An automated coal mining system device and coal mining method for fully mechanized mining working face

Abstract

The present invention provides an automated coal mining system and method for a fully mechanized mining face. The automated coal mining system includes several hydraulic supports located on one side of the fully mechanized mining face. The tops of the hydraulic supports support the roof of the fully mechanized mining face. A fully mechanized mining channel is formed between the hydraulic supports and the fully mechanized mining face. The fully mechanized mining channel is provided with a coal mining device and a conveying device laid along the length of the fully mechanized mining face. The coal mining device is connected to an external drive device. A model building module is provided in the fully mechanized mining channel, and a coal-rock interface recognition module and a posture monitoring module are provided on the coal mining device. The automated coal mining system also includes a control center, which is wirelessly connected to the model building module, the coal-rock interface recognition module, the posture monitoring module, and the drive device. This truly achieves the goal of unmanned automated coal mining on a fully mechanized mining face.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mining, and relates to an automated coal mining system device and a coal mining method for a fully mechanized mining working face. Background Art

[0002] For safety reasons, mining is typically carried out from front to back, with tunnels first opened to the far side of the planned mining area. The fully mechanized mining face during formal mining is called the fully mechanized mining face. During the mining of a coal seam or ore deposit, the working space directly involved in coal or mineral extraction is generally referred to as the fully mechanized mining face, or simply the stope. The rock strata above the coal seam are called the roof or overburden, while the rock strata beneath the coal seam are called the floor. The one or more layers of rock with similar properties directly above the coal seam are generally referred to as the immediate roof.

[0003] In coal mine production systems, the fully mechanized mining face is the most fundamental production unit and the primary site of production. Due to its complex production processes, large-scale equipment, and harsh operating environment, accidents are highly prone to occur in fully mechanized mining faces, resulting in work stoppages and significant losses. Therefore, real-time monitoring and precise reverse control of the fully mechanized mining face's operating status are crucial for achieving safe, intelligent, efficient, and green coal mining.

[0004] Traditional intelligent monitoring methods for fully mechanized mining faces primarily include video surveillance and two-dimensional configuration monitoring. Video surveillance, which uses visible light cameras to monitor the operating status of fully mechanized mining equipment and the fully mechanized mining face environment, is currently the primary method for intelligent remote monitoring of fully mechanized mining faces.

[0005] Intelligent coal mines have become the core technical support for the high-quality development of the coal industry and the core driving force for the transformation and upgrading of the coal industry. The application of new-generation information technology, intelligent manufacturing technology and artificial intelligence technology to build intelligent mines has become an industry consensus.

[0006] CN103726844A discloses an automatic coal mining method based on a fully-mechanized coal mining working face, the method comprising:

[0007] The upper comprehensive mining working face, lower comprehensive mining working face, coal seam height, coal seam thickness, and coal mining equipment layout of the area to be mined are determined according to the mining engineering plan and geological drilling data of the area to be mined; and the coal mining device performs automatic coal mining operations according to the determined upper comprehensive mining working face, lower comprehensive mining working face, coal seam height, and coal seam thickness of the area to be mined.

[0008] CN102536244A discloses an automated fully mechanized mining face mining method using a thin coal seam roller mining device. The technical solution adopted is to operate according to the following steps: a. Equipment installation, arranging transport tunnels and return air tunnels for transporting coal in the fully mechanized mining face in the mining area, and opening cuts between the transport tunnels and the return air tunnels, first laying scrapers, hydraulic supports and coal mining devices along the fully mechanized mining face; b. Coal cutting, the coal mining device reciprocatingly advances the fully mechanized mining face; c. Coal transportation, transporting the coal to the ground by means of scrapers, transfer machines and belt conveyors.

[0009] CN105182820A discloses a method for realizing a centralized control platform for large-scale equipment of a fully mechanized mining face in a coal mine. The method is based on the subsystems of the large-scale equipment of the fully mechanized mining face in a coal mine, including a coal mining device system, a hydraulic support system, a fully mechanized mining face transportation system, an emulsion pump station system, a mobile substation system and a video monitoring system. Through a high-speed industrial computer at the control layer and its high-speed data acquisition card, a front-end development platform, a database and a communication network, under the centralized coordinated control of the centralized control platform, the subsystems of the large-scale equipment of the fully mechanized mining face in an underground coal mine are automatically unattended according to the coal mining process. The method for realizing the centralized control platform includes real-time monitoring, centralized coordinated control and an information communication network.

[0010] However, the above solution mainly displays the operating status of the fully-mechanized mining face through visual data and monitoring curves. The display format is relatively simple and lacks dynamic integration with the fully-mechanized mining face entity, which is insufficient in terms of intuitiveness. In addition, in order to improve the automation level of the fully-mechanized mining face, reduce the number of underground workers, improve coal mine production safety, reduce the amount of coal gangue discharged, and save energy, it is necessary to realize unmanned or less-manned mining of the fully-mechanized mining face and remote operation of coal mining equipment. It is necessary to realize coal and rock identification in the fully-mechanized mining face and realize automatic or remote control of coal cutting of coal mining equipment. Summary of the Invention

[0011] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an automated coal mining system device and coal mining method for a fully mechanized mining face. The present invention installs a posture monitoring module on the coal mining device. The posture monitoring module monitors the position, movement rate and acceleration data of the coal mining device in real time during the movement of the coal mining device, thereby calculating the movement trajectory of the coal mining device on the fully mechanized mining face. The fully mechanized mining face is modeled by the model building module. The control center integrates the three-dimensional digital model of the fully mechanized mining face and the movement trajectory of the coal mining device. The movement trajectory of the coal mining device is corrected by combining the interface detection results of the coal-rock layer in the coal wall with the coal-rock interface recognition module. Due to the use of a three-dimensional real-time detection method for the fully mechanized mining face, the corrected movement trajectory generated by the control center can be dynamically updated as the coal mining device and the fully mechanized mining face advance, truly realizing the goal of unmanned automated coal mining on the fully mechanized mining face.

[0012] To achieve this object, the present invention adopts the following technical solutions:

[0013] In a first aspect, the present invention provides an automated coal mining system device for a fully mechanized mining face, the automated coal mining system device comprising a plurality of hydraulic supports located on one side of the fully mechanized mining face, the tops of the hydraulic supports supporting the roof of the fully mechanized mining face, a fully mechanized mining channel formed between the hydraulic supports and the fully mechanized mining face, a coal mining device and a conveying device laid along the length direction of the fully mechanized mining face being provided in the fully mechanized mining channel, the coal mining device being externally connected to a driving device, the driving device being used to drive the coal mining device to reciprocate along the length direction of the fully mechanized mining face and cut the coal wall of the fully mechanized mining face, and the cut coal blocks falling into the conveying device;

[0014] A model building module is provided in the fully mechanized mining channel, and the model building module is used to scan the fully mechanized mining working face and construct a three-dimensional model of the fully mechanized mining working face; a coal-rock interface recognition module and a posture monitoring module are provided on the coal mining device, and the coal-rock interface recognition module is used to identify the coal-rock boundary on the coal wall, and the posture monitoring module is used to collect the real-time position coordinates and movement posture of the coal mining device in the three-dimensional model of the fully mechanized mining working face;

[0015] The automated coal mining system device also includes a control center, which is wirelessly connected to the model building module, the coal-rock interface recognition module, the posture monitoring module and the driving device. The control center corrects the current movement trajectory of the coal mining device according to the coal-rock boundary on the coal wall, and controls the driving device to drive the coal mining device to cut the coal wall along the corrected movement trajectory.

[0016] The present invention installs a posture monitoring module on the coal mining device. The posture monitoring module monitors the position, movement rate and acceleration data of the coal mining device in real time during the movement of the coal mining device, thereby calculating the movement trajectory of the coal mining device on the fully mechanized mining working face. The fully mechanized mining working face is modeled by the model building module. The control center integrates the three-dimensional digital model of the fully mechanized mining working face and the movement trajectory of the coal mining device. The movement trajectory of the coal mining device is corrected by combining the interface detection results of the coal-rock layer in the coal wall with the coal-rock interface recognition module. Due to the use of three-dimensional real-time detection means for the fully mechanized mining working face, the corrected movement trajectory generated by the control center can be dynamically updated as the coal mining device and the fully mechanized mining working face advance, truly realizing the goal of unmanned automated coal mining on the fully mechanized mining working face.

[0017] As a preferred technical solution of the present invention, the control center includes a main control platform and a communication base station, the communication base station is connected to the communication base station via a wireless link, the main control platform is used to monitor the movement trajectory of the coal mining device and calculate the inclination angle of the movement trajectory, and control the coal mining device to adjust the movement trajectory through the communication base station to achieve inclination adjustment of the fully mechanized mining working face;

[0018] In the present invention, the main control platform depicts the movement trajectory of the coal mining device based on the real-time absolute coordinates of the coal mining device collected by the posture monitoring module, and determines the intersection of the movement trajectory of the coal mining device with the air inlet and outlet lanes. The angle between the connecting line between the intersection points and the air inlet and outlet lanes can be used to further determine whether the comprehensive mining working face is horizontal. If it is not horizontal, the main control platform also needs to determine the inclination adjustment parameters of the comprehensive mining working face, control the coal mining device to adjust the movement trajectory, and adjust the inclination of the comprehensive mining working face.

[0019] Preferably, the main control platform includes a control panel, a display screen and a data acquisition card. The data acquisition card is wirelessly connected to the communication base station, and the data acquisition card is electrically connected to the control panel and the display screen respectively.

[0020] Preferably, the control panel includes an integrated master control unit, a hydraulic support control unit, a conveying device control unit and a coal mining device control unit. The hydraulic support control unit is electrically connected to the hydraulic support. The hydraulic support control unit is used to control the pushing, sliding, moving and posture adjustment of each hydraulic support. The conveying device control unit is used to control the start and stop and transmission speed of the conveying device. The coal mining device control unit is used to control the start and stop, posture adjustment and movement trajectory of the coal mining device.

[0021] As a preferred technical solution of the present invention, the model building module includes a laser scanning device arranged on the body of the coal mining device, and the laser scanning device scans the comprehensive mining working face as the coal mining device moves, and constructs a comprehensive mining working face model of the coal wall of the comprehensive mining working face through the scanning data of the laser scanning device and the position information of the coal mining device.

[0022] As a preferred technical solution of the present invention, the coal-rock interface identification module includes a nozzle, a pressure sensor and a control element, the nozzle is fixed on the coal mining device, the pressure sensor is fixed on the nozzle, the pressure sensor is electrically connected to the control element, the nozzle is used to spray a jet toward the coal wall, the jet sprayed by the nozzle forms a reflected flow after rebounding from the coal wall, and exerts a force on the pressure sensor, the pressure sensor transmits the pressure sensing signal generated by the reflected flow to the control element, the pressure of the reflected flow formed by the rebound of the coal seam and the rock layer is different, and the control element analyzes the interface of the coal-rock layer according to the pressure of the reflected flow.

[0023] Preferably, the control element is wirelessly connected to the communication base station, and the control element sends the coal-rock interface identification result to the control center through the communication base station.

[0024] In this invention, the nozzle sprays a jet of sufficient energy at an angle upward. During the spraying process, the jet pressure must be controlled to penetrate the coal seam but not the rock layer behind it. This results in different phenomena when the jet impacts the coal seam and the rock layer. When the jet strikes a relatively soft coal seam, the coal seam is penetrated, and the jet's enormous energy is absorbed by the coal seam. As a result, the jet velocity rapidly decreases upon impact. Furthermore, because the coal seam is shattered into irregular shapes and scatters in all directions, the reflected flow formed by the jet impacting the coal seam diverges in all directions, rather than forming a relatively concentrated stream. When the coal seam is completely penetrated, the jet begins to impact the rock layer, but the strength of the rock layer is much higher than that of the coal seam, so the pressure of the jet is far from enough to penetrate the rock layer, and the texture of the rock layer is denser and smoother than that of the coal seam. Therefore, the reflected flow formed after the jet impacts the rock layer will be reflected back at an extremely fast speed and still maintain a stable flow beam. The formed reflected flow impacts the nozzle and is captured by the pressure sensor. The control element calculates whether the coal mining device is close to the coal-rock interface based on the pressure of the reflected flow. If it is close to the coal-rock interface, the control center needs to control the rocker arm of the coal mining device to descend.

[0025] As a preferred technical solution of the present invention, the posture monitoring module includes a posture monitoring unit, a position monitoring unit and a single-chip microcomputer. The posture monitoring unit and the position monitoring unit are electrically connected to the single-chip microcomputer respectively, and the single-chip microcomputer is electrically connected to the control center; the posture monitoring unit and the position monitoring unit are respectively used to detect the current motion posture and moving distance of the coal mining device, and transmit the data to the single-chip microcomputer. The single-chip microcomputer integrates the data and sends it to the control center through the communication base station.

[0026] As a preferred technical solution of the present invention, the posture monitoring unit includes an acceleration sensor and a gyroscope provided on the coal mining device, wherein the acceleration sensor is used to detect the acceleration of each axis during the movement of the coal mining device, and the gyroscope is used to detect the angular acceleration of each axis during the movement of the coal mining device;

[0027] Preferably, the posture monitoring unit further comprises an analog-to-digital converter and a signal modulator electrically connected in sequence, and the posture monitoring unit and the position monitoring unit are electrically connected to the input ports of the analog-to-digital converter respectively;

[0028] Preferably, the single-chip microcomputer includes a filter, a processor and a wireless signal transmitter electrically connected in sequence, the output port of the signal modulator is electrically connected to the filter, the single-chip microcomputer realizes wireless communication with the communication base station through the wireless signal transmitter, and the single-chip microcomputer sends the collected posture information to the control center through the communication base station.

[0029] It should be noted that acceleration sensors and gyroscopes are prone to cumulative deviations and unstable signals. Therefore, the present invention provides an analog-to-digital converter, a signal modulator and a filter to process the collected acceleration signals and rotation angle signals, thereby obtaining the optimal estimation of acceleration and angular velocity, achieving noise reduction and amplification of the signals, and making signal transmission more stable.

[0030] As a preferred technical solution of the present invention, the position monitoring unit includes an infrared transmitter and a plurality of identification tags, the infrared transmitter is fixed on the body of the coal mining device, each of the hydraulic supports is provided with an identification tag, the identification tag has unique identity information, and the identification tag communicates wirelessly with a communication base station; the infrared transmitter transmits a light positioning signal to the identification tag, and the identification tag sends a sensing signal and identity information to a single-chip microcomputer after receiving the light positioning signal, and the single-chip microcomputer calculates the distance between the hydraulic support and the coal mining device corresponding to the identity information based on the sensing signal. As the coal mining device moves forward, the single-chip microcomputer continuously calculates the change in the distance between the coal mining device and each of the hydraulic supports, and obtains the displacement information of the coal mining device after summarizing it. The single-chip microcomputer sends the collected displacement information to the control center via the communication base station;

[0031] The control center integrates the posture information and displacement information of the coal mining device and calculates the real-time movement trajectory of the coal mining device in the three-dimensional model of the fully mechanized mining working face, corrects the posture of the coal mining device according to the coal-rock boundary conditions, and controls the coal mining device through the driving device to cut the coal wall along the corrected movement trajectory.

[0032] As a preferred technical solution of the present invention, a plurality of video monitoring modules are distributed in the fully mechanized mining channel, and the video monitoring modules are wirelessly connected to the control center. The video monitoring modules are used to collect real-time video signals in the hydraulic support, conveying device and fully mechanized mining working face area and upload them to the control center. The control center monitors in real time whether there are any suspicious persons in the fully mechanized mining channel;

[0033] Preferably, at least one first camera device is provided in the working area of ​​the hydraulic support, the monitoring area of ​​the first camera device covers the working range of the hydraulic support, and the first camera device is used to collect video signals of workers in the hydraulic support area and perform human tracking and shooting; the control center is electrically connected to the alarm device and the hydraulic support, and the control center controls the hydraulic support and the alarm device according to the position of the workers captured by the first camera device;

[0034] Preferably, at least one second camera device is provided in the working area of ​​the conveying device, the monitoring area of ​​the second camera device covers the working range of the conveying device, and the second camera device is used to collect video signals of workers in the conveying device area and perform human tracking and shooting; the control center is electrically connected to the alarm device and the conveying device, and the control center controls the conveying device and the alarm device according to the position of the workers captured by the second camera device;

[0035] Preferably, a third camera device is provided at both ends of the fully mechanized mining working face, and the third camera device collects video images of workers entering and exiting the fully mechanized mining working face and uploads them to the control center, and the control center counts the number of workers currently in the fully mechanized mining working face in real time based on the workers' entry and exit images;

[0036] Preferably, the first camera device, the second camera device and the third camera device have the same structure and all include an infrared sensor, a camera, a drive motor and a controller. The infrared sensor is electrically connected to the controller, and the drive motor is transmission-connected to the camera. The controller locks the moving operator according to the infrared signal transmitted by the infrared sensor, and sends a control instruction to the drive motor, so that the drive motor drives the camera to track and shoot the moving underground operator.

[0037] In a second aspect, the present invention provides a coal mining method using the automated coal mining system device of the fully mechanized mining working face described in the first aspect, the coal mining method comprising:

[0038] The position coordinates of the coal mining device in the three-dimensional space of the fully mechanized mining face are obtained through the posture monitoring module for precise positioning and the real-time operation trajectory of the coal mining device; the control center analyzes the coal-rock boundary situation obtained by the coal-rock interface recognition module, and corrects the current real-time operation trajectory of the coal mining device, and controls the driving device to drive the coal mining device to cut the coal wall along the corrected movement trajectory.

[0039] As a preferred technical solution of the present invention, the coal mining method includes the following steps:

[0040] (1) During the movement of the coal mining device, the acceleration sensor and gyroscope installed on the coal mining device detect the acceleration and angular acceleration of each axis of the coal mining device during the movement, and transmit them to the unit machine, which is integrated by the single-chip microcomputer to form posture information; the infrared transmitter installed on the coal mining device transmits a light positioning signal to the identification tag on each hydraulic support. After receiving the light positioning signal, the identification tag sends a sensing signal and identity information to the single-chip microcomputer. The single-chip microcomputer calculates the distance between the hydraulic support corresponding to the identity information and the coal mining device based on the sensing signal. As the coal mining device moves forward, the single-chip microcomputer continuously calculates the change in the distance between the coal mining device and each hydraulic support, and obtains the displacement information of the coal mining device after integration. The single-chip microcomputer sends the integrated posture information and displacement information to the control center through the communication base station;

[0041] (2) When the coal mining device is cutting the coal wall of the fully mechanized mining face, a jet is ejected toward the coal wall through a nozzle provided on the coal mining device. The jet ejected by the nozzle rebounds from the coal wall to form a reflected flow, which exerts a force on the pressure sensor. The pressure sensor transmits the pressure sensing signal generated by the reflected flow to the control element. The pressure of the reflected flow formed by the rebound of the coal seam and the rock layer is different. The control element analyzes the interface between the coal and rock layers based on the pressure of the reflected flow. The control element sends the coal-rock interface identification result to the control center through the communication base station;

[0042] (3) The control center integrates the attitude information and displacement information of the coal mining device obtained in step (1) and solves the real-time movement trajectory of the coal mining device in the three-dimensional model of the fully mechanized mining working face and calculates the inclination angle of the movement trajectory. According to the coal-rock interface on the coal wall obtained in step (2), the current movement trajectory and inclination angle of the coal mining device are corrected, and the driving device is controlled to drive the coal mining device to cut the coal wall along the corrected movement trajectory.

[0043] The system refers to an equipment system, a device system or a production device.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention installs a posture monitoring module on the coal mining device. The posture monitoring module monitors the position, movement rate and acceleration data of the coal mining device in real time during the movement of the coal mining device, thereby calculating the movement trajectory of the coal mining device on the fully mechanized mining working face. The fully mechanized mining working face is modeled by the model building module. The control center integrates the three-dimensional digital model of the fully mechanized mining working face and the movement trajectory of the coal mining device. The movement trajectory of the coal mining device is corrected by combining the interface detection results of the coal-rock layer in the coal wall with the coal-rock interface recognition module. Due to the use of three-dimensional real-time detection means for the fully mechanized mining working face, the corrected movement trajectory generated by the control center can be dynamically updated as the coal mining device and the fully mechanized mining working face advance, truly realizing the goal of unmanned automated coal mining on the fully mechanized mining working face. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a structural diagram of an automated coal mining system device provided in a specific embodiment of the present invention.

[0047] Among them, 1-fully mechanized mining working face; 2-coal mining device; 3-hydraulic support; 4-conveying device. DETAILED DESCRIPTION

[0048] It should be understood that, in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0049] It should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0050] The technical solution of the present invention is further illustrated below through specific implementation methods.

[0051] In a specific embodiment, the present invention provides an automated coal mining system device for a fully mechanized mining working face 1, such as Figure 1 As shown, the automated coal mining system includes a plurality of hydraulic supports 3 located on one side of the fully mechanized mining working face 1. The top of the hydraulic supports 3 supports the roof of the fully mechanized mining working face 1. A fully mechanized mining channel is formed between the hydraulic supports 3 and the fully mechanized mining working face 1. A coal mining device 2 and a conveying device 4 laid along the length direction of the fully mechanized mining working face 1 are provided in the fully mechanized mining channel. The coal mining device 2 is externally connected to a driving device, which is used to drive the coal mining device 2 to reciprocate along the length direction of the fully mechanized mining working face 1 and cut the coal wall of the fully mechanized mining working face 1. The cut coal blocks fall into the conveying device 4.

[0052] A model building module is provided in the fully mechanized mining channel, and the model building module is used to scan the fully mechanized mining working face 1 and construct a three-dimensional model of the fully mechanized mining working face 1; a coal-rock interface recognition module and a posture monitoring module are provided on the coal mining device 2, and the coal-rock interface recognition module is used to identify the coal-rock boundary on the coal wall, and the posture monitoring module is used to collect the real-time position coordinates and movement posture of the coal mining device 2 in the three-dimensional model of the fully mechanized mining working face 1;

[0053] The automated coal mining system device also includes a control center, which is wirelessly connected to the model building module, the coal-rock interface recognition module, the posture monitoring module and the driving device. The control center corrects the current movement trajectory of the coal mining device 2 according to the coal-rock boundary on the coal wall, and controls the driving device to drive the coal mining device 2 to cut the coal wall along the corrected movement trajectory.

[0054] The present invention installs a posture monitoring module on the coal mining device 2. The posture monitoring module monitors the position, movement rate and acceleration data of the coal mining device 2 in real time during the movement of the coal mining device 2, thereby calculating the movement trajectory of the coal mining device 2 on the fully mechanized mining working face 1. The fully mechanized mining working face 1 is modeled by the model building module, and the control center integrates the three-dimensional digital model of the fully mechanized mining working face 1 and the movement trajectory of the coal mining device 2. The movement trajectory of the coal mining device 2 is corrected by combining the interface detection results of the coal-rock layer in the coal wall with the coal-rock interface recognition module. Due to the use of three-dimensional real-time detection means for the fully mechanized mining working face 1, the corrected movement trajectory generated by the control center can be dynamically updated as the coal mining device 2 and the fully mechanized mining working face 1 advance, truly realizing the goal of unmanned automated coal mining on the fully mechanized mining working face 1.

[0055] Furthermore, the control center includes a main control platform and a communication base station, and the communication base station is connected to the communication base station via a wireless link. The main control platform is used to monitor the moving trajectory of the coal mining device 2 and calculate the inclination angle of the moving trajectory, and control the coal mining device 2 to adjust the movement trajectory through the communication base station to achieve inclination adjustment of the comprehensive mining working face 1.

[0056] In the present invention, the main control platform depicts the moving trajectory of the coal mining device 2 based on the real-time absolute coordinates of the coal mining device 2 collected by the posture monitoring module, and determines the intersection of the movement trajectory of the coal mining device 2 with the air inlet lane and the air outlet lane. The angle between the connecting line between the intersection points and the air inlet lane and the air outlet lane can be used to further determine whether the comprehensive mining working face 1 is horizontal. If it is not horizontal, the main control platform also needs to determine the inclination adjustment parameters of the comprehensive mining working face 1, control the coal mining device 2 to adjust the movement trajectory, and adjust the inclination of the comprehensive mining working face 1.

[0057] Furthermore, the main control platform includes a control panel, a display screen and a data acquisition card. The data acquisition card is wirelessly connected to the communication base station, and the data acquisition card is electrically connected to the control panel and the display screen respectively.

[0058] Furthermore, the control panel includes an integrated master control unit, a hydraulic support 3 control unit, a conveying device 4 control unit and a coal mining device 2 control unit. The hydraulic support 3 control unit is electrically connected to the hydraulic support 3. The hydraulic support 3 control unit is used to control the pushing, moving and posture adjustment of each hydraulic support 3. The conveying device 4 control unit is used to control the start and stop and transmission speed of the conveying device 4. The coal mining device 2 control unit is used to control the start and stop, posture adjustment and movement trajectory of the coal mining device 2.

[0059] Furthermore, the model building module includes a laser scanning device arranged on the body of the coal mining device 2, and the laser scanning device scans the fully-mechanized mining working face 1 as the coal mining device 2 moves, and constructs a fully-mechanized mining working face 1 model of the coal wall of the fully-mechanized mining working face 1 through the scanning data of the laser scanning device and the position information of the coal mining device 2.

[0060] Furthermore, the coal-rock interface identification module includes a nozzle, a pressure sensor and a control element. The nozzle is fixed on the coal mining device 2, the pressure sensor is fixed on the nozzle, and the pressure sensor is electrically connected to the control element. The nozzle is used to spray a jet toward the coal wall. The jet sprayed by the nozzle forms a reflected flow after rebounding from the coal wall, which exerts a force on the pressure sensor. The pressure sensor transmits the pressure sensing signal generated by the reflected flow to the control element. The pressure of the reflected flow formed by the rebound of the coal seam and the rock layer is different. The control element analyzes the interface of the coal-rock layer according to the pressure of the reflected flow.

[0061] Furthermore, the control element is wirelessly connected to the communication base station, and the control element sends the coal-rock interface identification result to the control center through the communication base station.

[0062] In this invention, the nozzle sprays a jet of sufficient energy at an angle upward. During the spraying process, the jet pressure must be controlled to penetrate the coal seam but not the rock layer behind it. This results in different phenomena when the jet impacts the coal seam and the rock layer. When the jet strikes a relatively soft coal seam, the coal seam is penetrated, and the jet's enormous energy is absorbed by the coal seam. As a result, the jet velocity rapidly decreases upon impact. Furthermore, because the coal seam is shattered into irregular shapes and scatters in all directions, the reflected flow formed by the jet impacting the coal seam diverges in all directions, rather than forming a relatively concentrated stream. When the coal seam is completely penetrated, the jet begins to impact the rock layer, but the strength of the rock layer is much higher than that of the coal seam, so the pressure of the jet is far from enough to penetrate the rock layer, and the texture of the rock layer is denser and smoother than that of the coal seam. Therefore, the reflected flow formed after the jet impacts the rock layer will be reflected back at an extremely fast speed and still maintain a stable flow beam. The formed reflected flow impacts the nozzle and is captured by the pressure sensor. The control element calculates whether the coal mining device 2 is close to the coal-rock interface based on the pressure of the reflected flow. If it is close to the coal-rock interface, the control center needs to control the rocker arm of the coal mining device 2 to descend.

[0063] Furthermore, the posture monitoring module includes a posture monitoring unit, a position monitoring unit and a single-chip microcomputer, the posture monitoring unit and the position monitoring unit are electrically connected to the single-chip microcomputer respectively, and the single-chip microcomputer is electrically connected to the control center; the posture monitoring unit and the position monitoring unit are respectively used to detect the current motion posture and moving distance of the coal mining device 2, and transmit the data to the single-chip microcomputer, and the single-chip microcomputer integrates the data and sends it to the control center through the communication base station.

[0064] Furthermore, the posture monitoring unit includes an acceleration sensor and a gyroscope provided on the coal mining device 2 , wherein the acceleration sensor is used to detect the acceleration of each axis during the movement of the coal mining device 2 , and the gyroscope is used to detect the angular acceleration of each axis during the movement of the coal mining device 2 .

[0065] Furthermore, the posture monitoring unit further includes an analog-to-digital converter and a signal modulator electrically connected in sequence, and the posture monitoring unit and the position monitoring unit are electrically connected to input ports of the analog-to-digital converter respectively.

[0066] Furthermore, the single-chip microcomputer includes a filter, a processor and a wireless signal transmitter electrically connected in sequence, the output port of the signal modulator is electrically connected to the filter, the single-chip microcomputer realizes wireless communication with the communication base station through the wireless signal transmitter, and the single-chip microcomputer sends the collected posture information to the control center through the communication base station.

[0067] It should be noted that acceleration sensors and gyroscopes are prone to cumulative deviations and unstable signals. Therefore, the present invention provides an analog-to-digital converter, a signal modulator and a filter to process the collected acceleration signals and rotation angle signals, thereby obtaining the optimal estimation of acceleration and angular velocity, achieving noise reduction and amplification of the signals, and making signal transmission more stable.

[0068] Furthermore, the position monitoring unit includes an infrared transmitter and several identification tags, the infrared transmitter is fixed on the body of the coal mining device 2, and each hydraulic support 3 is provided with an identification tag, the identification tag has unique identity information, and the identification tag communicates wirelessly with the communication base station; the infrared transmitter transmits a light positioning signal to the identification tag, and the identification tag sends a sensing signal and identity information to the single-chip microcomputer after receiving the light positioning signal. The single-chip microcomputer calculates the distance between the hydraulic support 3 and the coal mining device 2 corresponding to the identity information based on the sensing signal. As the coal mining device 2 moves forward, the single-chip microcomputer continuously calculates the change in the distance between the coal mining device 2 and each hydraulic support 3, and obtains the displacement information of the coal mining device 2 after summarizing. The single-chip microcomputer sends the collected displacement information to the control center through the communication base station.

[0069] The control center integrates the posture information and displacement information of the coal mining device 2 and calculates the real-time movement trajectory of the coal mining device 2 in the three-dimensional model of the comprehensive mining working face 1, corrects the posture of the coal mining device 2 according to the coal-rock boundary situation, and controls the coal mining device 2 to cut the coal wall along the corrected movement trajectory through the driving device.

[0070] Furthermore, several video surveillance modules are distributed in the comprehensive mining channel, and the video surveillance modules are wirelessly connected to the control center. The video surveillance modules are used to collect real-time video signals in the hydraulic support 3, conveying device 4 and comprehensive mining working face 1 area and upload them to the control center. The control center monitors in real time whether there are suspicious persons in the comprehensive mining channel.

[0071] Furthermore, at least one first camera device is provided in the working area of ​​the hydraulic support 3, the monitoring area of ​​the first camera device covers the working range of the hydraulic support 3, and the first camera device is used to collect video signals of workers in the area of ​​the hydraulic support 3 and perform human body tracking and shooting; the control center is electrically connected to the alarm device and the hydraulic support 3, and the control center controls the hydraulic support 3 and the alarm device according to the position of the workers captured in the first camera device.

[0072] Furthermore, at least one second camera device is provided in the working area of ​​the conveying device 4, and the monitoring area of ​​the second camera device covers the working range of the conveying device 4. The second camera device is used to collect video signals of workers in the area of ​​the conveying device 4 and perform human body tracking and shooting; the control center is electrically connected to the alarm device and the conveying device 4, and the control center controls the conveying device 4 and the alarm device according to the position of the workers photographed in the second camera device.

[0073] Furthermore, a third camera device is provided at both ends of the fully mechanized mining working face 1. The third camera device collects video images of workers entering and exiting the fully mechanized mining working face 1 and uploads them to the control center. The control center counts the number of workers currently in the fully mechanized mining working face 1 in real time based on the workers' entry and exit images.

[0074] Furthermore, the first camera device, the second camera device and the third camera device have the same structure, and all include an infrared sensor, a camera, a drive motor and a controller. The infrared sensor is electrically connected to the controller, and the drive motor is transmission-connected to the camera. The controller locks the moving operator according to the infrared signal transmitted by the infrared sensor, and sends a control instruction to the drive motor, so that the drive motor drives the camera to track and shoot the moving underground operator.

[0075] In another specific embodiment, the present invention provides a coal mining method using the automated coal mining system device of the fully mechanized mining working face 1 described above, the coal mining method comprising:

[0076] The position coordinates of the coal mining device 2 in the three-dimensional space of the fully mechanized mining working face 1 are obtained through the posture monitoring module to accurately locate the position and obtain the real-time operation trajectory of the coal mining device 2; the control center analyzes the coal-rock boundary situation obtained by the coal-rock interface recognition module, and corrects the current real-time operation trajectory of the coal mining device 2, and controls the driving device to drive the coal mining device 2 to cut the coal wall along the corrected movement trajectory.

[0077] Furthermore, the coal mining method comprises the following steps:

[0078] (1) During the movement of the coal mining device 2, the acceleration sensor and gyroscope provided on the coal mining device 2 detect the acceleration and angular acceleration of each axis of the coal mining device 2 during the movement, and transmit them to the unit machine, which is integrated by the single chip microcomputer to form posture information; the infrared transmitter provided on the coal mining device 2 transmits a light positioning signal to the identification tag on each hydraulic support 3, and the identification tag sends a sensing signal and identity information to the single chip microcomputer after receiving the light positioning signal. The single chip microcomputer calculates the distance between the hydraulic support 3 corresponding to the identity information and the coal mining device 2 according to the sensing signal. As the coal mining device 2 moves forward, the single chip microcomputer continuously calculates the change in the distance between the coal mining device 2 and each hydraulic support 3, and obtains the displacement information of the coal mining device 2 after integration. The single chip microcomputer sends the integrated posture information and displacement information to the control center through the communication base station;

[0079] (2) When the coal mining device 2 cuts the coal wall of the fully mechanized mining working face 1, a jet is ejected toward the coal wall through a nozzle provided on the coal mining device 2. The jet ejected from the nozzle forms a reflected flow after rebounding from the coal wall, which exerts a force on the pressure sensor. The pressure sensor transmits the pressure sensing signal generated by the reflected flow to the control element. The pressure of the reflected flow formed by the rebound of the coal seam and the rock layer is different. The control element analyzes the interface between the coal and rock layers according to the pressure of the reflected flow, and the control element sends the coal-rock interface recognition result to the control center through the communication base station;

[0080] (3) The control center integrates the posture information and displacement information of the coal mining device 2 obtained in step (1) and solves the real-time movement trajectory of the coal mining device 2 in the three-dimensional model of the comprehensive mining working face 1 and calculates the inclination angle of the movement trajectory. According to the coal-rock interface on the coal wall obtained in step (2), the current movement trajectory and inclination angle of the coal mining device 2 are corrected, and the driving device is controlled to drive the coal mining device 2 to cut the coal wall along the corrected movement trajectory.

[0081] The applicant declares that the above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention fall within the scope of protection and disclosure of the present invention.

Claims

1. A coal mining method using an automated coal mining system device for a fully mechanized mining face, characterized in that: The coal mining method comprises the following steps: (1) During the movement of the coal mining device, the acceleration sensor and gyroscope installed on the coal mining device detect the acceleration and angular acceleration of each axis of the coal mining device during the movement, and transmit them to the unit computer. After integration by the single-chip microcomputer, the posture information is formed; the infrared transmitter installed on the coal mining device transmits a light positioning signal to the identification tag on each hydraulic support. After receiving the light positioning signal, the identification tag sends a sensing signal and identity information to the single-chip microcomputer. The single-chip microcomputer calculates the distance between the hydraulic support corresponding to the identity information and the coal mining device based on the sensing signal. As the coal mining device moves forward, the single-chip microcomputer continuously calculates the change in the distance between the coal mining device and each hydraulic support, and obtains the displacement information of the coal mining device after integration. The single-chip microcomputer sends the integrated posture information and displacement information to the control center through the communication base station; (2) When the coal mining device is cutting the coal wall of the fully mechanized mining face, a jet is ejected toward the coal wall through a nozzle installed on the coal mining device. The jet ejected by the nozzle rebounds from the coal wall to form a reflected flow, which exerts a force on the pressure sensor. The pressure sensor transmits the pressure sensing signal generated by the reflected flow to the control element. The pressure of the reflected flow formed by the rebound of the coal seam and the rock layer is different. The control element analyzes the interface of the coal-rock layer according to the pressure of the reflected flow, and the control element sends the coal-rock interface identification result to the control center through the communication base station; (3) The control center integrates the attitude information and displacement information of the coal mining device obtained in step (1) and solves the real-time movement trajectory of the coal mining device in the three-dimensional model of the fully mechanized mining face and calculates the inclination angle of the movement trajectory. According to the coal-rock interface on the coal wall obtained in step (2), the current movement trajectory and inclination angle of the coal mining device are corrected, and the driving device is controlled to drive the coal mining device to cut the coal wall along the corrected movement trajectory; The automated coal mining system device includes a plurality of hydraulic supports located on one side of the fully mechanized mining working face, the top of the hydraulic supports supporting the roof of the fully mechanized mining working face, a fully mechanized mining channel formed between the hydraulic supports and the fully mechanized mining working face, a coal mining device and a conveying device laid along the length direction of the fully mechanized mining working face are arranged in the fully mechanized mining channel, the coal mining device is externally connected to a driving device, the driving device is used to drive the coal mining device to reciprocate along the length direction of the fully mechanized mining working face and cut the coal wall of the fully mechanized mining working face, and the cut coal blocks fall into the conveying device; A model building module is provided in the fully mechanized mining channel, and the model building module is used to scan the fully mechanized mining working face and construct a three-dimensional model of the fully mechanized mining working face; a coal-rock interface recognition module and a posture monitoring module are provided on the coal mining device, and the coal-rock interface recognition module is used to identify the coal-rock boundary on the coal wall, and the posture monitoring module is used to collect the real-time position coordinates and movement posture of the coal mining device in the three-dimensional model of the fully mechanized mining working face; The automated coal mining system further includes a control center, which is wirelessly connected to the model building module, the coal-rock interface recognition module, the posture monitoring module, and the drive device. The control center corrects the current movement trajectory of the coal mining device according to the coal-rock boundary on the coal wall, and controls the drive device to drive the coal mining device to cut the coal wall along the corrected movement trajectory. The control center includes a main control platform and a communication base station, the communication base station is connected to the communication base station via a wireless link, the main control platform is used to monitor the movement trajectory of the coal mining device and calculate the inclination angle of the movement trajectory, and control the coal mining device to adjust the movement trajectory through the communication base station to achieve inclination adjustment of the fully mechanized mining working face; The posture monitoring module includes a posture monitoring unit, a position monitoring unit and a single-chip microcomputer. The posture monitoring unit and the position monitoring unit are electrically connected to the single-chip microcomputer respectively, and the single-chip microcomputer is electrically connected to the control center. The posture monitoring unit and the position monitoring unit are respectively used to detect the current motion posture and moving distance of the coal mining device and transmit the data to the single-chip microcomputer. The single-chip microcomputer integrates the data and sends it to the control center via the communication base station. The posture monitoring unit includes an acceleration sensor and a gyroscope provided on the coal mining device, wherein the acceleration sensor is used to detect the acceleration of each axis during the movement of the coal mining device, and the gyroscope is used to detect the angular acceleration of each axis during the movement of the coal mining device; The posture monitoring unit further includes an analog-to-digital converter and a signal modulator electrically connected in sequence, and the posture monitoring unit and the position monitoring unit are electrically connected to the input port of the analog-to-digital converter respectively; The single-chip microcomputer includes a filter, a processor, and a wireless signal transmitter electrically connected in sequence, the output port of the signal modulator is electrically connected to the filter, the single-chip microcomputer realizes wireless communication with the communication base station through the wireless signal transmitter, and the single-chip microcomputer sends the collected posture information to the control center through the communication base station; The coal-rock interface identification module includes a nozzle, a pressure sensor and a control element. The nozzle is fixed on the coal mining device, the pressure sensor is fixed on the nozzle, and the pressure sensor is electrically connected to the control element. The nozzle is used to spray a jet toward the coal wall. The jet sprayed by the nozzle forms a reflected flow after rebounding from the coal wall and exerts a force on the pressure sensor. The pressure sensor transmits the pressure sensing signal generated by the reflected flow to the control element. The pressure of the reflected flow formed by the rebound of the coal seam and the rock layer is different. The control element analyzes the interface of the coal-rock layer based on the pressure of the reflected flow.

2. The coal mining method according to claim 1, characterized in that: The main control platform includes a control panel, a display screen and a data acquisition card. The data acquisition card is connected to the communication base station via wireless communication. The data acquisition card is electrically connected to the control panel and the display screen respectively.

3. The coal mining method according to claim 2, characterized in that: The control panel includes an integrated master control unit, a hydraulic support control unit, a conveying device control unit and a coal mining device control unit. The hydraulic support control unit is electrically connected to the hydraulic support. The hydraulic support control unit is used to control the pushing, sliding, moving and posture adjustment of each hydraulic support. The conveying device control unit is used to control the start and stop and transmission speed of the conveying device. The coal mining device control unit is used to control the start and stop, posture adjustment and movement trajectory of the coal mining device.

4. The coal mining method according to claim 1, characterized in that: The model building module includes a laser scanning device arranged on the body of the coal mining device. The laser scanning device scans the fully-mechanized mining working face as the coal mining device moves, and a fully-mechanized mining working face model of the coal wall of the fully-mechanized mining working face is constructed through the scanning data of the laser scanning device and the position information of the coal mining device.

5. The coal mining method according to claim 1, characterized in that: The control element is wirelessly connected to the communication base station, and the control element sends the coal-rock interface identification result to the control center through the communication base station.

6. The coal mining method according to claim 1, characterized in that: The position monitoring unit includes an infrared transmitter and a plurality of identification tags, wherein the infrared transmitter is fixed on the body of the coal mining device, and each hydraulic support is provided with an identification tag, wherein the identification tag has unique identity information, and the identification tag communicates wirelessly with a communication base station; the infrared transmitter transmits a light positioning signal to the identification tag, and the identification tag sends a sensing signal and identity information to the single-chip microcomputer after receiving the light positioning signal, and the single-chip microcomputer calculates the distance between the hydraulic support and the coal mining device corresponding to the identity information based on the sensing signal. As the coal mining device moves forward, the single-chip microcomputer continuously calculates the change in the distance between the coal mining device and each hydraulic support, and obtains the displacement information of the coal mining device after summarizing it. The single-chip microcomputer sends the collected displacement information to the control center via the communication base station; The control center integrates the posture information and displacement information of the coal mining device and calculates the real-time movement trajectory of the coal mining device in the three-dimensional model of the fully mechanized mining working face, corrects the posture of the coal mining device according to the coal-rock boundary conditions, and controls the coal mining device through the driving device to cut the coal wall along the corrected movement trajectory.

7. The coal mining method according to claim 1, characterized in that: Several video surveillance modules are distributed in the comprehensive mining channel, and the video surveillance modules are wirelessly connected to the control center. The video surveillance modules are used to collect real-time video signals in the hydraulic support, conveying device and comprehensive mining working face area and upload them to the control center. The control center monitors in real time whether there are suspicious persons in the comprehensive mining channel.

8. The coal mining method according to claim 7, characterized in that: At least one first camera device is arranged in the working area of ​​the hydraulic support, and the monitoring area of ​​the first camera device covers the working range of the hydraulic support. The first camera device is used to collect video signals of workers in the hydraulic support area and perform human body tracking and shooting; the control center is electrically connected to the alarm device and the hydraulic support, and the control center controls the hydraulic support and the alarm device according to the position of the workers captured in the first camera device.

9. The coal mining method according to claim 8, characterized in that: At least one second camera device is arranged in the working area of ​​the conveying device, and the monitoring area of ​​the second camera device covers the working range of the conveying device. The second camera device is used to collect video signals of workers in the conveying device area and perform human body tracking and shooting; the control center is electrically connected to the alarm device and the conveying device, and the control center controls the conveying device and the alarm device according to the position of the workers captured in the second camera device.

10. The coal mining method according to claim 9, characterized in that: A third camera device is provided at both ends of the comprehensive mining working face. The third camera device collects video images of workers entering and exiting the comprehensive mining working face and uploads them to the control center. The control center counts the number of workers currently in the comprehensive mining working face in real time based on the workers' entry and exit images.

11. The coal mining method according to claim 10, characterized in that: The first camera device, the second camera device and the third camera device have the same structure, and all include an infrared sensor, a camera, a drive motor and a controller. The infrared sensor is electrically connected to the controller, and the drive motor is transmission-connected to the camera. The controller locks the moving operator according to the infrared signal transmitted by the infrared sensor, and sends a control instruction to the drive motor, so that the drive motor drives the camera to track and shoot the moving underground operator.

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