A coal mining machine control method and device, electronic equipment and medium

Abstract

This application relates to the field of mechanical control technology, specifically to a coal mining machine control method, device, electronic equipment, and medium. A coal mining machine control method is applied in a server of a coal mining machine, which includes a frequency converter and a brake. The method includes: responding to a user's start action of the coal mining machine; acquiring first information; the first information including a first inclination angle of the working face; if the first inclination angle of the working face is greater than a preset first value and less than a preset second value, then calculating a first holding torque based on the first information; adjusting the output torque of the frequency converter based on the first holding torque; when the output torque of the frequency converter is equal to the first holding torque, sending a brake release signal to the brake to allow the coal mining machine to move on the working face. This application calculates the holding torque of the coal mining machine based on the inclination angle of its current position, ensuring that the coal mining machine can move stably on the working face after startup and will not slip.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, specifically to a coal mining machine control method, device, electronic equipment, and medium. Background Technology

[0002] Coal mining machines are one of the key pieces of equipment for realizing the mechanization and modernization of coal mine production. Mechanized coal mining can reduce manual labor, improve safety, and achieve the goals of high output, high efficiency, and low energy consumption.

[0003] Currently, the starting control method for coal mining machines is that the processor sets the holding torque according to a fixed percentage of the rated torque, so that the coal mining machine can start smoothly on the working face.

[0004] In the aforementioned technologies, the holding torque of the coal mining machine is fixed; however, the working environment of the coal mining machine is very complex. When the inclination angle of the working face of the coal mining machine changes, if the holding torque is too small, the coal mining machine will slide down when it starts, leading to a dangerous accident on the working face. Summary of the Invention

[0005] To address the problem of coal mining machines sliding down during startup due to insufficient holding torque, which could lead to dangerous accidents on the working face, this application provides a coal mining machine control method, device, electronic equipment, and medium.

[0006] A first aspect of this application provides a coal mining machine control method, applied in a server of a coal mining machine. The coal mining machine includes a frequency converter and a brake. The method includes: responding to a user's start action of the coal mining machine; acquiring first information; the first information includes a first inclination angle of the working face, a friction coefficient between the coal mining machine and the working face, and basic parameters of the coal mining machine; if the first inclination angle of the working face is greater than a preset first value and less than a preset second value, then calculating a first holding torque based on the first information; adjusting the output torque of the frequency converter based on the first holding torque; when the output torque of the frequency converter is equal to the first holding torque, sending a brake release signal to the brake to make the coal mining machine move on the working face.

[0007] By adopting the above technical solution, the coal mining machine's server calculates the holding torque of the coal mining machine based on the first inclination angle of the working face, and controls the start of the coal mining machine based on the calculated holding torque. Compared with setting the holding torque based on a fixed percentage of the rated torque, the calculated holding torque is more in line with the current working conditions of the coal mining machine. This ensures that when the starting torque of the coal mining machine is the calculated holding torque at the current position, the coal mining machine can move stably on the working face after starting, without slipping.

[0008] In one possible implementation, the basic parameters of the coal mining machine include the weight of the coal mining machine, the module of the coal mining machine's traveling wheels, the number of teeth on the coal mining machine's traveling wheels, the total transmission ratio of the coal mining machine's traction and traveling parts, and the coal mining machine's holding torque correction coefficient; the calculation of the first holding torque based on the first information specifically includes: Where T is the first holding torque; G is the gravity of the coal mining machine; This is the first inclination angle of the working surface; denoted as the coefficient of friction between the coal mining machine and the working face; m is the module of the coal mining machine's traveling wheel; z is the number of teeth on the coal mining machine's traveling wheel; and i is the total transmission ratio of the coal mining machine's traction and traveling mechanism. The correction factor for the holding torque of the coal mining machine.

[0009] By adopting the above technical solution, the server calculates the holding torque of the coal mining machine based on the inclination angle of the working face, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine. The calculated holding torque is more in line with the current working conditions of the coal mining machine. It avoids situations where the holding torque of the coal mining machine is too small, causing the coal mining machine to slide down after starting, or where the holding torque of the coal mining machine is too large, resulting in high energy consumption for starting the coal mining machine and impact damage to the motor rotor.

[0010] In one possible implementation, after acquiring the first information, the method further includes: if the first inclination angle of the working face is greater than or equal to a preset third value and less than or equal to the preset first value, then setting the holding torque of the coal mining machine to a preset holding torque; adjusting the output torque of the frequency converter based on the preset holding torque; and when the output torque of the frequency converter is equal to the preset holding torque, sending the brake release signal to the brake to make the coal mining machine move on the working face.

[0011] By adopting the above technical solution, when the server detects that the tilt angle of the current position of the coal mining machine is less than or equal to the preset first value, it sets the holding torque of the coal mining machine to the preset holding torque to ensure that the coal mining machine can move smoothly after starting and will not slide down.

[0012] In one possible implementation, after sending a release signal to the brake to allow the coal mining machine to move on the working face, the method further includes: responding to a user's request to stop the coal mining machine; acquiring second information; the second information including a second inclination angle of the working face, a coefficient of friction between the coal mining machine and the working face, and basic parameters of the coal mining machine; if the second inclination angle of the working face is the same as the first inclination angle of the working face, adjusting the output torque of the frequency converter based on the first holding torque; when the output torque of the frequency converter is equal to the first holding torque, sending a brake signal to the brake to stop the coal mining machine on the working face.

[0013] By adopting the above technical solution, after the server detects that the operator has stopped the coal mining machine, it obtains the second inclination angle of the working face. When the second inclination angle of the working face is equal to the first inclination angle of the working face, the holding torque when the coal mining machine starts is directly used as the holding torque when the coal mining machine stops, thus completing the stop control of the coal mining machine; reducing the computational load of the server.

[0014] In one possible implementation, after acquiring the second information, the method further includes: if the second inclination angle of the working face is not the same as the first inclination angle of the working face, and the second inclination angle of the working face is greater than the preset first value and less than the preset second value, then calculating a second holding torque based on the second information; adjusting the output torque of the frequency converter based on the second holding torque; and when the output torque of the frequency converter is equal to the second holding torque, sending the brake signal to the brake to stop the coal mining machine on the working face.

[0015] By adopting the above technical solution, the holding torque of the coal mining machine is calculated based on the tilt angle of the position where the coal mining machine stops. Based on the calculated holding torque, the coal mining machine is controlled to stop. When the output torque of the frequency converter decreases to the second holding torque, the brake is controlled to engage. This is reflected in controlling the brake to engage when the traction motor speed is low, thereby reducing the impact on the motor rotor.

[0016] In one possible implementation, the method further includes: obtaining a first angle, the first angle being the actual tilt angle of the position of the coal mining machine on the working face when it starts; calculating a deviation of the first tilt angle of the working face based on the first angle; and calculating and storing a correction value of the tilt angle of the working face based on the deviation, so as to correct the tilt angle of the working face.

[0017] By adopting the above technical solution, the server calculates the tilt angle correction value of the working face based on the first angle and the first tilt angle of the working face, and stores the tilt angle correction value of the working face in the database; when the server subsequently calculates the holding torque of the coal mining machine, it uses the tilt angle correction value of the working face to correct the tilt angle of the working face, thereby improving the accuracy of the calculated holding torque.

[0018] In one possible implementation, the method further includes: acquiring tilt angle correction values ​​of multiple working surfaces within a preset time period; calculating tilt angle error values ​​of the working surfaces based on the tilt angle correction values ​​of the multiple working surfaces; and sending alarm information to a preset device if the tilt angle error value of the working surfaces is greater than or equal to a preset error value.

[0019] By adopting the above technical solution, the server calculates the tilt angle error value of the working face based on the tilt angle correction value of the working face when the coal mining machine starts at different time points, so as to determine whether the device for measuring the tilt angle of the working face of the coal mining machine is normal. When the device for measuring the tilt angle of the working face of the coal mining machine is abnormal, an alarm message is sent to the terminal device of the staff to remind the staff to repair or replace the device for measuring the tilt angle of the working face.

[0020] A second aspect of this application provides a coal mining machine control device, the device being a server for the coal mining machine, the coal mining machine including a frequency converter and a brake, the device comprising: a response unit for responding to a user's start action of the coal mining machine; an acquisition unit for acquiring first information; the first information including a first inclination angle of the working face, a friction coefficient between the coal mining machine and the working face, and basic parameters of the coal mining machine; a processing unit for calculating a first holding torque based on the first information if the first inclination angle of the working face is greater than a preset first value and less than a preset second value; and adjusting the output torque of the frequency converter based on the first holding torque; and a sending unit for sending a brake release signal to the brake when the output torque of the frequency converter is equal to the first holding torque, so as to make the coal mining machine move on the working face.

[0021] In one possible implementation, the basic parameters of the coal mining machine include the weight of the coal mining machine, the module of the coal mining machine's traveling wheels, the number of teeth on the coal mining machine's traveling wheels, the total transmission ratio of the coal mining machine's traction and traveling parts, and the coal mining machine's holding torque correction coefficient; the calculation of the first holding torque based on the first information specifically includes:

[0022] ;

[0023] Where T is the first holding torque; G is the gravity of the coal mining machine; This is the first inclination angle of the working surface; denoted as the coefficient of friction between the coal mining machine and the working face; m is the module of the coal mining machine's traveling wheel; z is the number of teeth on the coal mining machine's traveling wheel; and i is the total transmission ratio of the coal mining machine's traction and traveling mechanism. The correction factor for the holding torque of the coal mining machine.

[0024] In one possible implementation, the processing unit is further configured to set the holding torque of the coal mining machine to a preset holding torque if the first tilt angle of the working face is greater than or equal to a preset third value and less than or equal to the preset first value; and adjust the output torque of the frequency converter based on the preset holding torque; the sending unit is further configured to send the brake release signal to the brake when the output torque of the frequency converter is equal to the preset holding torque, so as to make the coal mining machine move on the working face.

[0025] In one possible implementation, the response unit is further configured to respond to a user's request to stop the coal mining machine; the acquisition unit is further configured to acquire second information; the second information includes a second inclination angle of the working face, a friction coefficient between the coal mining machine and the working face, and basic parameters of the coal mining machine; the processing unit is further configured to adjust the output torque of the frequency converter based on the first holding torque if the second inclination angle of the working face is the same as the first inclination angle of the working face; the sending unit is further configured to send a brake signal to the brake when the output torque of the frequency converter is equal to the first holding torque, so as to stop the coal mining machine on the working face.

[0026] In one possible implementation, the processing unit is further configured to: if the second inclination angle of the working face is not the same as the first inclination angle of the working face, and the second inclination angle of the working face is greater than the preset first value and less than the preset second value, then calculate a second holding torque based on the second information; adjust the output torque of the frequency converter based on the second holding torque; the sending unit is further configured to: when the output torque of the frequency converter is equal to the second holding torque, send the brake signal to the brake to stop the coal mining machine on the working face.

[0027] In one possible implementation, the acquisition unit is further configured to acquire a first angle, which is the actual tilt angle of the position of the coal mining machine on the working face when it starts; the processing unit is further configured to calculate the deviation of the first tilt angle of the working face based on the first angle; and calculate and store the tilt angle correction value of the working face based on the deviation to correct the tilt angle of the working face.

[0028] In one possible implementation, the acquisition unit is further configured to acquire tilt angle correction values ​​of multiple working surfaces within a preset time period; the processing unit is further configured to calculate the tilt angle error value of the working surface based on the tilt angle correction values ​​of the multiple working surfaces; if the tilt angle error value of the working surface is greater than or equal to a preset error value, an alarm message is sent to a preset device.

[0029] A third aspect of this application provides an electronic device including a processor, a memory, a user interface, and a network interface, wherein the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of the first aspects of this application.

[0030] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described in any of the first aspects of this application.

[0031] In summary, this application includes at least one of the following beneficial technical effects:

[0032] 1. The coal mining machine's server calculates the holding torque of the coal mining machine based on the tilt angle of its starting position. Based on this calculated holding torque, the machine is controlled to start. Compared to setting the holding torque as a fixed percentage of the rated torque, the calculated holding torque better reflects the current working conditions of the coal mining machine. This ensures that when the starting torque of the coal mining machine at its current position is equal to the calculated holding torque, the machine can move stably on the working face after starting and will not slip.

[0033] 2. The server calculates the tilt angle correction value of the working face based on the first angle and the first tilt angle of the working face, and stores the tilt angle correction value of the working face in the database. When the server subsequently calculates the holding torque of the coal mining machine, it uses the tilt angle correction value of the working face to correct the tilt angle of the working face, thereby improving the accuracy of the calculated holding torque. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating a coal mining machine control method according to an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of a coal mining machine control device according to an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0037] Explanation of reference numerals in the attached drawings: 201, Response unit; 202, Acquisition unit; 203, Processing unit; 204, Transmitting unit; 300, Electronic device; 301, Processor; 302, Communication bus; 303, User interface; 304, Network interface; 305, Memory. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0039] In the description of the embodiments of this application, the terms "for example" and the like are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "for example" in the embodiments of this application should not be construed as being better or more advantageous than other embodiments or design. Rather, the use of the terms "for example" and the like is intended to present the relevant concepts in a specific manner. 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 indicated technical features.

[0040] To address the problem of coal mining machines sliding down during startup due to insufficient holding torque, which could lead to dangerous accidents on the working face, this application provides a coal mining machine control method applied to the server of the coal mining machine, referring to... Figure 1 The diagram illustrates a method flowchart of a coal mining machine control method according to an embodiment of this application, including the following steps S101-S105.

[0041] Step S101: Responding to the user's action of starting the coal mining machine.

[0042] In the above steps, the staff clicks the start button on the interactive interface provided by the coal mining machine to issue an operation command to start the coal mining machine; the coal mining machine's server receives the operation command to start the coal mining machine.

[0043] Step S102: Obtain first information; the first information includes the first inclination angle of the working face, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine.

[0044] In the above steps, after receiving the operation command to start the coal mining machine, the server of the coal mining machine obtains the tilt angle of the current position of the coal mining machine, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine.

[0045] The coal mining machine is equipped with an angle sensor, which is used by the machine's server to obtain the tilt angle of the working face. Specifically, the angle sensor measures the tilt angle of the machine body to obtain the tilt angle of the working face; after measuring the tilt angle, the sensor sends it to the server. When the coal mining machine travels on the working face, it follows the guide rail; the coefficient of friction between the machine and the working face is determined by the material of the guide rail and the machine's wheels. After calculating the coefficient of friction, the operator stores it in the machine's server, which then retrieves it from the database. The basic parameters of the coal mining machine are also stored in the database, and the server retrieves these parameters from the database.

[0046] Step S103: If the first tilt angle of the working surface is greater than the preset first value and less than the preset second value, then calculate the first holding torque based on the first information.

[0047] In the above steps, the first preset value is 15°, the second preset value is 90°, and the first holding torque is the starting holding torque of the coal mining machine. When the tilt angle of the current position of the coal mining machine is between 15° and 90°, the coal mining machine's server calculates the starting holding torque of the coal mining machine based on the first information.

[0048] In one possible implementation, the basic parameters of the coal mining machine include the weight of the coal mining machine, the module of the coal mining machine's traveling wheels, the number of teeth on the coal mining machine's traveling wheels, the total transmission ratio of the coal mining machine's traction and traveling unit, and the coal mining machine's holding torque correction coefficient; based on the first information, the first holding torque is calculated, specifically including:

[0049] ;

[0050] Where T is the first holding torque; G is the gravity of the coal mining machine; This is the first inclination angle of the working surface; denoted as the coefficient of friction between the coal mining machine and the working face; m is the module of the coal mining machine's traveling wheel; z is the number of teeth on the coal mining machine's traveling wheel; and i is the total transmission ratio of the coal mining machine's traction and traveling mechanism. The correction factor for the holding torque of the coal mining machine.

[0051] In the example above, the server calculates the starting and holding torque of the coal mining machine based on the tilt angle of the current position of the coal mining machine, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine.

[0052] in, The module of the traveling wheel of the coal mining machine is the number of teeth. The module of the traveling wheel of the coal mining machine = pitch circle diameter / number of teeth = tooth pitch / pi; the total transmission ratio of the traction traveling part of the coal mining machine = number of teeth of the driven wheel / number of teeth of the driving wheel; the correction coefficient of the holding torque of the coal mining machine is determined by the performance parameters of the coal mining machine.

[0053] It should be noted that the "Coal Mine Safety Regulations" require that for fully mechanized mining faces with an angle of 15° or more, the coal mining machine must be equipped with a reliable brake to prevent slippage accidents when the coal mining machine starts or stops; therefore, the preset first value is 15°.

[0054] Step S104: Adjust the output torque of the frequency converter based on the first holding torque.

[0055] In the example above, the coal mining machine's server adjusts the inverter's output torque based on the calculated first holding torque.

[0056] After the server calculates the first holding torque, it sends the first holding torque in the control information to the frequency converter so that the output torque of the frequency converter increases to the first holding torque.

[0057] Step S105: When the output torque of the frequency converter is equal to the first holding torque, a brake release signal is sent to the brake so that the coal mining machine can move on the working face.

[0058] In the example above, the server monitors the output torque of the frequency converter in real time; when the output torque of the frequency converter increases to the first holding torque, the server sends a release signal to the brake to release the brake, and the coal mining machine begins to move on the traction guide rail of the working face.

[0059] In one possible implementation, after obtaining the first information, the method further includes: if the first tilt angle of the working face is greater than or equal to a preset third value and less than or equal to a preset first value, then setting the holding torque of the coal mining machine to a preset holding torque; adjusting the output torque of the frequency converter based on the preset holding torque; and when the output torque of the frequency converter is equal to the preset holding torque, sending a brake release signal to the brake to make the coal mining machine move on the working face.

[0060] In the above example, the third preset value is 0°; the preset holding torque is 20% of the rated torque; when the inclination angle of the working face is greater than or equal to 0° and less than or equal to 15°, the server sets the holding torque of the coal mining machine to the preset holding torque, that is, the server sets the holding torque of the coal mining machine to 20% of the rated torque; the preset holding torque is carried in the control information and sent to the frequency converter, so that the output torque of the frequency converter increases to the preset holding torque; when the output torque of the frequency converter increases to the preset holding torque, the server sends a brake release signal to the brake, so that the brake is released and the coal mining machine begins to move on the traction guide rail of the working face.

[0061] It should be noted that when the holding torque of the coal mining machine is 20% of the rated torque, the coal mining machine can start stably on a working surface with an inclination angle of 15° without slipping.

[0062] After the server sends a brake release signal to the brake, the brake solenoid valve begins pumping oil into the brake. When the brake is released, the oil pressure relay detects the brake's action. When the brake is released normally, a release signal is sent back to the frequency converter, and the traction motor begins traction. Based on the control signal sent by the server, the frequency converter's output torque is adjusted to match the working torque of the coal mining machine. The working torque output by the frequency converter is much greater than its holding torque.

[0063] In one possible implementation, after sending a brake release signal to the brake to allow the coal mining machine to move on the working face, the method further includes: responding to a user's request to stop the coal mining machine; acquiring second information; the second information including a second inclination angle of the working face, a coefficient of friction between the coal mining machine and the working face, and basic parameters of the coal mining machine; if the second inclination angle of the working face is the same as the first inclination angle of the working face, adjusting the output torque of the frequency converter based on a first holding torque; when the output torque of the frequency converter is equal to the first holding torque, sending a brake hold signal to the brake to stop the coal mining machine on the working face.

[0064] In the example above, the worker clicks the "Stop Coal Mining Machine" button on the interactive interface provided by the coal mining machine to issue an operation command to stop the coal mining machine. After receiving the operation command, the coal mining machine's server obtains the tilt angle information of its current position sent by the angle sensor, and determines whether the tilt angle of the position where the coal mining machine is located when it stops is the same as the tilt angle of the position where it is located when it starts. If the tilt angle of the position where the coal mining machine is located when it stops is the same as the tilt angle of the position where it is located when it starts, the starting holding torque of the coal mining machine is used as the stopping holding torque of the coal mining machine, and control information carrying the stopping holding torque of the coal mining machine is sent to the frequency converter to reduce the output torque of the frequency converter to the stopping holding torque. The output torque of the frequency converter is monitored in real time. When the output torque of the frequency converter decreases to the stopping holding torque, the server sends a brake signal to the brake to cause the brake to engage, and the coal mining machine stops on the traction guide rail of the working face.

[0065] In one possible implementation, after obtaining the second information, the method further includes: if the second inclination angle of the working face is not the same as the first inclination angle of the working face, and the second inclination angle of the working face is greater than a preset first value and less than a preset second value, then calculate the second holding torque based on the second information; adjust the output torque of the frequency converter based on the second holding torque; when the output torque of the frequency converter is equal to the second holding torque, send a brake signal to the brake to stop the coal mining machine on the working face.

[0066] In the example above, the server determines that the tilt angle of the position where the coal mining machine stops is different from the tilt angle of the position where the coal mining machine starts. When the tilt angle of the position where the coal mining machine stops is greater than 15° and less than 90°, the server retrieves the friction coefficient between the coal mining machine and the working face and the basic parameters of the coal mining machine from the database. The server calculates the second holding torque according to the above formula. The second holding torque is the stopping holding torque of the coal mining machine at the position when it stops. The server sends control information carrying the stopping holding torque of the coal mining machine to the frequency converter so that the output torque of the frequency converter is reduced to the stopping holding torque. The server monitors the output torque of the frequency converter in real time. When the output torque of the frequency converter is reduced to the stopping holding torque, the server sends a brake signal to the brake so that the brake is engaged and the coal mining machine stops on the traction guide rail of the working face.

[0067] It should be noted that the server will use the position of the coal mining machine when the operator clicks the stop button as the position of the coal mining machine when it stops.

[0068] When the server determines that the tilt angle of the coal mining machine's position when it stops is greater than 0° and less than 15°, it sets the stopping torque of the coal mining machine to 20% of the rated torque; the stopping torque is carried in the control information and sent to the frequency converter, so that the output torque of the frequency converter is reduced to the stopping torque; when the output torque of the frequency converter is reduced to the stopping torque, the server sends a brake signal to the brake, so that the brake is engaged and the coal mining machine stops on the traction guide rail of the working face.

[0069] In one possible implementation, the method further includes: obtaining a first angle, which is the actual tilt angle of the position on the working face when the coal mining machine starts; calculating the deviation of the first tilt angle of the working face based on the first angle; and calculating and storing the tilt angle correction value of the working face based on the deviation to correct the tilt angle of the working face.

[0070] In the example above, the staff measured the tilt angle of the position where the coal mining machine was located when it started, took the measured tilt angle value as the actual tilt angle of the position where the coal mining machine was located when it started, and uploaded the measured value to the coal mining machine's server.

[0071] Deviation of the first tilt angle of the working face ;in, This is the first inclination angle of the working surface; The first angle; the correction value for the tilt angle of the working face. ;

[0072] The process involves workers measuring the actual inclination angles at multiple starting points of the coal mining machine. Based on the first measurement, a first deviation is calculated. This first deviation corresponds to the first measurement. Based on the second measurement, a correction value for the inclination angle of the first working face and a second deviation are calculated. The correction value for the inclination angle of the first working face corresponds to the first deviation, and the second deviation corresponds to the second measurement. This process is repeated to obtain multiple sets of deviation values ​​and correction values ​​for the inclination angle of the working face. Using MATLAB, these multiple sets of deviation values ​​and correction values ​​for the inclination angle of the working face are fitted to obtain the coefficient k.

[0073] In one possible implementation, the method further includes: acquiring tilt angle correction values ​​of multiple working surfaces within a preset time period; calculating tilt angle error values ​​of the working surfaces based on the tilt angle correction values ​​of the multiple working surfaces; and sending alarm information to a preset device if the tilt angle error value of the working surfaces is greater than or equal to a preset error value.

[0074] In the example above, the server counts the tilt angle correction value of the working face corresponding to each start of the coal mining machine within a preset time period; plots the error curve of the angle sensor with the start order of the coal mining machine as the x-axis and the tilt angle correction value of the working face as the y-axis; and calculates the variance of the error curve as the tilt angle error value of the working face.

[0075] For example, the preset time period is 7 days, and the preset error value is 1. The preset error value of 1 is the reasonable error value of the tilt angle of the working surface obtained by the staff through multiple experiments; when the tilt angle error value of the working surface is greater than 1, the deviation value of the tilt angle of the working surface measured by the angle sensor has exceeded the safe range.

[0076] It should be noted that the device used in the coal mining machine to measure the inclination angle of the working face is an angle sensor. The server determines the working status of the angle sensor by analyzing the inclination angle of the working face measured by the angle sensor.

[0077] After the coal mining machine is started, the staff measures the actual tilt angle of the starting point and uploads the measurement value to the server. The server calculates the correction value of the working face tilt angle. The correction value of the working face tilt angle remains unchanged until the staff measures the actual tilt angle of the starting point of the coal mining machine again. The coal mining machine's server updates the working face tilt angle correction value every time the staff uploads the actual tilt angle of the working face.

[0078] The angle of inclination of the working face used by the server in calculating the holding torque of the coal mining machine is a corrected angle, i.e. This is the sum or difference between the angle value obtained by the server from the angle sensor and the tilt angle correction value of the working surface; the sign of the tilt angle correction value of the working surface is compared by the server. The angle is determined. The server uses this angle to calculate the deviation of the working surface's tilt angle. Used when calculating holding torque They are the same, both being the tilt angle of the corrected working surface.

[0079] Reference Figure 2 This document illustrates a schematic diagram of a coal mining machine control device according to an embodiment of this application. The device serves as a server for the coal mining machine, which includes a frequency converter and a brake. The device comprises: a response unit 201, used to respond to a user's start-up action on the coal mining machine; an acquisition unit 202, used to acquire first information, including a first inclination angle of the working face, the friction coefficient between the coal mining machine and the working face, and basic parameters of the coal mining machine; a processing unit 203, used to calculate a first holding torque based on the first information if the first inclination angle of the working face is greater than a preset first value and less than a preset second value; and to adjust the output torque of the frequency converter based on the first holding torque; and a sending unit 204, used to send a brake release signal to the brake when the output torque of the frequency converter is equal to the first holding torque, so that the coal mining machine can move on the working face.

[0080] In one possible implementation, the basic parameters of the coal mining machine include the weight of the coal mining machine, the module of the coal mining machine's traveling wheels, the number of teeth on the coal mining machine's traveling wheels, the total transmission ratio of the coal mining machine's traction and traveling unit, and the coal mining machine's holding torque correction coefficient; based on the first information, the first holding torque is calculated, specifically including:

[0081] ;

[0082] Where T is the first holding torque; G is the gravity of the coal mining machine; This is the first inclination angle of the working surface; denoted as the coefficient of friction between the coal mining machine and the working face; m is the module of the coal mining machine's traveling wheel; z is the number of teeth on the coal mining machine's traveling wheel; and i is the total transmission ratio of the coal mining machine's traction and traveling mechanism. The correction factor for the holding torque of the coal mining machine.

[0083] In one possible implementation, the processing unit 203 is further configured to set the holding torque of the coal mining machine to a preset holding torque if the first tilt angle of the working face is greater than or equal to a preset third value and less than or equal to a preset first value; and adjust the output torque of the frequency converter based on the preset holding torque; the sending unit 204 is further configured to send a brake release signal to the brake when the output torque of the frequency converter is equal to the preset holding torque, so as to make the coal mining machine move on the working face.

[0084] In one possible implementation, the response unit 201 is further configured to respond to the user's request to stop the coal mining machine; the acquisition unit 202 is further configured to acquire second information; the second information includes the second inclination angle of the working face, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine; the processing unit 203 is further configured to adjust the output torque of the frequency converter based on the first holding torque if the second inclination angle of the working face is the same as the first inclination angle of the working face; the sending unit 204 is further configured to send a brake signal to the brake when the output torque of the frequency converter is equal to the first holding torque, so as to stop the coal mining machine on the working face.

[0085] In one possible implementation, the processing unit 203 is further configured to calculate a second holding torque based on the second information if the second inclination angle of the working face is not the same as the first inclination angle of the working face, and the second inclination angle of the working face is greater than a preset first value and less than a preset second value; and adjust the output torque of the frequency converter based on the second holding torque; the sending unit 204 is further configured to send a brake signal to the brake when the output torque of the frequency converter is equal to the second holding torque, so as to stop the coal mining machine on the working face.

[0086] In one possible implementation, the acquisition unit 202 is further configured to acquire a first angle, which is the actual tilt angle of the position on the working face when the coal mining machine starts; the processing unit 203 is further configured to calculate the deviation of the first tilt angle of the working face based on the first angle; and calculate and store the tilt angle correction value of the working face based on the deviation to correct the tilt angle of the working face.

[0087] In one possible implementation, the acquisition unit 202 is further configured to acquire tilt angle correction values ​​of multiple working surfaces within a preset time period; the processing unit 203 is further configured to calculate the tilt angle error value of the working surfaces based on the tilt angle correction values ​​of the multiple working surfaces; and the sending unit 204 is further configured to send an alarm message to a preset device if the tilt angle error value of the working surfaces is greater than or equal to a preset error value.

[0088] Reference Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 300 may include: at least one processor 301, at least one network interface 304, user interface 303, memory 305, and at least one communication bus 302.

[0089] The communication bus 302 is used to enable communication between these components.

[0090] The user interface 303 may include a display screen and a camera. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0091] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0092] The processor 301 may include one or more processing cores. The processor 301 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305. Optionally, the processor 301 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 301 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 301 and may be implemented as a separate chip.

[0093] The memory 305 may include random access memory (RAM) or read-only memory. Optionally, the memory 305 may include a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned processor 301. Figure 3As shown, the memory 305, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a coal mining machine control method.

[0094] exist Figure 3 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 301 can be used to call an application program of a coal mining machine control method stored in the memory 305. When executed by one or more processors, the electronic device performs one or more of the methods described in the above embodiments.

[0095] An electronic device readable storage medium stores instructions that, when executed by one or more processors, cause the electronic device to perform one or more of the methods described in the above embodiments.

[0096] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0097] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A coal mining machine control method, characterized in that, In a server used in a coal mining machine, the coal mining machine including a frequency converter and a brake, the method includes: In response to the user's action of starting the coal mining machine; Obtain first information; the first information includes the first inclination angle of the working face, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine; If the first tilt angle of the working surface is greater than a preset first value and less than a preset second value, then the first holding torque is calculated based on the first information. Based on the first holding torque, adjust the output torque of the frequency converter; When the output torque of the frequency converter is equal to the first holding torque, a release signal is sent to the brake to allow the coal mining machine to move on the working face. The basic parameters of the coal mining machine include the machine's gravity, the module of its traveling wheels, the number of teeth on its traveling wheels, the overall transmission ratio of its traction and traveling mechanism, and the correction coefficient for its holding torque. The calculation of the first holding torque based on this first information specifically includes: T=G·(sinα-μcosα)·(mz) / (2i)+ξ; Where T is the first holding torque; G is the weight of the coal mining machine; α is the first inclination angle of the working face; μ is the friction coefficient between the coal mining machine and the working face; m is the module of the coal mining machine's traveling wheel; z is the number of teeth of the coal mining machine's traveling wheel; i is the total transmission ratio of the coal mining machine's traction traveling unit; and ξ is the correction coefficient for the coal mining machine's holding torque.

2. The coal mining machine control method according to claim 1, characterized in that, After obtaining the first information, the method further includes: If the first inclination angle of the working face is greater than or equal to a preset third value and less than or equal to the preset first value, then the holding torque of the coal mining machine is set to the preset holding torque. The output torque of the frequency converter is adjusted based on the preset holding torque. When the output torque of the frequency converter is equal to the preset holding torque, the release signal is sent to the brake so that the coal mining machine can move on the working face.

3. The coal mining machine control method according to claim 1, characterized in that, After sending a brake release signal to the brake to allow the coal mining machine to move on the working face, the method further includes: In response to the user's action to stop the coal mining machine; Obtain second information; the second information includes the second inclination angle of the working face, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine; If the second tilt angle of the working surface is the same as the first tilt angle of the working surface, then the output torque of the frequency converter is adjusted based on the first holding torque; When the output torque of the frequency converter is equal to the first holding torque, a brake signal is sent to the brake to stop the coal mining machine on the working face.

4. The coal mining machine control method according to claim 3, characterized in that, After obtaining the second information, the method further includes: If the second tilt angle of the working surface is not the same as the first tilt angle of the working surface, and the second tilt angle of the working surface is greater than the preset first value and less than the preset second value, then the second holding torque is calculated based on the second information. Based on the second holding torque, adjust the output torque of the frequency converter; When the output torque of the frequency converter is equal to the second holding torque, the brake signal is sent to the brake to stop the coal mining machine on the working face.

5. The coal mining machine control method according to claim 1, characterized in that, The method further includes: Obtain a first angle, which is the actual tilt angle of the position of the coal mining machine on the working face when it starts; Based on the first angle, calculate the deviation of the first tilt angle of the working surface; Based on the deviation, the tilt angle correction value of the working surface is calculated and stored to correct the tilt angle of the working surface.

6. The coal mining machine control method according to claim 5, characterized in that, The method further includes: Within a preset time period, obtain the tilt angle correction values ​​of multiple working surfaces; Based on the tilt angle correction values ​​of multiple working surfaces, the tilt angle error value of the working surface is calculated; If the tilt angle error of the working surface is greater than or equal to the preset error value, an alarm message is sent to the preset device.

7. A coal mining machine control device, characterized in that, The device is a server for a coal mining machine, which includes a frequency converter and a brake. The device includes: The response unit is used to respond to the user's action of starting the coal mining machine, wherein, The basic parameters of a coal mining machine include the weight of the coal mining machine, the module of the coal mining machine's traveling wheels, the number of teeth on the coal mining machine's traveling wheels, the total transmission ratio of the coal mining machine's traction and traveling parts, and the coal mining machine's holding torque correction coefficient. The acquisition unit is used to acquire first information; the first information includes the first inclination angle of the working face, the friction coefficient between the coal mining machine and the working face, and the basic parameters of the coal mining machine. The processing unit is configured to, if the first tilt angle of the working surface is greater than a preset first value and less than a preset second value, calculate a first holding torque based on the first information; and adjust the output torque of the frequency converter based on the first holding torque, wherein... The calculation of the first holding torque based on the first information specifically includes: T=G·(sinα-μcosα)·(mz) / (2i)+ξ; Where T is the first holding torque; G is the weight of the coal mining machine; α is the first inclination angle of the working face; μ is the friction coefficient between the coal mining machine and the working face; m is the module of the coal mining machine's traveling wheel; z is the number of teeth on the coal mining machine's traveling wheel; i is the total transmission ratio of the coal mining machine's traction traveling unit; and ξ is the correction coefficient for the coal mining machine's holding torque. The transmitting unit is used to send a brake release signal to the brake when the output torque of the frequency converter is equal to the first holding torque, so as to make the coal mining machine move on the working face.

8. An electronic device, characterized in that, The device includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that can be loaded by a processor and executed as described in any one of claims 1-6.

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