A control platform and control method of a fully continuous mining system of an open-pit coal mine

Abstract

The application discloses a kind of open coal mine full continuous mining system control platform and control method, including lithology detection module, open mining machine control module, transfer control module, migration control module and remote interaction module, the control method can independently control complete open coal mine full continuous efficient mining and post matching construction operation, realize the intelligent construction of each construction equipment, independently adjust construction parameter and process coefficient, independently complete mining and post matching all construction operation, artificial can remote control.The application is high in automated construction efficiency, high in operation precision, and can be mutually coordinated to quickly complete construction operation, to provide theoretical basis for large open coal mine full continuous mining construction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fully continuous mining of open-pit coal mines, and relates to a control platform and a control method of a fully continuous mining system of an open-pit coal mine. BACKGROUND

[0002] To solve the problems of non-continuous operation, low comprehensive efficiency, high cost, poor safety, poor production balance and great environmental protection pressure caused by the intermittent mining process of the single-bucket-truck of open-pit coal mines, some manufacturers at home and abroad use a fully continuous mining system of open-pit coal mines to realize a fully continuous mining process system from cutting, crushing, transloading, transportation to hoisting of coal seams, and propose a fully continuous layer-by-layer mining process method for open-pit mining of medium-thick coal seams to realize synchronous mining of upper and lower coal seams or even multiple coal seams and ensure the annual mining capacity of coal.

[0003] At present, the fully continuous mining system at home and abroad has realized the mining function of traditional single coal seams and can complete the mining of the whole open-pit mine area. With more and more open-pit mines under complex conditions, the structure of the coal seams to be mined is complex, the characteristics of the coal seams are variable, and the construction difficulty is great. The traditional fully continuous mining system equipment and the supporting construction method cannot complete the mining of complex strata. At the same time, the devices of the whole system still need to rely on more field personnel to assist in part of the work. The manual labor intensity is great, the working environment is poor, and manual adjustment of the construction parameters of each device is needed. In order to greatly reduce the labor intensity of workers, make the workers away from dangerous areas, improve the safety and construction efficiency of the whole construction operation, realize the unmanned intelligent operation of the whole open-pit mine area, and protect the safety of the operators, the development of an intelligent control platform is a core problem. SUMMARY

[0004] In view of the deficiencies in the prior art, the purpose of the present application is to provide a control platform and a control method of a fully continuous mining system of an open-pit coal mine to realize autonomous control to complete fully continuous and efficient mining and post-supporting construction operation of open-pit coal mines and realize intelligent construction of each construction device to independently complete coal mining and post-supporting construction operation.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] A control platform of a full-continuous mining system of an open-pit coal mine, the full-continuous mining system comprising a first open-pit mining machine, a first double-rotation transloading machine, a first linear transloading machine, a second linear transloading machine, a first crawler-type unloading vehicle, a second open-pit mining machine, a second double-rotation transloading machine, a second crawler-type unloading vehicle, a movable belt conveyor, an end-slope large-inclination belt conveyor, a fixed belt conveyor and a coal bunker; wherein the first double-rotation transloading machine, the first linear transloading machine, the second linear transloading machine and the first crawler-type unloading vehicle form a first group of construction equipment, the second double-rotation transloading machine and the second crawler-type unloading vehicle form a second group of construction equipment, and the coal bunker, the fixed belt conveyor, the end-slope large-inclination belt conveyor and the movable belt conveyor form a third group of construction equipment; the control platform comprises a lithology detection module, an open-pit mining machine control module, a transloading control module and a transportation control module;

[0007] The lithology detection module is configured to detect mechanical properties of a cutting tooth of the open-pit mining machine and properties of a coal seam in a mining area to obtain comprehensive data values of the mechanical properties of the cutting tooth and the properties of the coal seam, thereby obtaining initial working environment information and calculating a comprehensive data value of a working environment;

[0008] The open-pit mining machine control module is configured to process the obtained comprehensive data value of the working environment to obtain working parameters of the open-pit mining machine and to adjust the working parameters in real time; the working parameters of the open-pit mining machine include a cutting speed of a large arm, a rotating speed of a drum and a rotating speed of a scraper;

[0009] The transloading control module is configured to identify the working parameters of the open-pit mining machine to obtain construction capabilities of the open-pit mining machine, and to match working capabilities of the first group of construction equipment and the second group of construction equipment to obtain working parameters of each construction equipment and to adjust the working parameters in real time; the working capabilities of the first group of construction equipment are matched according to the first open-pit mining machine, and the working capabilities of the second group of construction equipment are matched according to the second open-pit mining machine;

[0010] The transportation control module is configured to identify the working parameters of the first crawler-type unloading vehicle and the second crawler-type unloading vehicle to obtain construction capabilities of the first crawler-type unloading vehicle and the second crawler-type unloading vehicle, and to match working capabilities of the third group of construction equipment to obtain operating parameters of each construction equipment and to adjust the operating parameters in real time.

[0011] The present application also comprises the following technical features:

[0012] Optionally, the comprehensive data value of the mechanical properties of the cutting tooth is:

[0013]

[0014] In the formula, Q1 is the mechanical comprehensive data value of the cutting tooth, N; c1, c2, c3 and c4 are variable coefficients, which are all real numbers between 0 and 3; a, b, c and d are adjustment coefficients, which are all real numbers between 0 and 2 and are determined according to the site conditions of the open coal mine; F1 is the drilling force, N; F2 is the tangential force, N; F3 is the friction resistance, N; f4 is the vibration torque, N·m; and R is the radius of the cutting tooth of the first and second open mining machines, m.

[0015] The coal seam property comprehensive data value is:

[0016] Q2 = x1·X1 + x2·Y2 + x3·Z3 (2)

[0017] In the formula, Q2 is the coal seam property comprehensive data value, x1, x2 and x3 are weighting coefficients, which are all real numbers between 0 and 1 and are determined according to the site conditions of the open coal mine; x1 + x2 + x3 = 1; X1 is the compressive strength of the coal seam, MPa; X2 is the shear strength of the coal seam, MPa; and X3 is the tensile strength of the coal seam, MPa.

[0018] The operation environment comprehensive data value is:

[0019] Q = m1·Q1 + m2·Q2 (3)

[0020] In the formula, Q1 is the mechanical comprehensive data value of the cutting tooth, Q2 is the coal seam property comprehensive data value; m1 is the unit adjustment coefficient of the cutting tooth, and m2 is the unit adjustment coefficient of the coal seam property, which are all real numbers between 0 and 1 and are determined according to the site conditions of the open coal mine.

[0021] Optionally, the drilling force, the tangential force, the friction resistance and the vibration torque borne by the cutting tooth of the open mining machine, and the compressive strength, the shear strength and the tensile strength of the coal seam are respectively measured by the mechanical sensors uniformly distributed on the cutting tooth of the open mining machine and the coal seam shear instrument.

[0022] Optionally, the operation environment comprehensive data value satisfies the following formula:

[0023]

[0024]

[0025] In the above formula, Q is the operation environment comprehensive data value; M is the total construction capacity of the full-continuous mining system;

[0026] Q γ1 , Q γ2 are the daily outputs of the first and second open mining machines, respectively;

[0027] L1 and L2 are the working face lengths of the first and second open mining machines, respectively;

[0028] il, i2 are the ratio of the coal cutting speed and the empty cutting traction speed of the first and second surface mining machines;

[0029] v1, v2 are the boom cutting speed of the first and second surface mining machines;

[0030] T1, T2 are the average daily production time of the first and second surface mining machines;

[0031] C1, C2 are the recovery rate of the first and second surface mining machines;

[0032] B1, B2 are the drum rotation speed of the first and second surface mining machines;

[0033] H1, H2 are the scraper rotation speed of the first and second surface mining machines;

[0034] γ is the volume of coal;

[0035] Solving the above equations (4) and (5), the optimal boom cutting speed v1, v2, drum rotation speed B1, B2 and scraper rotation speed H1, H2 are obtained as the operating parameters of the first and second surface mining machines.

[0036] Alternatively, the construction capacity of the surface mining machine is:

[0037] F 11 = T1*L1*C1-B1*H1*γ (6)

[0038] F 12 = T2*L2*C2-B2*H2*γ (7)

[0039] In the equations: F 11 , F 12 are the construction capacity of the first and second surface mining machines respectively; T1, T2 are the average daily production time of the first and second surface mining machines; L1, L2 are the corresponding working face length of the first and second surface mining machines; C1, C2 are the recovery rate of the first and second surface mining machines; B1, B2 are the drum rotation speed of the first and second surface mining machines; H1, H2 are the scraper rotation speed of the first and second surface mining machines; γ is the volume of coal;

[0040] The first and second sets of construction equipment are matched in terms of working capacity, and the matching calculation is performed by the following equation:

[0041]

[0042]

[0043] In the equation: F 11 , F 12Construction capacity of the first and second open-pit mining machines, respectively;

[0044] i is the equipment type of the first group of construction equipment, i takes 1-4, respectively corresponding to the first double-rotation transfer machine, the first linear transfer machine, the second linear transfer machine, and the first crawler-type unloading vehicle;

[0045] j is the equipment type of the second group of construction equipment, j takes 1-2, respectively corresponding to the second double-rotation transfer machine and the second crawler-type unloading vehicle;

[0046] X 1i , X 2j corresponding to the number of the first group of construction equipment and the second group of construction equipment, respectively;

[0047] C 1i , C 2j corresponding to the construction work coefficient of the first group of construction equipment and the second group of construction equipment, respectively; the basic construction work parameter of the equipment is set to 1, the actual work parameter of the equipment is divided by the basic construction work parameter of the equipment, and the construction work coefficient of the equipment is obtained, which is a positive number;

[0048] Q 1i , Q 2j corresponding to the construction speed of the first group of construction equipment and the second group of construction equipment, respectively;

[0049] T 1i , T 2j corresponding to the effective construction time of the first group of construction equipment and the second group of construction equipment, respectively;

[0050] K 1i , K 2j corresponding to the utilization rate of the first group of construction equipment and the second group of construction equipment, respectively;

[0051] W 1i , W 2j corresponding to the time utilization rate of the first group of construction equipment and the second group of construction equipment, respectively;

[0052] B 1i , B 2j corresponding to the coal seam loss rate of the first group of construction equipment and the second group of construction equipment, respectively.

[0053] Through the above formulas (8) and (9), the C 1i , C 2jand the actual working parameters are obtained through the basic construction working parameters; wherein the working parameters of the first double-rotation tripper include walking speed, belt conveyor rotating speed and rotating speed; the working parameters of the first linear tripper include walking speed and belt conveyor rotating speed; the working parameters of the second linear tripper include walking speed and belt conveyor rotating speed; the working parameters of the first crawler-type tripper include walking speed, belt rotating speed and pitching speed; the working parameters of the second double-rotation tripper include walking speed, belt conveyor rotating speed and rotating speed; the working parameters of the second crawler-type tripper include walking speed, belt rotating speed and pitching speed; and the corresponding construction technology is obtained according to the working parameters of each device.

[0054] Optionally, the construction capacity of the first and second crawler-type trippers is:

[0055]

[0056]

[0057] wherein F and F respectively represent the construction capacity of the first and second crawler-type trippers; 31 , F 41 respectively represent the construction capacity of the first and second crawler-type trippers;

[0058] X 14 , X 22 respectively represent the number of the first and second crawler-type trippers;

[0059] C 14 , C 22 respectively represent the construction working coefficient of the first and second crawler-type trippers;

[0060] Q 14 , Q 22 respectively represent the construction speed of the first and second crawler-type trippers;

[0061] T 14 , T 22 respectively represent the effective construction time of the first and second crawler-type trippers;

[0062] The working capacity of the third group of construction devices is matched, and the matching calculation is performed through the following formula:

[0063]

[0064] wherein F and F respectively represent the construction capacity of the first and second crawler-type trippers; 31 , F 41 respectively represent the construction capacity of the first and second crawler-type trippers;

[0065] k is the equipment type of the third group of construction equipment, k is 1-4, corresponding to coal bunker, fixed belt conveyor, end slope large angle belt conveyor, and displacement belt conveyor respectively;

[0066] X 3k corresponding to the number of the third group of construction equipment;

[0067] C 3k corresponding to the construction work coefficient of the third group of construction equipment; the basic construction work parameter of the equipment is calibrated to 1, the actual work parameter of the equipment is divided by the basic construction work parameter of the equipment, and the construction process coefficient of the equipment is obtained, which is a positive number;

[0068] Q 3k corresponding to the construction speed of the third group of construction equipment;

[0069] T 3k corresponding to the effective construction time of the third group of construction equipment;

[0070] K 3k corresponding to the utilization rate of the third group of construction equipment;

[0071] W 3k corresponding to the time utilization rate of the third group of construction equipment;

[0072] B 3k corresponding to the coal seam loss rate of the third group of construction equipment;

[0073] C 3k of each construction equipment is obtained through formula (12), and the actual work parameter is obtained through the basic construction work parameter; the coal bunker work parameter includes belt speed; the fixed belt conveyor work parameter includes belt speed; the end slope large angle belt conveyor work parameter includes belt speed; the displacement belt conveyor work parameter includes coal flow rate; and real-time adjustment is performed; the corresponding construction process is obtained by using the work parameter.

[0074] Optionally, each equipment in the full continuous mining system realizes data interaction with the control platform through a local area network.

[0075] Optionally, the control platform can output the construction work parameters and construction process of each construction equipment obtained by it to each construction equipment, and each construction equipment works by obtaining the work parameters.

[0076] Optionally, the control platform further comprises a remote interaction module, which can be remotely controlled by manual to manually fine-tune the construction work parameters of the construction equipment.

[0077] Optionally, in the full continuous mining system:

[0078] The fixed belt conveyor is arranged outside the side of the coal seam, and the coal bunker is arranged at the end of the fixed belt conveyor;

[0079] The movable belt conveyor is connected vertically with the fixed belt conveyor, and is arranged along the length direction of the coal seam mining face and located at the top of the lower coal seam;

[0080] The first group of construction equipment and the second group of construction equipment are respectively located at the two sides of the movable belt conveyor, the first strip mining machine and the first group of construction equipment are along the coal seam floor, the second strip mining machine and the second group of construction equipment are along the bottom of the upper coal seam, and the strip mining machines reciprocate to cut the coal mining face to form the simultaneous and continuous mining of the upper and lower coal seams;

[0081] The first crawler-type unloading vehicle is astride on the movable belt conveyor, the first strip mining machine, the first double-rotation reclaimer and the first linear reclaimer are arranged in butt joint at the coal seam floor position, and the second linear reclaimer is arranged at the top of the lower coal seam and is in the same plane with the movable belt conveyor, the first strip mining machine mines along the coal seam floor, and the mined coal is transported in turn through the first double-rotation reclaimer, the first linear reclaimer and the second linear reclaimer in butt joint and then is reloaded to the first crawler-type unloading vehicle; the second crawler-type unloading vehicle is astride on the movable belt conveyor, the second strip mining machine mines along the bottom of the upper coal seam, and the mined coal is transported through the second double-rotation reclaimer and then is reloaded to the second crawler-type unloading vehicle; the end-slope large-inclination belt conveyor is laid along the undulating terrain of the coal mining face to lift the coal from the pit bottom to the ground and then is transported to the fixed belt conveyor; thus, the coal mined from the upper and lower coal seams is uniformly transported and converged to the movable belt conveyor, and then is transported to the coal bunker through the end-slope large-inclination belt conveyor and the fixed belt conveyor.

[0082] A control method of the full-continuous mining system of the strip coal mine, which is realized by a control platform of the full-continuous mining system of the strip coal mine, and includes the following steps,

[0083] Step 1, after the initial arrangement of each construction equipment is completed by the full-continuous mining system of the strip coal mine through the simultaneous mining process arrangement mode of the upper and lower coal seams, the initial construction conditions of each device of the full-continuous mining system are reached, and the safety inspection and performance test of each device are completed, so as to ensure that the construction equipment reaches the construction conditions;

[0084] Step 2, the lithology detection module detects the mechanical properties of the cutting tooth of the strip mining machine and the coal seam characteristics of the to-be-mined area, and calculates the comprehensive data value of the working environment; the working parameters of the first strip mining machine and the second strip mining machine are compared and calculated through the comprehensive data value of the working environment, and the corresponding working parameters are obtained, and the corresponding construction process is obtained;

[0085] Step 3, the reloader control module identifies the working parameters of the first strip mining machine and the second strip mining machine to obtain the corresponding construction capacity, and then matches the working capacity of the first group of construction equipment and the second group of construction equipment, obtains the working parameters of each construction equipment, and obtains the corresponding construction process according to the working parameters;

[0086] Step 4, the migration control module works to identify the working parameters of the first crawler-type tripper and the second crawler-type tripper to obtain the corresponding construction capabilities, and then matches the working capabilities of the third group of construction equipment to obtain the working parameters of each construction equipment, and obtains the corresponding construction process according to the working parameters;

[0087] Step 5, the whole continuous mining system simultaneously matches the construction, and the artificial micro-adjusts the working parameters of the equipment by using the remote interaction module;

[0088] Step 6, the lithology detection module collects data at intervals to obtain new working environment information, so as to adjust the construction working parameters of each equipment of the whole mining system and update the working parameters and the construction process.

[0089] Compared with the prior art, the present application has the following technical effects:

[0090] The control platform of the present application has high running efficiency, wide application range, greatly reduces the construction personnel, can receive the working environment information in the working process of the whole continuous mining system, can independently complete the construction work of the whole continuous mining system, realizes the independent work of each construction equipment, can be remotely controlled by artificial, has high automatic construction efficiency and high work precision, each equipment of the whole continuous mining system independently completes the parameter adjustment, and can cooperate with each other to complete the construction work, and provides a theoretical basis for the whole continuous mining construction of the large open-pit coal mine. BRIEF DESCRIPTION OF DRAWINGS

[0091] Figure 1 The whole continuous mining system;

[0092] Figure 2 The control method flow chart of the present application.

[0093] The meanings of the various reference numerals in the drawings are as follows:

[0094] 1. The first open-pit mining machine, 2. The first double-rotation tripper, 3. The first one-type tripper, 4. The second one-type tripper, 5. The coal bunker, 6. The fixed belt conveyor, 7. The end-slope large-inclination belt conveyor, 8. The second open-pit mining machine, 9. The second double-rotation tripper, 10. The second crawler-type tripper, 11. The first crawler-type tripper, 12. The displacement belt conveyor. DETAILED DESCRIPTION

[0095] The whole continuous mining system generally comprises a surface mining machine, a double-rotation transloading machine, a linear transloading machine, an end-slope large-inclination belt conveyor, a crawler-type unloading vehicle and a displacement-type belt conveyor; the control platform of the whole continuous mining system of the open-pit coal mine comprises a lithology detection module, a surface mining machine control module, a transloading control module, a transportation control module and a remote interaction module; the lithology detection module is used to obtain lithological environment information and mechanical property information of the open-pit coal mine to be mined; the surface mining machine control module is used to calculate comprehensive data obtained by the lithology detection module, obtain optimal operation parameters and process coefficients of the surface mining machine and can be adjusted in real time; the transloading control module adjusts operation parameters of the first group of construction equipment and the second group of construction equipment by using operation parameters of the surface mining machine, optimizes matching and ensures optimal state of the equipment; the transportation control module adjusts operation parameters of the third group of construction equipment by using operation parameters of the first crawler-type unloading vehicle and the second crawler-type unloading vehicle, optimizes matching and ensures optimal state of the equipment; the remote interaction module can be remotely controlled by a human being, the parameters of part of the equipment are manually fine-tuned, the whole control platform can ensure that operation parameter coefficients of each equipment of the whole continuous mining system are autonomously adjusted according to actual working conditions and can be manually fine-tuned by remote interaction. The whole continuous mining system of the open-pit coal mine is autonomously controlled to realize high-efficiency mining.

[0096] The specific embodiments of the present application are given below, and it should be noted that the present application is not limited to the following specific embodiments, and any equivalent variations made on the basis of the technical solutions of the present application fall within the protection scope of the present application.

[0097] The present application provides a control platform of a whole continuous mining system of an open-pit coal mine, the whole continuous mining system comprising a first surface mining machine, a first double-rotation transloading machine, a first linear transloading machine, a second linear transloading machine, a first crawler-type unloading vehicle, a second surface mining machine, a second double-rotation transloading machine, a second crawler-type unloading vehicle, a displacement-type belt conveyor, an end-slope large-inclination belt conveyor, a fixed-type belt conveyor and a coal bunker; the first double-rotation transloading machine, the first linear transloading machine, the second linear transloading machine and the first crawler-type unloading vehicle form a first group of construction equipment, the second double-rotation transloading machine and the second crawler-type unloading vehicle form a second group of construction equipment, and the coal bunker, the fixed-type belt conveyor, the end-slope large-inclination belt conveyor and the displacement-type belt conveyor form a third group of construction equipment; the control platform comprises a lithology detection module, a surface mining machine control module, a transloading control module and a transportation control module.

[0098] The lithology detection module is used to detect mechanical properties of cutting teeth of the surface mining machine and coal seam properties of a mining area to be mined to obtain mechanical comprehensive data values of the cutting teeth and coal seam property comprehensive data values, so as to obtain initial working environment information and calculate working environment comprehensive data values;

[0099] The strip mining machine control module is configured to process the obtained comprehensive data value of the working environment to obtain working parameters of the strip mining machine and to perform real-time adjustment on the working parameters; the working parameters of the strip mining machine include a boom cutting speed, a drum rotating speed and a scraper rotating speed;

[0100] The transfer control module is configured to identify the working parameters of the strip mining machine to obtain construction capabilities of the strip mining machine, and then to perform working capability matching on the first group of construction equipment and the second group of construction equipment to obtain working parameters of each construction equipment and to perform real-time adjustment on the working parameters; the working capability of the first group of construction equipment is matched according to the first strip mining machine, and the working capability of the second group of construction equipment is matched according to the second strip mining machine;

[0101] The transfer control module is configured to identify the working parameters of the strip mining machine to obtain construction capabilities of the strip mining machine, and then to perform working capability matching on the first group of construction equipment and the second group of construction equipment to obtain working parameters of each construction equipment and to perform real-time adjustment on the working parameters; the working capability of the first group of construction equipment is matched according to the first strip mining machine, and the working capability of the second group of construction equipment is matched according to the second strip mining machine;

[0102] The first strip mining machine and the second strip mining machine cut the first coal, and the lithology detection module detects mechanical properties of the cutting tooth and properties of the coal seam in the to-be-mined area, so as to obtain initial working environment information;

[0103] The mechanical comprehensive data value of the cutting tooth is:

[0104]

[0105] In the formula, Q1 is the mechanical comprehensive data value of the cutting tooth, N; c1, c2, c3 and c4 are variable coefficients, which are all real numbers between 0 and 3; a, b, c and d are adjustment coefficients, which are all real numbers between 0 and 2 and are obtained according to the site conditions of the strip coal mine; F1 is the drilling force, N; F2 is the tangential force, N; F3 is the friction resistance, N; f4 is the vibration torque, N·m; and R is the radius of the cutting tooth of the first strip mining machine and the second strip mining machine, m;

[0106] The coal seam property comprehensive data value is:

[0107] Q2=x1·X1+x2·Y2+x3·Z3 (2)

[0108] In the formula, Q2 is the coal seam property comprehensive data value, x1, x2 and x3 are weighting coefficients, which are all real numbers between 0 and 1 and are obtained according to the site conditions of the strip coal mine; x1+x2+x3=1, X1 is the coal seam compressive strength, MPa; X2 is the coal seam shear strength, MPa; and X3 is the coal seam tensile strength, MPa;

[0109] The working environment comprehensive data value is:

[0110] Q=m1·Q1+m2·Q2 (3)

[0111] In the formula: Q1 is the mechanical comprehensive data value of cutting tooth, Q2 is the comprehensive data value of coal seam characteristics; m1 is the unit adjustment coefficient of cutting tooth, m2 is the unit adjustment coefficient of coal seam characteristics, both are real numbers between 0 and 1, which are selected according to the site conditions of the open coal mine.

[0112] The drilling force, tangential force, frictional resistance and vibration torque borne by the cutting tooth of the surface mining machine, and the compressive strength, shear strength and tensile strength of the coal seam are measured by the mechanical sensors uniformly distributed on the cutting tooth of the surface mining machine and the coal seam shear instrument.

[0113] The construction parameter selection of the first surface mining machine and the second surface mining machine is performed by the multi-objective optimization configuration principle;

[0114] The definition of the operation environment comprehensive data value satisfies the following formula:

[0115]

[0116]

[0117] In the above formula, Q is the operation environment comprehensive data value; M is the total construction capacity of the full-continuous mining system;

[0118] Q γ1 , Q γ2 is the daily output of the first surface mining machine and the second surface mining machine;

[0119] L1, L2 is the working face length corresponding to the first surface mining machine and the second surface mining machine;

[0120] i1, i2 is the ratio of the coal cutting speed to the empty cutting traction speed of the first surface mining machine and the second surface mining machine;

[0121] v1, v2 is the large arm cutting speed of the first surface mining machine and the second surface mining machine;

[0122] T1, T2 is the average daily production time of the first surface mining machine and the second surface mining machine;

[0123] C1, C2 is the recovery rate of the first surface mining machine and the second surface mining machine;

[0124] B1, B2 is the drum speed of the first surface mining machine and the second surface mining machine;

[0125] H1, H2 is the speed of the scraper of the first surface mining machine and the second surface mining machine;

[0126] γ is the volume of coal;

[0127] Solving the above formulas (4) and (5), the optimal large arm cutting speed v1, v2, drum speed B1, B2 and scraper speed H1, H2 are obtained as the initial running working parameters of the first surface mining machine and the second surface mining machine.

[0128] At the same time, through historical test, the first and second surface mining machines are simulated to obtain the working parameters corresponding to different construction processes, the corresponding relationship between the construction process coefficient and the working parameter is obtained, the construction process coefficient database is established, that is, when the working parameter is obtained, the corresponding construction process of the surface mining machine can be obtained, and the same database is also established for the remaining equipment, and the corresponding construction process can be obtained according to the working parameter.

[0129] The construction capacity of the surface mining machine is:

[0130] F 11 = T1*L1*C1-B1*H1*γ (6)

[0131] F 12 = T2*L2*C2-B2*H2*γ (7)

[0132] In the formula, F 11 , F 12 respectively are the construction capacity of the first surface mining machine and the construction capacity of the second surface mining machine; T1 and T2 are the average daily production time of the first surface mining machine and the second surface mining machine; L1 and L2 are the working face length corresponding to the first surface mining machine and the second surface mining machine; C1 and C2 are the recovery rate of the first surface mining machine and the second surface mining machine; B1 and B2 are the drum speed of the first surface mining machine and the second surface mining machine; H1 and H2 are the scraper speed of the first surface mining machine and the second surface mining machine; and γ is the volume of coal.

[0133] The working capacity of the first group of construction equipment and the second group of construction equipment is matched, and the matching calculation is performed through the following formula:

[0134]

[0135]

[0136] In the formula, F 11 , F 12 respectively are the construction capacity of the first surface mining machine and the construction capacity of the second surface mining machine.

[0137] i is the equipment type of the first group of construction equipment, i is 1-4, respectively corresponding to the first double-rotation transloader, the first one-type transloader, the second one-type transloader and the first crawler-type unloading vehicle;

[0138] j is the equipment type of the second group of construction equipment, j is 1-2, respectively corresponding to the second double-rotation transloader and the second crawler-type unloading vehicle;

[0139] X 1i , X 2j respectively correspond to the number of the first group of construction equipment and the second group of construction equipment.

[0140] C 1i , C 2j correspond to the construction work coefficient of the first group of construction equipment and the second group of construction equipment respectively; the basic construction work parameter of the equipment is calibrated to 1, the actual work parameter of the equipment is divided by the basic construction work parameter of the equipment, and the construction work coefficient of the equipment is obtained, which is a positive number;

[0141] Q 1i , Q 2j correspond to the construction speed of the first group of construction equipment and the second group of construction equipment respectively;

[0142] T 1i , T 2j correspond to the effective construction time of the first group of construction equipment and the second group of construction equipment respectively; it refers to the normal construction time of the construction equipment, which should consider reducing the standby and maintenance time of the equipment;

[0143] K 1i , K 2j correspond to the utilization rate of the first group of construction equipment and the second group of construction equipment respectively;

[0144] W 1i , W 2j correspond to the time utilization rate of the first group of construction equipment and the second group of construction equipment respectively;

[0145] B 1i , B 2j correspond to the coal seam loss rate of the first group of construction equipment and the second group of construction equipment respectively.

[0146] Through the above formulas (8) and (9), the C 1i , C 2j of each construction equipment is obtained, and the actual work parameter is obtained through the basic construction work parameter; wherein, the work parameters of the first double-rotation tripper include walking speed, belt machine speed and rotation speed; the work parameters of the first linear tripper include walking speed and belt machine speed; the work parameters of the second linear tripper include walking speed and belt machine speed; the work parameters of the first crawler unloading vehicle include walking speed, belt speed and pitch speed; the work parameters of the second double-rotation tripper include walking speed, belt machine speed and rotation speed; the work parameters of the second crawler unloading vehicle include walking speed, belt speed and pitch speed; at the same time, the corresponding construction process is obtained according to the work parameters of each equipment.

[0147] The construction capacity of the first crawler unloading vehicle and the second crawler unloading vehicle is:

[0148]

[0149]

[0150] In the formula: F31 , F 41 respectively corresponding to the construction capacity of the first crawler-type tripper and the second crawler-type tripper;

[0151] X 14 , X 22 respectively corresponding to the number of the first crawler-type tripper and the second crawler-type tripper;

[0152] C 14 , C 22 respectively corresponding to the construction work coefficient of the first crawler-type tripper and the second crawler-type tripper; the basic construction work parameter of the equipment is calibrated as 1, the actual operation work parameter of the equipment is divided by the basic construction parameter of the equipment, and the construction work coefficient of the equipment is obtained, which is a positive number;

[0153] Q 14 , Q 22 respectively corresponding to the construction speed of the first crawler-type tripper and the second crawler-type tripper;

[0154] T 14 , T 22 respectively corresponding to the effective construction time of the first crawler-type tripper and the second crawler-type tripper;

[0155] The third group of construction equipment is matched in work capacity, and the matching calculation is carried out through the following formula:

[0156]

[0157] In the formula: F 31 , F 41 respectively corresponding to the construction capacity of the first crawler-type tripper and the second crawler-type tripper;

[0158] k is the equipment type of the third group of construction equipment, k is 1-4, respectively corresponding to the coal bunker, the fixed belt conveyor, the end slope large-angle belt conveyor, and the displacement belt conveyor;

[0159] X 3k corresponding to the number of the third group of construction equipment;

[0160] C 3k corresponding to the construction work coefficient of the third group of construction equipment; the basic construction work parameter of the equipment is calibrated as 1, the actual work parameter of the equipment is divided by the basic construction work parameter of the equipment, and the construction work coefficient of the equipment is obtained, which is a positive number;

[0161] Q 3k corresponding to the construction speed of the third group of construction equipment

[0162] T 3k corresponding to the effective construction time of the third group of construction equipment;

[0163] K3k the utilization rate of the third group of construction equipment;

[0164] W 3k the time utilization rate of the third group of construction equipment;

[0165] B 3k the coal seam loss rate of the third group of construction equipment;

[0166] The C of each construction equipment is obtained through formula (12) 3k , and the actual working parameters are obtained through the basic construction working parameters; the coal bunker working parameters include the belt speed; the fixed belt conveyor working parameters include the belt speed; the end slope large-angle belt conveyor working parameters include the belt speed; the displacement belt conveyor working parameters include the coal body flow rate; and real-time adjustment is performed; at the same time, the corresponding construction technology can be obtained according to the construction technology coefficient database and by using the working parameters.

[0167] Each device in the full-continuous mining system realizes data interaction with the control platform through a local area network.

[0168] The control platform can output the construction working parameters and the construction technology coefficients of each construction equipment obtained by the control platform to each construction equipment, and each construction equipment works by using the obtained working parameters.

[0169] The control platform further includes a remote interaction module, which can be remotely controlled by a human being to manually fine-tune the construction working parameters of the construction equipment, and the entire control platform can ensure that the operation parameter coefficients of each device in the full-continuous mining system are autonomously adjusted according to the actual working conditions, and can also be manually fine-tuned by remote interaction.

[0170] In the full-continuous mining system, as shown in Figure 1 :

[0171] The fixed belt conveyor is arranged outside the side slope of the coal seam, and the coal bunker is arranged at the end of the fixed belt conveyor;

[0172] The displacement belt conveyor is connected perpendicularly to the fixed belt conveyor, and the displacement belt conveyor is arranged along the length direction of the coal seam working face and located at the top of the lower coal seam;

[0173] The first group of construction equipment and the second group of construction equipment are respectively located on the two sides of the displacement belt conveyor, the first open mining machine and the first group of construction equipment are along the coal seam floor, the second open mining machine and the second group of construction equipment are along the bottom of the upper coal seam, and the coal mining working face is reciprocally cut to form simultaneous and continuous mining of the upper and lower coal seams;

[0174] The first crawler-type unloading vehicle straddles the movable belt conveyor, the first surface mining machine, the first double-rotation transfer conveyor and the first linear transfer conveyor are arranged at the position of the coal seam floor in butt joint, the second linear transfer conveyor is arranged at the top of the lower coal seam and is in the same plane with the movable belt conveyor, the first surface mining machine mines along the coal seam floor, and the mined coal is sequentially transported through the first double-rotation transfer conveyor, the first linear transfer conveyor, the second linear transfer conveyor in butt joint, and is transferred to the first crawler-type unloading vehicle; the second crawler-type unloading vehicle straddles the movable belt conveyor, the second surface mining machine mines along the bottom of the upper coal seam, and the mined coal is transported through the second double-rotation transfer conveyor and is transferred to the second crawler-type unloading vehicle; the end slope large-inclination belt conveyor is laid along the undulating terrain of the coal mining face to lift the coal from the pit bottom to the ground and then is transferred to the fixed belt conveyor; thereby the coal mined from the upper and lower coal seams is uniformly transported and merged on the movable belt conveyor, and then is transported to the coal bunker through the end slope large-inclination belt conveyor and the fixed belt conveyor.

[0175] The application further provides a control method of the full-continuous mining system of the surface coal mine, which is realized by the control platform of the full-continuous mining system of the surface coal mine, and is used for adjusting the operation parameters and the process of each construction equipment of the full-continuous mining system, and ensuring the autonomous adjustment of the construction process without manual intervention, such as Figure 2 As shown in the figure, the control method comprises the following steps:

[0176] Step 1: after the initial arrangement of each construction equipment of the full-continuous mining system of the surface coal mine is completed by the conventional simultaneous mining process arrangement mode of the upper and lower coal seams, the initial construction conditions of each equipment of the full-continuous mining system are reached, and the safety inspection and performance test of each equipment are completed, so that the construction equipment reaches the construction conditions;

[0177] Step 2: the lithology detection module detects the mechanical properties of the cutting tooth of the surface mining machine and the coal seam characteristics of the to-be-mined area, and calculates the comprehensive data value of the working environment; the working parameters of the first surface mining machine and the second surface mining machine are compared and calculated through the comprehensive data value of the working environment, the corresponding working parameters are obtained, and the corresponding construction process is obtained;

[0178] Step 3: the transfer control module identifies the working parameters of the first surface mining machine and the second surface mining machine to obtain the corresponding construction capacity, and then matches the working capacity of the first group of construction equipment and the second group of construction equipment, obtains the working parameters of each construction equipment, and obtains the corresponding construction process according to the working parameters;

[0179] Step 4: the migration control module identifies the working parameters of the first crawler-type unloading vehicle and the second crawler-type unloading vehicle to obtain the corresponding construction capacity, and then matches the working capacity of the third group of construction equipment, obtains the working parameters of each construction equipment, and obtains the corresponding construction process according to the working parameters;

[0180] Step 5, all construction equipment of the full continuous mining system simultaneously performs matching construction, and meanwhile, artificial fine adjustment is performed on the working parameters of the equipment by using a remote interaction module;

[0181] Step 6, the lithology detection module collects data at an interval fixed time to obtain new working environment information, so as to adjust the construction working parameters of all equipment of the whole mining system and update the working parameters and construction technology.

Claims

1. A control platform for a fully continuous open-pit coal mine mining system, the fully continuous mining system comprising a first open-pit mine, a first double rotary transfer machine, a first straight-line transfer machine, a second straight-line transfer machine, a first tracked unloading car, a second open-pit mine, a second double rotary transfer machine, a second tracked unloading car, a movable belt conveyor, an end-side steep-angle belt conveyor, a fixed belt conveyor, and a coal bunker; wherein, The first set of construction equipment consists of a first double-rotary transfer machine, a first straight-line transfer machine, a second straight-line transfer machine, and a first tracked unloading vehicle; the second set of construction equipment consists of a second double-rotary transfer machine and a second tracked unloading vehicle; and the third set of construction equipment consists of a coal bunker, a fixed belt conveyor, an end-side steep-angle belt conveyor, and a movable belt conveyor. The control platform is characterized by including a lithology detection module, an open-pit mining machine control module, a transfer control module, and a transport control module. The lithology detection module is used to detect the mechanical properties of the cutting teeth of the open-pit mining machine and the coal seam properties of the mining area to obtain comprehensive mechanical data values ​​of the cutting teeth and comprehensive coal seam property values, thereby obtaining initial working environment information and calculating comprehensive working environment data values. The open-pit mining machine control module is used to process the acquired comprehensive data values ​​of the working environment to obtain the working parameters of the open-pit mining machine and make real-time adjustments; the working parameters of the open-pit mining machine include the boom cutting speed, the drum speed and the scraper speed; The transfer control module is used to identify the working parameters of the open-pit mine to obtain its construction capacity, and then match the working capacity of the first group of construction equipment and the second group of construction equipment to obtain the working parameters of each construction equipment and make real-time adjustments; wherein, the working capacity of the first group of construction equipment is matched according to the first open-pit mine, and the working capacity of the second group of construction equipment is matched according to the second open-pit mine. The transport control module is used to identify the working parameters of the first tracked unloading vehicle and the second tracked unloading vehicle to obtain their construction capabilities, and then match the working capabilities of the third group of construction equipment to obtain the operating parameters of each construction equipment and make real-time adjustments. The overall mechanical data value of the cutting tooth is: (1) In the formula: N represents the comprehensive mechanical data value of the cutting teeth. , , , These are the coefficients of the variables, all of which are real numbers between 0 and 3; a , b , c , d The adjustment coefficient is determined based on the on-site conditions of the open-pit coal mine, and all values ​​are real numbers between 0 and 2. The drilling force is N; The force is tangential, N; Frictional resistance, N; The vibration torque is expressed in N·m. The radius of the cutting teeth of the first and second open-pit mines is in meters (m). The comprehensive data value of the coal seam characteristics is: = (2) In the formula: This represents the comprehensive data value of coal seam characteristics. , , These are weighting coefficients, whose values ​​are determined based on the on-site conditions of the open-pit coal mine, and are all real numbers between 0 and 1; and , The compressive strength of the coal seam is expressed in MPa. The shear strength of the coal seam, in MPa. The tensile strength of the coal seam is given in MPa. The comprehensive data value of the working environment is: = (3) In the formula: This represents the comprehensive mechanical data value of the cutting teeth. This represents the comprehensive data value of coal seam characteristics; This is the unit adjustment coefficient for the cutting teeth. These are unit adjustment coefficients for coal seam characteristics, all of which are real numbers between 0 and 1, and are selected based on the on-site conditions of the open-pit coal mine. Define the overall data values ​​of the operating environment to satisfy the following formula: (4) (5) In the above formula, Q represents the comprehensive data value of the working environment; M represents the total construction capacity of the fully continuous mining system; , This represents the daily output corresponding to the first and second open-pit mines. , The length of the working face corresponding to the first and second open-face mining machines; , It is the ratio of the coal cutting speed of the first and second open-pit miners to the empty cutter traction speed; , The cutting speed of the boom of the first and second open-pit mines; , The average daily production time of the first and second open-pit mining machines; , The recovery rate of the first and second open-pit mines; , The drum rotation speeds of the first and second open-pit mines; , The scraper rotation speeds of the first and second open-pit mines; The capacity of the coal; Solving equations (4) and (5) above, the optimal cutting speed of the boom is obtained. , Drum speed , and scraper rotation speed As operating parameters for the first and second open-pit mining machines; The construction capacity of the open-pit mining machine is: (6) (7) In the formula: F 11 , F 12 These are the construction capabilities of the first open-pit mine and the second open-pit mine, respectively. , The average daily production time of the first and second open-pit mining machines; , The length of the working face corresponding to the first and second open-face mining machines; , The recovery rate of the first and second open-pit mines; , The drum rotation speeds of the first and second open-pit mines; , The scraper rotation speeds of the first and second open-pit mines; The capacity of the coal; The working capacity of the first group of construction equipment and the second group of construction equipment are matched using the following formula: (8) (9) In the formula: F 11 , F 12 These refer to the construction capabilities of the first and second open-pit mining machines, respectively. i This refers to the equipment types in the first group of construction equipment. i Take 1 to 4, which correspond to the first double rotary transfer machine, the first straight transfer machine, the second straight transfer machine, and the first tracked unloading vehicle, respectively; j This refers to the equipment types in the second group of construction equipment. j Take 1 to 2, which correspond to the second double rotary transfer machine and the second tracked unloading vehicle, respectively; X 1i , X 2j The quantities of the first group of construction equipment and the second group of construction equipment are respectively; C 1i , C 2j The construction work coefficients correspond to the first group of construction equipment and the second group of construction equipment, respectively; the basic construction work parameter of the equipment is calibrated to 1, and the actual working parameter of the equipment is divided by the basic construction work parameter of the equipment to obtain the construction work coefficient of the equipment, which is a positive number; Q 1i , Q 2j These correspond to the construction speeds of the first and second groups of construction equipment, respectively. T 1i , T 2j These correspond to the effective construction time of the first group of construction equipment and the second group of construction equipment, respectively. K 1i , K 2j These correspond to the utilization rates of the first and second groups of construction equipment, respectively. W 1i , W 2j These correspond to the time utilization rates of the first and second groups of construction equipment, respectively. B 1i , B 2j The coal seam loss rates correspond to the first group of construction equipment and the second group of construction equipment, respectively. The results of equations (8) and (9) above are used to derive the various construction equipment. C 1i , C 2j The actual working parameters are derived from the basic construction working parameters. Specifically, the working parameters for the first double-rotary transfer machine include travel speed, belt conveyor speed, and rotation speed; the working parameters for the first straight-line transfer machine include travel speed and belt conveyor speed; the working parameters for the second straight-line transfer machine include travel speed and belt conveyor speed; the working parameters for the first tracked unloading vehicle include travel speed, belt speed, and pitch speed; the working parameters for the second double-rotary transfer machine include travel speed, belt conveyor speed, and rotation speed; and the working parameters for the second tracked unloading vehicle include travel speed, belt speed, and pitch speed. Simultaneously, the corresponding construction process is derived based on the working parameters of each piece of equipment. The construction capabilities of the first tracked unloading vehicle and the second tracked unloading vehicle are: (10) (11) In the formula: F 31 , F 41 The construction capabilities of the first tracked unloading vehicle and the second tracked unloading vehicle are respectively. X 14 , X 22 These correspond to the number of the first tracked unloading vehicle and the second tracked unloading vehicle, respectively. C 14 , C 22 These correspond to the construction work coefficients of the first tracked unloading vehicle and the second tracked unloading vehicle, respectively. Q 14 , Q 22 These correspond to the construction speeds of the first tracked unloading vehicle and the second tracked unloading vehicle, respectively. T 14 , T 22 The effective construction time corresponds to the first tracked unloading vehicle and the second tracked unloading vehicle, respectively; The third group of construction equipment was matched for work capacity using the following formula: (12) In the formula: F 31 , F 41 The construction capabilities of the first tracked unloading vehicle and the second tracked unloading vehicle are respectively. k This refers to the equipment types in the third group of construction equipment. k Take 1 to 4, which correspond to coal bunker, fixed belt conveyor, end-side steep-angle belt conveyor, and movable belt conveyor, respectively. X 3k The number of construction equipment corresponding to the third group; C 3k The construction work coefficient corresponding to the third group of construction equipment; the basic construction work parameter of the equipment is calibrated as 1, and the actual working parameter of the equipment is divided by the basic construction work parameter of the equipment to obtain the construction procedure coefficient of the equipment, which is a positive number; Q 3k The construction speed corresponding to the third group of construction equipment; T 3k The effective construction time corresponding to the third group of construction equipment; K 3k The utilization rate of the third group of construction equipment; W 3k The time utilization rate of the third group of construction equipment; B 3k Coal seam loss rate corresponding to the third group of construction equipment; The results of formula (12) are obtained for each construction equipment. C 3k The actual working parameters are derived from the basic construction working parameters; the working parameters of the coal bunker include the belt speed; the working parameters of the fixed belt conveyor include the belt speed; the working parameters of the end-side steep-angle belt conveyor include the belt speed; the working parameters of the moving belt conveyor include the coal flow velocity; and real-time adjustments are made; the corresponding construction process is derived from the working parameters.

2. The control platform of the open-pit coal mine fully continuous mining system as described in claim 1, characterized in that, The drilling force, tangential force, frictional resistance, and vibration torque borne by the cutting teeth of the open-pit mine, as well as the compressive strength, shear strength, and tensile strength of the coal seam, are measured by mechanical sensors and coal seam shearing instruments evenly distributed on the cutting teeth of the open-pit mine.

3. The control platform of the open-pit coal mine fully continuous mining system as described in claim 1, characterized in that, Each piece of equipment in the fully continuous mining system interacts with the control platform via a local area network.

4. The control platform of the open-pit coal mine fully continuous mining system as described in claim 3, characterized in that, The control platform can output the construction working parameters and construction technology of each construction equipment to each construction equipment, and each construction equipment can use the obtained working parameters to carry out its work.

5. The control platform of the open-pit coal mine fully continuous mining system as described in claim 1, characterized in that, The control platform also includes a remote interaction module, which allows for manual fine-tuning of the construction equipment's operating parameters through remote control.

6. The control platform of the open-pit coal mine fully continuous mining system as described in claim 1, characterized in that, The fully continuous mining system: The fixed belt conveyor is located on the outer side of the coal seam, and the coal bunker is located at the end of the fixed belt conveyor; The movable belt conveyor is vertically connected to the fixed belt conveyor. The movable belt conveyor is set along the mining length direction of the coal seam working face and is located at the top of the lower coal seam. The first and second sets of construction equipment are located on both sides of the movable belt conveyor. The first open-face mining machine and the first set of construction equipment are along the bottom of the coal seam, while the second open-face mining machine and the second set of construction equipment are along the bottom of the upper coal seam. They reciprocate to cut the coal mining face in opposite directions, forming simultaneous continuous mining of the upper and lower coal seams. The first tracked unloading vehicle straddles the movable belt conveyor. The first open-pit mine, the first double rotary transfer conveyor, and the first straight-line transfer conveyor are connected and arranged at the bottom of the coal seam. The second straight-line transfer conveyor is arranged at the top of the lower coal seam, on the same plane as the movable belt conveyor. The first open-pit mine mines coal along the bottom of the coal seam, and the mined coal is transported and transferred sequentially through the first double rotary transfer conveyor, the first straight-line transfer conveyor, and the second straight-line transfer conveyor to the first tracked unloading vehicle; the second tracked unloading vehicle... The machine straddles the movable belt conveyor, and the second open-pit mine extracts coal along the bottom of the upper coal seam. The extracted coal is transported and transferred to the second tracked unloading car via the second double rotary transfer machine. The end-side steep-angle belt conveyor is laid along the undulating terrain of the coal mining face to lift the coal from the bottom of the pit to the surface, and then transfer it to the fixed belt conveyor. This realizes the unified transportation and convergence of the coal mined from the upper and lower coal seams onto the movable belt conveyor, and then transported to the coal bunker via the end-side steep-angle belt conveyor and the fixed belt conveyor.

7. A control method for a fully continuous open-pit coal mining system, characterized in that, This control method is implemented through the control platform of the fully continuous open-pit coal mining system as described in claim 1, and includes the following steps: Step 1: After the initial layout of each construction equipment in the open-pit coal mine continuous mining system is completed through the simultaneous mining of upper and lower coal seams, the equipment of the continuous mining system is brought to the initial construction conditions. At the same time, the safety inspection and performance test of each piece of equipment are completed to ensure that the construction equipment meets the construction conditions. Step 2: The lithology detection module detects the mechanical properties of the cutting teeth of the open-pit mine and the coal seam properties of the mining area, and calculates the comprehensive data value of the working environment; the working parameters of the first and second open-pit mines are compared and calculated through the comprehensive data value of the working environment to obtain the corresponding working parameters, and at the same time, the corresponding construction technology is obtained. Step 3: The transfer control module identifies the working parameters of the first and second open-pit mining machines to obtain their corresponding construction capabilities, and then matches the working capabilities of the first and second sets of construction equipment to obtain the working parameters of each construction equipment. Based on the working parameters, the corresponding construction process is derived. Step 4: The transport control module identifies the working parameters of the first and second tracked unloading vehicles to obtain their corresponding construction capabilities, and then matches the working capabilities of the third group of construction equipment to obtain the working parameters of each construction equipment. Based on the working parameters, the corresponding construction process is derived. Step 5: All construction equipment in the fully continuous mining system are simultaneously matched and constructed, while the operators use the remote interaction module to fine-tune the operating parameters of the equipment. Step 6: The lithology detection module collects data at fixed intervals to obtain new operating environment information, thereby adjusting the construction parameters of each piece of equipment in the entire mining system and updating the working parameters and construction process.

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