated according to the actual data, so as to ensure the consistency of the preset control and the actual geological conditions and improve the operation quality of the coal mining face. The fully pose measuring system of the fully mechanized mining equipment is installed in the global coordinate system of the coal mining face. The least parameter set describing the spatial constraint and pose relationship of the equipment itself and each other is obtained by the inertial navigation device, the inclination and displacement sensor, and the image analysis method, including the three rotation inclination angles and the arm height of the shearer, the inclination angle of the hydraulic support base, the inclination angle of the top beam, the support height, the pushing distance, and the support plate state of the shearer, the horizontal bending, the floor undulation and the torsion angle of the scraper conveyor, and the relative pose between the equipment, including the distance between the shearer drum and the support plate, the distance between the shearer and the head of the scraper conveyor, and the angle between the middle trough of the scraper conveyor and the support rod.

2. The intelligent decision-making control system of fully mechanized mining equipment according to claim 1, characterized in that: In addition to the mine pressure data collection function, the mine pressure monitoring system also has the function of analyzing and predicting the mine pressure data of the coal mining face under complex geological conditions based on deep learning or expert feature library. After the data are calculated together with the equipment pose data, the control parameters for subsequent mining are obtained.

3. The intelligent decision-making control system of fully mechanized mining equipment according to claim 1, characterized in that: The virtual simulation system is developed based on the modularization idea, and has a motion simulation module driven by real data, a scene generation module, a simulation scene, and a feedback control module. The full pose measurement system of fully mechanized mining equipment enters the real-time database for storage and analysis through the bottom layer data interface, and the interface parameters correspond to the driving parameters of the virtual simulation model of the virtual simulation system one by one; the motion simulation module filters data with large deviation and does not meet the actual working conditions, stores reliable data, completes the cooperative simulation and deduction calculation of the equipment running state, drives the virtual simulation model motion, and can generate historical data trend and time shift curve of key equipment parameters; the scene generation module reconstructs the underground three-dimensional geological environment by collecting geological conditions and mine pressure monitoring system data through the data interface after receiving the motion simulation instruction, and transmits the reconstructed scene data into the simulation scene; the equipment running data and geological environment data generate a simulation scene under the support of the analysis and decision system, and are analyzed and predicted; the decision result is fed back to the feedback control module through the virtual link to complete the graphic interface display, and the actual equipment of the working face is realized feedback control through the data interface.

4. The fully mechanized coal mining equipment intelligent decision control system according to claim 1, characterized in that: The analysis and decision system is the core of the whole system background operation service; based on real data and virtual simulation, the specific working scene, equipment object and process flow in the underground are modeled, the intelligent decision control method of fully mechanized mining equipment is run, and the optimization and decision of the control parameters of the fully mechanized mining equipment in the underground are completed.

5. The intelligent decision-making control system of fully mechanized mining equipment according to claim 1, characterized in that: The distributed control system includes a central main controller and an application program extension interface module, controllers and encoding and decoding modules of the coal mining machine, hydraulic support and scraper conveyor; based on the underground industrial Ethernet, the overall architecture of the data link layer, protocol layer and application layer is established, and the control signal transmission, interface communication and distributed coordinated control are completed.

6. The intelligent decision-making control system of fully mechanized coal mining equipment according to claim 5, characterized in that: The distributed control system has a three-layer architecture of data link layer, protocol layer and application layer, which respectively correspond to system signal transmission, interface communication and control function; among them, the protocol layer system interface can compatible with multiple communication protocols, and can exchange information with equipment of different manufacturers through encoding and decoding modules; the application layer has an application program extension interface, which realizes unified control of hardware of different manufacturers by calling bottom layer control commands in function library.

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