Coal mining machine planning and cutting control system and coal mining machine

Abstract

The present invention relates to a coal mining machine planning and cutting control system and a coal mining machine, which implements step S1, obtaining historical cutting data records corresponding to M consecutive cuts before the j-th cut from the coal mining machine historical cutting database; step S2, generating a predicted mining height of the first drum of the coal mining machine and a predicted mining height of the second drum of the coal mining machine corresponding to the j-th cut at the n-th preset position point; step S3, obtaining the working surface top plate height and working surface bottom plate height corresponding to the j-th cut at the n-th preset position point based on a three-dimensional geological model of a preset working surface; step S4, determining the target mining height of the first drum of the coal mining machine and the target mining height of the second drum of the coal mining machine; step S5, generating a planned cutting curve for the j-th cut; step S6, executing the cutting operation of the j-th cut and storing the actual cutting data record generated for the j-th cut in the coal mining machine historical cutting database. The present invention improves the efficiency of coal mining machine planning and cutting and the intelligence level of the coal mining machine.

Description

Technical Field

[0001] The present invention relates to the technical field of coal shearers, and in particular to a coal shearer planning and cutting control system and a coal shearer. Background Art

[0002] With the continuous advancement of coal mining technology, coal mining machines are developing in the direction of automation, intelligence, and unmanned operation. The existing technology uses memory cutting technology for coal mining. Memory cutting coal mining requires manual completion of a cutting action on a specific working face, storing the manually completed cutting action, and performing automated cutting based on the stored operation and repeating it. However, due to the complex working face environment, a single memory cutting operation is difficult to fully apply to subsequent cutting operations, so a large amount of manual intervention is still required, which restricts the efficiency of the coal mining machine's cutting operation. It can be seen from this that how to improve the efficiency and intelligence of coal mining machine planning and cutting has become a technical problem that needs to be solved urgently. Summary of the Invention

[0003] The object of the present invention is to provide a coal mining machine planning and cutting control system and a coal mining machine, so as to solve the technical problems raised in the above background technology, or at least partially solve the technical problems raised in the above background technology.

[0004] In a first aspect, an embodiment of the present invention provides a coal mining machine planning and cutting control system, comprising a coal mining machine historical cutting database of a three-dimensional geological model of a preset working face, a memory storing a calculation program, and a processor, wherein the coal mining machine historical cutting database is used to store a historical cutting data record sequence (A1, A2, ..., A i ,…,A f(x) ), A i A is the history cutting data record of the i-th cutter of the preset working surface, the value range of i is 1 to f(x), and f(x) is the total number of historical cutting cutters currently stored; i =(A1 i ,A2 i ,…,A n i ,…,A N i ), A n i is the historical cutting data record of the i-th knife at the n-th preset position point, A n i Including the mining height of the first drum of the coal shearer corresponding to the nth preset position point of the i-th cutter, and the mining height of the second drum of the coal shearer, the mining height of the first drum of the coal shearer is the height of the upper edge tangent point of the corresponding drum located at the upper part, and the mining height of the second drum of the coal shearer is the height of the lower edge tangent point of the corresponding drum located at the lower part;

[0005] When the processor executes the computer program, the following steps are implemented:

[0006] Step S1, obtaining historical cutting data records corresponding to M consecutive cuts before the j-th cut from the coal cutting machine historical cutting database, where M is a preset number of predicted historical data;

[0007] Step S2: Based on the historical cutting data records of the nth preset position point corresponding to the M consecutive cuts before the jth cutter and the continuity of the coal seam corresponding to the preset working face, generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer corresponding to the jth cutter at the nth preset position point;

[0008] Step S3: obtaining the top plate height and bottom plate height of the working surface corresponding to the j-th cutter at the n-th preset position point based on the three-dimensional geological model of the preset working surface;

[0009] Step S4: If the predicted mining height of the first drum of the coal shearer corresponding to the nth preset position point of the j-th cutter and the height of the top plate of the working face are within the preset height error range, and the predicted mining height of the second drum of the coal shearer and the height of the bottom plate of the working face are within the preset height error range, then the height of the top plate of the working face corresponding to the j-th cutter at the nth preset position point is determined as the target mining height of the first drum of the coal shearer, and the height of the bottom plate of the working face is determined as the target mining height of the second drum of the coal shearer; otherwise, the predicted mining height of the first drum of the coal shearer corresponding to the j-th cutter at the nth preset position point is determined as the target mining height of the first drum of the coal shearer, and the predicted mining height of the second drum of the coal shearer is determined as the target mining height of the second drum of the coal shearer;

[0010] Step S5: generating a planned cutting curve for the j-th cutter based on the target mining heights of the first drum and the second drum of the shearer corresponding to the N preset position points of the j-th cutter;

[0011] Step S6: Execute the j-th cutting operation based on the j-th planned cutting curve, generate the j-th actual cutting data record, and store it in the coal mining machine historical cutting database.

[0012] Furthermore, A n i It also includes the pitch angle of the working surface corresponding to the nth preset position point of the i-th tool, and the step S2 includes:

[0013] Step S21: Based on the historical cutting data records of the nth preset position point corresponding to the M consecutive cuts before the jth cutter and the continuity of the coal seam corresponding to the preset working face, generate the predicted basic mining height of the first drum of the coal shearer and the predicted basic mining height of the second drum of the coal shearer corresponding to the jth cutter at the nth preset position point;

[0014] Step S22: If the pitch angle of the working surface corresponding to the M consecutive cuts before the j-th cut remains unchanged, the predicted base height of the first shearer drum mining height and the predicted base height of the second shearer drum mining height are determined as the predicted base height of the first shearer drum mining height and the predicted base height of the second shearer drum mining height. If the pitch angle of the working surface corresponding to the M consecutive cuts before the j-th cut changes, execute step S23;

[0015] Step S23, obtain the first mining height adjustment amount of the coal shearer based on the change in the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut; if the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut tends to increase, then the first mining height adjustment amount is subtracted from the predicted mining height base of the first drum of the coal shearer and the predicted mining height base of the second drum of the coal shearer respectively to generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer; if the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut tends to decrease, then the first mining height adjustment amount is added to the predicted mining height base of the first drum of the coal shearer and the predicted mining height base of the second drum of the coal shearer respectively to generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer.

[0016] Furthermore, A n i The step S2 also includes the shearer traction speed and the shearer traction direction corresponding to the nth preset position of the i-th cutter.

[0017] Step S24: Generate the predicted shearer traction speed and predicted shearer traction direction based on the shearer traction speed and direction of the nth preset position point corresponding to the continuous M cuts before the jth cut and the continuity of the coal seam corresponding to the preset working face.

[0018] Step S25: If the system receives the specified coal mining machine traction speed and the specified coal mining machine traction direction corresponding to the nth preset position point of the jth cutter, the specified coal mining machine traction speed and the specified coal mining machine traction direction are determined as the target coal mining machine traction speed and the target coal mining machine traction direction corresponding to the nth preset position point of the jth cutter; otherwise, the predicted coal mining machine traction speed and the predicted coal mining machine traction direction are determined as the corresponding target coal mining machine traction speed and the target coal mining machine traction direction.

[0019] Furthermore, step S6 includes:

[0020] Step S61: obtaining the target mining height of the first drum of the shearer and the target mining height of the second drum of the shearer corresponding to each preset position point based on the j-th planned cutting curve;

[0021] Step S62: Based on the j-th planned cutting curve, obtain the target mining height of the first drum of the coal mining machine, the target mining height of the second drum of the coal mining machine, the target coal mining machine traction speed, and the target coal mining machine traction direction corresponding to each preset position point and perform the j-th cutting operation.

[0022] Furthermore, A n i It also includes the working surface inclination angle of the i-th tool corresponding to the n-th preset position point, and the step S61 includes:

[0023] Step S611: Obtain the current working surface inclination angle corresponding to the nth preset position point of the jth cutter. If the current working surface inclination angle is not equal to the working surface inclination angle corresponding to the nth preset position point of the (j-1)th cutter, generate a second mining height adjustment value of the coal mining machine based on the difference;

[0024] Step S612: If the inclination angle of the current working face is greater than the inclination angle of the working face corresponding to the nth preset position point of the (j-1)th cutter, then the target mining height of the first roller of the coal shearer and the target mining height of the second roller of the coal shearer corresponding to the nth preset position point of the jth cutter are respectively reduced by the second mining height adjustment amount of the coal shearer; if the inclination angle of the current working face is smaller than the inclination angle of the working face corresponding to the nth preset position point of the (j-1)th cutter, then the target mining height of the first roller of the coal shearer and the target mining height of the second roller of the coal shearer corresponding to the nth preset position point of the jth cutter are respectively increased by the second mining height adjustment amount of the coal shearer.

[0025] Furthermore, the step S62 includes:

[0026] Step S621: monitor the status of the shearer in real time. If a preset abnormality occurs, generate a corresponding manual intervention prompt. The preset abnormality includes a change in the mining height exceeding a preset range, a temperature of the shearer exceeding a preset temperature threshold, or a load of the shearer exceeding a preset load threshold.

[0027] Step S622: If the corresponding manual intervention information is obtained, the corresponding manual intervention information is recorded; otherwise, the preset shutdown protection operation is executed.

[0028] In a second aspect, an embodiment of the present invention provides a coal mining machine, comprising a three-dimensional geological model of a preset working face, a communication link, and a coal mining machine planning and cutting control system, wherein the three-dimensional geological model of the preset working face and the coal mining machine planning and cutting control system exchange data via the communication link;

[0029] The communication link includes a first communication link segment and a second communication link segment. The three-dimensional geological model of the preset working face is connected to the first communication link segment, and the coal mining machine planning and cutting control system is connected to the second communication link segment. The distance of the first communication link is actually configured according to the required length for mine monitoring. The second communication link segment communicates using a carrier communication method, and the distance of the second communication link is equal to the length of the coal mining machine working face.

[0030] Furthermore, the first communication link segment includes a coal mining machine chute server and a chute coal mining machine communication module connected in sequence, the second communication link segment includes a high-voltage distribution module, and the coal mining machine also includes a power supply module. The high-voltage distribution module outputs a first cable and a second cable, which is connected to the power supply module through the first cable and connected to the coal mining machine planning and cutting control system through the second cable. The first cable is a fixed cable, and the second cable is a movable and foldable cable.

[0031] Furthermore, the coal mining machine chute server is used to obtain the working face top plate height and working face bottom plate height corresponding to the j-th cutter at the n-th preset position point from the three-dimensional geological model of the preset working face, and is also used to obtain configuration information and intervention information input by the user on a preset display interface. The configuration information includes a preset height error range and is sent to the chute coal mining machine communication module via optical fiber communication.

[0032] The chute coal machine communication module is used to convert the data sent by the coal mining machine chute server through optical fiber communication into carrier communication data, and send it to the coal mining machine planning and cutting control system through the high-voltage branch line module in the form of carrier communication;

[0033] The coal mining machine planning and cutting control system is used to send the planned cutting control data to the coal mining machine communication module through the high-voltage distribution box in the form of carrier communication. The coal mining machine communication module is used to convert the planned cutting control data into the form of optical fiber communication and send it to the coal mining machine channel server. The cutting control data includes intervention prompt information and coal mining machine status information.

[0034] Furthermore, the coal mining machine planning and cutting control system specifically includes a coal mining machine chute communication module, a coal mining machine onboard switch, an intelligent cutting control module and a coal mining machine main control module. The coal mining machine chute communication module is connected to the second communication link, and the coal mining machine chute communication module, the intelligent cutting control module and the coal mining machine main control module are all connected to the coal mining machine onboard switch, and data interaction is realized through the coal mining machine onboard switch. The intelligent cutting control module is used to predict target cutting data based on historical cutting data and data sent by the three-dimensional geological model. The coal mining machine main control module is used to perform cutting operations based on target cutting data, and collect actual cutting data for each cut and each position point and store them in a database.

[0035] Through the above technical solution, the cutting data corresponding to each position point of the next cut is predicted based on the historical cutting database of the coal mining machine, and combined with the data output by the three-dimensional geological model of the preset working face, the target cutting data corresponding to each position point of the next cut is determined, which improves the availability of generating target cutting data, reduces manual intervention, improves the cutting efficiency of the coal mining machine, and enhances the intelligence of the coal mining machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other objects, features, and advantages of the present invention will become more apparent through a more detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings are provided to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and are not intended to limit the present invention.

[0037] Figure 1 A flow chart of coal mining machine planning and cutting control provided in the first embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the coal mining machine architecture provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] Example 1

[0041] Embodiment 1 provides a coal mining machine planning and cutting control system, including a three-dimensional geological model of a preset working face, a coal mining machine historical cutting database, a memory storing a calculation program, and a processor. It should be noted that the three-dimensional geological model of the preset working face is generated based on the geological parameters of the preset working face, and there are many ways for the coal mining machine main control system to interact with the generated three-dimensional geological model planning data, which is not limited by the present invention. The coal mining machine historical cutting database is used to store a historical cutting data record sequence (A1, A2, ..., A i ,…,A f(x) ), A i is the history cutting data record of the i-th cutter of the preset working surface. The value of i ranges from 1 to f(x). f(x) is the total number of historical cutting cutters currently stored. It can be understood that as the cutting progresses, the value of f(x) also increases. i =(A1i ,A2 i ,…,A n i ,…,A N i ), A n i is the historical cutting data record of the i-th knife at the n-th preset position point, A n i Including the mining height of the first roller of the coal mining machine corresponding to the nth preset position point of the i-th knife and the mining height of the second roller of the coal mining machine. The mining height of the first roller of the coal mining machine is the height of the upper edge tangent point corresponding to the upper roller, and the mining height of the second roller of the coal mining machine is the height of the lower edge tangent point corresponding to the lower roller. It should be noted that the coal mining machine includes two rollers, one of which is located at the upper part and the other is located at the lower part, and the position may be switched as the cutting progresses.

[0042] When the processor executes the computer program, Figure 1 As shown, implement the following steps:

[0043] Step S1: Obtain historical cutting data records corresponding to M consecutive cuts before the j-th cut from the coal cutting machine historical cutting database, where M is a preset number of predicted historical data.

[0044] The value of M can be determined comprehensively based on factors such as specific prediction accuracy requirements and computing resources.

[0045] Step S2: Based on the historical cutting data records of the nth preset position point corresponding to the continuous M cutters before the jth cutter and the continuity of the coal seam corresponding to the preset working face, generate the predicted mining height of the first drum of the coal mining machine and the predicted mining height of the second drum of the coal mining machine corresponding to the jth cutter at the nth preset position point.

[0046] Among them, the continuity of the coal seam corresponding to the preset working face can be known in advance based on the coal seam parameters of the preset working face, and the data accuracy is determined by the actual survey conditions of mine modeling.

[0047] Step S3: Based on the three-dimensional geological model of the preset working surface, the working surface top plate height and the working surface bottom plate height corresponding to the j-th cutter at the n-th preset position point are obtained.

[0048] It should be noted that the three-dimensional geological model can directly obtain the working face top plate height and working face bottom plate height corresponding to a certain location point. The working face top plate height and working face bottom plate height are the highest heights that can be mined at the working point, and the working face bottom plate height is the lowest height that can be mined at the working point.

[0049] Step S4: If the predicted mining height of the first roller of the coal mining machine corresponding to the j-th cutter at the n-th preset position point and the working face top plate height are within the preset height error range, and the predicted mining height of the second roller of the coal mining machine and the working face bottom plate height are within the preset height error range, then the working face top plate height corresponding to the j-th cutter at the n-th preset position point is determined as the target mining height of the first roller of the coal mining machine, and the working face bottom plate height is determined as the target mining height of the second roller of the coal mining machine; otherwise, the predicted mining height of the first roller of the coal mining machine corresponding to the j-th cutter at the n-th preset position point is determined as the target mining height of the first roller of the coal mining machine, and the predicted mining height of the second roller of the coal mining machine is determined as the target mining height of the second roller of the coal mining machine.

[0050] It should be noted that step S4 determines the target mining heights for the first and second shearer drums based on historical prediction data and the 3D geological model. This improves the accuracy and usability of generating the target mining heights for each location, thereby enhancing cutting accuracy. The preset height error range is a user-configured parameter optimized based on the actual working face conditions and model conditions.

[0051] Step S5: Generate a planned cutting curve for the j-th cutter based on the target mining heights of the first drum of the coal shearer and the second drum of the coal shearer corresponding to the N preset position points of the j-th cutter.

[0052] Step S6: Execute the j-th cutting operation based on the j-th planned cutting curve, generate the j-th actual cutting data record, and store it in the coal mining machine historical cutting database.

[0053] It should be noted that the actual cutting data record of the j-th cut is stored in the coal mining machine historical cutting database as historical data for predicting the next cut. It can be understood that the actual cutting data of the j-th cut can be obtained through the corresponding sensor set in the coal mining machine.

[0054] As an example, A n i It also includes the pitch angle of the working surface corresponding to the nth preset position point of the i-th tool, and the step S2 includes:

[0055] Step S21: Based on the historical cutting data records of the nth preset position point corresponding to the continuous M cuts before the jth cutter and the continuity of the coal seam corresponding to the preset working face, generate the basic predicted height of the mining height of the first drum of the coal mining machine and the basic predicted height of the mining height of the second drum of the coal mining machine corresponding to the jth cutter at the nth preset position point.

[0056] Step S22: If the pitch angle of the working surface corresponding to the continuous M cuts before the j-th cut remains unchanged, the basic predicted height of the mining height of the first drum of the coal mining machine and the basic predicted height of the mining height of the second drum of the coal mining machine are determined as the predicted height of the mining height of the first drum of the coal mining machine and the predicted height of the mining height of the second drum of the coal mining machine. If the pitch angle of the working surface corresponding to the continuous M cuts before the j-th cut changes, execute step S23.

[0057] Step S23, obtain the first mining height adjustment amount of the coal shearer based on the change in the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut; if the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut tends to increase, then the first mining height adjustment amount is subtracted from the predicted mining height base of the first drum of the coal shearer and the predicted mining height base of the second drum of the coal shearer respectively to generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer; if the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut tends to decrease, then the first mining height adjustment amount is added to the predicted mining height base of the first drum of the coal shearer and the predicted mining height base of the second drum of the coal shearer respectively to generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer.

[0058] It should be noted that, through steps S21-S23, the influence of the working face pitch angle on the mining height of the first drum of the coal shearer and the mining height of the second drum of the coal shearer corresponding to the working point is further taken into account, and the corresponding first mining height adjustment amount of the coal shearer is obtained based on the changing trend of the working face pitch angle in the historical data, and the basic predicted height of the mining height of the first drum of the coal shearer and the basic predicted height of the mining height of the second drum of the coal shearer are adjusted, thereby improving the accuracy and availability of obtaining the predicted height of the mining height of the first drum of the coal shearer and the predicted height of the mining height of the second drum of the coal shearer.

[0059] As an example, A n i The step S2 also includes the shearer traction speed and the shearer traction direction corresponding to the nth preset position of the i-th cutter.

[0060] Step S24: Generate the predicted shearer traction speed and predicted shearer traction direction based on the shearer traction speed and direction of the nth preset position point corresponding to the continuous M cuts before the jth cut and the continuity of the coal seam corresponding to the preset working face.

[0061] Step S25: If the system receives the specified coal mining machine traction speed and the specified coal mining machine traction direction corresponding to the nth preset position point of the jth cutter, the specified coal mining machine traction speed and the specified coal mining machine traction direction are determined as the target coal mining machine traction speed and the target coal mining machine traction direction corresponding to the nth preset position point of the jth cutter; otherwise, the predicted coal mining machine traction speed and the predicted coal mining machine traction direction are determined as the corresponding target coal mining machine traction speed and the target coal mining machine traction direction.

[0062] It should be noted that the shearer traction speed and shearer traction direction at each position point can be directly specified by the user based on the conditions of the preset working face. If there is no user specification, the shearer predicted traction speed and shearer predicted traction direction are used as the target shearer traction speed and target shearer traction direction.

[0063] As an example, step S6 includes:

[0064] Step S61: based on the j-th planned cutting curve, obtain the target mining height of the first drum of the coal shearer and the target mining height of the second drum of the coal shearer corresponding to each preset position point.

[0065] Step S62: Based on the j-th planned cutting curve, obtain the target mining height of the first drum of the coal mining machine, the target mining height of the second drum of the coal mining machine, the target coal mining machine traction speed, and the target coal mining machine traction direction corresponding to each preset position point and perform the j-th cutting operation.

[0066] It should be noted that each position point has corresponding position information. Based on the position information and the coal mining machine's attitude positioning system, the relative coordinates of the coal mining machine on the working face can be determined. Based on the target mining height of the first roller of the coal mining machine, the target mining height of the second roller of the coal mining machine and the status of the two rollers, the coordinates of the two rollers can also be determined.

[0067] Installing high-precision position sensors, inclination sensors and high-precision left and right rocker arm mining height sensors on the coal mining machine body helps to improve the accuracy of the coal mining machine's automatic control adjustment and planned cutting execution.

[0068] As an example, A n i It also includes the working surface inclination angle of the i-th tool corresponding to the n-th preset position point, and the step S61 includes:

[0069] Step S611: Obtain the current working surface inclination angle corresponding to the nth preset position point of the jth cutter. If the current working surface inclination angle is not equal to the working surface inclination angle corresponding to the nth preset position point of the (j-1)th cutter, generate the second mining height adjustment amount of the coal mining machine based on the difference.

[0070] It can be understood that (j-1) is equal to f(x).

[0071] Step S612: If the inclination angle of the current working face is greater than the inclination angle of the working face corresponding to the nth preset position point of the (j-1)th cutter, then the target mining height of the first roller of the coal shearer and the target mining height of the second roller of the coal shearer corresponding to the nth preset position point of the jth cutter are respectively reduced by the second mining height adjustment amount of the coal shearer; if the inclination angle of the current working face is smaller than the inclination angle of the working face corresponding to the nth preset position point of the (j-1)th cutter, then the target mining height of the first roller of the coal shearer and the target mining height of the second roller of the coal shearer corresponding to the nth preset position point of the jth cutter are respectively increased by the second mining height adjustment amount of the coal shearer.

[0072] Steps S611-S612 adjust the target mining heights of the first and second shearer drums in real time by taking into account the impact of the change in the current working face inclination on the drum mining height, thereby improving the accuracy of cutting.

[0073] In order to further improve the accuracy of coal mining machine cutting and the safety of coal mining process, as an example, step S62 includes:

[0074] Step S621: monitor the status of the coal mining machine in real time. If a preset abnormal situation occurs, generate a corresponding manual intervention prompt. The preset abnormal situation includes the mining height change exceeding the preset range, the coal mining machine temperature exceeding the preset temperature threshold, the coal mining machine load exceeding the preset load threshold, etc.

[0075] Step S622: If the corresponding manual intervention information is obtained, the corresponding manual intervention information is recorded; otherwise, the preset shutdown protection operation is executed.

[0076] It should be noted that after each cutting is completed, the corresponding intervention information can be presented to the user, so that the user can adjust the preset height error range and other user configuration parameters based on the intervention information, further improve the accuracy of the subsequent generated target cutting parameters, reduce the number of user interventions, and further enhance the intelligence of the coal mining machine.

[0077] The system described in Example 1 predicts the cutting data corresponding to each position point of the next cut based on the historical cutting database of the coal mining machine, and combines it with the data output by the three-dimensional geological model of the preset working face to determine the target cutting data corresponding to each position point of the next cut, thereby improving the accuracy and practicality of generating target cutting data, which is conducive to reducing manual intervention, improving the cutting efficiency of the coal mining machine, and enhancing the intelligence of the coal mining machine.

[0078] Example 2

[0079] The second embodiment provides a coal mining machine, such as Figure 2As shown, it includes a three-dimensional geological model of a preset working face, a communication link and the coal mining machine planning and cutting control system. The three-dimensional geological model of the preset working face and the coal mining machine planning and cutting control system exchange data through the communication link.

[0080] The communication link includes a first communication link segment and a second communication link segment. The three-dimensional geological model of the preset working face is connected to the first communication link segment, and the coal mining machine planning and cutting control system is connected to the second communication link segment. The first communication link segment communicates in optical fiber communication mode. The distance of the first communication link can be actually configured according to the required length for mine monitoring. The second communication link segment communicates in carrier communication mode. The distance of the second communication link is equal to the length of the coal mining machine working face, ensuring the optimal carrier communication effect during the mobile towing process.

[0081] As an example, the first communication link segment includes a coal mining machine chute server and a chute coal mining machine communication module connected in sequence, the second communication link segment includes a high-voltage distribution module, and the coal mining machine also includes a power supply module. The high-voltage distribution module outputs a first cable and a second cable, which is connected to the power supply module through the first cable and connected to the coal mining machine planning and cutting control system through the second cable. The first cable is a fixed cable, and the second cable is a movable and foldable cable.

[0082] As an example, the coal mining machine chute server is used to obtain the working face top plate height and working face bottom plate height corresponding to the j-th cutter at the n-th preset position point from the three-dimensional geological model of the preset working face, and is also used to obtain the configuration information and intervention information input by the user through the preset display interface. The configuration information includes a preset height error range, which is sent to the chute coal mining machine communication module via optical fiber communication; wherein the preset display interface can specifically be a chute display directly connected to the coal mining machine chute server.

[0083] The shearer chute communication module is used to convert data sent by the shearer chute server via optical fiber communication into carrier communication data, and transmit it to the shearer planning and cutting control system via a high-voltage splitter module in carrier communication. The shearer planning and cutting control system is used to transmit planned cutting control data via a high-voltage splitter box in carrier communication to the shearer chute communication module. The shearer chute communication module is used to convert the planned cutting control data into optical fiber communication and transmit it to the shearer chute server. The cutting control data includes intervention prompt information and shearer status information.

[0084] It should be noted that the 3D geological model, shearer chute server, chute coal mining machine communication module, high-voltage distribution module, and power supply module are all located in the chute. The shearer planning and cutting control system needs to be located at the shearer working face. The cable connecting the shearer planning and cutting control system can be moved and dragged, and needs to be folded back and forth. Therefore, the second communication link is set to carrier communication to improve communication reliability and ensure communication quality. The first communication link is set to fiber optic communication, which can improve the communication efficiency of the first communication link segment and is suitable for coal mining machine monitoring over short, medium and long distances in different mines, thereby improving the overall communication efficiency of the coal mining machine.

[0085] As an example, the coal mining machine planning and cutting control system specifically includes a coal mining machine chute communication module, a coal mining machine onboard switch, an intelligent cutting control module and a coal mining machine main control module. The coal mining machine chute communication module is connected to the second communication link, and the coal mining machine chute communication module, the intelligent cutting control module and the coal mining machine main control module are all connected to the coal mining machine onboard switch, and data interaction is achieved through the coal mining machine onboard switch. The intelligent cutting control module is used to predict target cutting data based on historical cutting data and data sent by the three-dimensional geological model. The coal mining machine main control module is used to perform cutting operations based on target cutting data and collect actual cutting data for each cut and each position point and store them in a database. The specific implementation details of the coal mining machine planning and cutting control system have been specifically described in Example 1 and will not be repeated here.

[0086] The shearer planning and cutting control system in the shearer described in Example 2 predicts the cutting data corresponding to each position point of the next cut based on the shearer's historical cutting database. This is combined with the data output by the three-dimensional geological model of the preset working surface to determine the target cutting data corresponding to each position point of the next cut. This improves the availability of generating target cutting data, reduces manual intervention, improves the shearer's cutting efficiency, and enhances the shearer's intelligence. In addition, by providing a combination of optical fiber communication and carrier communication in the shearer, the shearer's communication efficiency and reliability are improved.

[0087] It should be noted that the various steps described in the implementation of Example 1 of the present invention may be performed in a different order and / or in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0088] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects, such as a first drum of a coal mining machine and a second drum of a coal mining machine, and are not limited to single-drum and double-drum coal mining machine applications. Other explicit and implicit definitions may also be included below.

[0089] The above description is merely a preferred embodiment of the present invention and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present invention.

Claims

1. A coal mining machine planning and cutting control system, characterized in that: The system comprises a three-dimensional geological model of a preset working face, a coal mining machine historical cutting database, a memory storing a computing program, and a processor, wherein the coal mining machine historical cutting database is used to store a historical cutting data record sequence (A1, A2, ..., A i ,…,A f(x) ), A i A is the history cutting data record of the i-th cutter of the preset working surface, the value range of i is 1 to f(x), and f(x) is the total number of historical cutting cutters currently stored; i =(A1 i ,A2 i ,…,A n i ,…,A N i ), A n i is the historical cutting data record of the i-th knife at the n-th preset position point, A n i Including the mining height of the first drum of the coal shearer and the mining height of the second drum of the coal shearer corresponding to the i-th knife at the n-th preset position point; When the processor executes the computing program, the following steps are implemented: Step S1, obtaining historical cutting data records corresponding to M consecutive cuts before the j-th cut from the coal cutting machine historical cutting database, where M is a preset number of predicted historical data; Step S2: Based on the historical cutting data records of the nth preset position point corresponding to the M consecutive cuts before the jth cutter and the continuity of the coal seam corresponding to the preset working face, generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer corresponding to the jth cutter at the nth preset position point; Step S3: obtaining the top plate height and bottom plate height of the working surface corresponding to the j-th cutter at the n-th preset position point based on the three-dimensional geological model of the preset working surface; Step S4: If the predicted mining height of the first drum of the coal shearer corresponding to the nth preset position point of the j-th cutter and the height of the top plate of the working face are within the preset height error range, and the predicted mining height of the second drum of the coal shearer and the height of the bottom plate of the working face are within the preset height error range, then the height of the top plate of the working face corresponding to the j-th cutter at the nth preset position point is determined as the target mining height of the first drum of the coal shearer, and the height of the bottom plate of the working face is determined as the target mining height of the second drum of the coal shearer; otherwise, the predicted mining height of the first drum of the coal shearer corresponding to the j-th cutter at the nth preset position point is determined as the target mining height of the first drum of the coal shearer, and the predicted mining height of the second drum of the coal shearer is determined as the target mining height of the second drum of the coal shearer; Step S5: generating a planned cutting curve for the j-th cutter based on the target mining heights of the first drum and the second drum of the shearer corresponding to the N preset position points of the j-th cutter; Step S6: Execute the j-th cutting operation based on the j-th planned cutting curve, generate the j-th actual cutting data record, and store it in the coal mining machine historical cutting database.

2. The system according to claim 1, wherein: A n i It also includes the pitch angle of the working surface corresponding to the nth preset position point of the i-th tool, and the step S2 includes: Step S21: Based on the historical cutting data records of the nth preset position point corresponding to the M consecutive cuts before the jth cutter and the continuity of the coal seam corresponding to the preset working face, generate the predicted basic mining height of the first drum of the coal shearer and the predicted basic mining height of the second drum of the coal shearer corresponding to the jth cutter at the nth preset position point; Step S22: If the pitch angle of the working surface corresponding to the M consecutive cuts before the j-th cut remains unchanged, the predicted base height of the first shearer drum mining height and the predicted base height of the second shearer drum mining height are determined as the predicted base height of the first shearer drum mining height and the predicted base height of the second shearer drum mining height. If the pitch angle of the working surface corresponding to the M consecutive cuts before the j-th cut changes, execute step S23; Step S23, obtain the first mining height adjustment amount of the coal shearer based on the change in the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut; if the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut tends to increase, then the first mining height adjustment amount is subtracted from the predicted mining height base of the first drum of the coal shearer and the predicted mining height base of the second drum of the coal shearer respectively to generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer; if the pitch angle of the working face corresponding to the continuous M cuts before the j-th cut tends to decrease, then the first mining height adjustment amount is added to the predicted mining height base of the first drum of the coal shearer and the predicted mining height base of the second drum of the coal shearer respectively to generate the predicted mining height of the first drum of the coal shearer and the predicted mining height of the second drum of the coal shearer.

3. The system according to claim 1, wherein: A n i The step S2 also includes the shearer traction speed and the shearer traction direction corresponding to the nth preset position of the i-th cutter. Step S24: Generate a predicted shearer traction speed and a predicted shearer traction direction based on the shearer traction speed and direction at the nth preset position point corresponding to the M consecutive cuts before the jth cut and the coal seam continuity corresponding to the preset working face; Step S25: If the system receives the specified coal mining machine traction speed and the specified coal mining machine traction direction corresponding to the nth preset position point of the jth cutter, the specified coal mining machine traction speed and the specified coal mining machine traction direction are determined as the target coal mining machine traction speed and the target coal mining machine traction direction corresponding to the nth preset position point of the jth cutter; otherwise, the predicted coal mining machine traction speed and the predicted coal mining machine traction direction are determined as the corresponding target coal mining machine traction speed and the target coal mining machine traction direction.

4. The system according to claim 3, characterized in that The step S6 comprises: Step S61: obtaining the target mining height of the first drum of the shearer and the target mining height of the second drum of the shearer corresponding to each preset position point based on the j-th planned cutting curve; Step S62: Based on the j-th planned cutting curve, obtain the target mining height of the first drum of the coal mining machine, the target mining height of the second drum of the coal mining machine, the target coal mining machine traction speed, and the target coal mining machine traction direction corresponding to each preset position point and perform the j-th cutting operation.

5. The system according to claim 4, characterized in that A n i It also includes the working surface inclination angle of the i-th tool corresponding to the n-th preset position point, and the step S61 includes: Step S611: Obtain the current working surface inclination angle corresponding to the nth preset position point of the jth cutter. If the current working surface inclination angle is not equal to the working surface inclination angle corresponding to the nth preset position point of the (j-1)th cutter, generate a second mining height adjustment value of the coal mining machine based on the difference; Step S612: If the inclination angle of the current working face is greater than the inclination angle of the working face corresponding to the nth preset position point of the (j-1)th cutter, then the target mining height of the first roller of the coal shearer and the target mining height of the second roller of the coal shearer corresponding to the nth preset position point of the jth cutter are respectively reduced by the second mining height adjustment amount of the coal shearer; if the inclination angle of the current working face is smaller than the inclination angle of the working face corresponding to the nth preset position point of the (j-1)th cutter, then the target mining height of the first roller of the coal shearer and the target mining height of the second roller of the coal shearer corresponding to the nth preset position point of the jth cutter are respectively increased by the second mining height adjustment amount of the coal shearer.

6. The system according to claim 4, characterized in that The step S62 includes: Step S621: monitor the status of the shearer in real time. If a preset abnormality occurs, generate a corresponding manual intervention prompt. The preset abnormality includes a change in the mining height exceeding a preset range, a temperature of the shearer exceeding a preset temperature threshold, or a load of the shearer exceeding a preset load threshold. Step S622: If the corresponding manual intervention information is obtained, the corresponding manual intervention information is recorded; otherwise, the preset shutdown protection operation is executed.

7. A coal mining machine, characterized in that: The shearer planning and cutting control system comprises the shearer planning and cutting control system according to any one of claims 1 to 6, further comprising a three-dimensional geological model of a preset working face and a communication link, wherein the three-dimensional geological model of the preset working face and the shearer planning and cutting control system exchange data via the communication link; The communication link includes a first communication link segment and a second communication link segment. The three-dimensional geological model of the preset working face is connected to the first communication link segment, and the coal mining machine planning and cutting control system is connected to the second communication link segment. The first communication link segment communicates in optical fiber communication mode, and the first communication link distance is actually configured according to the required length for mine monitoring. The second communication link segment communicates in carrier communication mode, and the second communication link distance is equal to the length of the coal mining machine working face.

8. The coal mining machine according to claim 7, characterized in that: The first communication link segment includes a coal mining machine chute server and a chute coal mining machine communication module connected in sequence, and the second communication link segment includes a high-voltage distribution module. The coal mining machine also includes a power supply module. The high-voltage distribution module outputs a first cable and a second cable, which is connected to the power supply module through the first cable and connected to the coal mining machine planning and cutting control system through the second cable. The first cable is a fixed cable and the second cable is a movable and foldable cable.

9. The coal mining machine according to claim 8, characterized in that: The coal mining machine chute server is used to obtain the working face top plate height and working face bottom plate height corresponding to the j-th cutter at the n-th preset position point from the three-dimensional geological model of the preset working face, and is also used to obtain configuration information and intervention information input by the user on a preset display interface. The configuration information includes a preset height error range and is sent to the chute coal mining machine communication module via optical fiber communication. The chute coal machine communication module is used to convert the data sent by the coal mining machine chute server through optical fiber communication into carrier communication data, and send it to the coal mining machine planning and cutting control system through the high-voltage branch line module in the form of carrier communication; The coal mining machine planning and cutting control system is used to send the planned cutting control data to the coal mining machine communication module through the high-voltage distribution box in the form of carrier communication. The coal mining machine communication module is used to convert the planned cutting control data into the form of optical fiber communication and send it to the coal mining machine channel server. The cutting control data includes intervention prompt information and coal mining machine status information.

10. The coal mining machine according to claim 7, characterized in that: The coal mining machine planning and cutting control system specifically includes a coal mining machine chute communication module, a coal mining machine onboard switch, an intelligent cutting control module and a coal mining machine main control module. The coal mining machine chute communication module is connected to the second communication link, and the coal mining machine chute communication module, the intelligent cutting control module and the coal mining machine main control module are all connected to the coal mining machine onboard switch, and data interaction is realized through the coal mining machine onboard switch. The intelligent cutting control module is used to predict target cutting data based on historical cutting data and data sent by the three-dimensional geological model. The coal mining machine main control module is used to perform cutting operations based on target cutting data, and collect actual cutting data for each cut and each position point and store them in a database.

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