A method for preventing collision between a thin coal seam fully mechanized mining face shearer and support

Abstract

The present application relates to the technical field of fully mechanized working face of very thin coal seam, and discloses a kind of anti-collision method of fully mechanized working face coal mining machine and support of very thin coal seam, comprising the following steps: step 1: determine the position of coal mining machine and the direction of travel of coal mining machine;And according to the position of coal mining machine and the direction of travel of coal mining machine, select support travel sensor according to preset acquisition strategy, and obtain the push and pull travel value of several supports by support travel sensor acquisition;Step 2: set the threshold value;Compare the push and pull travel value and the threshold value, if the push and pull travel value is less than the threshold value, then the first anti-collision warning is carried out;If the push and pull travel value is greater than the threshold value, then further compare the height of coal mining machine rocker arm and the height of support, if the height of support is less than the height of coal mining machine rocker arm, then the second anti-collision warning is carried out.The present application can timely and accurately carry out anti-collision warning of coal mining machine and support, and the method is simple to operate, and has high compatibility with very thin coal seam scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fully mechanized working face of extremely thin coal seam, and particularly relates to a method for preventing collision between a coal mining machine and a support in a fully mechanized working face of extremely thin coal seam. BACKGROUND

[0002] With the development of science and technology, coal production processes are becoming more and more mechanized, automated and intelligent. Among them, on the fully mechanized working face, the coal mining machine, the hydraulic support and the conveyor are the main equipment for coal production work; the coal mining machine is responsible for cutting the coal seam, the conveyor is responsible for transporting the coal flow, and the hydraulic support is responsible for supporting, which jointly operate to complete the coal mining work.

[0003] However, in the operation process of the coal mining machine, the coal mining machine moves left and right along the conveyor to cut the coal seam, and the hydraulic support moves and follows up the support in the direction of the coal seam each time the coal is cut. If the drum or rocker arm of the coal mining machine coincides with the top beam or support of the hydraulic support during the walking process of the coal mining machine or the moving process of the hydraulic support, interference and collision between the coal mining machine and the hydraulic support will occur, resulting in equipment damage. When the coal mining machine runs too fast, if the support in front of the coal mining machine is not timely retracted, the collision between the coal mining machine and the support will also occur, thereby affecting the operation efficiency and safety of the fully mechanized working face. Therefore, it is necessary to study the anti-collision between the coal mining machine and the hydraulic support.

[0004] The existing anti-collision method between the hydraulic support and the coal mining machine includes: (1) a method of using laser to measure the distance between the top beam and the cable groove to determine whether the top beam collides with the drum of the coal mining machine; (2) a method of using a height sensor to measure the height of the support and comparing it with the height of the drum of the coal mining machine; (3) a method of using radar to detect the distance between the rocker arm of the coal mining machine and the first detection point on the support plate of the hydraulic support, combining the actual installation position of the radar, the structure size of the rocker arm and the structure size of the cutting drum, and using geometric relationship to calculate the real-time distance between the cutting drum and the support plate of the hydraulic support, so as to detect the distance between the cutting drum of the coal mining machine and the support plate of the hydraulic support in real time, thereby avoiding the collision between the cutting drum of the coal mining machine and the support plate of the hydraulic support.

[0005] The three methods can all achieve the anti-collision early warning between the coal mining machine and the hydraulic support, but all of the three methods have problems and are not perfect. In the scheme (1), a large number of devices need to be added, the method is complex to operate, needs a large installation space, and cannot be adapted to the scenario of the extremely thin coal seam, so the application range is small; in the scheme (2), the moving state of the support is not considered. In fact, the moving state of the support determines the relative position of the support and the coal mining machine in the advancing direction of the working face. Even if the support height is lower than the drum height of the coal mining machine, as long as the support does not move, the support and the drum of the coal mining machine are not in the same interference area in the advancing direction of the working face, and the collision will not occur. This makes the scheme (2) not completely applicable to the coal mining process of the fully mechanized working face; in the scheme (3), the radar operation will be limited by the working face environment factors (dust, water mist, etc.), the detection distance accuracy is affected, and the early warning accuracy is also poor.

[0006] Therefore, there is an urgent need for an anti-collision method with higher accuracy and better adaptability to the scenario of the extremely thin coal seam. SUMMARY

[0007] The present application aims to provide an anti-collision method for a coal mining machine and a support in a fully mechanized working face of an extremely thin coal seam, which can timely and accurately perform anti-collision early warning of the coal mining machine and the support, and the method is simple to operate and has high adaptability to the scenario of the extremely thin coal seam.

[0008] The basic scheme provided by the present application is: an anti-collision method for a coal mining machine and a support in a fully mechanized working face of an extremely thin coal seam, comprising the following steps:

[0009] Step 1: determining the position of the coal mining machine and the advancing direction of the coal mining machine; and according to the position of the coal mining machine and the advancing direction of the coal mining machine, selecting a support travel sensor according to a preset collection strategy, and collecting travel values of a plurality of supports by the support travel sensor; the selected support travel sensor is a support travel sensor in the advancing direction of the coal mining machine and adjacent to the drum of the coal mining machine;

[0010] Step 2: setting a determination threshold; comparing the travel value with the determination threshold, if the travel value is less than the determination threshold, performing a first anti-collision early warning; if the travel value is greater than the determination threshold, further comparing the height of the rocker arm of the coal mining machine with the height of the support, if the height of the support is less than the height of the rocker arm of the coal mining machine, performing a second anti-collision early warning.

[0011] The working principle and advantages of the present application are that: according to the position of the coal mining machine and the advancing direction of the coal mining machine, the support stroke sensor near the drum of the coal mining machine is selected, and the data thereof is collected; by comparing the push-pull stroke value obtained by collection with the determination threshold, it is determined whether the coal mining machine drum, the coal mining machine rocker arm and the support need to be prevented from colliding. The threshold comparison in the present scheme is between the push-pull stroke value of the support and the determination threshold, so as to determine whether the support has been advanced. For the case of advanced support, that is, the case of push-pull stroke value less than determination threshold, intuitively, when the support push-pull stroke value is too small, the corresponding safety space left by the coal mining machine is too small, and the coal mining machine drum is prone to collide with the support. According to the data, the anti-collision warning determination is simple and effective, and no additional equipment is needed, and the operation cost is low.

[0012] Further, for the case of push-pull stroke value greater than determination threshold, the present scheme also gives a corresponding collision warning strategy. When the support push-pull stroke value is sufficient, the height of the coal mining machine rocker arm and the height of the support are further compared and determined to further determine the possible collision of the coal mining machine structure and the support and to correspondingly prevent the collision.

[0013] More importantly, the support stroke sensor used in the present scheme does not need to occupy the production space of the working face. In the extremely thin coal seam with relatively small production space, the present scheme can play a good role and has high adaptability. In the present scheme, the push-pull stroke value required for warning determination is relatively easy to confirm, and compared with the radar detection scheme, it is less susceptible to external environmental interference of the working face, and compared with the height detection scheme, the numerical error is small, and the determination accuracy is higher. For the present scheme, two levels of anti-collision warning are set; the detail and pertinence of collision warning are stronger than those of the conventional scheme. In the conventional anti-collision warning scheme, only the collision between the support and the drum is considered, and the relative position relationship between the support and the coal mining machine in the fully mechanized working face, especially in the extremely thin coal seam working face without support guard plate, is ignored. In the case that the support and the drum do not collide and interfere with each other, the rocker arm of the coal mining machine may be in the space interfering with the top beam of the support, so that the two collide. The present scheme considers this situation and correspondingly makes a targeted warning scheme.

[0014] And the confirmation of the second anti-collision warning is based on the case that the first anti-collision warning is not established, that is, in the comparison of the support height and the shearer rocker arm height, the support shifting state is considered and confirmed by comparing the support pushing and shifting stroke value with the determination threshold, it is confirmed that the support is not in the advanced support shifting state, and the possibility of collision between the support and the drum is accurately ruled out, and on this basis, since the shearer rocker arm and the support top beam are in the same collision space, the determination and warning of the second anti-collision warning at this time can ensure that the subsequent determination of the second anti-collision warning is established and can be adapted to the coal mining technology of the fully mechanized working face, so that the height detection scheme can play a role in the fully mechanized working face.

[0015] In addition, because there is no support plate in the extremely thin coal seam, the interference collision between the shearer and the support mainly occurs between the drum and the support top beam and between the rocker arm and the support top beam, and the support stroke sensor adjacent to the shearer drum is particularly selected to collect the pushing and shifting stroke value, as well as the rocker arm height value and the support height value, so that the collected data is more targeted, and the warning determination can be more accurate.

[0016] Further, it further comprises step 3: confirming the support corresponding to the anti-collision warning according to the anti-collision warning in step 2; and when the anti-collision warning is the first anti-collision warning, the drum height of the shearer is correspondingly lowered in advance; when the anti-collision warning is the second anti-collision warning, the rocker arm height of the shearer is correspondingly lowered in advance.

[0017] Beneficial effect: after receiving the anti-collision warning, the structure position of the shearer is adjusted in time, which can effectively avoid collision.

[0018] Further, in step 1, the preset collection strategy is that when the advancing direction of the shearer is leftward, the pushing and shifting stroke values of the nearest preset number of supports on the left side of the shearer drum are collected; and when the advancing direction of the shearer is rightward, the pushing and shifting stroke values of the nearest preset number of supports on the right side of the shearer drum are collected.

[0019] Beneficial effect: the selected supports are selected according to the real-time advancing direction of the shearer, and the selected supports are on the future advancing path of the shearer, and the corresponding pushing and shifting stroke values can accurately reflect the state of the adjacent supports, which is helpful for analyzing and confirming the relative position between the shearer and the supports at the next moment, and is helpful for accurate warning.

[0020] Further, the preset number is 3-5.

[0021] Beneficial effect: the number of selected supports is moderate, which can avoid the situation that the number of supports is too small, so that the fault determination is not timely, or the number of supports is too large, so that the fault determination is too sensitive, and a better warning effect can be achieved.

[0022] Further, the anti-collision early warning mode includes a visual pop-up alarm, a voice alarm and a light alarm.

[0023] Beneficial effect: The provided early warning mode is rich, and the fault reminding is effective.

[0024] Further, in step 2, the determination threshold is set according to the empty roof distance and the safe distance of the coal mining machine operation.

[0025] The empty roof distance refers to the distance of controlling the roof by the method of temporary support before permanent support, that is, the distance from the front row of columns of the working face hydraulic support to the coal wall.

[0026] The safe distance of the coal mining machine operation is the safe distance specified in the Coal Mine Safety Regulations.

[0027] Beneficial effect: The determination threshold setting basis is reasonable and reliable, and the early warning is accurate.

[0028] Further, in step 2, when the empty roof distance is 457, the determination threshold is set to 100.

[0029] Beneficial effect: The conventional coal mining machine moves along the left and right of the conveyor to cut the coal seam, and cuts one knife of coal each time. According to the thickness of the roller, the cutting depth is usually set to about 800 mm. The hydraulic support will follow up and support, and move the support to the coal seam direction. The difference between the cutting depth and the empty roof distance needs to be greater than the safe distance of the coal mining machine operation and leave a certain empty space to ensure that the coal mining machine and the support do not collide, which requires that the pushing and sliding stroke of the support is sufficient. The threshold of 100 is set here, and the determination threshold setting is reasonable, which can ensure the accuracy of the early warning.

[0030] Further, the support is a support without side guard plates in the extremely thin coal seam.

[0031] Beneficial effect: The scheme is carried out for the support without side guard plates, and the operation scene of the scheme is adapted to the extremely thin coal seam. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The method flowchart of the anti-collision method for the coal mining machine and the support in the fully mechanized working face of the extremely thin coal seam is provided.

[0033] Figure 2 The relative position diagram of the hydraulic support moving and not moving relative to the coal mining machine of the anti-collision method for the coal mining machine and the support in the fully mechanized working face of the extremely thin coal seam is provided. DETAILED DESCRIPTION

[0034] The specific embodiments are further described in detail as follows:

[0035] The embodiments are basically as shown in the accompanying drawings. Figure 1As shown: a kind of thin coal seam fully mechanized working face coal winning machine and support anti-collision method, wherein the coal winning machine refers to the conventional coal winning machine for coal mining that can operate in the thin coal seam fully mechanized working face;The support refers to the hydraulic support in the fully mechanized working face for supporting the working face;It comprises the following steps:

[0036] Step 1: determine the position of the coal winning machine and the direction of the coal winning machine;And according to the position of the coal winning machine and the direction of the coal winning machine, select the support stroke sensor according to the preset acquisition strategy, and obtain the push stroke value of several supports from the support stroke sensor;The support is a support without backboard in the thin coal seam. The selected support stroke sensor is the support stroke sensor in the direction of the coal winning machine and adjacent to the drum of the coal winning machine.

[0037] Among them, the support stroke sensor is installed in the push oil cylinder of the hydraulic support, mainly used for converting the mechanical stroke of the push oil cylinder into a digital signal, which is a device for measuring the action amplitude of the hydraulic support push, moving and pulling, and is commonly configured with the device. The conventional hydraulic support, this scheme collects basic data through the support stroke sensor, does not need to add additional devices, does not occupy the generated space of the working face, and the improvement cost is lower. The thin coal seam in the embodiment refers to the coal seam with a thickness of 0.3m-0.5m.

[0038] The preset acquisition strategy is that when the direction of the coal winning machine is left, the push stroke values of the nearest preset number of supports on the left side of the drum of the coal winning machine are collected;When the direction of the coal winning machine is right, the push stroke values of the nearest preset number of supports on the right side of the drum of the coal winning machine are collected. The preset number is in the range of 3-5;It can be understood that the preset number range can be adjusted accordingly according to the actual working face early warning determination needs. In this embodiment, the preset number is 3. As shown in the figure Figure 2 As shown, the coal winning machine moves to the left, and the push stroke values of the nearest three supports on the left side of the drum of the coal winning machine are collected, which are the push stroke values of No. 10, No. 11 and No. 12 supports;The selected number of supports is moderate, which can avoid the situation that the number of supports is too small, so that the fault is not timely determined;Or the number of supports is too large, so that the fault determination is too sensitive, which can achieve better early warning effect.

[0039] Step 2: set the determination threshold;Compare the push stroke value with the determination threshold, if the push stroke value is less than the determination threshold, the first anti-collision early warning is carried out;If the push stroke value is greater than the determination threshold, further compare the height of the coal winning machine rocker arm with the height of the support, if the height of the support is less than the height of the coal winning machine rocker arm, the second anti-collision early warning is carried out. Among them, the first anti-collision early warning is the anti-collision early warning for the drum of the coal winning machine and the support;The second anti-collision early warning is the anti-collision early warning for the rocker arm of the coal winning machine and the support.

[0040] Specifically, in further comparison of the height of the shearer boom and the height of the support, the height value of the shearer boom and the height value of the support are collected respectively. In this embodiment, the height of the shearer boom can be measured by a height sensor, an angle sensor, an encoder and the mechanical structure of the shearer itself. It can be understood that, due to different models and structural settings of the shearer, the height measuring devices of different shearer can be adjusted as needed; the height of the support can be collected by a height sensor, a laser height measuring device, etc.; this part is a conventional height collection method, which will not be described in detail here.

[0041] The determination threshold is set according to the empty top distance and the safety distance of the shearer operation, and the determination threshold can be adaptively adjusted according to the actual model size of the shearer, the processing requirements of the working face, etc., and the method has high flexibility.

[0042] In this embodiment, when the empty top distance is 457, the determination threshold is 100. The conventional shearer moves along the conveyor left and right to cut the coal seam, and cuts one coal at a time. According to the thickness of the drum, the cutting depth is usually set to about 800 mm, and the hydraulic support will follow up and support the coal seam direction. The difference between the cutting depth and the empty top distance needs to be greater than the safety distance of the shearer operation and leave a certain empty space to ensure that the shearer and the support do not collide, which requires that the push and pull stroke of the support be sufficient. The threshold of 100 set here can ensure the accuracy of the early warning.

[0043] The anti-collision early warning method includes visual pop-up window alarm, voice alarm and light alarm. The anti-collision early warning method used in this embodiment is visual pop-up window alarm. When the push and pull stroke value of a support is less than the determination threshold, a red pop-up window and special marking are displayed on the visual interface corresponding to the support.

[0044] Step 3: According to the anti-collision early warning in step 2, the support corresponding to the anti-collision early warning is confirmed; and when the anti-collision early warning is the first anti-collision early warning, the drum height of the shearer is lowered in advance; when the anti-collision early warning is the second anti-collision early warning, the boom height of the shearer is lowered in advance. The advance lowering means that the drum of the shearer or the boom of the shearer is lowered immediately before reaching the vicinity of the corresponding support, so as to avoid collision and interference with the support that moves ahead. In this embodiment, the height of the drum of the shearer or the boom of the shearer can be lowered immediately when the anti-collision early warning notification is received.

[0045] The method for preventing collision between the thin seam mining face shearer and the support provided by the embodiment has two-stage collision prevention early warning, especially considers the possibility of collision between the support and the rocker arm in the thin seam working face, can early warn the collision between the support and the roller and the collision between the support and the rocker arm, can timely and accurately early warn the collision between the shearer and the support, the required push and pull stroke value, related height value and the like in the early warning determination are easy to confirm, the method is simple to operate, the support stroke sensor used does not need to occupy the production space of the working face, has high compatibility with the thin seam scene, is suitable for other thickness seams and has universality. Moreover, the resource and environment situation is tense at present, the reduction of coal resources makes thin seam mining become the mainstream trend, however, the thin seam scene is limited, the coal mining is also limited, for the thin seam with small workable space, the collision rate between the shearer and the support is higher than that of the ordinary seam, and since the thin seam cannot set a support plate, the collision types are more. The scheme is based on the dilemma of the thin seam, fully considers the needs of the thin seam scene, also considers the collision between the shearer rocker arm and the support top beam ignored in the conventional seam early warning, can fully meet the collision prevention early warning needs of the thin seam, and is helpful to improve the safety and efficiency of the thin seam mining.

[0046] Moreover, compared with the radar detection scheme, the scheme is less susceptible to the external environment interference of the working face; compared with the height detection scheme, the numerical error for predicting the collision is small, and the determination accuracy is high. Moreover, the scheme can make the height detection scheme effective in the fully mechanized working face, the confirmation of the second collision prevention early warning is based on the situation that the first collision prevention early warning is not established, effectively considers the support moving state, and ensures the effectiveness of the height comparison collision determination.

[0047] In particular, the scheme designs a new collision prevention early warning method, when judging the collision possibility between the support and the shearer roller, the push and pull stroke value of the support is innovatively selected and collected for early warning determination, the push and pull stroke value determines the displacement state of the support itself, whether the support is ahead of the moving state is determined to determine whether the safe operation space provided for the shearer in the working face is sufficient, and then the collision possibility is determined, the push and pull stroke value of the support is easy to collect and the collection accuracy is easy to guarantee, when the push and pull stroke value and the determination threshold value are compared, the determination logic is simple, and high collision prevention early warning accuracy and timeliness can be achieved.

[0048] And, compared with the conventional anti-collision warning method for fully mechanized mining, when determining whether a component of the coal mining machine will collide with the support, the conventional anti-collision warning method directly determines through the interval distance between the two objects, for example, through a distance measuring instrument to measure the distance between the component of the coal mining machine and the support to determine, etc. However, this determination idea is actually inappropriate. The coal mining machine and the support are two independent devices, and their operation modes, movement paths and regions in the working face are different. The component of the coal mining machine and the support that are prone to collision in the vertical distance may not actually collide, for example, when the component of the coal mining machine and the support are not in the same interference region, such determination is invalid. The present scheme determines through the pushing and sliding stroke value, and the collision determination is not affected by spatial intersection, etc., which can ensure accurate collision determination and reduce false alarms.

[0049] The above is only an embodiment of the present application, and the common knowledge of the specific structure and characteristics in the scheme is not described in detail. The person skilled in the art knows all the ordinary technical knowledge in the field of the present application before the filing date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The person skilled in the art can improve and implement the present scheme based on the disclosure given in the present application, and the typical known structure or known method should not be an obstacle for the person skilled in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode in the specification can be used to explain the content of the claims.

Claims

1. A method for preventing collision between a thin-seam fully-mechanized coal mining face shearer and a support, characterized in that, The method comprises the following steps: Step 1: determining the position of the coal mining machine and the advancing direction of the coal mining machine; and selecting a support stroke sensor according to a preset collection strategy according to the position of the coal mining machine and the advancing direction of the coal mining machine, and collecting the pushing and pulling stroke values of a plurality of supports from the support stroke sensor; the selected support stroke sensor is a support stroke sensor on the advancing direction of the coal mining machine and adjacent to the drum of the coal mining machine; The preset collection strategy is that when the advancing direction of the coal mining machine is leftward, the pushing and pulling stroke values of the nearest preset number of supports on the left side of the drum of the coal mining machine are collected; when the advancing direction of the coal mining machine is rightward, the pushing and pulling stroke values of the nearest preset number of supports on the right side of the drum of the coal mining machine are collected; the preset number is in the range of 3-5; Step 2: setting a judgment threshold value; Comparing the pushing and pulling stroke value with the judgment threshold value, if the pushing and pulling stroke value is less than the judgment threshold value, a first anti-collision warning is performed; If the pushing and pulling stroke value is greater than the judgment threshold value, the height of the rocker arm of the coal mining machine is further compared with the height of the support, if the height of the support is less than the height of the rocker arm of the coal mining machine, a second anti-collision warning is performed; the support is a support without a support plate in an extremely thin coal seam; the judgment threshold value is set according to the empty top distance and the safety distance of the operation of the coal mining machine; the anti-collision warning mode includes a visual pop-up window alarm, a voice alarm and a light alarm; Step 3: confirming the support corresponding to the anti-collision warning according to the anti-collision warning in step 2; When the anti-collision warning is the first anti-collision warning, the height of the drum of the coal mining machine is lowered in advance; when the anti-collision warning is the second anti-collision warning, the height of the rocker arm of the coal mining machine is lowered in advance.

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