Center distance management system and method for automated supports in steeply inclined underground coal mines

Abstract

The present invention relates to the technical field of center distance management of supports in underground coal mines, and particularly to a center distance management system and method for automatic supports in steeply inclined underground coal mines. The system includes a shearer status monitoring subsystem, a support status monitoring subsystem, a video following machine recognition subsystem, a scraper conveyor video positioning subsystem, a limit push rod video recognition subsystem, a center distance movement management subsystem, and an action mechanism. The center distance movement management subsystem is respectively connected to the shearer status monitoring subsystem, the support status monitoring subsystem, the video following machine recognition subsystem, and the scraper conveyor video positioning subsystem. The video following machine recognition subsystem is connected to the action mechanism, the action mechanism is connected to the limit push rod video recognition subsystem, and the limit push rod video recognition subsystem is connected to the center distance movement management subsystem. All systems related to the input of operating parameters in the present invention are added with a two-margin design, so that when the single measurement / calculation fails, the system can continue to operate, improving the production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of center distance management of supports in underground coal mines, and particularly to a center distance management system and method for automated supports in steeply inclined underground coal mines. Background Art

[0002] Due to the harsh underground working environment and a large amount of flying gangue, sensors are easily damaged. In a common system, the parameters of a certain interval cannot be obtained due to the damage of a certain sensor, and thus effective control cannot be achieved. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide a center distance management system and method for automated supports in steeply inclined underground coal mines that overcome or at least partially solve the above problems.

[0004] In a first aspect, the present invention provides a center distance management system for automated supports in steeply inclined underground coal mines, including a shearer status monitoring subsystem, a support status monitoring subsystem, a video following and recognition subsystem, a scraper conveyor video positioning subsystem, a limit push rod video recognition subsystem, a center distance movement management subsystem, and an action mechanism; the center distance movement management subsystem is respectively connected to the shearer status monitoring subsystem, the support status monitoring subsystem, the video following and recognition subsystem, and the scraper conveyor video positioning subsystem, the video following and recognition subsystem is connected to the action mechanism, the action mechanism is connected to the limit push rod video recognition subsystem, and the limit push rod video recognition subsystem is connected to the center distance movement management subsystem.

[0005] Further, the center distance management system further includes an action emergency stop subsystem, and the action emergency stop subsystem is connected to the center distance movement management subsystem.

[0006] Further, the action emergency stop system includes an emergency stop button provided on the controller of each support or on the megaphone along its line, so that the entire system can be manually stopped during the action process, improving the operation safety.

[0007] In a second aspect, the present invention also provides a center distance management method for automated supports in steeply inclined underground coal mines, including the following steps:

[0008] S1: Monitor and calculate the mining height of the center points of each support in the horizontal direction through the shearer status monitoring subsystem;

[0009] S2: Monitor and calculate the actual support height of the support through the support status monitoring subsystem;

[0010] S3: The center distance movement management subsystem compares the actual support height obtained by the support status monitoring subsystem with the mining height data obtained by the coal mining machine status monitoring subsystem to check whether the mining height meets the requirements, that is, to determine whether the floor is soft, the roof joint is insufficient, or the roof has collapsed;

[0011] S4: If the center distance needs to be adjusted (i.e., the bottom plate is loose, the top connection is insufficient, or the top plate is hollow), the video tracking and machine recognition subsystem will detect whether the environment in the bracket operation area is safe;

[0012] S5: If yes, the initial position of the trolley before the action is recorded by the trolley video positioning subsystem to serve as an auxiliary calculation criterion for the tilt support angle of the bracket after the center distance adjustment. The column is lowered and raised by the action mechanism to adjust the center distance.

[0013] S6: Determine through the trolley video positioning subsystem whether the recorded position of the extended trolley has slipped relative to the initial position for subsequent compensation action. If so, return to step S5;

[0014] S7: If not, the initial position is recorded by the limit push rod of the chute video positioning subsystem, and the limit push rod is extended by the action mechanism so that the push rod gives an upward diagonal support force to the scraper (chute) to ensure that the coal mining machine does not slide down when mining upward;

[0015] S8: The push rod limiter video recognition subsystem calculates the extension amount of the push rod limiter according to the video ratio. The extension amount is calculated by trigonometric function to ensure that the angle between the trolley and the bracket is greater than the set value. If the angle between the trolley and the bracket is not enough, the upward support force of the trolley will be insufficient to offset the downward force of the trolley. If it is greater than, it is completed. If it is less than, continue to execute steps S1-S8.

[0016] Furthermore, the step S1 includes the following sub-steps:

[0017] S11: The shearer position is roughly obtained by integrating the forward acceleration obtained by the inertial navigation;

[0018] S12: When the shearer passes through an infrared test point of a support, the infrared laser receiver of the shearer receives the laser signal sent by the infrared laser transmitter of the support, and uses this infrared test point as a new reference point to start integration, and at the same time obtains the number of the support;

[0019] S13: The distance of the drum relative to each support is determined by the heading angle of the shearer. This is also updated after passing through a support. The center point of the two supports is used as the recording point. This is used to compare with the push-slide sensor data on the support, and a weighted confidence is calculated to obtain the horizontal coordinate of the shearer at the center of the support.

[0020] S14: Read the rising height of the rocker arm, add the drum diameter and the installation point position compensation to obtain the mining height at the center point of each support, that is, the roof-to-floor distance at this center point.

[0021] Further, the step S2 includes the following sub-steps:

[0022] S21: The angle measured by the height difference sensor or the roof - balance - floor dip measurement system;

[0023] S22: Calculate the actual support height (actual modeling height) of a support according to the geometric relationship of the support connecting rod.

[0024] Further, the step S3 includes the following sub-steps:

[0025] S31: Compare the actual support height obtained by the support status monitoring subsystem with the mining height data obtained by the shearer status monitoring subsystem through the center distance movement management subsystem;

[0026] S32: If the actual support height is greater than the mining height, it is considered that the support enters soft and easily slimey mudstone or the support has "undermining"; by detecting whether the support column pressure is normal, if the column pressure is normal and it is judged that the support has "undermining", then a floor - lifting action will be added to the center distance adjustment action of the support, and the support floor will be lifted before retracting / extending the side guard plate of the support to facilitate movement; through the detection and analysis of the support column pressure and balance pressure, after the support column rises to the maximum stroke, if the column pressure is still less than the initial support force range, it is considered that there may be a roof cavity;

[0027] S33: If the actual support height is less than the mining height, it is considered that the roof contact is insufficient or whether the roof has collapsed; through the detection and analysis of the support column pressure and balance pressure, if the column pressure is greater than the initial support force range and the balance pressure is greater than the preset value, it is considered that there may be a roof collapse; if the column pressure is less than the initial support force range, it is considered that there may be insufficient roof contact, the increase in column rising time flag is turned on, and the rising time of the column is increased in subsequent actions to ensure that the insufficient roof contact part can be eliminated.

[0028] Further, the step S4 specifically includes:

[0029] If the center distance needs to be adjusted (that is, the floor is soft, the roof contact is insufficient or whether the roof has collapsed), the video follow - machine recognition subsystem detects whether there are operators in the action areas of this support and the two adjacent supports on the left and right through image recognition, or whether there are obvious foreign objects near the column. If so, the center distance adjustment action is not started and an alarm is prompted.

[0030] Furthermore, in step S5, the initial position of the trolley before the action is recorded by the trolley video positioning subsystem as an auxiliary calculation criterion for the support tilt angle after the center distance adjustment specifically includes:

[0031] After determining that the bracket to be moved meets the moving conditions, identify the relative marking point of the bracket on the chute once, re-learn and refresh the learned grayscale parameters of the marking point, and only allow the parameter to change in one direction (that is, it is assumed that the marking point will only become darker and more blurred due to the accumulation of coal ash. After manual cleaning, press the recalibration part to return to the original state) to prevent the accumulation of coal ash during the coal mining process from making it impossible to identify. Calculate the current position of the bracket camera relative to the chute and record it. At the same time, the initial position of the displacement sensor installed on the inner side of the bracket top plate will also be recorded.

[0032] Furthermore, the process of lowering and raising the column by the action mechanism in step S5 to adjust the center distance includes the following steps:

[0033] S51: The support column descends, and the bottom lifting cylinder works or does not work according to the situation. If the column is equipped with a 2.0mm diameter orifice, if it is in the top contact state and the bottom lifting does not need to be lifted, the support column will be lowered for 1.5 seconds; if the bottom lifting needs to be lifted, the support column will be lowered for 2.5 seconds and the bottom lifting will be lifted.

[0034] S52: After the upper bracket is lowered, the side guards of the upper bracket are retracted to create a gap that allows the bracket to have an upward angle of 3°.

[0035] Furthermore, step S52 also includes: after the support column is lowered, checking the pressure change in the lower cavity of the column at a unit time interval. If it is less than the set interval, it is considered that the top plate has collapsed and subsequent actions are stopped; if there is a pressure change, it is considered that the side guard is stuck and there is pressure buildup, and the side guard is temporarily retracted to release the stuck pressure, and the bottom lifting cylinder is executed to work or not work according to the situation.

[0036] Furthermore, step S6 includes:

[0037] The distance change of the bracket relative to the mark point is calculated in real time through the chute video positioning subsystem. If the position does not change within the set time, it is considered that the side guard plate is stuck with waste rock. The entire action will be stopped, an alarm will be issued, the bottom lifting plate will be retracted, and the column will be raised until it exceeds the set initial support force, and the upper bracket will extend to protect the side.

[0038] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0039] Due to the harsh underground working environment and a large amount of flying gangue, sensors are easily damaged. In an ordinary system, if a single sensor is damaged, it is very easy to cause the parameters of that interval to be unavailable, and thus it cannot be effectively controlled. Therefore, a two-margin design has been added to all systems involving the input of operating parameters in the present invention, enabling the system to continue running when a single measurement / calculation fails, thereby improving production efficiency. By adding the two-margin design, it is also possible to infer the possible working state of the system by comparing the inputs of these two margins, and then add some compensation and correction actions to the original action process, making the center distance control process more accurate and reliable. For some action pairs with a large amount of flying gangue or where the position is compact and not convenient for installing sensors (such as the position of the limit push rod), image recognition is adopted, changing the traditional open-loop action into a closed-loop and monitorable action. (Not only the extension amount of the limit push rod is monitored, but also the angle between the push rod and the support (i.e., the lifting angle of the scraper conveyor) can be directly seen, and this angle is one of the main control objectives of the center distance control system, ensuring the supporting force of the scraper conveyor). BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0041] Figure 1 Shows a connection diagram of a center distance management system for an automated support in a steeply inclined underground coal mine in Embodiment 1 of the present invention;

[0042] Figure 2 Shows a flowchart of a method for managing an automated support in a steeply inclined underground coal mine in Embodiment 2 of the present invention;

[0043] Figure 3 Shows a flowchart of step (1) in Embodiment 2 of the present invention;

[0044] Figure 4 Shows a flowchart of step (2) in Embodiment 2 of the present invention;

[0045] Figure 5 Shows a flowchart of step (3) in Embodiment 2 of the present invention;

[0046] Figure 6 Shows a flowchart of step (5) in Embodiment 2 of the present invention;

[0047] Figure 7 Shows a top view of the movement trajectory of a shearer in an underground coal mine;

[0048] Figure 8Shows the left view of the support of the underground coal shearer;

[0049] Figure 9 Is a schematic diagram of the positions of the drum of the coal shearer and the mining height displacement sensor. Detailed implementation

[0050] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0051] Embodiment 1

[0052] As Figure 1 Shown, a center distance management system for an automated support in a steeply inclined underground coal mine includes a coal shearer status monitoring subsystem, a support status monitoring subsystem, a video follow-up recognition subsystem, a scraper conveyor video positioning subsystem, a limit push rod video recognition subsystem, a center distance movement management subsystem, and an action mechanism; the center distance movement management subsystem is respectively connected to the coal shearer status monitoring subsystem, the support status monitoring subsystem, the video follow-up recognition subsystem, and the scraper conveyor video positioning subsystem, the video follow-up recognition subsystem is connected to the action mechanism, the action mechanism is connected to the limit push rod video recognition subsystem, and the limit push rod video recognition subsystem is connected to the center distance movement management subsystem.

[0053] In this embodiment, the center distance management system further includes an action emergency stop subsystem, and the action emergency stop subsystem is connected to the center distance movement management subsystem.

[0054] In this embodiment, the action emergency stop system includes an emergency stop button provided on the controller of each support or on the loudspeaker along its line, so that the entire system can be manually stopped during the action process, improving the operation safety.

[0055] In this embodiment, as Figures 7 - 9As shown, the shearer status monitoring subsystem, the support status monitoring subsystem, the video following and recognition subsystem, the scraper conveyor video positioning subsystem, the limit push rod video recognition subsystem, the center distance movement management subsystem, and the action mechanism are all existing systems. These systems of the present invention are combined to form a center distance management system for automated supports in steeply inclined coal mines underground to solve the problems existing in the prior art. For example, the shearer status monitoring subsystem includes the infrared laser receiver of the shearer, the infrared laser transmitters of several supports, the heading angle of the shearer, the scraper conveyor sensor on the support, etc. The support status monitoring subsystem includes a height difference sensor or a roof - balance - floor dip measurement system. The action mechanism includes support columns, floor lifting cylinders, side guards of the support, etc. Coal cutting height displacement sensor: The actual structure for the shearer to monitor the coal cutting height, calculates the drum height through the rising amount of the rocker arm, and then obtains the theoretical coal cutting height. Gyroscope: An implementation method of inertial navigation. One is acceleration inertial navigation, which only uses accelerometers, and the other is inertial navigation composed of both accelerometers and gyroscopes.

[0056] Embodiment 2

[0057] As Figures 2 - 9 shown, a method for managing the center distance of automated supports in steeply inclined coal mines underground includes the following steps:

[0058] (1) Monitor and calculate the coal cutting height at the center points of each support in the horizontal direction through the shearer status monitoring subsystem;

[0059] (2) Monitor and calculate the actual support height of the support through the support status monitoring subsystem;

[0060] (3) Compare the actual support height obtained by the support status monitoring subsystem with the coal cutting height data obtained by the shearer status monitoring subsystem through the center distance movement management subsystem to check whether the coal cutting height meets the requirements, that is, to judge whether the floor is soft, the roof - to - roof contact is insufficient, or the roof has caved in;

[0061] (4) If the center distance needs to be adjusted (the center distance refers to the distance between the central axes of two supports. In the case of closely arranged supports, the center distance is only related to the extension amount of the side guard of a single support (because only one side of the side guard will extend, and the other side will be locked by a limit mechanism)), that is, there is a soft floor, insufficient roof - to - roof contact, or a roof cavity, detect whether the environment within the action area of the support is safe through the video following and recognition subsystem;

[0062] (5) If so, record the initial position of the scraper conveyor before the action through the scraper conveyor video positioning subsystem to be used as an auxiliary calculation criterion for the inclined support angle of the support after the center distance adjustment, and realize the process of lowering - raising the column through the action mechanism to adjust the center distance;

[0063] (6) Determine whether the recorded position of the scraper conveyor after extension has slipped relative to the initial position through the scraper conveyor video positioning subsystem for subsequent compensation actions. If so, return to step S5;

[0064] (7) If not, as Figure 7 shown, extend the limit push rod so that the push rod gives an upward inclined support force to the scraper conveyor (scraper), ensuring that the shearer does not slip when mining uphill; and when the limit push rod extends and the push rod is pushed to the middle position, the required deflection angle of 3° of the support itself can be reflected in the movement distance of the camera's viewing point on the scraper through the geometric relationship of similar triangles.

[0065] (8) The limit push rod video recognition subsystem calculates the extension amount of the limit push rod according to the video ratio, and after the extension amount is calculated through trigonometric functions, ensure that the angle between the scraper conveyor and the support is greater than the set value. If the angle between the scraper conveyor and the support is not enough, the upward support force on the scraper conveyor will be insufficient to offset the downward sliding force of the scraper conveyor. The set value can be 3°, which is just an empirical value. If it is greater, it is completed. If it is less, continue to execute steps S1 - S8.

[0066] In this embodiment, as Figure 3 shown, the step (1) includes the following sub - steps:

[0067] (11) The position of the shearer is obtained by integrating the forward acceleration obtained by inertial navigation to get a rough position;

[0068] (12) When the shearer passes through a support infrared test point, the infrared laser receiver of the shearer receives the laser signal sent by the infrared laser transmitter of the support, and uses this infrared test point as a new reference point to start integration, and at the same time obtains the number of the support;

[0069] (13) Determine the distance of the drum at each position relative to the support through the heading angle of the shearer, and it is also refreshed after passing through another support. Take the center point of two supports as the recording point to compare with the data of the scraper conveyor sensor on the support, and perform weighted confidence to obtain the horizontal coordinate of the shearer at the center of the support;

[0070] (14) Read the rising height of the rocker arm, add the drum diameter and the installation point position compensation to obtain the mining height at the center point of each support, that is, the roof - floor distance at this center point.

[0071] In this embodiment, as Figure 4 shown, the step (2) includes the following sub - steps:

[0072] (21) The angle measured by the height difference sensor or the roof - balance - floor inclination measurement system;

[0073] (22) The actual support height of a support can be calculated based on the geometric relationship of the support connecting rods.

[0074] The height difference sensor uses the pressure difference of the liquid level height difference to inversely deduce the installation spacing, and the support height can be deduced by combining the installation dimension position; while the roof - balance - floor inclination measurement system calculates the upper and lower spacing of the simplified double - rocker model of the support through the angle difference between the roof and floor, plus the swing angles of the two connecting rods, and then obtains a support height.

[0075] In this embodiment, as Figure 5 shown, the step (3) includes the following sub - steps:

[0076] (31) Compare the actual support height B obtained by the support status monitoring subsystem with the mining height A data obtained by the shearer status monitoring subsystem through the center - distance movement management subsystem;

[0077] (32) If the actual support height B is greater than the mining height A, it is considered that the support enters soft and easily slushy mudstone or the support has "undermining"; by detecting whether the pressure of the support columns is normal, if the column pressure is normal and it is judged that the support has "undermining", then a floor - lifting action will be added to the support center - distance adjustment action, and the support floor will be lifted before retracting / extending the side guard plate of the support to facilitate movement; through the detection and analysis of the support column pressure and balance pressure, after the support column rises to the maximum stroke, if the column pressure is still less than the initial support force range, it is considered that there may be a roof cavity;

[0078] (33) If the actual support height B is less than the mining height A, it is considered that the roof contact is insufficient or whether the roof has collapsed; through the detection and analysis of the support column pressure and balance pressure, if the column pressure is greater than the initial support force range and the balance pressure is greater than the preset value, it is considered that there may be a roof collapse; if the column pressure is less than the initial support force range, it is considered that there may be insufficient roof contact, the increase in column rising time flag is turned on, and the rising time of the column is increased in subsequent actions to ensure that the insufficient roof - contact part can be eliminated.

[0079] Specifically, if only the height A obtained by the shearer state monitoring subsystem is used, when the cutting drum just passes by, the mining height is equal to this reading. However, with the support and follow-up of the support, if the floor of the mining roadway is wet and soft or the integrity of the roof of the mining roadway is poor, the height will change after the support of the support intervenes. For example, when the roof is broken and collapses, or when the front part sinks during the support pulling of the support and the floor is partially shoveled up, the actual support height will change. This change in height will, on the one hand, narrow the passage for pedestrians under the support, and on the other hand, it is also likely to weaken the support force of the support. Also, because the support environment is a steeply inclined working face, insufficient support force of the support will cause the support and the scraper conveyor to slide down, affecting the established coal mining position and even possibly damaging the roadways or roadway equipment at both ends. And because the roof condition is generally blocked by the support and cannot be seen, the pressure reaction of the upright post and the balance is generally used to indicate the roof contact situation.

[0080] 1. If the pressure of the upright post is too small, it is considered that the roof is not stressed, that is, there is an empty roof. When there is an empty roof, the support cannot generate its own support force anyway. Therefore, when the lower support starts to adjust the support, it must extend and retract the side guard synchronously with the lower support. Otherwise, according to the normal process, this support will slide down because it retracts the side guard in advance to make space.

[0081] 2. If the pressure of the upright post is in the small range, it is considered that the roof contact is insufficient. Then, after the adjustment of this support is completed, the rising time of the upright post is increased to ensure the initial support force and full roof contact.

[0082] 3. When A < B and the pressure of the upright post is normal, it is considered that there is floor penetration during the support pulling process of the support, that is, the support sinks (the front end sinks into the soft floor). During the subsequent support pulling and center distance adjustment operations, the lifting bottom oil cylinder needs to be extended to lift the support to avoid getting stuck in the floor and unable to move.

[0083] 4. When A < B and it is detected that the pressure of the upright post is too large, it is considered that there may be roof collapse above the support. In this case, the ordinary process of lowering the post cannot separate the upper part of the support from the roof, and the side guard cannot move either. Therefore, during the center distance control process, an attempt is made to extend the time for lowering the upright post. If the pressure does not change significantly during the lowering process, it stops. At this time, the support gives an alarm prompt and skips the support adjustment process to prevent the deterioration of the roof collapse situation.

[0084] In this embodiment, the step (4) specifically includes:

[0085] If the center distance needs to be adjusted (i.e., the floor is soft, the roof is not fully filled, or the roof collapses. These conditions are not the determining conditions for center distance adjustment. The center distance only needs to be adjusted when its own measurement results do not meet the requirements. These conditions only determine the way of center distance adjustment), the video follow-up recognition subsystem detects whether there are operators within the action areas of this support and the two adjacent supports on the left and right through image recognition, or whether there are obvious foreign objects near the columns. If so, the center distance adjustment action is not started, and an alarm is given for prompt.

[0086] In this embodiment, the step of recording the initial position of the scraper conveyor before the action by the scraper conveyor video positioning subsystem in step S5 to be used as an auxiliary calculation criterion for the inclination support angle of the support after the center distance adjustment specifically includes:

[0087] After it is determined that the support to be moved meets the movement conditions, identify the relative marking point of this support on the scraper conveyor once, re-learn and refresh the gray-scale parameters of the learned marking point, and only allow this parameter to change in one direction (that is, it is considered that the marking point will only become darker and the contour will become more blurred due to the accumulation of coal ash. After manual cleaning, press the recalibration part to return to the initial state) to prevent being unable to identify due to the accumulation of coal ash during the coal mining process, calculate the position of the current support camera relative to the scraper conveyor, and record it. At the same time, the initial position of the displacement sensor installed inside the roof of the support will also be recorded.

[0088] In this embodiment, the corresponding actions of the action mechanism in step (5) to realize the extension of the side guard of the support include the following steps:

[0089] S51: The support columns descend, and the floor lifting cylinder works or does not work according to the situation; when a throttle hole with a diameter of 2.0 mm is installed on the column, if it is in contact with the roof and the floor does not need to be lifted, the descending action of the support column of this support is maintained for 1.5 seconds; if the floor needs to be lifted, the descending action of the column of this support is maintained for 2.5 seconds, and the floor is lifted; the side guard of this support extends / retracts to the side guard extension amount corresponding to the standard center distance + the retraction amount required for the swing angle of the next support.

[0090] S52: After the upper support descends, the side guard of the upper support retracts, creating a gap that allows this support to have an upward angle of 3°.

[0091] In some embodiments, step (51) further includes: after the support columns descend, check the change in the pressure in the lower chamber of the columns at a unit time interval. If it is less than the set interval, it is considered that the roof has collapsed, and the subsequent actions are stopped; if there is a pressure change, it is considered that the side guard is jammed and there is pressure buildup, and the side guard is briefly retracted to release the stuck pressure, and then the floor lifting cylinder works or does not work according to the situation.

[0092] In this embodiment, step (6) further includes:

[0093] The distance change of the support relative to the marked point is calculated in real time by the scraper conveyor video positioning subsystem. If the position does not change within the set time, it is considered that gangue has jammed the side guard plate, and the whole action will be stopped, an alarm will be given, the roof lifting will be retracted, the props will be raised to exceed the set initial support force, and the side guard of the upper support will be extended.

[0094] Due to the harsh underground working environment and a large amount of flying gangue, sensors are easily damaged. In an ordinary system, the parameters of a certain area cannot be obtained due to the damage of a single sensor, and thus effective control cannot be achieved. Therefore, a two-margin design is added to all systems related to the input of operating parameters in the present invention, so that the system can continue to operate when a single measurement / calculation fails, improving production efficiency. By adding the two-margin design, the working state that the system may be in can also be inferred by comparing the inputs of the two margins, and then some compensation and correction actions can be added to the original action process to make the center distance control process more accurate and reliable. For some action pairs with a large amount of flying gangue or where the position is compact and not convenient for installing sensors (such as the position of the limit push rod), image recognition is adopted to change the traditional open-loop action into a closed-loop and monitorable action. (Not only the extension amount of the limit push rod is monitored, but also the angle between the push rod and the support (i.e., the lifting angle of the scraper conveyor) can be directly seen, and this angle is one of the main control objectives of the center distance control system, ensuring the support force of the scraper conveyor).

[0095] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

Claims

1. A method for managing the center distance of an automated support in a steeply inclined underground coal mine, characterized in that, The center distance management method uses a center distance management system for an automated support in a steeply inclined coal mine, the center distance management system comprising a coal mining machine state monitoring subsystem, a support state monitoring subsystem, a video tracking and machine identification subsystem, a chute video positioning subsystem, a push rod limit video identification subsystem, a center distance movement management subsystem, and an action mechanism; the center distance movement management subsystem is respectively connected to the coal mining machine state monitoring subsystem, the support state monitoring subsystem, the video tracking and machine identification subsystem, and the chute video positioning subsystem, the video tracking and machine identification subsystem is connected to the action mechanism, the action mechanism is connected to the push rod limit video identification subsystem, and the push rod limit video identification subsystem is connected to the center distance movement management subsystem; The center distance management system further includes an action emergency stop subsystem, which is connected to the center distance movement management subsystem; The center distance management method comprises the following steps: S1: Monitor and calculate the mining height of each support center point in the horizontal direction through the coal mining machine status monitoring subsystem; S2: Monitor and calculate the actual support height of the bracket through the bracket status monitoring subsystem; S3: The center distance movement management subsystem compares the actual support height obtained by the support status monitoring subsystem with the mining height data obtained by the coal mining machine status monitoring subsystem to check whether the mining height meets the requirements, that is, to determine whether the floor is soft, the roof joint is insufficient, or the roof has collapsed; S4: If the center distance needs to be adjusted, the video tracking and recognition subsystem will detect whether the environment in the bracket's operating area is safe; S5: If yes, the initial position of the trolley before the action is recorded by the trolley video positioning subsystem to serve as an auxiliary calculation criterion for the tilt support angle of the bracket after the center distance adjustment. The column is lowered and raised by the action mechanism to adjust the center distance. S6: Determine through the trolley video positioning subsystem whether the recorded position of the extended trolley has slipped relative to the initial position for subsequent compensation action. If so, return to step S5; S7: If not, the initial position of the limit push rod is recorded by the chute video positioning subsystem, and the action mechanism is controlled to extend the limit push rod so that the push rod applies an upward diagonal support force to the scraper to ensure that the shearer does not slide down when mining upward; S8: The push rod limiter video recognition subsystem calculates the extension amount of the push rod limiter according to the video ratio. The extension amount is calculated by trigonometric function to determine whether the angle between the trolley and the bracket is greater than the set value. If the angle between the trolley and the bracket is not enough, the upward support force of the trolley will be insufficient to offset the downward force of the trolley. If it is greater, the process is completed. If it is less, continue to execute steps S1-S8.

2. The center distance management method of an automated support in a steeply inclined coal mine shaft according to claim 1, characterized in that The step S1 includes the following sub-steps: S11: The shearer position is roughly obtained by integrating the forward acceleration obtained by the inertial navigation; S12: When the shearer passes through an infrared test point of a support, the infrared laser receiver of the shearer receives the laser signal sent by the infrared laser transmitter of the support, and uses this infrared test point as a new reference point to start integration, and at the same time obtains the number of the support; S13: Determine the distance of the drum at each position relative to the support based on the heading angle of the shearer. Similarly, it is refreshed after passing another support. Take the center point of two supports as the recording point to compare with the data of the scraper conveyor sensor on the support, perform weighted confidence, and obtain the horizontal coordinate of the shearer at the support center. S14: Read the lifting height of the rocker arm, add the drum diameter and the installation point position compensation to obtain the mining height at the center point of each support, that is, the distance between the roof and the floor at this center point.

3. The center distance management method of an automated support in a steeply inclined coal mine shaft according to claim 1, characterized in that, The step S2 includes the following sub-steps: S21: Measure the angle through a height difference sensor or a roof - balance - floor inclination measurement system. S22: Calculate the actual support height of a support according to the geometric relationship of the support connecting rod.

4. The center distance management method of an automated support in a steeply inclined coal mine shaft according to claim 1 is characterized in that, The step S3 includes the following sub-steps: S31: Compare the actual support height obtained by the support status monitoring subsystem with the mining height data obtained by the shearer status monitoring subsystem through the center distance movement management subsystem. S32: If the actual support height is greater than the mining height, it is considered that the support enters soft and easily sloughing mudstone or the support has "undercutting". By detecting whether the support column pressure is normal, if the column pressure is normal and it is judged that the support has "undercutting", a floor lifting action will be added to the center distance adjustment action, and the support floor will be lifted before retracting / extending the side guard plate of the support to facilitate movement. Through the detection and analysis of the support column pressure and balance pressure, if the column pressure is still less than the initial support force range after the support column rises to the maximum stroke, it is considered that there may be a roof cavity. S33: If the actual support height is less than the mining height, it is considered that the roof contact is insufficient or the roof has collapsed. Through the detection and analysis of the support column pressure and balance pressure, if the column pressure is greater than the initial support force range and the balance pressure is greater than the preset value, it is considered that there may be a roof collapse; if the column pressure is less than the initial support force range, it is considered that the roof contact may be insufficient, the flag for increasing the column lifting time is turned on, and the column lifting time is increased in subsequent actions to ensure that the insufficient roof contact part can be eliminated.

5. The center distance management method of an automated support in a steeply inclined coal mine shaft according to claim 1, characterized in that, The step S4 specifically includes: If the center distance needs to be adjusted, the video following shearer recognition subsystem detects whether there are operators in the action areas of this support and the two adjacent supports on the left and right through image recognition, or whether there are obvious foreign objects near the columns. If so, the center distance adjustment action is not started and an alarm is prompted.

6. The center distance management method of an automated support in a steeply inclined coal mine underground according to claim 1, characterized in that, In the step S5, the initial position of the scraper conveyor before the action is recorded by the scraper conveyor video positioning subsystem to be used as an auxiliary calculation criterion for the inclined support angle of the support after the center distance adjustment, specifically including: After it is determined that the support to be moved meets the movement conditions, identify the relative marking point of this support on the scraper conveyor once, re - learn and refresh the gray - scale parameters of the learned marking point, and only allow the parameter to change in one direction to prevent it from being unrecognizable due to coal ash accumulation during the coal mining process. Calculate the position of the current support camera relative to the scraper conveyor and record it. At the same time, the initial position of the displacement sensor installed inside the support roof will also be recorded.

7. A method for managing the center distance of an automated support in a steeply inclined underground coal mine according to claim 6, characterized in that, In the step S5, the process of lowering - raising the column through the action mechanism to adjust the center distance includes the following steps: S51: The support column descends, and the floor lifting cylinder works or does not work according to the situation; when a throttle hole with a diameter of 2.0 mm is installed in the column, if it is in contact with the roof and the floor does not need to be lifted, the descending action of the support column is maintained for 1.5 seconds; if the floor needs to be lifted, the descending action of the support column of the support is maintained for 2.5 seconds, and the floor is lifted. S52: After the upper support descends, the side guard of the upper support retracts, creating a gap that allows the support to have an upward angle of 3°.

8. The center distance management method of an automated support in a steeply inclined underground coal mine according to claim 1, characterized in that, The step S6 includes: The distance change of the support relative to the marked point is calculated in real time by the scraper video positioning subsystem. If there is no change in the position within the set time, it is considered that there is gangue jamming the side guard plate, the entire action will be stopped, an alarm will be prompted, the floor will be retracted, the column will be raised to exceed the set initial support force, and the side guard of the upper support will be extended.

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