Coal quantity monitoring of scraper conveyor and linkage control device and method for scraper conveyor and coal mining machine

Abstract

This invention discloses a coal quantity monitoring device and method for a scraper conveyor and a linkage control device and method for the scraper conveyor and coal mining machine. The control device includes a coal mining machine, a scraper conveyor, a dual-axis translational and rotating mechanism, a hydraulic support, and a comprehensive data acquisition and control system. The control method includes a real-time coal quantity monitoring method for the scraper conveyor and a start-stop linkage control method for the scraper conveyor and the coal mining machine, a soft-start method for the scraper conveyor, and a start-stop control method for unexpected chain jamming or breakage. This invention combines mechanical structure with an electrical control system. The comprehensive data acquisition and control system adjusts the speed regulation mode and control logic of the coal mining machine and the scraper conveyor based on real-time coal quantity information on the scraper conveyor, minimizing the failure rate of the scraper conveyor and reducing unexpected downtime. Furthermore, this invention has the advantages of fast response speed and good linkage performance, greatly improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, specifically to a scraper conveyor coal quantity monitoring device and method, and a linkage control device and method for scraper conveyors and coal mining machines. Background Technology

[0002] In existing technologies, because scraper conveyors cannot be equipped with weighing sensors, the instantaneous coal quantity can only be roughly calculated based on the shape and size of the discharge port. Due to the uneven particle size of the coal and the blockage caused by foreign objects such as stones mixed in the coal, the coal seam of the scraper conveyor often changes, resulting in uneven instantaneous coal quantity and coal quantity at the discharge port. Therefore, the accuracy of the coal quantity estimated based on this is very large. Furthermore, due to improper operation of the coal mining machine, the load on the scraper conveyor changes drastically, or even overloads, leading to chain jamming and breakage, reducing production efficiency and increasing the labor intensity of workers. Summary of the Invention

[0003] The technical problem this invention aims to solve is to address the shortcomings of the existing technology by providing a scraper conveyor coal quantity monitoring and linkage control device and method for the scraper conveyor and coal mining machine. This improves upon existing coal mining machine operation issues that lead to uneven instantaneous coal quantity and uneven coal quantity at the discharge port, resulting in low accuracy in coal quantity estimation and consequently, chain jamming and breakage of the scraper conveyor. The integrated data acquisition and control center of this invention can adjust the control logic of the coal mining machine and scraper conveyor in real time according to the coal quantity, preventing unexpected shutdowns of both the scraper conveyor and the coal mining machine, improving coal mining efficiency, and reducing production costs.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A scraper conveyor coal quantity monitoring and scraper conveyor and coal mining machine linkage control device includes a coal mining machine, a scraper conveyor, a dual-axis translation and rotation mechanism, a hydraulic support and a comprehensive data acquisition and control system.

[0006] The coal mining machine is mounted on a scraper conveyor, which provides traction and guidance for the coal mining machine.

[0007] The hydraulic supports are arranged sequentially in the forward direction of the scraper conveyor, and the hydraulic supports are hinged to the scraper conveyor. The hydraulic supports are used to support the coal mining face. The hydraulic support located at the end of the scraper conveyor in the forward direction is the end support, and a dual-axis translation and rotation mechanism is fixed on the end support.

[0008] The dual-axis translational and rotational mechanism includes a propulsion motor, a mounting plate, a slide rail, a slide block, a mounting plate, a rotary motor, a slide rail, a propulsion motor, a lidar mounting base, and a lidar.

[0009] The dual-axis translational and rotating mechanism is bolted to the end bracket via mounting plate one and mounting plate two. A slide rail is provided between mounting plate one and mounting plate two, and rolling bearings are installed inside mounting plate one and mounting plate two.

[0010] The propulsion motor 1 and the rotary motor are fixed on the outside of the mounting plate 1 and the mounting plate 2, respectively; the slide rail 1 has rotating shafts on both sides and is connected to the propulsion motor 1 and the rotary motor through the bearings inside the mounting plate 1 and the mounting plate 2; the slide block is connected to the slide rail by a lead screw.

[0011] The second slide rail is fixed to the bottom of the slide block; the second propulsion motor is fixed to the end of the second slide rail, and its motor shaft is connected to the lead screw of the second slide rail through a coupling.

[0012] The lidar mounting base is connected to the lead screw of the slide rail two, and a lidar is installed on the lidar mounting base. The lidar is electrically connected to the integrated data acquisition and control system.

[0013] As a further preferred embodiment of the present invention, the integrated data acquisition and control system includes an explosion-proof and intrinsically safe controller, an integrated data acquisition control console, a start button, a stop button, and a touch screen display.

[0014] The integrated data acquisition control console is electrically connected to the lidar; the explosion-proof and intrinsically safe controller is installed inside the integrated data acquisition control console; the touch screen, start button, and stop button are installed on the integrated data acquisition control console.

[0015] The method for real-time monitoring of coal quantity in scraper conveyors and the linkage control of scraper conveyors and coal mining machines includes the following steps:

[0016] Step 1: Real-time coal quantity monitoring: The lidar located on the end support is positioned by the propulsion motor 1 and propulsion motor 2 of the dual-axis translation mechanism so that the lidar is located at the center of the scraper conveyor; the lidar is then adjusted so that it is parallel to the scraper conveyor.

[0017] Step 2: Start-up of scraper conveyor and coal mining machine: Turn on the lidar to scan the coal on the scraper conveyor. The lidar feeds back the coal quantity data to the integrated data acquisition and control system. The integrated data acquisition and control system calculates and starts the coal mining machine and scraper conveyor in sequence according to the coal quantity and the preset time interval.

[0018] Step 3: Stop the scraper conveyor and coal mining machine: The coal mining machine stops running first. The integrated data acquisition and control system stops running after the amount of coal fed by the scraper conveyor reaches zero, based on the coal quantity data fed back by the lidar.

[0019] As a further preferred embodiment of the present invention, in step 2, the logic for starting the coal mining machine and the scraper conveyor is as follows: the real-time coal quantity on the scraper conveyor is monitored by laser radar. When the real-time coal quantity is greater than or equal to 1 / 4 of the full load coal quantity of the scraper conveyor, it indicates that the buffer coal quantity of the scraper conveyor is large. At this time, the scraper conveyor should be started first, and the coal quantity on the scraper conveyor should be monitored in real time. When the coal quantity on the scraper conveyor is less than 1 / 4 of the full load coal quantity, the coal mining machine is started.

[0020] As a further preferred embodiment of the present invention, it also includes a soft start method for a scraper conveyor, specifically including an unloaded start method and a full-load start method.

[0021] No-load start:

[0022] When starting under no-load conditions, the scraper conveyor should run under no-load conditions for a period of time until it is completely normal before starting the coal mining machine; during operation, attention should be paid to the uniformity and continuity of coal cutting by the coal mining machine.

[0023] Full load start-up:

[0024] Step 1: When starting under full load, the operator needs to use the frequency conversion system of the scraper conveyor to limit the current of the scraper conveyor to always be less than the rated current, so that the scraper conveyor can reach the corresponding torque during slow operation, so as to eliminate the transmission gap between the anchor chains.

[0025] Step 2: The operator gradually increases the voltage and current. When the amount of coal buffered by the scraper conveyor is large, the torque output accuracy of the motor will reach its optimal state.

[0026] As a further preferred embodiment of the present invention, a start-stop control method is also included for unexpected operating conditions such as chain jamming or chain breakage:

[0027] Unless there are special circumstances, the machine should not be stopped under load. The scraper conveyor should be completely emptied of material before stopping.

[0028] The automatic chain tensioning system of the scraper conveyor can monitor and obtain the current operating status of the tube sheet conveyor. When the scraper conveyor experiences chain jamming or chain breakage, it will immediately stop the scraper conveyor and the coal mining machine. After the scraper conveyor is repaired, it will be restarted by starting it under full load.

[0029] The present invention has the following beneficial effects:

[0030] 1. This invention employs a combination of mechanical structure and electrical control system. The integrated data acquisition and control system adjusts the speed regulation mode and control logic of the coal mining machine and the scraper conveyor based on real-time coal quantity information from the scraper conveyor, minimizing the failure rate of the scraper conveyor and reducing unexpected downtime. The linkage method between the scraper conveyor and the coal mining machine in this invention has the advantages of fast response speed and good linkage performance, greatly improving production efficiency.

[0031] 2. This invention uses lidar to perform real-time and accurate two-dimensional scanning of moving coal and calculates the instantaneous flow rate. The result is output to the control system via communication or analog signals, enabling dynamic adjustment of the scraper conveyor speed based on the coal quantity and dynamic feedback to the integrated data acquisition and control console to achieve the linkage function of starting and stopping the scraper conveyor and the coal mining machine. This solves the problem that traditional material flow detectors can only detect one point of material flow and cannot detect the two-dimensional contour of the material on the belt conveyor, resulting in measurement errors and poor practical application effects. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the real-time coal quantity monitoring method of the present invention.

[0033] Figure 2 This is a schematic diagram of the end bracket structure of the present invention.

[0034] Figure 3 This is a schematic diagram of the dual-axis translation and rotation mechanism of the present invention.

[0035] Figure 4 This is a schematic diagram of the integrated data acquisition and control system for the start-stop linkage of the scraper conveyor and the coal mining machine, and the soft start of the scraper conveyor, according to the present invention.

[0036] Figure 5 This is a hardware connection diagram of the integrated data acquisition and control system of the present invention.

[0037] The components include: 1. Coal mining machine; 2. Scraper conveyor; 3. Dual-axis translational and rotating mechanism; 301. Propulsion motor one; 302. Mounting plate one; 303. Slide rail one; 304. Slide seat; 305. Mounting plate two; 306. Rotary motor; 307. Slide rail two; 308. Propulsion motor two; 309. LiDAR; 310. LiDAR mounting base; 4. Hydraulic support; 401. End support; 5. Integrated data acquisition and control system; 501. Explosion-proof and intrinsically safe controller; 502. Start button; 503. Stop button; 504. Operation touch screen; 505. Integrated data acquisition and control console. Detailed Implementation

[0038] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0040] like Figure 1 and Figure 2 As shown, a scraper conveyor coal quantity monitoring and scraper conveyor and coal mining machine linkage control device includes a coal mining machine 1, a scraper conveyor 2, a dual-axis translation and rotation mechanism 3, a hydraulic support 4, and a comprehensive data acquisition and control system 5.

[0041] The coal mining machine 1 is mounted on the scraper conveyor 2, which provides traction and guidance for the coal mining machine 1.

[0042] The hydraulic supports 4 are arranged sequentially in the forward direction of the scraper conveyor 2, and the hydraulic supports 4 are hinged to the scraper conveyor 2. The hydraulic supports 4 are used to support the coal mining face. The hydraulic support 4 located at the end of the scraper conveyor 2 in the forward direction is the end support 401. A double-axis translation and rotation mechanism 3 is fixed on the end support 401.

[0043] like Figure 3 As shown, the dual-axis translational and rotational mechanism 3 includes a propulsion motor 301, a mounting plate 302, a slide rail 303, a slide block 304, a mounting plate 305, a rotary motor 306, a slide rail 307, a propulsion motor 308, a lidar mounting base 309, and a lidar 310.

[0044] The dual-axis translation and rotation mechanism 3 is bolted to the end bracket 401 via mounting plate 1 302 and mounting plate 2 305. The dual-axis translation and rotation mechanism 3 is mounted upside down on the front beam at the top of the end bracket 401.

[0045] A slide rail 303 is provided between mounting plate 1 (302) and mounting plate 2 (305), and rolling bearings are installed inside mounting plate 1 (302) and mounting plate 2 (305). A propulsion motor 301 and a rotary motor 306 are respectively fixed to the outer sides of mounting plate 1 (302) and mounting plate 2 (305). Rotating shafts are mounted on both sides of slide rail 1 (303) and connected to propulsion motor 1 (301) and rotary motor 306 via bearings inside mounting plate 1 (302) and mounting plate 2 (305). A slide block 304 is connected to a lead screw of slide rail 1 (303). Rotation of propulsion motor 1 (301) or rotary motor 306 drives the lead screw of slide rail 1 (303) to rotate, thereby causing slide block 304 to slide on slide rail 1 (303), adjusting the position of slide block 304.

[0046] The second slide rail 307 is fixed to the bottom of the slide block 304; the second propulsion motor 308 is fixed to the end of the second slide rail 307, and its motor shaft is connected to the lead screw of the second slide rail 307 through a coupling. The lidar mounting base 309 is connected to the lead screw of the second slide rail 307, and the lidar 310 is mounted on the lidar mounting base 309. The lidar 310 is electrically connected to the integrated data acquisition and control system 5.

[0047] The second motor 308 rotates, which drives the lead screw of the second slide rail 307 to rotate, thereby causing the lidar mounting base 309 to slide on the second slide rail 307.

[0048] Slide rail 2 307 is positioned parallel to the travel direction of the scraper conveyor, while slide rail 1 303 is positioned perpendicular to the travel direction of the scraper conveyor. This allows the lidar mounting base 309 to move freely in two mutually perpendicular directions, thereby adjusting the position of the lidar 310. The lidar 310 can be an intrinsically safe two-dimensional lidar. The intrinsically safe two-dimensional lidar calculates the 2D profile of the coal quantity on the scraper conveyor by measuring the distance between the coal and the lidar and controlling the angle of the lidar. This, combined with the scraper conveyor speed, generates a reliable volumetric flow rate signal. Through comprehensive analysis by the coal quantity detection system, real-time coal flow information is ultimately obtained.

[0049] The integrated data acquisition and control system 5 includes an explosion-proof and intrinsically safe controller 501, a start button 502, a stop button 503, a touch screen display 504, and an integrated data acquisition control console 505.

[0050] The integrated data acquisition control console 505 is electrically connected to the lidar 310; the explosion-proof and intrinsically safe controller 501 is installed inside the integrated data acquisition control console 505; the touch screen 504, the start button 502, and the stop button 503 are installed on the integrated data acquisition control console 505.

[0051] The aforementioned device provides a method for real-time monitoring of coal quantity in a scraper conveyor and for coordinated start-stop control of the scraper conveyor and coal mining machine. This method adjusts the speed regulation mode and control logic of the coal mining machine and the scraper conveyor based on real-time coal quantity information on the scraper conveyor, thereby minimizing the failure rate of the scraper conveyor and reducing unexpected downtime.

[0052] Specifically, the following steps are included:

[0053] Step 1: Real-time coal quantity monitoring: The position of the lidar 310 located on the end support 401 is adjusted by the propulsion motor 301 and propulsion motor 308 of the dual-axis translation mechanism so that the lidar 310 is located at the center of the scraper conveyor 2; the lidar 310 is adjusted so that it is parallel to the scraper conveyor 2.

[0054] Step 2: Start scraper conveyor 2 and coal mining machine 1: Turn on the lidar 310 to scan the coal on the scraper conveyor 2. The lidar 310 feeds back the coal quantity data to the integrated acquisition and control system 5. The integrated acquisition and control system 5 calculates and starts the coal mining machine 1 and scraper conveyor 2 in sequence according to the coal quantity and the preset time interval.

[0055] The logic for starting the coal mining machine 1 and the scraper conveyor 2 is as follows: the real-time coal quantity on the scraper conveyor 2 is monitored by the lidar 310. When the real-time coal quantity is greater than or equal to 1 / 4 of the full load coal quantity of the scraper conveyor 2, it indicates that the amount of coal buffered by the scraper conveyor 2 is large. At this time, the scraper conveyor 2 should be started first, and the coal quantity on the scraper conveyor 2 should be monitored in real time. When the coal quantity on the scraper conveyor 2 is less than 1 / 4 of the full load coal quantity, the coal mining machine 1 should be started.

[0056] Step 3: Scraper conveyor 2 and coal mining machine 1 stop: Coal mining machine 1 stops running first. The comprehensive data acquisition and control system 5 stops running after the amount of coal fed by scraper conveyor 2 reaches zero, based on the coal quantity data fed back by lidar 310.

[0057] In addition, the real-time monitoring of coal quantity of scraper conveyor and the start-stop linkage control method of scraper conveyor and coal mining machine also include soft start method of scraper conveyor, which is further divided into no-load start method and full-load start method.

[0058] No-load start:

[0059] When starting under no-load conditions, scraper conveyor 2 should run under no-load conditions for a period of time until it is completely normal before starting coal mining machine 1; during operation, maintain the uniformity and continuity of coal cutting by coal mining machine 1;

[0060] Full load start-up:

[0061] Step 1: When starting under full load, the operator needs to use the frequency conversion system of scraper conveyor 2 to limit the current of scraper conveyor 2 to always be less than the rated current, so that scraper conveyor 2 can reach the corresponding torque during slow operation, so as to eliminate the transmission gap between the anchor chains.

[0062] Step 2: The operator gradually increases the voltage and current. When the amount of coal buffered by the scraper conveyor 2 is large, the torque output accuracy of the motor will reach the optimal state.

[0063] The soft-start method employs a controllable starting transmission system that combines mechanical deceleration with hydraulic control. Through optimization, it achieves excellent starting, stopping, speed regulation, and power balance performance, making it suitable for heavy-duty scraper conveyors. The starting control method for the scraper conveyor is formulated based on the coal flow rate of the scraper conveyor, realizing the controllable and flexible starting of the scraper conveyor and the linkage function of the start and stop of the coal mining machine.

[0064] Finally, the real-time coal quantity monitoring method for the scraper conveyor and the start-stop linkage control method for the scraper conveyor and coal mining machine also includes a start-stop control method for unexpected working conditions such as chain jamming or breakage. The specific implementation method is as follows:

[0065] Unless there are special circumstances, the machine should not be stopped under load. The scraper conveyor 2 should be completely emptied of material before stopping.

[0066] The automatic chain tensioning system of scraper conveyor 2 can monitor and obtain the current operating status of the tube sheet conveyor. When scraper conveyor 2 experiences chain jamming or chain breakage, scraper conveyor 2 and coal mining machine 1 will be stopped immediately. After the scraper conveyor 2 is repaired, it will be restarted by full-load start-up.

[0067] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A scraper conveyor coal quantity monitoring and scraper conveyor / coal mining machine linkage control device, characterized in that: It includes a coal mining machine (1), a scraper conveyor (2), a dual-axis translation and rotation mechanism (3), a hydraulic support (4), and a comprehensive data acquisition and control system (5); The coal mining machine (1) is mounted on the scraper conveyor (2), which provides traction and guidance for the coal mining machine (1). The hydraulic supports (4) are arranged sequentially in the forward direction of the scraper conveyor (2), and the hydraulic supports (4) are hinged to the scraper conveyor (2); the hydraulic supports (4) are used to support the coal mining face, and the hydraulic supports (4) located at the end of the forward direction of the scraper conveyor (2) are end supports (401), and a double-axis translation and rotation mechanism (3) is fixed on the end supports (401); The dual-axis translational and rotational mechanism (3) includes a propulsion motor (301), a mounting plate (302), a slide rail (303), a slide block (304), a mounting plate (305), a rotary motor (306), a slide rail (307), a propulsion motor (308), a laser radar mounting base (309), and a laser radar (310); The dual-axis translational rotation mechanism (3) is bolted to the end bracket (401) through mounting plate one (302) and mounting plate two (305). A slide rail one (303) is provided between mounting plate one (302) and mounting plate two (305). Rolling bearings are installed inside mounting plate one (302) and mounting plate two (305). The first propulsion motor (301) and the second rotary motor (306) are respectively fixed on the outside of the first mounting plate (302) and the second mounting plate (305); the first slide rail (303) has rotating shafts on both sides and is connected to the first propulsion motor (301) and the second rotary motor (306) through the bearings inside the first mounting plate (302) and the second mounting plate (305); the slide block (304) is connected to the lead screw of the first slide rail (303); the second slide rail (307) is fixed at the bottom of the slide block (304); the second propulsion motor (308) is fixed at the end of the second slide rail (307), and its motor shaft is connected to the lead screw of the second slide rail (307) through a coupling; The laser radar mounting base (309) is connected to the lead screw of the slide rail (307), and a laser radar (310) is mounted on the laser radar mounting base (309). The laser radar (310) is electrically connected to the integrated data acquisition and control system (5). The dual-axis translation and rotation mechanism (3) is inverted and installed on the front beam at the top of the end bracket (401); the second slide rail (307) is set parallel to the travel direction of the scraper conveyor (2), and the first slide rail (303) is set perpendicular to the travel direction of the scraper conveyor (2); The lidar (310) is an intrinsically safe two-dimensional lidar; it is configured to acquire the 2D profile of the amount of coal on the scraper conveyor (2) by scanning, and generate a volumetric flow rate signal in combination with the running speed of the scraper conveyor (2); The integrated data acquisition and control system (5) is configured to: a) receive the volumetric flow rate signal emitted by the laser radar (310) and calculate the real-time coal quantity accordingly; b) based on the real-time coal quantity, execute the start-stop linkage control of the scraper conveyor (2) and the coal mining machine (1), the control logic being: when the real-time coal quantity is greater than or equal to 1 / 4 of the full-load coal quantity of the scraper conveyor (2), the scraper conveyor (2) is started first, and the coal mining machine (1) is started after the coal quantity is less than 1 / 4 of the full-load coal quantity; when stopping, the coal mining machine (1) is stopped first, and the scraper conveyor (2) is started after the coal quantity is less than 1 / 4 of the full-load coal quantity; when stopping, the coal mining machine (1) is stopped first, and the scraper conveyor (2) is started after the coal quantity is less than 1 / 4 of the full-load coal quantity. (c) Stop the scraper conveyor (2) after the coal feed is zero; (d) Control the scraper conveyor (2) to perform a soft start, the soft start includes an unloaded start mode and a full load start mode; the unloaded start mode is: the scraper conveyor (2) runs unloaded for a period of time, and the coal mining machine (1) is started after it is completely normal; the full load start mode is: using the frequency conversion system of the scraper conveyor (2), the current of the scraper conveyor (2) is limited to always being less than the rated current, so that it runs slowly to eliminate the transmission gap between the chains, and then the voltage and current are gradually increased.

2. The scraper conveyor coal quantity monitoring and scraper conveyor / coal mining machine linkage control device according to claim 1, characterized in that: The integrated data acquisition and control system (5) includes an explosion-proof and intrinsically safe controller (501), a start button (502), a stop button (503), a touch screen (504), and an integrated data acquisition console (505); the integrated data acquisition console (505) is electrically connected to the lidar (310); the explosion-proof and intrinsically safe controller (501) is installed inside the integrated data acquisition console (505); the touch screen (504), start button (502), and stop button (503) are installed on the integrated data acquisition console (505).

3. The scraper conveyor coal quantity monitoring and scraper conveyor / coal mining machine linkage control device according to claim 1 or 2, characterized in that, The device also includes a start-stop control function in case of chain jamming or chain breakage: when the scraper conveyor (2) experiences chain jamming or chain breakage, the scraper conveyor (2) and the coal mining machine (1) are immediately stopped; after the scraper conveyor (2) is repaired, it is restarted through the full-load start mode.

4. A method for real-time monitoring of coal quantity in a scraper conveyor and for coordinated start-stop control of the scraper conveyor and coal mining machine, employing the device as described in any one of claims 1 to 3, characterized in that... Includes the following steps: Step 1, Real-time Coal Quantity Monitoring: The intrinsically safe two-dimensional laser radar (310) located on the end support (401) is adjusted to the center of the scraper conveyor (2) and kept parallel by the dual-axis translation and rotation mechanism (3). The laser radar (310) is turned on to scan and obtain the 2D contour of the coal quantity on the scraper conveyor (2) and generate a volumetric flow rate signal; Step 2, Start-Stop Linkage Control: Start-up process: The integrated data acquisition and control system (5) calculates the real-time coal quantity based on the volume flow signal. When the real-time coal quantity is greater than or equal to 1 / 4 of the full load coal quantity of the scraper conveyor (2), the scraper conveyor (2) is controlled to start before the coal mining machine (1) and the coal quantity is continuously monitored. When the coal quantity is less than 1 / 4 of the full load coal quantity, the coal mining machine (1) is started. Shutdown process: The coal mining machine (1) is controlled to stop running first. The integrated mining and control system (5) continuously monitors the coal quantity through the laser radar (310). After the coal quantity on the scraper conveyor (2) is zero, the scraper conveyor (2) is controlled to stop running. Step 3: Soft start execution: According to the initial state of the scraper conveyor (2), the corresponding soft start mode is executed.

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