Coal release mechanism control system and method based on work resistance

Abstract

The application provides a caving mechanism control system based on working resistance, and relates to the technical field of underground coal mining, wherein the system comprises: a mine pressure monitoring device for monitoring the working resistance of a hydraulic support column; an intelligent control device for acquiring a standard pressure drop value of a standard working resistance curve of a rear row column, and acquiring a hydraulic support pressure drop value in real time through the mine pressure monitoring device; when the pressure drop value reaches the standard pressure drop value, a caving mechanism return instruction is sent to the hydraulic support; and an electro-hydraulic control device for controlling the hydraulic support and the caving mechanism thereof to close the caving opening according to the return instruction, and completing the caving action. The application enables the hydraulic support to close the caving opening in time to complete the caving action through the caving mechanism return instruction, thereby improving the top coal recovery rate, reducing the mixed gangue rate, and improving the production capacity and the degree of automation.

Description

Technical Field

[0001] This application relates to the field of coal mine underground mining technology, and in particular to a control system and method for a coal release mechanism based on working resistance. Background Technology

[0002] Extra-thick coal seams are rich in reserves and are mainly mined using fully mechanized longwall mining. Intelligent fully mechanized longwall mining of extra-thick coal seams has become an important development trend.

[0003] Fully mechanized top coal mining mainly recovers top coal through hydraulic support coal release mechanisms. Due to the confined space behind the hydraulic supports and the presence of suspended dust, the accuracy of identification equipment based on high-definition images and coal and rock vibrations is difficult to guarantee, resulting in a low level of intelligence in the coal release process. Most coal release methods are manually controlled or only partially automated, which is labor-intensive, time-consuming, and inefficient. The amount of top coal released is greatly affected by human factors and the accuracy of coal and gangue identification, resulting in a low top coal recovery rate, uneven coal release at the working face, high gangue mixing rate, and reduced raw coal quality. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the first objective of this application is to propose a coal feeding mechanism control system based on working resistance, which solves the technical problems of existing methods, such as the difficulty in guaranteeing the accuracy of coal and rock identification equipment at the rear of hydraulic supports, the low level of intelligence in the coal feeding process, long coal feeding time, low coal feeding efficiency, high gangue mixing rate, and low raw coal quality. It improves the top coal recovery rate, reduces the gangue mixing rate, increases production capacity, simplifies the intelligent fully mechanized longwall face system to a certain extent, reduces equipment investment, improves the overall reliability of hydraulic supports, and is highly operable, making it more conducive to promotion and further improving the intelligence level of fully mechanized longwall faces.

[0006] The second objective of this application is to propose a control method for a coal discharge mechanism based on working resistance.

[0007] The third objective of this application is to propose a computer device.

[0008] The fourth objective of this application is to provide a non-transitory computer-readable storage medium.

[0009] To achieve the above objectives, the first aspect of this application proposes a coal discharge mechanism control system based on working resistance, comprising: a mine pressure monitoring device for monitoring the working resistance of the hydraulic support column; an intelligent control device for acquiring the standard pressure drop value of the standard working resistance curve of the rear column, and acquiring the pressure drop value of the hydraulic support in real time through the mine pressure monitoring device, and sending a return command of the coal discharge mechanism to the hydraulic support when the pressure drop value reaches the standard pressure drop value; and an electro-hydraulic control device for controlling the hydraulic support and its coal discharge mechanism to close the coal discharge port according to the return command, thereby completing the coal discharge action.

[0010] Optionally, in one embodiment of this application, the intelligent control device is specifically used for:

[0011] The working resistance curves of the rear column for multiple cycles are obtained. The working resistance curves of multiple cycles are homogenized to obtain the standard working resistance curve of the rear column. The standard pressure drop value caused by the coal feeding process is obtained based on the standard working resistance curve. The standard pressure drop value is the change in working resistance of the rear column from the beginning to the end of coal feeding in the standard working resistance curve.

[0012] Optionally, in one embodiment of this application, the intelligent control device is further configured to:

[0013] Historical working resistance data of the rear row of hydraulic supports in intelligent fully mechanized longwall mining faces are obtained. Based on the historical working resistance data, working resistance curves of the rear row of supports for multiple cycles are obtained, taking the coal feeding cycle as a unit.

[0014] Optionally, in one embodiment of this application, the system further includes:

[0015] The pressure drop initial value sending device is used to obtain the pressure drop initial value when the coal feeding mechanism starts feeding coal, and send the pressure drop initial value to the intelligent control device;

[0016] The intelligent control device is also used to compare the pressure drop value of the hydraulic support with the standard pressure drop value in real time through the mine pressure monitoring device after receiving the initial pressure drop value, until the pressure drop value of the hydraulic support reaches the standard pressure drop value.

[0017] Optionally, in one embodiment of this application, the mine pressure monitoring device includes:

[0018] The pressure sensor is installed on the hydraulic support and connected to the front and rear columns of the support via a high-pressure hose. It is used to collect the internal pressure of the column.

[0019] Optionally, in one embodiment of this application, the coal discharging mechanism includes:

[0020] The tail beam of the support is installed at the rear of the hydraulic support and is used to adjust the opening and closing degree of the coal discharge port;

[0021] The support insert plate is installed inside the support tail beam and is retractable. It is used to disturb the coal body behind the support tail beam and stops retracting after the support tail beam is retracted.

[0022] Optionally, in one embodiment of this application, the coal feeding mechanism further includes an angle sensor and a stroke sensor, wherein the angle sensor and the stroke sensor are used to collect the closing state of the coal feeding port of the coal feeding mechanism and send it to the intelligent control device.

[0023] To achieve the above objectives, a second aspect of this application proposes a coal feeding mechanism control method based on working resistance, comprising: acquiring historical working resistance data of the rear column of the hydraulic support in an intelligent fully mechanized longwall face; obtaining working resistance curves for multiple cycles of the rear column based on the historical working resistance data, taking the coal feeding cycle as a unit; performing equalization analysis on the working resistance curves of multiple cycles to obtain the standard working resistance curve of the rear column, and statistically obtaining the standard pressure drop value caused by the coal feeding process based on the standard working resistance curve; sending the initial pressure drop value when the coal feeding mechanism starts feeding to an intelligent control device, and monitoring the working resistance of the rear column through a mine pressure monitoring device; issuing a return command for the coal feeding mechanism when the pressure drop value of the hydraulic support reaches the standard pressure drop value through the intelligent control device, so that the hydraulic support completes the coal feeding action, wherein, after receiving the initial pressure drop value, the intelligent control device compares the pressure drop value of the hydraulic support with the standard pressure drop value in real time through the mine pressure monitoring device until the pressure drop value of the hydraulic support reaches the standard pressure drop value, and then issuing a return command for the coal feeding mechanism.

[0024] To achieve the above objectives, a third aspect of this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the coal discharge mechanism control method based on working resistance described in the above embodiments.

[0025] To achieve the above objectives, a fourth aspect of this application provides a non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a processor, enables the execution of a coal feeding mechanism control method based on working resistance.

[0026] The coal feeding mechanism control system, method, computer equipment, and non-transitory computer-readable storage medium based on working resistance of the embodiments of this application solve the technical problems of existing methods, such as difficulty in guaranteeing the accuracy of coal and rock identification equipment at the rear of hydraulic supports, low level of intelligence in the coal feeding process, long coal feeding time, low coal feeding efficiency, high gangue mixing rate, and low raw coal quality. It improves the top coal recovery rate, reduces the gangue mixing rate, increases production capacity, simplifies the intelligent fully mechanized longwall face system to a certain extent, reduces equipment investment, improves the overall reliability of hydraulic supports, and is highly operable, making it more conducive to promotion and further improving the intelligence level of fully mechanized longwall faces.

[0027] Additional aspects and advantages of this application 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 application. Attached Figure Description

[0028] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 This is a schematic diagram of a coal feeding mechanism control system based on working resistance, provided in Embodiment 1 of this application.

[0030] Figure 2 This is a schematic diagram of the layout of the support structure and control system for the fully mechanized mining face according to an embodiment of this application;

[0031] Figure 3 This is a schematic diagram showing the relationship between the coal discharge process and the change in the working resistance of the hydraulic support in an embodiment of this application;

[0032] Figure 4 This is a flowchart of a coal discharge mechanism control method based on working resistance, provided in Embodiment 2 of this application. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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 intended to explain this application, and should not be construed as limiting this application.

[0034] The control system and method for a coal discharge mechanism based on working resistance according to embodiments of this application are described below with reference to the accompanying drawings.

[0035] Figure 1 This is a schematic diagram of a coal feeding mechanism control system based on working resistance, provided in Embodiment 1 of this application.

[0036] like Figure 1 As shown, the coal feeding mechanism control system 1 based on working resistance includes:

[0037] Mine pressure monitoring device 10 is used to monitor the working resistance of hydraulic support columns;

[0038] The intelligent control device 20 is used to obtain the standard pressure drop value of the standard working resistance curve of the rear column, and to obtain the pressure drop value of the hydraulic support in real time through the mine pressure monitoring device. When the pressure drop value reaches the standard pressure drop value, the return command of the coal feeding mechanism is sent to the hydraulic support.

[0039] The electro-hydraulic control device 30 is used to control the hydraulic support and its coal discharge mechanism to close the coal discharge port according to the return command and complete the coal discharge action.

[0040] The coal discharge mechanism control system based on working resistance in this application includes a mine pressure monitoring device for monitoring the working resistance of the hydraulic support columns; an intelligent control device for acquiring the standard pressure drop value of the standard working resistance curve of the rear column, and acquiring the pressure drop value of the hydraulic support in real time through the mine pressure monitoring device. When the pressure drop value reaches the standard pressure drop value, a return command for the coal discharge mechanism is sent to the hydraulic support; and an electro-hydraulic control device for controlling the hydraulic support and its coal discharge mechanism to close the coal discharge port according to the return command, thus completing the coal discharge action. This solves the technical problems of existing methods, such as the difficulty in guaranteeing the accuracy of the coal and rock identification equipment at the rear of the hydraulic support, the low level of intelligence in the coal discharge process, and the long coal discharge time, low coal discharge efficiency, high gangue mixing rate, and low raw coal quality. It improves the top coal recovery rate, reduces the gangue mixing rate, increases production capacity, simplifies the intelligent fully mechanized longwall face system to a certain extent, reduces equipment investment, improves the overall reliability of the hydraulic support, and is highly operable, making it more conducive to promotion and further improving the intelligence level of the fully mechanized longwall face.

[0041] This application is applicable to intelligent fully mechanized longwall mining conditions in extra-thick coal seams. By changing the automated coal release method from a coal and gangue identification method that relies on sensor accuracy to a more reliable method for judging rear pressure changes, it solves the problem of low coal and gangue identification accuracy leading to high mixed gangue rate in the harsh environment behind the hydraulic support. This improves coal release efficiency and raw coal quality. Moreover, coal and gangue identification equipment no longer needs to be installed in the space behind the hydraulic support, giving full play to the role of the original mine pressure monitoring system of the hydraulic support. To a certain extent, this simplifies the intelligent fully mechanized longwall mining face system, reduces equipment investment, and improves the overall reliability of the hydraulic support. At the same time, due to its strong operability, this application is more conducive to promotion and can further improve the level of intelligence of the fully mechanized longwall mining face.

[0042] This application adopts a coal discharge mechanism closure determination method based on working resistance changes, which can effectively identify the coal discharge status of the hydraulic support, close the coal discharge mechanism in time, reduce the gangue mixing rate, ensure optimal coal quality, and improve coal discharge efficiency.

[0043] In this embodiment, the coal discharge operation is intelligently controlled by an electro-hydraulic control device, which realizes the automation of coal discharge and forms the equipment basis for the implementation of this application. The real-time online support working resistance curve generated by the mine pressure monitoring device digitizes the coal discharge process. The intelligent control device has a self-learning function, which can monitor the coal discharge process, determine key coal discharge nodes, and issue relevant instructions.

[0044] Furthermore, in this embodiment of the application, the intelligent control device is specifically used for:

[0045] The working resistance curves of the rear column for multiple cycles are obtained. The working resistance curves of multiple cycles are homogenized to obtain the standard working resistance curve of the rear column. The standard pressure drop value caused by the coal feeding process is obtained based on the standard working resistance curve. The standard pressure drop value is the change in working resistance of the rear column from the beginning to the end of coal feeding in the standard working resistance curve.

[0046] The coal discharge pressure drop value in this embodiment is the decrease in the working resistance of the hydraulic support caused by the coal discharge process in the fully mechanized coal caving face.

[0047] In this embodiment of the application, the standard pressure drop rate caused by the coal discharge process in the standard working resistance curve can also be statistically obtained based on the standard working resistance curve.

[0048] For example, the hydraulic support numbered N in the fully mechanized longwall face undergoes 3 coal feeding cycles in a working shift. Each cycle forms a complete working resistance curve for the front and rear columns. After the working resistance curves of the rear column in a single working shift are averaged, the standard cycle working resistance curve of the rear column is obtained.

[0049] During the coal discharge process, as the top coal is discharged from the rear of the support, the center of force of the roof plate on the support beam moves forward, the pressure of the front column increases, and the pressure of the rear column decreases. This is reflected in the working resistance curve of the support. The starting point of the decrease in the working resistance of the rear column is the initial value of the pressure drop. When the coal discharge stops, the working resistance of the support stops decreasing. During the slow sinking of the roof plate, the working resistance turns to increase.

[0050] Furthermore, in this embodiment of the application, the intelligent control device is also used for:

[0051] Historical working resistance data of the rear row of hydraulic supports in intelligent fully mechanized longwall mining faces are obtained. Based on the historical working resistance data, working resistance curves of the rear row of supports for multiple cycles are obtained, taking the coal feeding cycle as a unit.

[0052] For example, each hydraulic support has 2 front columns and 2 rear columns, with 1 pressure sensor on each of the front and rear columns, and 1 working resistance curve for each rear column of the hydraulic support per cycle.

[0053] Furthermore, in this embodiment of the application, the system further includes:

[0054] The pressure drop initial value sending device is used to obtain the pressure drop initial value when the coal feeding mechanism starts feeding coal, and send the pressure drop initial value to the intelligent control device;

[0055] The intelligent control device is also used to compare the pressure drop value of the hydraulic support with the standard pressure drop value in real time through the mine pressure monitoring device after receiving the initial pressure drop value, until the pressure drop value of the hydraulic support reaches the standard pressure drop value.

[0056] In this embodiment of the application, the initial pressure drop value is the initial value of the decrease in the working resistance of the hydraulic support rear column when the fully mechanized longwall face begins to release coal.

[0057] In this embodiment of the application, after the initial pressure drop value is input into the intelligent control device, each coal discharge cycle of each hydraulic support will be identified. After the coal discharge mechanism is triggered to close, the intelligent control device will issue a return command.

[0058] Furthermore, in this embodiment of the application, the mine pressure monitoring device includes:

[0059] The pressure sensor is installed on the hydraulic support and connected to the front and rear columns of the support via a high-pressure hose. It is used to collect the internal pressure of the column.

[0060] The mine pressure monitoring device of this application embodiment is built into the electro-hydraulic control system of each hydraulic support. It monitors the working resistance of the hydraulic support column in real time online through pressure sensors inside the hydraulic support column. The mine pressure monitoring device is used to monitor the pressure acting on the top beam of the hydraulic support due to roof subsidence, which is borne by the front and rear columns of the support.

[0061] In this embodiment, the monitoring data of the mine pressure monitoring device is in MPa. It can monitor the changes in the working resistance of the hydraulic support in real time. The data recognition accuracy is less than or equal to 1MPa, that is, when the working resistance change value Δ≧±1MPa, the mine pressure monitoring device automatically collects pressure data. When the mine pressure monitoring device collects pressure data, the cycle from when the support actively supports the roof to when the support is lowered and the support is moved after the coal cutting is completed is one cycle. The cycle time T is generally taken as 60 to 150 minutes. The coal discharge cycle belongs to this cycle. The coal discharge cycle time t is generally taken as 0.5 to 5 minutes.

[0062] Furthermore, in this embodiment of the application, the coal discharging mechanism includes:

[0063] The tail beam of the support is installed at the rear of the hydraulic support and is used to adjust the opening and closing degree of the coal discharge port;

[0064] The support insert plate is installed inside the support tail beam and is retractable. It is used to disturb the coal body behind the support tail beam and stops retracting after the support tail beam is retracted.

[0065] The coal feeding mechanism described in this application is used to recover coal from a fully mechanized coal mining face via hydraulic supports.

[0066] The tail beam of the coal discharge mechanism in this embodiment is installed at the rear of the hydraulic support and can swing back and forth at a certain angle to control the opening and closing of the coal discharge port. The opening and closing of the coal discharge port is controlled by an angle sensor. When discharging coal, the tail beam swings inward towards the support and the coal discharge port opens. When a closing command is received, the tail beam swings outward towards the support and the coal discharge port closes. The support insert plate of the coal discharge mechanism is installed inside the tail beam and can perform a certain stroke of extension and retraction. It is equipped with a stroke sensor and is used to insert into the coal and rock blocks at the rear of the support to achieve a disturbance effect.

[0067] The support plate of the coal feeding mechanism of this application extends and retracts once every minute during the coal feeding process, disturbing the coal body behind the tail beam of the support, and stops extending and retracting after the tail beam of the support is retracted.

[0068] Furthermore, in this embodiment of the application, the coal feeding mechanism further includes an angle sensor and a stroke sensor, wherein the angle sensor and the stroke sensor are used to collect the closing state of the coal feeding port of the coal feeding mechanism and send it to the intelligent control device.

[0069] The return stroke discrimination method for coal release mechanisms in fully mechanized longwall mining of extra-thick coal seams provided in this application is applicable to the increasingly common intelligent fully mechanized longwall mining faces in extra-thick coal seams. Compared with coal release methods using manual control or basic automation, this application transforms the automated coal release method from a coal and gangue identification method that relies on sensor accuracy to a more reliable method for judging rear pressure changes. This solves the problem of low coal and gangue identification accuracy leading to high mixed gangue rate in the harsh environment behind the support, improving coal release efficiency and raw coal quality. Moreover, coal and gangue identification equipment no longer needs to be installed in the space behind the support, giving full play to the role of the original mine pressure monitoring system of the hydraulic support. To a certain extent, this simplifies the intelligent fully mechanized longwall mining face system, reduces equipment investment, and improves the overall reliability of the hydraulic support. At the same time, due to its strong operability, this application is more conducive to promotion and can further improve the intelligence level of fully mechanized longwall mining faces.

[0070] Figure 2 This is a schematic diagram of the layout of the support structure and control system for the fully mechanized mining face according to an embodiment of this application.

[0071] like Figure 2As shown, the top beam 2 of the coal feeding support 1 is directly above a relatively complete top coal layer, while the support shield beam 6 and the support tail beam 8 are above the crushed coal body to be discharged. When the support starts discharging coal, the intelligent control system 3 operates the coal feeding mechanism composed of the support tail beam 8 and the support insert plate 9 to start moving. The movement state is controlled by the built-in sensor 7 (containing angle sensor and stroke sensor). The support tail beam 8 swings downward, the support insert plate 9 retracts, the coal feeding port opens, and the coal flow enters the rear scraper conveyor 10. The crushed coal body above the shield beam and tail beam is gradually discharged. The working resistance of the support front column 4 and the support rear column 5 is monitored by the mine pressure monitoring device of the intelligent control system 3. The decrease in the working resistance of the support rear column 5 forms a coal feeding pressure drop. When the coal feeding pressure drop reaches the standard value, the return condition of the coal feeding mechanism is triggered, the intelligent control system issues a command to close the coal feeding port, and the support completes the coal feeding.

[0072] Figure 3 This is a schematic diagram showing the relationship between the coal discharge process and the change in the working resistance of the hydraulic support in an embodiment of this application.

[0073] like Figure 3 As shown, the horizontal axis represents time t, and the vertical axis represents the working resistance P of the support. When the support starts a cycle, the column rises to support the top coal to a certain pressure and then locks, and the support reaches the initial state of the cycle. During the cycle, the roof gradually sinks and acts on the top beam of the support, and the working resistance of the support gradually increases. When the support starts to release coal, the working resistance of the support begins to decrease, and the starting point of the decrease is the initial pressure drop value. Until the end of the coal release, the working resistance of the support stops decreasing and then gradually increases again until the end of this cycle. At this time, the working resistance of the support reaches the end state of the cycle. At this time, the working resistance of the support is at its maximum value. After the support column falls, the working resistance of the support decreases to 0.

[0074] Figure 4 This is a flowchart of a coal discharge mechanism control method based on working resistance, provided in Embodiment 2 of this application.

[0075] like Figure 4 As shown, the coal feeding mechanism control method based on working resistance includes the following steps:

[0076] Step 101: Obtain historical working resistance data of the rear row of hydraulic supports in the intelligent fully mechanized longwall face. Based on the historical working resistance data, obtain the working resistance curves of the rear row of supports for multiple cycles, taking the coal feeding cycle as a unit.

[0077] Step 102: Perform homogenization analysis on the working resistance curves of multiple cycles to obtain the standard working resistance curve of the rear column, and statistically obtain the standard pressure drop value caused by the coal discharge process based on the standard working resistance curve.

[0078] Step 103: Send the initial pressure drop value when the coal feeding mechanism starts feeding coal to the intelligent control device, and monitor the working resistance of the rear column through the mine pressure monitoring device;

[0079] Step 104: When the pressure drop value of the hydraulic support reaches the standard pressure drop value, the intelligent control device issues a return command for the coal discharge mechanism so that the hydraulic support can complete the coal discharge action. In this process, after receiving the initial pressure drop value, the intelligent control device obtains the pressure drop value of the hydraulic support in real time through the mine pressure monitoring device and compares it with the standard pressure drop value until the pressure drop value of the hydraulic support reaches the standard pressure drop value, and then issues a return command for the coal discharge mechanism.

[0080] The coal feeding mechanism control method based on working resistance in this application embodiment acquires historical working resistance data of the rear column of the hydraulic support in an intelligent fully mechanized longwall face. Based on the historical working resistance data, multiple working resistance curves of the rear column are obtained, taking the coal feeding cycle as a unit. The working resistance curves of multiple cycles are averaged to obtain the standard working resistance curve of the rear column, and the standard pressure drop value caused by the coal feeding process is statistically obtained based on the standard working resistance curve. The initial pressure drop value when the coal feeding mechanism starts feeding is sent to the intelligent control device, and the working resistance of the rear column is monitored by the mine pressure monitoring device. When the pressure drop value of the hydraulic support reaches the standard pressure drop value, the intelligent control device issues a return command for the coal feeding mechanism to enable the hydraulic support to complete the coal feeding action. After receiving the initial pressure drop value, the intelligent control device compares the pressure drop value of the hydraulic support with the standard pressure drop value in real time through the mine pressure monitoring device until the pressure drop value of the hydraulic support reaches the standard pressure drop value, and then issues a return command for the coal feeding mechanism. Therefore, this method can solve the technical problems of existing methods, such as the difficulty in guaranteeing the accuracy of coal and rock identification equipment at the rear of hydraulic supports, the low level of intelligence in the coal feeding process, long coal feeding time, low coal feeding efficiency, high gangue mixing rate, and low raw coal quality. It improves the top coal recovery rate, reduces the gangue mixing rate, increases production capacity, simplifies the intelligent fully mechanized longwall face system to a certain extent, reduces equipment investment, improves the overall reliability of hydraulic supports, and is easy to operate, making it more conducive to promotion and further improving the intelligence level of fully mechanized longwall faces.

[0081] This application transforms the automated coal feeding method from a coal and gangue identification method that relies on sensor accuracy to a more reliable method for judging rear pressure changes. It solves the problem of low coal and gangue identification accuracy leading to high mixed gangue rate in the harsh environment behind the hydraulic support, thus improving coal feeding efficiency and raw coal quality. Moreover, coal and gangue identification equipment no longer needs to be installed in the space behind the hydraulic support, giving full play to the role of the original mine pressure monitoring system of the hydraulic support. To a certain extent, it simplifies the intelligent fully mechanized longwall face system, reduces equipment investment, and improves the overall reliability of the hydraulic support. At the same time, due to its strong operability, this application is more conducive to promotion and can further improve the intelligence level of the fully mechanized longwall face.

[0082] To implement the above embodiments, this application also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the coal discharge mechanism control method based on working resistance described in the above embodiments.

[0083] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the coal discharge mechanism control method based on working resistance as described in the above embodiments.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] 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 custom logic functions or processes, and the scope of the preferred embodiments of this application 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 functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0087] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0088] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0089] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0090] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0091] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A control system for a coal feeding mechanism based on working resistance, characterized in that, include: Mine pressure monitoring device, used to monitor the working resistance of hydraulic support columns; The intelligent control device is used to obtain the standard pressure drop value of the standard working resistance curve of the rear column, and to obtain the pressure drop value of the hydraulic support in real time through the mine pressure monitoring device. When the pressure drop value reaches the standard pressure drop value, the device sends the return command of the coal feeding mechanism to the hydraulic support. An electro-hydraulic control device is used to control the hydraulic support and its coal discharge mechanism to close the coal discharge port according to the return command, thereby completing the coal discharge action. The intelligent control device is specifically used for: The working resistance curves of multiple cycles of the rear column are obtained, and the working resistance curves of the multiple cycles are homogenized to obtain the standard working resistance curve of the rear column. The standard pressure drop value caused by the coal discharge process is obtained according to the standard working resistance curve. The standard pressure drop value is the change of working resistance of the rear column from the beginning to the end of coal discharge in the standard working resistance curve. The intelligent control device is also used for: Obtain historical working resistance data of the rear column of the hydraulic support in the intelligent fully mechanized longwall mining face. Based on the historical working resistance data, obtain the working resistance curves of the rear column for multiple cycles, taking the coal feeding cycle as a unit. Also includes: The pressure drop initial value sending device is used to acquire the pressure drop initial value when the coal feeding mechanism starts feeding coal, and send the pressure drop initial value to the intelligent control device; The intelligent control device is also used to, after receiving the initial pressure drop value, compare the pressure drop value of the hydraulic support with the standard pressure drop value in real time through the mine pressure monitoring device until the pressure drop value of the hydraulic support reaches the standard pressure drop value.

2. The system as described in claim 1, characterized in that, The mine pressure monitoring device includes: The pressure sensor is installed on the hydraulic support and connected to the front and rear columns of the support via a high-pressure hose. It is used to collect the internal pressure of the column.

3. The system as described in claim 1, characterized in that, The coal discharging mechanism includes: The tail beam of the support is installed at the rear of the hydraulic support and is used to adjust the opening and closing degree of the coal discharge port; The support insert plate is installed inside the support tail beam and is retractable. It is used to disturb the coal body behind the support tail beam and stops retracting after the support tail beam is retracted.

4. The system as described in claim 1, characterized in that, The coal feeding mechanism further includes an angle sensor and a stroke sensor, wherein the angle sensor and the stroke sensor are used to collect the closing state of the coal feeding port of the coal feeding mechanism and send it to the intelligent control device.

5. A control method for a coal feeding mechanism based on working resistance, characterized in that, The control system for the coal feeding mechanism based on working resistance as described in any one of claims 1-4 includes: Obtain historical working resistance data of the rear column of the hydraulic support in the intelligent fully mechanized longwall mining face. Based on the historical working resistance data, obtain the working resistance curves of the rear column for multiple cycles, taking the coal feeding cycle as a unit. The working resistance curves of the multiple cycles are homogenized to obtain the standard working resistance curve of the rear column, and the standard pressure drop caused by the coal discharge process is statistically obtained based on the standard working resistance curve. The initial pressure drop value when the coal feeding mechanism starts feeding coal is sent to the intelligent control device, and the working resistance of the rear column is monitored by the mine pressure monitoring device. When the pressure drop value of the hydraulic support reaches the standard pressure drop value, the intelligent control device issues a return command for the coal discharge mechanism to enable the hydraulic support to complete the coal discharge action. The intelligent control device receives the initial pressure drop value and compares the pressure drop value of the hydraulic support with the standard pressure drop value in real time through the mine pressure monitoring device until the pressure drop value of the hydraulic support reaches the standard pressure drop value, at which point it issues a return command for the coal discharge mechanism.

6. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the method as described in claim 5.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in claim 5.

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