Shearer, Shearer warning method and electronic device

Abstract

A shearer, a shearer warning method and an electronic device provided by the present application include: a shearer main body; a cutting drum, which is arranged at the end of the shearer main body and is attached to the coal mining face of the coal seam, and is configured to be able to mine the coal mining face; a vibration receiving sensor, which is arranged on the shearer main body near the cutting drum and is attached to the coal mining face, and is configured to collect the elastic waves of the coal seam and the reflected echoes generated when the elastic waves encounter geological weak zones during propagation in the coal seam when the cutting drum is working. By means of the vibration receiving sensor arranged on the collector main body, the present application receives the elastic waves generated by the vibration of the coal seam when the cutting drum is working, and determines whether there are geological weak zones in the current coal seam through the elastic waves and their reflected echoes, realizes the integrated geophysical prospecting work of the coal mining face while mining, conducts accurate detection, rapid diagnosis and timely warning on the coal mining face, improves the accuracy and precision of detection, and achieves the advanced accurate detection of the coal mining face.

Description

Technical Field

[0001] The present application relates to the technical field of equipment safety, and particularly to a shearer, a shearer warning method, and an electronic device. Background Art

[0002] During coal mining, disaster accidents such as gas, water hazard, and roof are all closely related to geological conditions.

[0003] However, the existing technology has insufficient detection accuracy for geological conditions, difficulty in detecting dynamic geological information, and lack of a unified geological basis for intelligent mining. It is impossible to conduct advanced and accurate detection of the coal mining face. Summary of the Invention

[0004] In view of this, the purpose of the present application is to propose a shearer, a shearer warning method, and an electronic device.

[0005] Based on the above purpose, the present application provides a shearer, including:

[0006] A shearer main body;

[0007] A coal cutting drum, arranged at the end of the shearer main body, in contact with the coal mining face of the coal seam, and configured to be able to mine the coal mining face.

[0008] A vibration receiving sensor, arranged on the shearer main body near the coal cutting drum, in contact with the coal mining face, and configured to collect the elastic wave of the coal seam and the reflected echo generated when the elastic wave encounters a geological weak zone during propagation in the coal seam when the coal cutting drum is working.

[0009] In some embodiments, it further includes:

[0010] A seismic-electricity receiving sensor, arranged in the middle of the shearer main body, in contact with the coal mining face, and configured to collect the elastic wave of the coal seam and the seismic-electricity signal generated when the elastic wave encounters a water-bearing geology during propagation in the coal seam when the coal cutting drum is working.

[0011] In some embodiments, it further includes:

[0012] An attitude sensor, arranged on the shearer main body, and configured to be able to determine the attitude of the shearer during operation.

[0013] In some embodiments, the vibration receiving sensor is a wheel-type vibration receiving sensor;

[0014] The shearer further includes:

[0015] An odometer, arranged at the wheel axle of the wheel-type vibration receiving sensor.

[0016] Based on the same concept, the present application also provides a warning method for a coal shearer, including:

[0017] In response to the coal cutting drum being in operation, determine the thickness of the coal seam based on the elastic waves collected by the vibration receiving sensor and / or the vibration-electricity receiving sensor disposed on the main body of the coal shearer and attached to the coal winning face of the coal seam;

[0018] Determine whether there is a geological weak zone in the coal seam according to the reflected echo collected by the vibration receiving sensor;

[0019] In response to determining that there is the geological weak zone in the coal seam, determine the position of the geological weak zone according to the reflected echo, and generate a warning signal based on the thickness of the coal seam.

[0020] In some embodiments, there are two vibration receiving sensors;

[0021] The determination of the thickness of the coal seam is specifically:

[0022]

[0023] where H is the thickness of the coal seam, Δx is the distance between the two vibration receiving sensors, Δφ is the phase difference of the signals received by the two vibration receiving sensors, and k is the thickness correction coefficient.

[0024] In some embodiments, the determination of the position of the geological weak zone according to the reflected echo includes:

[0025] Determine the position and direction of the geological weak zone relative to the coal winning face according to the data of the mileage position and the attitude sensor when the reflected echo is obtained;

[0026] Determine the position of the geological weak zone according to the position and direction of the geological weak zone relative to the coal winning face.

[0027] In some embodiments, before generating the warning signal, it further includes:

[0028] According to the vibration-electricity signal received by the vibration-electricity receiving sensor, the vibration-electricity signal is generated when the elastic wave encounters the water-bearing geology during propagation in the coal seam;

[0029] Determine the position and direction of the water-bearing geology relative to the coal winning face according to the data of the mileage position and the attitude sensor when the vibration-electricity signal is obtained;

[0030] Determine the position of the water-bearing geology according to the position and direction of the water-bearing geology relative to the coal winning face;

[0031] Generate the warning signal according to the location of the water-bearing geology and based on the thickness of the coal seam.

[0032] In some embodiments, after generating the warning signal, the method further includes:

[0033] Based on a preset working area of the shearer, determine the specific position of the shearer within the working area of the shearer according to the movement trajectory and distance recorded by the mileage counter;

[0034] Based on the specific position, adjust the coal mining attitude of the coal cutting drum according to the thickness of the coal seam, the attitude of the shearer determined by the attitude sensor, and the warning signal.

[0035] Based on the same concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in any one of the above is implemented.

[0036] As can be seen from the above, a shearer, a shearer warning method, and an electronic device provided by the present application include: a shearer main body; a coal cutting drum disposed at the end of the shearer main body and attached to the coal mining face of the coal seam, configured to be able to mine the coal mining face; a vibration receiving sensor disposed on the shearer main body near the coal cutting drum and attached to the coal mining face, configured to collect the elastic wave generated by the vibration of the coal seam when the coal cutting drum works and the reflected echo generated when the elastic wave encounters a geological weak zone during propagation in the coal seam. The present application uses the vibration receiving sensor disposed on the collector main body to receive the elastic wave generated by the vibration of the coal seam when the coal cutting drum works, and determines whether there is a geological weak zone in the current coal seam through the elastic wave and its reflected echo, realizes the integrated geophysical exploration work of the coal mining face during mining, conducts accurate detection, rapid diagnosis, and timely warning of the coal mining face, improves the accuracy and precision of detection, and achieves the advanced accurate detection of the coal mining face. Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a schematic structural diagram of a shearer proposed in an embodiment of the present application;

[0039] Figure 2 It is a specific structural diagram of a detection data processor of a shearer proposed in an embodiment of the present application;

[0040] Figure 3 Schematic flow chart of a shearer warning method proposed in an embodiment of the present application;

[0041] Figure 4 Schematic diagram of detection data received by a sensor in an embodiment of the present application;

[0042] Figure 5 Schematic diagram of the detection and analysis results of a coal seam section in an embodiment of the present application;

[0043] Figure 6 Schematic diagram of the structure of an electronic device proposed in an embodiment of the present application.

[0044] Description of reference numerals:

[0045] 1 Shearer main body; 11 Detection data processor; 2 Coal cutting drum; 3 Vibration receiving sensor; 4 Vibration-electricity receiving sensor; 5 Attitude sensor; 100 Coal seam; 101 Coal mining face. Specific implementation manners

[0046] To make the objectives, technical solutions and advantages of this specification clearer and more understandable, the following further elaborates on this specification in detail with reference to specific embodiments and the accompanying drawings.

[0047] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present application do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements, objects or method steps appearing before this word cover the elements, objects or method steps listed after this word and their equivalents, without excluding other elements, objects or method steps. "Connection" or "coupling" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0048] Seismic exploration in underground coal mines has the advantages of being close to the detection target, having high resolution, and being unaffected by the overlying strata. It is one of the effective technical ways to achieve fine detection of underground coal mine structures. Among them, slot wave seismic exploration is a mine geophysical exploration technology with complete theory and high resolution in underground coal mine seismic exploration technology. In the prior art, slot wave seismic exploration technology has solved many geological problems for coal mining. However, the previous slot wave seismic exploration used explosives as the source of earthquakes, which was restricted in the construction of high-gas, coal and gas outburst mines, and had a certain impact on the normal production activities of coal mines. At the same time, coal-rock interface recognition is the basis of automatic control of coal mining machines, and is also a prerequisite and one of the key equipment for realizing intelligent and unmanned automated mining. Realizing the automatic height adjustment of the coal mining machine drum is not only an important link in realizing the automation of the production process of the coal mining face, but also has important significance for extending the life of the machine, improving equipment reliability, ensuring the safety of workers, and improving coal quality. Therefore, the automatic recognition and early warning technology of the coal-rock interface of the coal mining machine has become an urgent problem to be solved.

[0049] At present, geological support technology in the context of intelligent coal mining faces three challenges: insufficient accuracy in geological condition detection, difficulty in detecting dynamic geological information, and lack of a unified geological basis for intelligent mining. These are key issues that need to be urgently addressed in this field.

[0050] In view of the above-mentioned actual situation, the embodiment of the present application proposes a coal mining machine that receives elastic waves generated by the vibration of the coal seam when the coal mining drum is working through a vibration receiving sensor arranged on the main body of the mining machine, and determines whether there are geological weak zones in the current coal seam through the elastic waves and their reflected echoes, thereby realizing comprehensive geophysical exploration of the coal mining face while mining, accurately detecting, quickly diagnosing and promptly issuing early warnings on the coal mining face, improving the precision and accuracy of detection, and achieving advanced and accurate detection of the coal mining face.

[0051] like Figure 1 As shown, it is a structural schematic diagram of a coal mining machine provided in this application, including:

[0052] Coal mining machine body 1;

[0053] The coal mining drum 2 is arranged at the end of the coal mining machine body 1, is in contact with the mining working face 101 of the coal seam 100, and is configured to be able to mine the mining working face 101;

[0054] The vibration receiving sensor 3 is arranged on the coal mining machine body 1 near the coal mining drum 2 and is in contact with the mining working face 101. It is configured to collect the elastic waves of the coal seam 100 and the reflected echoes generated by the elastic waves encountering the geological weak zone when propagating in the coal seam 100 when the coal mining drum 2 is working.

[0055] A coal shearer generally consists of a cutting unit, a loading unit, a traveling unit (hauling unit), an electric motor, an operation control system, auxiliary devices, etc. In this embodiment, the main body of the coal shearer can be a main body structure composed of other parts except the cutting unit of the coal shearer. The coal cutting drum 2 in this embodiment corresponds to the cutting unit and is a structure for cutting and mining the coal mining face 101 of the coal seam 100. Among them, one or two coal cutting drums 2 can be provided, etc., that is, single-drum coal mining and double-drum coal mining. The coal cutting drum 2 is generally arranged at the end of the main body 1 of the coal shearer to facilitate coal mining operations. In addition, the coal mining face 101 is also called the coal cutting face. For safety reasons, coal mines are generally mined from front to back. First, a roadway is dug to enter the far part of the planned mining area. The working face during formal mining is called the coal mining face. After that, the vibration receiving sensor 3 is a sensor that can detect vibration waves. When the coal cutting drum 2 is working, due to the cutting of the coal mining face 101 by the drum cutter head, it will inevitably cause the vibration of the coal mining face 101, generating vibration waves or elastic waves, which can then be sensed and received by the vibration receiving sensor 3. Since the structure of the coal seam 100 is relatively simple, the properties such as the propagation speed of the wave in the coal seam 100 can be regarded as unchanged. However, when the wave propagates in the coal seam 100 and encounters a geological weak zone (not shown in the figure), since the coal structure or geological structure of the geological weak zone is somewhat different from that of the normal coal seam 100 (similar to light entering water from air, where light will refract and reflect at the interface), at the interface between the geological weak zone and the normal structure of the coal seam 100, the wave will be reflected to form a reflected echo. And since the reflected echo is formed after being reflected after propagation, its vibration intensity and other properties are significantly different from those of the just-generated elastic wave, so the two can be clearly distinguished at the vibration receiving sensor 3. Furthermore, by receiving the elastic wave and the reflected echo, the thickness of the coal seam 100 being mined and whether there is a geological weak zone in the coal seam 100 can be determined. At the same time, since the vibration receiving sensor 3 is directly arranged beside the coal cutting drum 2, using the vibration induced by the coal shearer cutting the coal wall as a passive seismic source, fine detection and early warning of geological weak zones such as internal faults, collapse columns, and coal seam thinning areas in the coal seam 100 and the thickness of the coal seam 100 (coal-rock interface) can be realized. Among them, the geological weak zone is an area with unstable geology, generally referring to areas such as faults, collapse columns, and significant changes in coal seam structure (such as coal seam thinning), etc.

[0056] As can be seen from the above, a coal shearer provided by the present application includes: a main body of the coal shearer; a coal cutting drum, arranged at the end of the main body of the coal shearer, fitting with the coal mining face of the coal seam, and configured to be able to mine the coal mining face;

[0057] A vibration receiving sensor is disposed near the coal mining drum of the coal mining machine body, in contact with the coal winning face, and is configured to collect elastic waves of the coal seam and reflected echoes generated when the elastic waves encounter geological weak zones during propagation in the coal seam when the coal mining drum is working. In this application, the vibration receiving sensor disposed on the coal mining machine body receives the elastic waves generated by the vibration of the coal seam when the coal mining drum is working, and determines whether there are geological weak zones in the current coal seam through the elastic waves and their reflected echoes, realizing the integrated geophysical prospecting work of exploring while mining in the coal winning face, accurately detecting, quickly diagnosing and timely warning the coal winning face, improving the accuracy and precision of detection, and achieving the advanced and accurate detection of the coal winning face.

[0058] In an alternative embodiment, as Figure 1 shown, the coal mining machine further includes:

[0059] A seismic-electricity receiving sensor 4 is disposed in the middle of the coal mining machine body 1, in contact with the coal winning face 101, and is configured to collect elastic waves of the coal seam 100 and seismic-electricity signals generated when the elastic waves encounter water-bearing geology during propagation in the coal seam 100 when the coal mining drum 2 is working.

[0060] Wherein, the seismic-electricity signal is the related signal generated by the seismic-electricity effect, and the seismic-electricity effect refers to the coupling and conversion effect of seismic wave and electromagnetic wave energy in the underground medium. The seismic-electricity receiving sensor 4 is a sensor capable of receiving seismic-electricity signals. In a specific application scenario, when the coal mining drum 2 is working, the elastic waves generated in the coal seam 100 will generate electromagnetic echoes under the influence of the seismic-electricity effect when encountering water-bearing geology, and thus are sensed and received by the seismic-electricity receiving sensor 4. Therefore, it is possible to judge whether there is water-bearing geology according to the seismic-electricity signals received by the seismic-electricity receiving sensor 4.

[0061] In an alternative embodiment, as Figure 1 shown, the coal mining machine further includes:

[0062] An attitude sensor 5 is disposed on the coal mining machine body 1 and is configured to be able to determine the attitude of the coal mining machine when it is working.

[0063] Wherein, the attitude of the coal mining machine is the lifting height of the coal mining drum, the coal mining angle, the inclination angle of the coal mining machine body, etc. It is convenient to better adjust the coal mining machine.

[0064] In an alternative embodiment, as Figure 1 shown, the vibration receiving sensor 3 is a wheel-type vibration receiving sensor;

[0065] The coal mining machine further includes:

[0066] An odometer (not shown in the figure) is disposed at the wheel axle of the wheel-type vibration receiving sensor.

[0067] In this embodiment, since the vibration receiving sensor 3 is in contact with the coal mining face 101, and it will also have a relative displacement with the coal mining face 101 as the shearer moves, in order to protect the vibration receiving sensor 3 and better receive the waves in the coal seam, it is set as a wheel-type vibration receiving sensor, that is, its sensing head is a rotating wheel-type probe, which can be a sensing head made of a wheel-type radiation coupling surface, and it can be closely coupled with the coal mining face 101 and move in a freely rolling manner. After that, a mileage counter can be set at its wheel axle, which can be used to record the moving distance and direction of the shearer. For example: after starting to work, the shearer moves forward 10 meters, then moves backward 3 meters, and then moves forward 6 meters, etc.

[0068] In a specific application scenario, as Figure 1 shown, the detection data processor 11 provided on the shearer main body 1 can integrate the data of all detectors, sensors, etc., and then finally transmit it to the analysis terminal through a switch connected to the detection data processor 11. The switch can be set on the ground or underground, or switches can be set on the ground and underground respectively, and one switch can be connected to multiple detection data processors 11. Among them, the specific structure of the detection data processor 11 can be as Figure 2 shown.

[0069] Based on the same concept, corresponding to the shearer in any of the above embodiments, the present application also provides a shearer warning method, as Figure 3 shown, including:

[0070] Step 301, in response to the coal cutting drum being in operation, determine the thickness of the coal seam based on the elastic waves collected by the vibration receiving sensor and / or the vibration-electricity receiving sensor that is in contact with the coal mining face of the coal seam on the shearer main body.

[0071] Step 302, determine whether there is a geological weak zone in the coal seam according to the reflected echo collected by the vibration receiving sensor;

[0072] Step 303, in response to determining that there is a geological weak zone in the coal seam, determine the position of the geological weak zone according to the reflected echo, and generate a warning signal based on the thickness of the coal seam.

[0073] The method of the above embodiment is applied to the corresponding shearer in the foregoing embodiment. In the foregoing embodiment of the shearer, the specific content description and corresponding beneficial effects included in the above steps have been involved, so they will not be repeated in this embodiment.

[0074] In an optional embodiment, there are two vibration receiving sensors;

[0075] Determining the thickness of the coal seam specifically is:

[0076]

[0077] Wherein, H is the thickness of the coal seam, Δx is the distance between two vibration receiving sensors, Δφ is the phase difference of the signals received by the two vibration receiving sensors, and k is the thickness correction coefficient.

[0078] In a specific application scenario, for a shearer equipped with two coal cutting drums, the thickness of the coal seam being mined currently can be calculated through the aforementioned equation.

[0079] In an optional embodiment, determining the position of a geological weak zone based on the reflected echo includes: determining the position and direction of the geological weak zone relative to the coal face according to the mileage position and the data of the attitude sensor when the reflected echo is acquired; determining the position of the geological weak zone according to the position and direction of the geological weak zone relative to the coal face.

[0080] In a specific application scenario, according to the mileage position of the received reflected echo and the data of the attitude sensor, the approximate azimuth of the geological weak zone relative to the shearer can be judged. Among them, the mileage position refers to the propagation distance of the reflected echo (which can refer to the distance from the geological weak zone to the coal cutting drum or the vibration receiving sensor beside the coal cutting drum) and the propagation direction in this embodiment. Then, the distance of the geological weak zone can be calculated according to the formula L1 = vt1 / 2, where L1 is the distance from the geological weak zone to the shearer (or the vibration receiving sensor), v is the propagation speed of the elastic wave, and t1 is the generation time of the reflected echo. During the mining process, there are slight differences between each elastic wave generated during mining, so the vibration receiving sensor can distinguish each elastic wave. Since the reflected echo is generated by reflection, its waveform must be the same as that of the elastic wave that generates the reflected echo. Therefore, the vibration receiving sensor can distinguish which elastic wave the reflected echo corresponds to. At the same time, since the vibration receiving sensor is arranged beside the coal cutting drum, it can be regarded as receiving the elastic wave instantaneously when the elastic wave is generated. Thus, the generation time of the reflected echo can be roughly measured, and then the relative position of the geological weak zone relative to the coal face or the coal cutting point of the coal cutting drum can be determined. Then, based on the specific coal mining attitude of the current shearer determined by the attitude sensor (such as the lifting height, angle, and coal mining angle of the coal cutting drum of the current shearer, etc.), the specific position of the geological weak zone in the coal seam can be further deduced. Then, whether to generate an early warning signal or the level of the generated early warning signal can be determined according to the position of the geological weak zone and the thickness of the coal seam. For example: The geological weak zone is at a position of 45 degrees in front of the shearer, and the vertical distance to the coal face is 45 meters, but the coal face of this operation is only 20 meters itself. Therefore, this position will not be mined during this mining, and then whether to generate an early warning signal or the level of the generated early warning signal can be determined according to the actual situation.

[0081] In an alternative embodiment, before generating the warning signal, the method further includes: according to the seismo-electric signal received by the seismo-electric receiving sensor, where the seismo-electric signal is generated when elastic waves encounter water-bearing geology during propagation in the coal seam; determining the position and direction of the water-bearing geology relative to the coal mining face according to the data of the mileage position and attitude sensor when the seismo-electric signal is obtained; determining the position of the water-bearing geology according to the position of the water-bearing geology relative to the coal mining face; and generating a warning signal according to the position of the water-bearing geology and based on the thickness of the coal seam.

[0082] In a specific application scenario, it is similar to the previous embodiment. Among them, the distance of the water-bearing geology can be calculated according to the formula L2 = vt2, where L2 is the distance from the water-bearing geology to the shearer (or the vibration receiving sensor), v is the propagation speed of elastic waves, and t2 is the time when the seismo-electric signal is generated.

[0083] In an alternative embodiment, after generating the warning signal, the method further includes: based on a preset working area of the shearer, determining the specific position of the shearer within the working area of the shearer according to the movement trajectory and distance recorded by the mileage counter; and adjusting the coal mining attitude of the coal cutting drum based on the specific position, the thickness of the coal seam, the attitude of the shearer determined by the attitude sensor, and the warning signal.

[0084] Among them, the mileage counter can determine and count data such as the round-trip moving distance of the shearer within the current working section, determine the specific position of the current shearer, and then, according to the attitude of the shearer determined by the attitude sensor, the shearer can be adjusted according to information such as the warning signal. For example, the position, height, coal mining angle, etc. of the coal cutting drum can be adjusted to realize the function of coal-rock interface recognition. The working area of the shearer is the current working section of the shearer.

[0085] In a specific application scenario, according to the elastic wave reflected echo vibration signal generated when the shearer cuts coal and the presence or absence and time of the reflected echo vibration signal received when the elastic wave propagates forward to the surface of the coal seam and encounters a geological weak zone, it is analyzed and determined whether there is a geological weak zone in front of the coal mining face and the position of the geological weak zone; at the same time, according to the presence or absence and time of the seismo-electric signal generated by the elastic wave vibration, it can be analyzed whether there is a water-bearing geological body in front of the coal mining face and the position of the water-bearing geological body; the vibration receiving sensor and the seismo-electric receiving sensor receive detection data for a period of time such as Figure 4 shown, and the detection and analysis results of a certain cross-section of the coal seam during mining are as Figure 5 shown.

[0086] The external control analysis platform can compare and analyze the data of each detection and the data of detections at different coal mining positions, so as to realize the repeated verification of the geological signals in front of the detected coal seam, eliminate interference and abnormal information, and improve the accuracy of the detection during mining.

[0087] The external surface control platform can control and analyze multiple detection data processors to perform on-the-go detection and data analysis and determination work, and form an on-the-go advanced detection and analysis center for all coal seams in a mine (or project engineering tunnel). Through the on-the-go advanced detection and analysis center for all coal seams in a mine (or project engineering tunnel), a geological advanced detection, early warning and forecasting center for coal seams supervised by a group or local authorities can be formed for supervision.

[0088] In this embodiment, by combining coal mining with geophysical prospecting, on-the-go multi-method comprehensive detection can be achieved, and the geological characteristics of coal seams tens of meters to one hundred meters in front of the surface of the currently mined coal seam can be detected, and whether there are harmful geological bodies such as geological weak zones and water-bearing geological bodies and the coal seam thickness of the coal seam within a certain range in front of the surface of the currently mined coal seam can be judged. Multiple on-the-go detection verifications can be carried out within a detection distance range, and the detection accuracy of geophysical prospecting can be improved.

[0089] In a specific application scenario, a shearer early warning method includes:

[0090] Step 1, two wheeled vibration receiving sensors are used to receive the elastic wave vibration generated during the coal mining of the shearer and the reflected echo vibration signal generated when the elastic wave propagates to the geological weak zone in front of the coal face of the coal seam;

[0091] The seismic-electricity receiving sensor is used to receive the elastic wave vibration generated during the coal mining of the shearer and the seismic-electricity signal generated when the elastic wave propagates to the water-bearing geological body in front of the coal face of the coal seam;

[0092] The mileage counter is used to receive the distance of the round-trip movement of the shearer within the current working section;

[0093] The attitude sensor is used to measure the attitude of the shearer.

[0094] Step 2, the external control and analysis platform analyzes whether there is a geological weak zone in front of the coal face of the coal seam and the position of the geological weak zone according to the presence or absence and time of the elastic wave generated during the coal mining of the shearer received by the detection data processor through the two wheeled vibration receiving sensors and the reflected echo generated when the elastic wave propagates to the geological weak zone in front of the coal face of the coal seam; if there is a reflected echo vibration signal, there is a geological weak zone and the distance from the geological weak zone to the surface of the coal seam is calculated, if not, there is no geological weak zone.

[0095] The external control analysis platform analyzes whether there is a water-bearing geological body in front of the coal mining face of the coal seam and the location of the water-bearing geological body based on the elastic waves generated during coal mining by the shearer received by the probe data processor through the seismo-electric receiving sensor, and the presence or absence and time of the seismo-electric signals generated when the elastic waves propagate to the water-bearing geological body in front of the coal mining face of the coal seam; if there is a reflected seismo-electric signal, there is a water-bearing geological body and the distance from the water-bearing geological body to the coal mining face of the coal seam is calculated, if not, there is no water-bearing geological body.

[0096] The external control analysis platform calculates the coal seam thickness of the coal seam according to the elastic waves generated during coal mining by the shearer received by the probe data processor through two wheel-type vibration receiving sensors and the propagation characteristics.

[0097] Step 3: The external control analysis platform analyzes according to the working area of the shearer, the current coal seam thickness and the attitude of the shearer, and guides the height of the two coal cutting drums of the shearer to be raised and lowered to realize the function of identifying the coal seam interface (or coal-rock interface).

[0098] Step 4: The external control analysis platform can analyze and compare the detection data at different distances each time, repeatedly verify the accuracy of detecting and analyzing to determine the geological weak zone and the distance of the geological weak zone, and repeatedly verify the accuracy of detecting and analyzing to determine the water-bearing geological body and the distance of the water-bearing geological body.

[0099] Step 5: The external control analysis platform can analyze and determine according to the detection data of all probe data processors in a mine, and form a coal seam advanced detection and analysis platform for the mine during mining.

[0100] It should be noted that the method of the embodiment of the present application can be executed by a single device, such as a computer or a server, etc. The method of the embodiment of the present application can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In this case of the distributed scenario, one device among these multiple devices can only execute one or more steps in the method of the embodiment of the present application, and these multiple devices will interact with each other to complete the described method.

[0101] It should be noted that the above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the above embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the specific order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0102] Based on the same concept, corresponding to the method of any of the above embodiments, the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the shearer warning method described in any of the above embodiments.

[0103] Figure 6 FIG. shows a more specific schematic diagram of the hardware structure of the electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. Among them, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other inside the device through the bus 1050.

[0104] The processor 1010 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0105] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0106] The input / output interface 1030 is used to connect to an input / output module to implement information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Among them, the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0107] The communication interface 1040 is used to connect to a communication module (not shown in the figure) to implement communication interaction between this device and other devices. Among them, the communication module can communicate through a wired method (such as USB, network cable, etc.) or through a wireless method (such as a mobile network, WIFI, Bluetooth, etc.).

[0108] The bus 1050 includes a path for transmitting information among various components of the device, such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040.

[0109] It should be noted that although only the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050 are shown in the above device, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device may also only include the components necessary to implement the solution of the embodiments of this specification, and do not have to include all the components shown in the figure.

[0110] The electronic device of the above embodiment is used to implement the corresponding shearer warning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated herein.

[0111] Those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is only exemplary, and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

[0112] In addition, for the sake of simplicity of description and discussion, and in order not to make the embodiments of the present application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. In addition, the device may be shown in block diagram form in order to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application are to be implemented (that is, these details should be completely within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that the present application embodiments can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0113] Although the present application has been described in connection with specific embodiments of the present application, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0114] Embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A coal shearer, characterized in that, Comprising: The main body of a coal shearer; Coal cutting drums, which are arranged at the ends of the main body of the coal shearer, are in contact with the coal winning face of the coal seam, and are configured to be able to mine the coal winning face. There are two of the coal cutting drums; Vibration receiving sensors, which are arranged on the main body of the coal shearer near the coal cutting drums, are in contact with the coal winning face, and are configured to collect the elastic waves of the coal seam and the reflected echo generated when the elastic waves encounter geological weak zones during propagation in the coal seam when the coal cutting drums are working; and determine the thickness of the coal seam according to the collected elastic waves. The vibration receiving sensors are wheel-type vibration receiving sensors, and there are two of the vibration receiving sensors; Attitude sensors, which are arranged on the main body of the coal shearer and are configured to be able to determine the attitude of the coal shearer during operation; Odometer counters, which are arranged at the wheel axles of the wheel-type vibration receiving sensors; The coal shearer is configured to: determine whether there is a geological weak zone in the coal seam according to the reflected echo collected by the vibration receiving sensors; In response to determining that there is a geological weak zone in the coal seam, determine the position of the geological weak zone according to the reflected echo, and generate a warning signal based on the thickness of the coal seam; After generating the warning signal, it further includes: based on a preset working area of the coal shearer, determine the specific position of the coal shearer within the working area of the coal shearer according to the movement trajectory and distance recorded by the odometer counter; based on the specific position, adjust the coal cutting attitude of the coal cutting drum according to the thickness of the coal seam, the attitude of the coal shearer determined by the attitude sensor and the warning signal; analyze and compare the detection data at each different distance, and repeatedly verify the accuracy of detecting and analyzing the geological weak zone and the distance of the geological weak zone; The determination of the thickness of the coal seam is specifically: where H is the thickness of the coal seam, is the distance between two said vibration receiving sensors, is the phase difference of signals received by two said vibration receiving sensors, and k is the thickness correction coefficient; The determination of the position of the geological weak zone according to the reflected echo includes: Determine the position and direction of the geological weak zone relative to the coal winning face according to the mileage position and the data of the attitude sensor when the reflected echo is obtained; Determine the position of the geological weak zone according to the position and direction of the geological weak zone relative to the coal winning face.

2. The shearer according to claim 1, characterized in that, It further includes: Seismo-electric receiving sensors, which are arranged in the middle of the main body of the coal shearer, are in contact with the coal winning face, and are configured to collect the elastic waves of the coal seam and the seismo-electric signals generated when the elastic waves encounter water-bearing geology during propagation in the coal seam when the coal cutting drums are working.

3. A warning method for a coal shearer, characterized in that, Applied to the coal shearer according to any one of claims 1-2, it includes: In response to the coal cutting drums being in operation, determine the thickness of the coal seam through the elastic waves collected by the vibration receiving sensors and / or seismo-electric receiving sensors arranged on the main body of the coal shearer and in contact with the coal winning face of the coal seam. Among them, there are two of the coal cutting drums and two of the vibration receiving sensors; Determine whether there is a geological weak zone in the coal seam according to the reflected echo collected by the vibration receiving sensors; In response to determining that there is a geological weak zone in the coal seam, determine the position of the geological weak zone according to the reflected echo, and generate a warning signal based on the thickness of the coal seam; After generating the warning signal, it further includes: Based on the preset working area of the shearer, determine the specific position of the shearer within the working area of the shearer according to the movement trajectory and distance recorded by the mileage counter; Based on the specific position, adjust the coal mining attitude of the coal cutting drum according to the thickness of the coal seam, the attitude of the shearer determined by the attitude sensor, and the warning signal; The determination of the thickness of the coal seam specifically is: Wherein, H is the thickness of the coal seam, is the distance between two of the vibration receiving sensors, is the phase difference of the signals received by two of the vibration receiving sensors, and k is the thickness correction coefficient; The determination of the position of the geological weak zone according to the reflected echo includes: Determine the position and direction of the geological weak zone relative to the coal face according to the mileage position and the data of the attitude sensor when the reflected echo is obtained; Determine the position of the geological weak zone according to the position and direction of the geological weak zone relative to the coal face; 4. The method according to claim 3, characterized in that Before generating the warning signal, it further includes: According to the seismo-electric signal received by the seismo-electric sensor, the seismo-electric signal is generated when the elastic wave encounters water-containing geology during propagation in the coal seam; Determine the position and direction of the water-containing geology relative to the coal face according to the mileage position and the data of the attitude sensor when the seismo-electric signal is obtained; Determine the position of the water-containing geology according to the position and direction of the water-containing geology relative to the coal face; Generate the warning signal according to the position of the water-containing geology and based on the thickness of the coal seam.

5. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method according to any one of claims 3 to 4.

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