Shearer in-range support action decision method based on dynamic scale sliding window

Abstract

The present application relates to the technical field of coal mining machine, and particularly relates to a coal mining machine range support action decision method based on dynamic scale sliding window. The decision is to determine the support number set of four areas, i.e. the receiving and protecting plate area, the first non-action area, the extending protecting plate area and the second non-action area, within the sliding window range. The present application considers the speed factor of the coal mining machine from the time dimension, and optimizes the first support action time of the support automatic following machine by fusing the position information of the coal mining machine. Based on the real-time changing running speed of the coal mining machine, the spatial relationship and the time relationship between the coal mining machine and the first support of the following machine are established, and are fused into the space-time information of the first support starting time. Based on this, the optimization method of the first support starting time is established, so as to achieve the dynamic balance between the speed of the coal mining machine and the speed of the following machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining machine, and particularly relates to a support action decision-making method for a coal mining machine based on a dynamic scale sliding window. BACKGROUND

[0002] The core of the intelligentization of fully mechanized mining equipment is the intelligentization of equipment control. In fully mechanized mining equipment, the coal mining machine, the hydraulic support and the scraper conveyor are the main body. Therefore, how to realize the intelligent operation of the "three machines" is the key to the intelligent control of fully mechanized mining equipment. Among them, the automatic following of the support group behind the coal mining machine is the main content of the support action. The automatic following of the hydraulic support to the moving speed and position change of the coal mining machine, that is, the automatic following of the hydraulic support to the coal mining machine is one of the core problems of the intelligent control of the fully mechanized working face. In the hydraulic support group behind the coal mining machine, the starting time of the first support is the basis and key of the operation of all supports.

[0003] At present, the automatic following method of the working face is based on the position information of the coal mining machine, that is, when the coal mining machine reaches the specified position, the subsequent hydraulic support starts to operate. Most of the methods are based on engineering experience, have not been refined into scientific problems, and have not been solved from the perspective of optimization problems. Therefore, when the problem of mismatch between the support speed and the coal mining machine speed is encountered in actual engineering, the following speed is often adjusted manually by changing the parameters. However, since the coal mining machine does not always run at a constant speed, this brings uncertainty to the determination of the support following speed. At present, the automatic following of the support is based on the position of the coal mining machine, and various process divisions are made for the automatic following support. When the coal mining machine is at a certain position, the corresponding supports perform actions according to the process to which they belong. However, the positioning accuracy of the coal mining machine is not high at present, and the problems of missing supports and supports often occur. This makes the following support lose the action reference, resulting in the failure of the automatic following of the support.

[0004] Currently, the speed of the coal mining machine is usually considered as a constant value when the support follows the machine, and in some cases, the speed is considered as high or low. For example, in 2015, Niu Jianfeng of Beijing Tianma Company obtained the average support moving speed by using the average operation when the speed of the coal mining machine was used to calculate the average moving speed of the support in the automatic following control system. In 2018, Wang Tongcheng of Shandong University of Science and Technology set the speed of the coal mining machine as 6 m / min and 8 m / min in the automatic following system. In 2020, Fu Xiang of Taiyuan University of Technology set the speed of the coal mining machine as 4 m / min, 5 m / min, 8 m / min and 11 m / min in the support group following system. In 2022, Renhuaiwei of the General Research Institute of Coal Science and Technology pointed out that the normal speed of the coal mining machine is 8 m / min. However, when the speed of the coal mining machine is considered as a constant, it means that the starting time of the first support is determined, and the speed of the coal mining machine and the speed of the support following the machine are in the absolute optimal state. Obviously, this is not consistent with the actual situation in the field. The speed of the coal mining machine may change due to the front coal wall, roof and floor conditions, and is not a discrete value. SUMMARY

[0005] Therefore, in order to solve the above technical problems, the present application provides a support action decision method within the range of a coal mining machine based on a dynamic scale sliding window.

[0006] In order to solve the above problems, the present application adopts the following technical scheme:

[0007] A support action decision method within the range of a coal mining machine based on a dynamic scale sliding window, comprising:

[0008] Setting: the support number set is {1, 2,..., N}; the support number set in the sliding window is X = {N inf , N inf +1,..., N sup}, wherein N inf represents the minimum number, N sup represents the maximum number; the current position of the coal mining machine is the support number corresponding to the middle position of the coal mining machine; the front roller arm length of the coal mining machine is L1; the horizontal angle of the front roller arm of the coal mining machine is θ1; the length of the coal mining machine is L; the rear roller arm length of the coal mining machine is L2; the horizontal angle of the rear roller arm of the coal mining machine is θ2; the support width is D;

[0009] Setting: the support wing plate in front of the front roller of the coal mining machine is a C ; the first non-action area is a N1 , and the wing plate of the first non-action area is in the retracted state; the support number set of the first non-action area is: The wing plate of the first non-action area is a O ; the support number set of the wing plate area is: The second non-action area is: a N2 The second non-action area is: a

[0010] Let the support position be x, x∈{1, 2,..., N};

[0011] The length of the coal mining machine range sliding window is:

[0012] W=L+L1 cosθ1+L2 cosθ2

[0013] The number of supports contained in the sliding window is:

[0014]

[0015] Wherein, sup(.) represents the smallest integer greater than the value in the parentheses;

[0016] The support number set contained in the sliding window is:

[0017] When N w is even:

[0018]

[0019] When N w is odd:

[0020]

[0021] Wherein, int(.) represents the integer part of the value in the parentheses;

[0022] The support action decision process in the coal mining machine range is as follows:

[0023] The support number decision of the collecting guard plate is: the first support in front of the coal mining machine sliding window needs to collect the guard plate, so the support number is N inf , and the direct action is selected as a C .

[0024] The support number decision of the first non-action area is:

[0025] When the action N w is even:

[0026]

[0027] When the action N w is odd:

[0028]

[0029] The support number decision of the extending guard plate is:

[0030]

[0031] The second non-action area support number decision is:

[0032]

[0033] The present application has the beneficial effects that: the present application starts from the time dimension, considers the speed factor of the coal mining machine, and optimizes the first action time of the support automatic machine following, based on the real-time change of the running speed of the coal mining machine, establishes the spatial relationship and time relationship between the coal mining machine and the first support of the machine following support, and integrates into the space-time information of the first support starting time; and then based on this, an optimization method of the first support starting time is established to achieve the dynamic balance of the coal mining machine speed and the machine following speed. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows:

[0035] Figure 1 is a support action schematic diagram in the range of the working face coal mining machine;

[0036] Figure 2 is a support number set schematic diagram with even length of sliding window;

[0037] Figure 3 is a support number set schematic diagram with odd length of sliding window;

[0038] Figure 4 is a normal sliding window area schematic diagram;

[0039] Figure 5 is a sliding window contraction schematic diagram;

[0040] Figure 6 is a sliding window extension schematic diagram. DETAILED DESCRIPTION

[0041] In the following description, specific details are set forth such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the present application. However, persons skilled in the art will understand that the present application can be practiced without such specific details. In other instances, well-known structures, devices, circuits, and methods have not been described in detail in order to avoid obscuring the present application.

[0042] It should be understood that the word “comprise” or variations such as “comprises” or “comprising”, when used in this specification and in the accompanying claims, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0043] It should also be understood that the term “and / or” when used in this specification and in the following claims is to be interpreted as to include one or more of the listed items, as well as any combination of the listed items, and that the use of “and / or” in the description of a process, method, or composition is intended to represent that the process, method, or composition includes either the listed items individually, or any combination of the listed items.

[0044] As used in this specification and in the claims, the terms “if’ and “when” can be interpreted to mean “upon” or “in response to a determination” or “in response to a detection” depending on the context. Similarly, the phrase “if it is determined” or “if [a described condition or event] is detected” can be interpreted to mean “upon determining” or “in response to a determining” or “upon detecting [the described condition or event]” or “in response to a detection [of the described condition or event]” depending on the context.

[0045] In addition, in the description of the application in the specification and the appended claims, the terms “first”, “second”, “third”, etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0046] Reference in the specification to “one embodiment” or “some embodiments” etc. means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearance of the phrases “in one embodiment”, “in some embodiments”, “in other embodiments”, “in additional embodiments”, etc. in various places in the specification are not necessarily all referring to the same embodiment, but can mean “one or more but not all embodiments” unless otherwise specifically stated. The terms “comprise”, “include”, “have” and their conjugates mean “including but not limited to”, unless otherwise specifically stated.

[0047] In order to illustrate the technical solutions described in the application, the following specific embodiments are described.

[0048] The embodiment provides a support action decision-making method in a range of a coal mining machine based on a dynamic scale sliding window. As shown in the figure, it is a support action schematic diagram in a range of a working face coal mining machine. Figure 1

[0049] Coal mining machine, support related settings:

[0050] The support number set is {1, 2,..., N}; the support number set in the sliding window is X = {N inf ​N inf +1,...,N sup}, where N inf N represents the smallest number. sup The maximum number is indicated; the current position of the coal mining machine is: take the support number corresponding to the middle position of the coal mining machine, and denote it as i; the length of the front drum rocker arm of the coal mining machine is: L1; the horizontal angle of the front drum rocker arm of the coal mining machine is: θ1; the length of the coal mining machine is: L; the length of the rear drum rocker arm of the coal mining machine is: L2; the horizontal angle of the rear drum rocker arm of the coal mining machine is: θ2; the width of the support is: D.

[0051] Coal mining machine range support movement settings:

[0052] The support guard plate in front of the front drum of the coal mining machine (corresponding to) Figure 1 The term "collection and protection" in this context refers to: a C The first inactive area (corresponding to) Figure 1 The no-action zone 1 in the middle (i.e., no-action area 1) is: a N1 The side panel of the first non-moving area is in the retracted state; the set of bracket numbers for the first non-moving area is as follows: Extension support plate (corresponding) Figure 1 The term "stretching and protection" in this context refers to: a O The set of bracket numbers for the stretching support plate area is as follows: The second inactive area (corresponding to) Figure 1 The no-action zone 2 in the middle (i.e., no-action zone 2) is: a N2 The side panel of the second non-moving area is in the open state, and the bracket number set of the second non-moving area is:

[0053] Modeling the optimal decision-making process for stent action:

[0054] Let the position of the support be x, where x∈{1,2,...,N}.

[0055] The length of the sliding window in the range of the coal mining machine is:

[0056] W = L + L1 cosθ1 + L2 cosθ2 (1)

[0057] The sliding window contains the following number of brackets:

[0058]

[0059] In the formula, sup(.) represents the smallest integer greater than the value in parentheses, such as sup(3.1)=4. The reason for adding 1 in formula (2) is that the first support in front of the front drum is included in the range of the coal mining machine.

[0060] The sliding window contains a set of bracket numbers:

[0061] When Nw is even:

[0062]

[0063] When N w is odd:

[0064]

[0065] where int(·) denotes the integer part of the value in the parentheses, e.g. int(3.6) = 3.

[0066] An example of the support number set within the sliding window range is as follows:

[0067] For example: when the current position of the coal mining machine is the 19th support, if N w = 10 is obtained by formula (2), then the support number set within the sliding window is {14,..., 23} according to formulas (5) and (6), as shown in Figure 2 .

[0068] If N w = 11 is obtained, then the support number set within the sliding window is {13,..., 23} according to formulas (5) and (6), as shown in Figure 3 .

[0069] From formulas (5) and (6), it can be seen that the sliding window range is obviously inclined to the front of the coal mining machine, mainly to protect the front of the front roller from being cut by the roller.

[0070] The essence of the support action optimization decision within the range of the coal mining machine is to determine the support number set of the four regions of the collecting and protecting the rib, the first non-action region, the extending the rib, and the second non-action region within the sliding window range. The process of the support action optimization decision within the range of the coal mining machine is as follows:

[0071] The support number decision of collecting and protecting the rib is that the first support in front of the sliding window of the coal mining machine needs to collect and protect the rib, so when the support number is N inf , the direct action is selected as a C .

[0072] The support number decision of the first non-action region is:

[0073]

[0074] When N w is even:

[0075]

[0076] When N w is odd:

[0077]

[0078] The numbering decision for the extension support plate bracket is as follows:

[0079]

[0080] The decision for numbering the stent in the second non-active area is as follows:

[0081]

[0082] If the angles of the front and rear rocker arms do not change during the coal cutting process, the dimensions of the sliding window will not change. Therefore, the decision-making regarding the movement of the supports within the range of the coal mining machine can be made based on the preceding steps.

[0083] If the angle of the front and rear rocker arms changes during the coal cutting process, the dimensions of the sliding window will also change. The above-mentioned dynamic changes in the dimensions of the sliding window can still ensure the operational safety between the coal mining machine and the side guard plate.

[0084] Dynamic changes in the sliding window dimensions of the coal mining machine:

[0085] (1) If the sliding window range of the coal mining machine is as follows during the current working period: Figure 4 As shown, the calculation yielded four regions: retracted support, no movement 1, extended support, and no movement 2. Figure 4 As shown. At this time, frame 13 is performing the side guard retraction action, while frame 14 is in the side guard retraction state.

[0086] (2) If the front drum retracts towards the rear of the coal mining machine, the sliding window dimensions will become smaller, such as... Figure 5 As shown. When the sliding window retracts, according to the aforementioned support action decision method, support frame 13 is outside the sliding window range, and support frame 14 needs to perform the side protection retraction action. Since side protection plate 14 was already retracted in the previous work period, it does not affect the action execution result of the current work segment. Side protection plates 13 and 14 are in a safe state.

[0087] (3) If the side guard plate extends forward of the coal mining machine, the sliding window size will increase, such as... Figure 6 As shown. When the sliding window extends, according to the aforementioned support action decision method, support No. 12 is included in the sliding window range, and support No. 13 is in the action side guard plate retraction state. Since support No. 13 has already performed the side guard plate retraction action in the previous working period, it can directly be in the retracted holding state.

[0088] (4) According to the aforementioned support action decision method, the change in the angle of the rear rocker arm will cause a change in the range of the non-action area 2. According to Equation (11), the maximum support number of the support set extending from the side guard plate depends on the length of the coal mining machine and is not related to the angle of the rear rocker arm, so it does not affect the determination of the support number set in the non-action area 2.

[0089] In conclusion, the method can better cope with the change of the scale of the sliding window caused by the change of the height of the rocker arm of the coal mining machine.

[0090] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for decision of action of support in range of coal mining machine based on dynamic scale sliding window, characterized in that, Comprising: Setting: The set of bracket numbers is {1,2,...,N}; the set of bracket numbers within the sliding window is X = {N}. inf N inf +1,...,N sup }, where N inf N represents the smallest number. sup This indicates the maximum number; the current position of the coal mining machine is: the support number corresponding to the middle position of the coal mining machine; the length of the front drum rocker arm of the coal mining machine is: L1; the horizontal angle of the front drum rocker arm of the coal mining machine is: θ1; the length of the coal mining machine is: L; the length of the rear drum rocker arm of the coal mining machine is: L2; the horizontal angle of the rear drum rocker arm of the coal mining machine is: θ2; the support width is: D; Setting: the support of the front drum of the coal mining machine is: a C ; the first non-action area is: a N1 , the guard of the first non-action area is in the retracted state; the support number set of the first non-action area is: the extended guard is: a O , the support number set of the extended guard area is: the second non-action area is: a N2 , the guard of the second non-action area is in the open state, and the support number set of the second non-action area is: Let the support position be x, x∈{1,2,...,N}; The length of the shearer range sliding window is: W=L+L1 cosθ1+L2 cosθ2 The number of supports contained in the sliding window is: Wherein sup(.) represents the smallest integer greater than the value in the parentheses; The set of support numbers contained in the sliding window is: When N w is even: When N w is odd: Wherein int(·) represents the integer part of the value in the parentheses; The support action decision process in the shearer range is as follows: The support number decision of the guard side plate is: the first support in front of the coal mining machine sliding window needs to collect the guard side plate, so the support number is N inf , the direct action selection is a C ; The first inaction area support number decision is: When action N w is even: When action N w is odd: The support number decision for the extended rib plate is: The support number decision for the second no-action area is:

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