A transport crossheading multi-machine cooperative control system

Abstract

This disclosure proposes a multi-machine collaborative control system for a transport roadway, comprising: a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a fourth hydraulic cylinder, and a control device. The control device, in response to the advancement of the coal face, controls the first hydraulic cylinder to extend, causing the transfer conveyor to move away from the end support, and also extends the second and third hydraulic cylinders; controls the second and third hydraulic cylinders to retract, causing the first advance support and the self-propelled machine to follow the transfer conveyor in a direction away from the end support, and also extends the fourth hydraulic cylinder; controls the fourth hydraulic cylinder to retract, causing the second advance support to move with the first advance support in a direction away from the end support. In this multi-machine collaborative control system for a transport roadway, unmanned operation within the transport roadway is achieved while avoiding interference and misalignment between equipment, effectively improving the operational efficiency and safety of the transport roadway.

Description

Technical Field

[0001] This disclosure relates to the field of multi-machine collaborative control technology, and in particular to a multi-machine collaborative control system for a transport roadway. Background Technology

[0002] The ends and advanced sections of the transport roadway in the working face are concentrated with equipment and personnel, making them key and challenging areas for safety management. Although the working face is now trending towards less or no human intervention and intelligent operation, the various pieces of equipment are independent of each other and have poor coordination. Therefore, when each piece of equipment moves forward with the coal mining face, it needs to be controlled and monitored by dedicated personnel. Furthermore, interference and misalignment between pieces of equipment are prone to occur during the movement of each piece of equipment, affecting the operating efficiency and safety of the transport roadway. Summary of the Invention

[0003] This disclosure aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the purpose of this disclosure is to provide a multi-machine collaborative control system for a transport roadway.

[0005] To achieve the above objectives, this disclosure provides a multi-machine collaborative control system for a transport roadway, comprising: a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a fourth hydraulic cylinder, and a control device. The first hydraulic cylinder is disposed between the end support and the transfer machine; the second hydraulic cylinder is disposed between the transfer machine and a first advance support; the third hydraulic cylinder is disposed between the transfer machine and the tail of the self-propelled machine; and the fourth hydraulic cylinder is disposed between the first advance support and the second advance support. The control device is used to respond to the advancement of the coal face by controlling the first hydraulic cylinder to extend, causing the transfer machine to move away from the end support, and causing the second and third hydraulic cylinders to extend; controlling the second and third hydraulic cylinders to retract, causing the first advance support and the tail of the self-propelled machine to follow the transfer machine in a direction away from the end support, and causing the fourth hydraulic cylinder to extend; controlling the fourth hydraulic cylinder to retract, causing the second advance support to move with the first advance support in a direction away from the end support; and controlling the first hydraulic cylinder to retract, causing the end support to move in a direction closer to the transfer machine.

[0006] Optionally, the control system further includes: a liquid tank; a first check valve, the inlet of which is connected to the outlet of the liquid tank, and the outlet of which is connected to the plug chamber of the second hydraulic cylinder; a second check valve, the inlet of which is connected to the outlet of the liquid tank, and the outlet of which is connected to the plug chamber of the third hydraulic cylinder; and a third check valve, the inlet of which is connected to the outlet of the liquid tank, and the outlet of which is connected to the plug chamber of the fourth hydraulic cylinder.

[0007] Optionally, the control system further includes: a first filter, which is disposed on the pipeline connecting the inlet end of the first one-way valve and the outlet end of the liquid tank; a second filter, which is disposed on the pipeline connecting the inlet end of the second one-way valve and the outlet end of the liquid tank; and a third filter, which is disposed on the pipeline connecting the inlet end of the third one-way valve and the outlet end of the liquid tank.

[0008] Optionally, the control system further includes: a first three-position four-way valve, wherein a first end of the first three-position four-way valve is connected to the outlet end of the liquid tank, a second end of the first three-position four-way valve is connected to the inlet end of the liquid tank, a third end of the first three-position four-way valve is connected to the rod chamber of the first hydraulic cylinder, and a fourth end of the first three-position four-way valve is connected to the plug chamber of the first hydraulic cylinder; the signal output terminal of the control device is connected to the signal input terminal of the first three-position four-way valve; and a second three-position four-way valve, wherein a first end of the second three-position four-way valve is connected to the outlet end of the liquid tank, a second end of the second three-position four-way valve is connected to the inlet end of the liquid tank, a third end of the second three-position four-way valve is connected to the rod chamber of the second hydraulic cylinder, and a fourth end of the second three-position four-way valve is connected to the plug chamber of the second hydraulic cylinder; the signal output terminal of the control device is connected to the signal input terminal of the second three-position four-way valve. The signal output terminal of the control device is connected to the signal input terminal of the third three-position four-way valve; the first end of the third three-position four-way valve is connected to the outlet end of the liquid tank, the second end of the third three-position four-way valve is connected to the inlet end of the liquid tank, the third end of the third three-position four-way valve is connected to the rod chamber of the second hydraulic cylinder, and the fourth end of the third three-position four-way valve is connected to the plug chamber of the second hydraulic cylinder; the signal output terminal of the control device is connected to the signal input terminal of the third three-position four-way valve; the fourth three-position four-way valve is connected to the outlet end of the liquid tank, the second end of the fourth three-position four-way valve is connected to the inlet end of the liquid tank, the third end of the fourth three-position four-way valve is connected to the rod chamber of the second hydraulic cylinder, and the fourth end of the fourth three-position four-way valve is connected to the plug chamber of the second hydraulic cylinder; the signal output terminal of the control device is connected to the signal input terminal of the fourth three-position four-way valve.

[0009] Optionally, the first advanced support includes: a first column, wherein the control device controls the first column to retract before controlling the second hydraulic cylinder to retract, and controls the first column to extend after controlling the second hydraulic cylinder to retract; the first advanced support includes: a second column, wherein the control device controls the second column to retract before controlling the fourth hydraulic cylinder to retract, and controls the second column to extend after controlling the fourth hydraulic cylinder to retract.

[0010] Optionally, the control system further includes: a fifth three-position four-way valve, wherein the first end of the fifth three-position four-way valve is connected to the outlet end of the liquid tank, the second end of the fifth three-position four-way valve is connected to the inlet end of the liquid tank, the third end of the fifth three-position four-way valve is connected to the rod cavity of the first column, and the fourth end of the fifth three-position four-way valve is connected to the plug cavity of the first column, and the signal output terminal of the control device is connected to the signal input terminal of the fifth three-position four-way valve; and a sixth three-position four-way valve, wherein the first end of the sixth three-position four-way valve is connected to the outlet end of the liquid tank, the second end of the sixth three-position four-way valve is connected to the inlet end of the liquid tank, the third end of the sixth three-position four-way valve is connected to the rod cavity of the second column, and the fourth end of the sixth three-position four-way valve is connected to the plug cavity of the second column, and the signal output terminal of the control device is connected to the signal input terminal of the sixth three-position four-way valve.

[0011] Optionally, the control system further includes: a first pressure sensor, the detection end of which is disposed within the cavity of the first column, and the signal output terminal of which is connected to the signal input terminal of the control device; a second pressure sensor, the detection end of which is disposed within the cavity of the second column, and the signal output terminal of which is connected to the signal input terminal of the control device; a first height sensor, the detection end of which is disposed on the top beam of the first advance support, and the signal output terminal of which is connected to the signal input terminal of the control device; and a second height sensor, the detection end of which is disposed on the top beam of the second advance support, and the signal output terminal of which is connected to the signal input terminal of the control device. The input terminals are connected; wherein, when the pressure detected by the first pressure sensor is less than a first pressure threshold and the height detected by the first height sensor is less than a first height threshold, the control device controls the second hydraulic cylinder to retract; when the pressure detected by the first pressure sensor is greater than a second pressure threshold and the height detected by the first height sensor is greater than a second height threshold, the control device controls the fourth hydraulic cylinder to retract; when the pressure detected by the second pressure sensor is less than the first pressure threshold and the height detected by the second height sensor is less than the first height threshold, the control device controls the fourth hydraulic cylinder to retract; when the pressure detected by the second pressure sensor is greater than the second pressure threshold and the height detected by the second height sensor is greater than the second height threshold, the control device controls the first hydraulic cylinder to retract.

[0012] Optionally, the control system further includes: a first tilt sensor, the detection end of which is disposed on the first advance support, and the signal output end of which is connected to the signal input end of the control device; and a second tilt sensor, the detection end of which is disposed on the second advance support, and the signal output end of which is connected to the signal input end of the control device; wherein, when the tilt angle detected by the first tilt sensor is less than the tilt angle threshold, the control device controls the first column to retract; when the tilt angle detected by the second tilt sensor is less than the tilt angle threshold, the control device controls the second column to retract.

[0013] Optionally, the control system further includes: a first intelligent camera, the camera end of which is mounted on the first forward support, and the signal output end of the first intelligent camera is connected to the signal input end of the control device; a second intelligent camera, the camera end of which is mounted on the second forward support, and the signal output end of the second intelligent camera is connected to the signal input end of the control device; and multiple ranging sensors, the detection ends of which are mounted on the self-propelled tail, and the signal output ends of which are connected to the signal input end of the control device; wherein, after the electronic fence established by the first intelligent camera is free of obstacles, the control device controls the first column to retract; after the electronic fence established by the second intelligent camera is free of obstacles, the control device controls the second column to retract; and after the distance detected by the ranging sensor is greater than a distance threshold, the control device controls the third hydraulic cylinder to retract.

[0014] Optionally, the control system further includes: multiple displacement sensors, the detection ends of the multiple displacement sensors being respectively disposed in the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, the first column, and the second column, and the signal output end of the displacement sensor being connected to the signal input end of the control device.

[0015] The technical solution provided in this disclosure may include the following beneficial effects:

[0016] The control device controls the first, second, third, and fourth hydraulic cylinders according to the advance of the coal mining face to achieve automated and coordinated movement of the transfer machine, self-moving tail section, first advance support, second advance support, and end support. This enables unmanned operation in the transport roadway while avoiding interference and misalignment between equipment, effectively improving the efficiency and safety of the transport roadway.

[0017] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0019] Figure 1 This is a side view of a multi-machine cooperative control system for a transport roadway according to an embodiment of this disclosure;

[0020] Figure 2 This is a top view of a multi-machine cooperative control system for a transport roadway according to an embodiment of this disclosure;

[0021] Figure 3 This is a schematic diagram of the oil circuit of a multi-machine cooperative control system for a transport roadway according to an embodiment of this disclosure;

[0022] Figure 4 This is a circuit diagram of a multi-machine collaborative control system for a transport roadway according to an embodiment of this disclosure;

[0023] As shown in the figure: 1. End support, 2. Transfer machine, 3. First forward support, 4. Second forward support, 5. Self-moving tail section, 6. First hydraulic cylinder, 7. Second hydraulic cylinder, 8. Third hydraulic cylinder, 9. Fourth hydraulic cylinder, 10. Liquid tank, 11. First check valve, 12. Second check valve, 13. Third check valve, 14. First filter, 15. Second filter, 16. Third filter, 17. First three-position four-way valve, 18. Second three-position four-way valve, 19. Third three-position four-way valve, 20. Fourth three-position four-way valve, 21. First column, 22. Second column, 23. Fifth three-position four-way valve, 24. Sixth three-position four-way valve, 25. First pressure sensor, 26. Second pressure sensor, 27. First height sensor, 28. Second height sensor, 29. First tilt sensor, 30. Second tilt sensor, 31. First smart camera, 32. Second smart camera, 33. Distance sensor, 34. Displacement sensor. Detailed Implementation

[0024] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0025] like Figure 1and Figure 2 As shown, the equipment in the transport roadway of the working face includes: end support 1, transfer machine 2, first advance support 3, second advance support 4, and self-propelled tail 5. End support 1 is set at the end of the transport roadway. Transfer machine 2 is set in the transport roadway near end support 1. Self-propelled tail 5 is set at the end of transfer machine 2 away from end support 1. First advance support 3 and second advance support 4 are set on the coal wall of the transport roadway, and first advance support 3 and second advance support 4 are located on the side of transfer machine 2. First advance support 3 is located between self-propelled tail 5 and second advance support 4. Second advance support 4 is located between first advance support 3 and end support 1.

[0026] Among them, the end of the transfer machine 2 near the end support 1 is connected to the coal mining machine through a scraper conveyor. The coal mined by the coal mining machine is transported outward after passing through the scraper conveyor and the transfer machine 2 in sequence. The end support 1, the first advance support 3 and the second advance support 4 are all used for support in the transport roadway. The self-moving tail 5 is used for the bearing and movement of the transfer machine 2.

[0027] As the coal mining machine advances the coal face, the end support 1, transfer machine 2, first advance support 3, second advance support 4, and self-moving tail 5 all need to move in coordination with the advancement of the coal face to ensure stable support of the transport roadway and stable coal transportation.

[0028] like Figure 1 and Figure 2 As shown, this disclosure proposes a multi-machine collaborative control system for a transport roadway, including a first hydraulic cylinder 6, a second hydraulic cylinder 7, a third hydraulic cylinder 8, a fourth hydraulic cylinder 9, and a control device. The first hydraulic cylinder 6 is disposed between the end support 1 and the transfer machine 2, the second hydraulic cylinder 7 is disposed between the transfer machine 2 and the first advance support 3, the third hydraulic cylinder 8 is disposed between the transfer machine 2 and the self-moving tail 5, and the fourth hydraulic cylinder 9 is disposed between the first advance support 3 and the second advance support 4.

[0029] The control device is used to execute the following steps in response to the advancement of the coal mining face:

[0030] S1: Control the first hydraulic cylinder 6 to extend so that the transfer machine 2 moves away from the end support 1 and causes the second hydraulic cylinder 7 and the third hydraulic cylinder 8 to extend;

[0031] S2: Control the second hydraulic cylinder 7 and the third hydraulic cylinder 8 to retract, so that the first advanced support 3 and the self-moving tail 5 move with the transfer machine 2 in a direction away from the end support 1, and cause the fourth hydraulic cylinder 9 to extend.

[0032] S3: Control the fourth hydraulic cylinder 9 to retract so that the second advance support 4 moves with the first advance support 3 in a direction away from the end support 1.

[0033] S4: Control the first hydraulic cylinder 6 to retract so that the end support 1 moves in a direction close to the transfer machine 2.

[0034] Understandably, when the coal face is advancing, the control device controls the first hydraulic cylinder 6 to extend. Since the end support 1 is fixedly installed in the transport roadway, the transfer machine 2 is connected to the first advance support 3 through the second hydraulic cylinder 7 and to the self-moving tail 5 through the third hydraulic cylinder 8. Both the first advance support 3 and the self-moving tail 5 are fixedly installed in the transport roadway, thus causing the transfer machine 2 to move away from the end support 1. At the same time, the movement of the transfer machine 2 causes the second hydraulic cylinder 7 and the third hydraulic cylinder 8 to extend passively.

[0035] Subsequently, after the first advance support 3 and the self-moving tail 5 are disengaged from the fixed state, the control device controls the second hydraulic cylinder 7 and the third hydraulic cylinder 8 to retract. Since the first hydraulic cylinder 6 remains extended and the end support 1 is fixedly installed in the transport chute, the self-moving tail 5 and the first advance support 3 move away from the end support 1. At the same time, since the second advance support 4 is fixedly installed in the transport chute, the movement of the first advance support 3 causes the fourth hydraulic cylinder 9 to be passively extended.

[0036] Then, after the first advance support 3 is fixedly installed in the transport chute and the second advance support 4 is released from the fixed state, the control device controls the fourth hydraulic cylinder 9 to retract, so that the second advance support 4 moves away from the end support 1.

[0037] Finally, after the self-moving tail 5 and the second advanced support 4 are both fixedly installed in the transport chute and the end support 1 is released from the fixed state, the control device controls the fourth hydraulic cylinder 9 to retract, so that the end support 1 moves in the direction close to the transfer machine 2.

[0038] Therefore, by controlling the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8 and the fourth hydraulic cylinder 9 according to the advance of the coal mining face, the automated coordinated movement of the transfer machine 2, the self-moving tail 5, the first advance support 3, the second advance support 4 and the end support 1 is realized. This not only achieves unmanned operation in the transport roadway, but also avoids problems such as interference and offset between equipment, effectively improving the operation efficiency and safety of the transport roadway.

[0039] It should be noted that the end support 1 is a hydraulic support used to maintain the roof of the coal mining face. The end support 1 includes components such as a base, a top beam, and a third column. The third column is set between the base and the top beam. When the third column extends, the top beam rests against the roof, thereby fixing the end support 1 and supporting the roof. When the third column retracts, the top beam moves away from the roof, thus allowing the end support 1 to move out of its fixed state.

[0040] The specific number of end brackets 1 can be set according to actual needs, and there is no limit to this.

[0041] The full name of transfer machine 2 is scraper transfer machine 2 for roadway. Transfer machine 2 can be used in conjunction with other equipment. For example, transfer machine 2 is equipped with a crusher to crush the coal while it is being transported.

[0042] The first advanced support 3 is used for advanced support. The first advanced support 3 includes a base, a top beam and a first column 21. The first column 21 is set between the base and the top beam. The first column 21 extends so that the top beam rests against the top plate, thereby fixing the first advanced support 3 and supporting the top plate. The first column 21 retracts so that the top beam moves away from the top plate, thereby allowing the first advanced support 3 to be removed from the fixed state and move easily.

[0043] The specific number of the first advance support 3 can be set according to actual needs. For example, two first advance supports 3 can be set, and the two first advance supports 3 are symmetrically distributed on both sides of the transfer machine 2.

[0044] The second advanced support 4 is used for advanced support. The second advanced support 4 includes a base, a top beam, and a second column 22. The second column 22 is set between the base and the top beam. The second column 22 extends so that the top beam rests against the top plate, thereby fixing the second advanced support 4 and supporting the top plate. The second column 22 retracts so that the top beam moves away from the top plate, thereby allowing the second advanced support 4 to be removed from the fixed state and move easily.

[0045] The specific number of the second advance support 4 can be set according to actual needs. For example, two second advance supports 4 can be set, and the two second advance supports 4 are symmetrically distributed on both sides of the transfer machine 2.

[0046] The fourth hydraulic cylinder 9 is located between the base of the first advance support 3 and the base of the second advance support 4, and a telescopic beam is hinged between the top beam of the first advance support 3 and the top beam of the second advance support 4 to ensure stable relative movement between the first advance support 3 and the second advance support 4.

[0047] The self-propelled tail section 5 includes a frame, a trolley, and multiple outriggers. The trolley is slidably mounted on the frame. The transfer machine 2 is connected to the trolley. A third hydraulic cylinder 8 is located between the trolley and the frame. The multiple outriggers are distributed around the bottom of the frame. When the outriggers extend, the frame is lifted off the ground, which facilitates the passive extension of the third hydraulic cylinder 8. When the outriggers retract, the frame is placed against the ground. Thus, when the third hydraulic cylinder 8 retracts, it can drive the frame to move relative to the trolley, thereby enabling the self-propelled tail section 5 to move with the transfer machine 2.

[0048] The self-propelled tail section 5 can also be equipped with an adjustment device. The adjustment device is used to adjust the position of the self-propelled tail section 5 in the transverse direction of the transport roadway. The specific type of adjustment device can be set according to actual needs and there are no restrictions on it.

[0049] The specific type of control device can be set according to actual needs. For example, the control device can be a controller, control board, etc.

[0050] The specific types of the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9 can be set according to actual needs. For example, the strokes of the first hydraulic cylinder 6, the second hydraulic cylinder 7, and the fourth hydraulic cylinder 9 are the same, and the stroke of the third hydraulic cylinder 8 is three times that of the first hydraulic cylinder 6. During displacement, the extension and retraction distances of the second hydraulic cylinder 7 and the fourth hydraulic cylinder 9 should be greater than the extension and retraction distance of the first hydraulic cylinder 6, and one-third of the extension and retraction distance of the third hydraulic cylinder 8 should be greater than the extension and retraction distance of the first hydraulic cylinder 6. Furthermore, after each of the first hydraulic cylinder 6, the second hydraulic cylinder 7, and the fourth hydraulic cylinder 9 retracts twice, the third hydraulic cylinder 8 retracts sequentially along with the first hydraulic cylinder 6, the second hydraulic cylinder 7, and the fourth hydraulic cylinder 9.

[0051] like Figure 3 As shown, in some embodiments, the control system further includes a liquid tank 10, a first check valve 11, a second check valve 12, and a third check valve 13. The inlet end of the first check valve 11 is connected to the outlet end of the liquid tank 10, and the outlet end of the first check valve 11 is connected to the plug cavity of the second hydraulic cylinder 7. The inlet end of the second check valve 12 is connected to the outlet end of the liquid tank 10, and the outlet end of the second check valve 12 is connected to the plug cavity of the third hydraulic cylinder 8. The inlet end of the third check valve 13 is connected to the outlet end of the liquid tank 10, and the outlet end of the third check valve 13 is connected to the plug cavity of the fourth hydraulic cylinder 9.

[0052] It is understandable that when the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9 are passively extended, negative pressure will be generated in the plug chambers of the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9. If the oil is not replenished in time, it is easy to cause damage to the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9, as well as the incomplete movement of the first advanced support 3, the self-moving tail 5, and the second advanced support 4. This makes it impossible for the movement of the self-moving tail 5, the first advanced support 3, and the second advanced support 4 to automatically adapt to the advancement of the coal mining face. Therefore, by setting the first one-way valve 11, the second one-way valve 12, and the third one-way valve 13, when negative pressure is generated in the plug chambers of the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9, the oil in the oil tank 10 can be replenished to the plug chambers of the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9 in time, avoiding damage to the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9, and ensuring that the movement of the first advanced support 3, the self-moving tail 5, and the second advanced support 4 is accurate and in place.

[0053] It should be noted that the specific type of liquid tank 10 can be set according to actual needs, and there are no restrictions on it.

[0054] The specific types of the first check valve 11, the second check valve 12, and the third check valve 13 can be set according to actual needs, and there are no restrictions on this.

[0055] like Figure 3 As shown, in some embodiments, the control system further includes a first filter 14, a second filter 15, and a third filter 16. The first filter 14 is disposed on the pipeline connecting the inlet end of the first check valve 11 and the outlet end of the liquid tank 10. The second filter 15 is disposed on the pipeline connecting the inlet end of the second check valve 12 and the outlet end of the liquid tank 10. The third filter 16 is disposed on the pipeline connecting the inlet end of the third check valve 13 and the outlet end of the liquid tank 10.

[0056] It is understandable that by setting up the first filter 14, the second filter 15 and the third filter 16, large particulate impurities in the oil can be filtered out, ensuring the stable operation of the second hydraulic cylinder 7, the third hydraulic cylinder 8 and the fourth hydraulic cylinder 9.

[0057] It should be noted that the specific types of the first filter 14, the second filter 15, and the third filter 16 can be set according to actual needs, and there are no restrictions on this.

[0058] like Figure 3 and Figure 4 As shown, in some embodiments, the control system further includes a first three-position four-way valve 17, a second three-position four-way valve 18, a third three-position four-way valve 19, and a fourth three-position four-way valve 20. The first end of the first three-position four-way valve 17 is connected to the outlet end of the liquid tank 10, the second end of the first three-position four-way valve 17 is connected to the inlet end of the liquid tank 10, the third end of the first three-position four-way valve 17 is connected to the rod chamber of the first hydraulic cylinder 6, the fourth end of the first three-position four-way valve 17 is connected to the plug chamber of the first hydraulic cylinder 6, and the signal output end of the control device is connected to the signal input end of the first three-position four-way valve 17.

[0059] The first end of the second three-position four-way valve 18 is connected to the outlet end of the liquid tank 10, the second end of the second three-position four-way valve 18 is connected to the inlet end of the liquid tank 10, the third end of the second three-position four-way valve 18 is connected to the rod chamber of the second hydraulic cylinder 7, the fourth end of the second three-position four-way valve 18 is connected to the plug chamber of the second hydraulic cylinder 7, and the signal output end of the control device is connected to the signal input end of the second three-position four-way valve 18.

[0060] The first end of the third three-position four-way valve 19 is connected to the outlet end of the liquid tank 10, the second end of the third three-position four-way valve 19 is connected to the inlet end of the liquid tank 10, the third end of the third three-position four-way valve 19 is connected to the rod chamber of the second hydraulic cylinder 7, the fourth end of the third three-position four-way valve 19 is connected to the plug chamber of the second hydraulic cylinder 7, and the signal output end of the control device is connected to the signal input end of the third three-position four-way valve 19.

[0061] The first end of the fourth three-position four-way valve 20 is connected to the outlet end of the liquid tank 10, the second end of the fourth three-position four-way valve 20 is connected to the inlet end of the liquid tank 10, the third end of the fourth three-position four-way valve 20 is connected to the rod chamber of the second hydraulic cylinder 7, the fourth end of the fourth three-position four-way valve 20 is connected to the plug chamber of the second hydraulic cylinder 7, and the signal output end of the control device is connected to the signal input end of the fourth three-position four-way valve 20.

[0062] It is understandable that by controlling the switching of the first three-position four-way valve 17, the second three-position four-way valve 18, the third three-position four-way valve 19, and the fourth three-position four-way valve 20 through the control device, the oil inlet and outlet directions of the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9 are changed, thereby realizing the extension and retraction control of the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9.

[0063] It should be noted that the specific types of the first three-position four-way valve 17, the second three-position four-way valve 18, the third three-position four-way valve 19, and the fourth three-position four-way valve 20 can be set according to actual needs, and there are no restrictions on this.

[0064] The control system may also include a hydraulic pump, a switching valve, and a check valve. The hydraulic pump is located at the outlet of the hydraulic tank 10 to ensure the circulation of oil in components such as the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9. The switching valve is located at the outlet of the hydraulic tank 10 to control the flow of oil between the hydraulic tank 10 and components such as the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, and the fourth hydraulic cylinder 9. The check valve is located at the inlet of the hydraulic tank 10 to prevent the reverse flow of oil.

[0065] like Figure 1 As shown, in some embodiments, the first advanced support 3 includes a first column 21. Before the control device controls the second hydraulic cylinder 7 to retract, it controls the first column 21 to retract. After the control device controls the second hydraulic cylinder 7 to retract, it controls the first column 21 to extend. The first advanced support 3 includes a second column 22. Before the control device controls the fourth hydraulic cylinder 9 to retract, it controls the second column 22 to retract. After the control device controls the fourth hydraulic cylinder 9 to retract, it controls the second column 22 to extend.

[0066] Understandably, the retraction of the first column 21 disengages the first advance support 3 from its fixed state, thereby facilitating the retraction of the second hydraulic cylinder 7 and the movement of the first advance support 3. Similarly, the retraction of the second column 22 disengages the second advance support 4 from its fixed state, thereby facilitating the retraction of the fourth hydraulic cylinder 9 and the movement of the second advance support 4.

[0067] like Figure 3 and Figure 4 As shown, in some embodiments, the control system further includes a fifth three-position four-way valve 23 and a sixth three-position four-way valve 24. The first end of the fifth three-position four-way valve 23 is connected to the outlet end of the liquid tank 10, the second end of the fifth three-position four-way valve 23 is connected to the inlet end of the liquid tank 10, the third end of the fifth three-position four-way valve 23 is connected to the rod cavity of the first column 21, the fourth end of the fifth three-position four-way valve 23 is connected to the plug cavity of the first column 21, and the signal output terminal of the control device is connected to the signal input terminal of the fifth three-position four-way valve 23. The first end of the sixth three-position four-way valve 24 is connected to the outlet end of the liquid tank 10, the second end of the sixth three-position four-way valve 24 is connected to the inlet end of the liquid tank 10, the third end of the sixth three-position four-way valve 24 is connected to the rod cavity of the second column 22, the fourth end of the sixth three-position four-way valve 24 is connected to the plug cavity of the second column 22, and the signal output terminal of the control device is connected to the signal input terminal of the sixth three-position four-way valve 24.

[0068] It is understandable that by controlling the switching of the fifth three-position four-way valve 23 and the sixth three-position four-way valve 24 through the control device, the oil inlet and outlet directions of the first column 21 and the second column 22 are changed, thereby realizing the extension and retraction control of the first column 21 and the second column 22.

[0069] It should be noted that the specific types of the fifth and third position four-way valve 23 and the sixth and third position four-way valve 24 can be set according to actual needs, and there are no restrictions on this.

[0070] The control system may also include a seventh three-position four-way valve and an eighth three-position four-way valve. The seventh three-position four-way valve is used to control the extension and retraction of the third column of the end support 1, and the eighth three-position four-way valve is used to control the extension and retraction of the legs of the self-moving tail 5.

[0071] like Figure 1 and Figure 4As shown, in some embodiments, the control system further includes a first pressure sensor 25, a second pressure sensor 26, a first height sensor 27, and a second height sensor 28. The detection end of the first pressure sensor 25 is disposed in the cavity of the first column 21, and the signal output end of the first pressure sensor 25 is connected to the signal input end of the control device. The detection end of the second pressure sensor 26 is disposed in the cavity of the second column 22, and the signal output end of the second pressure sensor 26 is connected to the signal input end of the control device. The detection end of the first height sensor 27 is disposed on the top beam of the first advance support 3, and the signal output end of the first height sensor 27 is connected to the signal input end of the control device. The detection end of the second height sensor 28 is disposed on the top beam of the second advance support 4, and the signal output end of the second height sensor 28 is connected to the signal input end of the control device.

[0072] Specifically, when the pressure detected by the first pressure sensor 25 is less than the first pressure threshold and the height detected by the first height sensor 27 is less than the first height threshold, the control device controls the second hydraulic cylinder 7 to retract. When the pressure detected by the first pressure sensor 25 is greater than the second pressure threshold and the height detected by the first height sensor 27 is greater than the second height threshold, the control device controls the fourth hydraulic cylinder 9 to retract. When the pressure detected by the second pressure sensor 26 is less than the first pressure threshold and the height detected by the second height sensor 28 is less than the first height threshold, the control device controls the fourth hydraulic cylinder 9 to retract. When the pressure detected by the second pressure sensor 26 is greater than the second pressure threshold and the height detected by the second height sensor 28 is greater than the second height threshold, the control device controls the first hydraulic cylinder 6 to retract.

[0073] Understandably, through the cooperation of the first pressure sensor 25 and the first height sensor 27, the control device can promptly acquire the status of the top beam of the first advanced support 3 and control the first column 21 accordingly, ensuring that the top beam of the first advanced support 3 is fully anchored to or completely away from the top plate. Similarly, through the cooperation of the second pressure sensor 26 and the second height sensor 28, the control device can promptly acquire the status of the top beam of the second advanced support 4 and control the second column 22 accordingly, ensuring that the top beam of the second advanced support 4 is fully anchored to or completely away from the top plate. This ensures stable and precise movement of the first advanced support 3 and the second advanced support 4.

[0074] It should be noted that the first pressure threshold, the second pressure threshold, the first height threshold, and the second height threshold are stored in the control device. The first pressure threshold is less than the second pressure threshold, and the first height threshold is less than the second height threshold. The specific values ​​of the first pressure threshold, the second pressure threshold, the first height threshold, and the second height threshold can be set according to actual needs, and there are no restrictions on them.

[0075] The specific types of the first pressure sensor 25, the second pressure sensor 26, the first height sensor 27, and the second height sensor 28 can be set according to actual needs, and there are no restrictions on this.

[0076] The control system may also include a third pressure sensor and a third height sensor, so that the control device can obtain the status of the top beam of the end support 1 in a timely manner, ensuring the stable and precise movement of the end support 1.

[0077] like Figure 1 and Figure 4 As shown, in some embodiments, the control system further includes a first tilt sensor 29 and a second tilt sensor 30. The detection end of the first tilt sensor 29 is disposed on the first advance bracket 3, and the signal output end of the first tilt sensor 29 is connected to the signal input end of the control device. The detection end of the second tilt sensor 30 is disposed on the second advance bracket 4, and the signal output end of the second tilt sensor 30 is connected to the signal input end of the control device.

[0078] When the tilt angle detected by the first tilt sensor 29 is less than the tilt angle threshold, the control device controls the first column 21 to retract. When the tilt angle detected by the second tilt sensor 30 is less than the tilt angle threshold, the control device controls the second column 22 to retract.

[0079] Understandably, the first tilt sensor 29 enables the control device to promptly acquire the tilt angle of the first advance support 3 and control the first column 21 accordingly. Similarly, the second tilt sensor 30 enables the control device to promptly acquire the tilt angle of the second advance support 4 and control the second column 22 accordingly. This ensures stable and precise movement of both the first and second advance supports 3 and 4.

[0080] It should be noted that the tilt angle threshold is stored in the control device, and the specific value of the tilt angle threshold can be set according to actual needs, without any restrictions.

[0081] The specific types of the first tilt sensor 29 and the second tilt sensor 30 can be set according to actual needs, and there are no restrictions on this.

[0082] The control system may also include a third tilt sensor to enable the control device to acquire the tilt angle of the end bracket 1 in a timely manner, so as to ensure the stable and precise movement of the end bracket 1.

[0083] like Figure 1 , Figure 2 and Figure 4As shown, in some embodiments, the control system further includes a first smart camera 31, a second smart camera 32, and multiple ranging sensors 33. The camera end of the first smart camera 31 is mounted on the first forward support 3, and the signal output end of the first smart camera 31 is connected to the signal input end of the control device. The camera end of the second smart camera 32 is mounted on the second forward support 4, and the signal output end of the second smart camera 32 is connected to the signal input end of the control device. The detection end of the ranging sensor 33 is mounted on the self-moving tail 5, and the signal output end of the ranging sensor 33 is connected to the signal input end of the control device.

[0084] When the electronic fence established by the first intelligent camera 31 is free of obstacles, the control device controls the first column 21 to retract. When the electronic fence established by the second intelligent camera 32 is free of obstacles, the control device controls the second column 22 to retract. When the distance detected by the ranging sensor 33 is greater than the distance threshold, the control device controls the third hydraulic cylinder 8 to retract.

[0085] It is understandable that an electronic fence is established by the first smart camera 31 and the second smart camera 32 so that the control device can obtain the status near the first advanced support 3 and the second advanced support 4 in a timely manner and control the first column 21 and the second column 22 according to the status near the first advanced support 3 and the second advanced support 4, so as to avoid the first advanced support 3 and the second advanced support 4 from colliding with the workers or other objects when they move, and ensure the stable and accurate movement of the first advanced support 3 and the second advanced support 4.

[0086] By setting up multiple ranging sensors 33, the control device can obtain the status near the self-propelled tail 5 in a timely manner and control the third hydraulic cylinder 8 according to the status near the self-propelled tail 5, so as to avoid the self-propelled tail 5 from colliding with the operator or other objects when it moves, and ensure the stable and accurate movement of the first leading support 3 and the second leading support 4.

[0087] It should be noted that the obstacle recognition models of the first smart camera 31 and the second smart camera 32 are stored in the control device. The specific types of the first smart camera 31 and the second smart camera 32 can be set according to actual needs, and there are no restrictions on this.

[0088] The distance threshold is stored in the control device, and the specific value of the distance threshold can be set according to actual needs without restriction.

[0089] The specific type of the ranging sensor 33 can be set according to actual needs, and there are no restrictions on it.

[0090] The control system may also include a third smart camera to enable the control device to acquire the status near the end bracket 1 in a timely manner, ensuring that the end bracket 1 moves stably and accurately.

[0091] like Figure 4 As shown, in some embodiments, the control system further includes multiple displacement sensors 34, the detection ends of which are respectively disposed in the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, the fourth hydraulic cylinder 9, the first column 21, and the second column 22. The signal output end of the displacement sensor 34 is connected to the signal input end of the control device.

[0092] Understandably, by setting up multiple displacement sensors 34, the control device can obtain the extension and retraction status of the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, the fourth hydraulic cylinder 9, the first column 21, and the second column 22 in a timely manner, so as to ensure the control device's precise control over the end support 1, the transfer machine 2, the first advance support 3, the second advance support 4, and the self-moving tail 5.

[0093] It should be noted that the control device stores displacement thresholds corresponding to the first hydraulic cylinder 6, the second hydraulic cylinder 7, the third hydraulic cylinder 8, the fourth hydraulic cylinder 9, the first column 21, and the second column 22. The specific values ​​of each displacement threshold can be set according to actual needs, and there are no restrictions on them.

[0094] The specific type of displacement sensor 34 can be set according to actual needs, and there are no restrictions on it.

[0095] Displacement sensors 34 can also be installed in the third column of the end support 1 and the legs of the self-moving tail 5 to ensure that the control device can accurately control the end support 1 and the self-moving tail 5.

[0096] In the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0097] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0099] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A multi-machine collaborative control system for a transport roadway, characterized in that, include: The system comprises a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a fourth hydraulic cylinder, and a control device. The first hydraulic cylinder is disposed between the end support and the transfer machine. The second hydraulic cylinder is disposed between the transfer machine and the first leading support. The third hydraulic cylinder is disposed between the transfer machine and the tail of the self-moving machine. The fourth hydraulic cylinder is disposed between the first leading support and the second leading support. The control device is used to respond to the advancement of the coal mining face by controlling the extension of the first hydraulic cylinder to move the transfer machine away from the end support, and to extend the second and third hydraulic cylinders. Control the retraction of the second and third hydraulic cylinders to cause the first advance support and the self-moving machine to follow the transfer machine in a direction away from the end support, and cause the fourth hydraulic cylinder to extend; Control the fourth hydraulic cylinder to retract so that the second advance bracket moves with the first advance bracket in a direction away from the end bracket; Control the first hydraulic cylinder to retract, so that the end bracket moves in a direction closer to the transfer machine; The control system further includes: a liquid tank, a first check valve, a second check valve, and a third check valve. The inlet of the first check valve is connected to the outlet of the liquid tank, the outlet of the first check valve is connected to the plug chamber of the second hydraulic cylinder, the inlet of the second check valve is connected to the outlet of the liquid tank, the outlet of the second check valve is connected to the plug chamber of the third hydraulic cylinder, the inlet of the third check valve is connected to the outlet of the liquid tank, and the outlet of the third check valve is connected to the plug chamber of the fourth hydraulic cylinder. The first advanced support includes: a first column, which is retracted before the control device controls the second hydraulic cylinder to retract, and extended after the control device controls the second hydraulic cylinder to retract; the first advanced support includes: a second column, which is retracted before the control device controls the fourth hydraulic cylinder to retract, and extended after the control device controls the fourth hydraulic cylinder to retract. The control system further includes: a first pressure sensor, a second pressure sensor, a first height sensor, and a second height sensor. The detection end of the first pressure sensor is disposed within the cavity of the first column, and its signal output end is connected to the signal input end of the control device. The detection end of the second pressure sensor is disposed within the cavity of the second column, and its signal output end is connected to the signal input end of the control device. The detection end of the first height sensor is disposed on the top beam of the first advance support, and its signal output end is connected to the signal input end of the control device. The detection end of the second height sensor is disposed on the top beam of the second advance support, and its signal output end is connected to the signal input end of the control device. The terminals are connected; wherein, when the pressure detected by the first pressure sensor is less than a first pressure threshold and the height detected by the first height sensor is less than a first height threshold, the control device controls the second hydraulic cylinder to retract; when the pressure detected by the first pressure sensor is greater than a second pressure threshold and the height detected by the first height sensor is greater than a second height threshold, the control device controls the fourth hydraulic cylinder to retract; when the pressure detected by the second pressure sensor is less than the first pressure threshold and the height detected by the second height sensor is less than the first height threshold, the control device controls the fourth hydraulic cylinder to retract; when the pressure detected by the second pressure sensor is greater than the second pressure threshold and the height detected by the second height sensor is greater than the second height threshold, the control device controls the first hydraulic cylinder to retract. The control system further includes: a first intelligent camera, a second intelligent camera, and multiple ranging sensors. The camera end of the first intelligent camera is mounted on the first forward support, and the signal output end of the first intelligent camera is connected to the signal input end of the control device. The camera end of the second intelligent camera is mounted on the second forward support, and the signal output end of the second intelligent camera is connected to the signal input end of the control device. The detection end of the ranging sensors is mounted on the self-moving tail, and the signal output end of the ranging sensors is connected to the signal input end of the control device. Wherein, after the electronic fence established by the first intelligent camera is free of obstacles, the control device controls the first column to retract; after the electronic fence established by the second intelligent camera is free of obstacles, the control device controls the second column to retract; after the distance detected by the ranging sensors is greater than a distance threshold, the control device controls the third hydraulic cylinder to retract. The first, second, and fourth hydraulic cylinders have the same stroke, and the stroke of the third hydraulic cylinder is three times that of the first hydraulic cylinder. During displacement, the extension and retraction distances of the second and fourth hydraulic cylinders are greater than that of the first hydraulic cylinder, and one-third of the extension and retraction distance of the third hydraulic cylinder is greater than that of the first hydraulic cylinder. After the first, second, and fourth hydraulic cylinders retract twice, the third hydraulic cylinder retracts sequentially along with the first, second, and fourth hydraulic cylinders.

2. The multi-machine collaborative control system for the transport roadway according to claim 1, characterized in that, The control system further includes: The first filter is installed on the pipeline between the inlet end of the first one-way valve and the outlet end of the liquid tank. The second filter is installed on the pipeline between the inlet end of the second one-way valve and the outlet end of the liquid tank. The third filter is installed on the pipeline connecting the inlet end of the third check valve and the outlet end of the liquid tank.

3. The multi-machine collaborative control system for the transport roadway according to claim 1, characterized in that, The control system further includes: The first three-position four-way valve has its first end connected to the outlet end of the liquid tank, its second end connected to the inlet end of the liquid tank, its third end connected to the rod chamber of the first hydraulic cylinder, its fourth end connected to the plug chamber of the first hydraulic cylinder, and the signal output end of the control device connected to the signal input end of the first three-position four-way valve. The second three-position four-way valve has its first end connected to the outlet end of the liquid tank, its second end connected to the inlet end of the liquid tank, its third end connected to the rod chamber of the second hydraulic cylinder, its fourth end connected to the plug chamber of the second hydraulic cylinder, and the signal output end of the control device connected to the signal input end of the second three-position four-way valve. The third three-position four-way valve has its first end connected to the outlet end of the liquid tank, its second end connected to the inlet end of the liquid tank, its third end connected to the rod chamber of the second hydraulic cylinder, its fourth end connected to the plug chamber of the second hydraulic cylinder, and the signal output end of the control device connected to the signal input end of the third three-position four-way valve. The fourth three-position four-way valve has its first end connected to the outlet end of the liquid tank, its second end connected to the inlet end of the liquid tank, its third end connected to the rod chamber of the second hydraulic cylinder, and its fourth end connected to the plug chamber of the second hydraulic cylinder. The signal output end of the control device is connected to the signal input end of the fourth three-position four-way valve.

4. The multi-machine collaborative control system for the transport roadway according to claim 1, characterized in that, The control system further includes: The fifth three-position four-way valve has its first end connected to the outlet end of the liquid tank, its second end connected to the inlet end of the liquid tank, its third end connected to the rod cavity of the first column, and its fourth end connected to the plug cavity of the first column. The signal output end of the control device is connected to the signal input end of the fifth three-position four-way valve. The sixth three-position four-way valve has its first end connected to the outlet end of the liquid tank, its second end connected to the inlet end of the liquid tank, its third end connected to the rod cavity of the second column, and its fourth end connected to the plug cavity of the second column. The signal output end of the control device is connected to the signal input end of the sixth three-position four-way valve.

5. The multi-machine collaborative control system for the transport roadway according to claim 1, characterized in that, The control system further includes: The first tilt sensor has its detection end mounted on the first advance bracket, and its signal output end is connected to the signal input end of the control device. The second tilt sensor has its detection end mounted on the second advance bracket, and its signal output end is connected to the signal input end of the control device. Wherein, after the tilt angle detected by the first tilt angle sensor is less than the tilt angle threshold, the control device controls the first column to retract; When the tilt angle detected by the second tilt sensor is less than the tilt angle threshold, the control device controls the second column to retract.

6. The multi-machine collaborative control system for the transport roadway according to claim 1, characterized in that, The control system further includes: Multiple displacement sensors are provided, with their detection ends respectively disposed inside the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, the first column, and the second column. The signal output end of each displacement sensor is connected to the signal input end of the control device.

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