A method for judging a state of a fully-mechanized coal face moving frame

Abstract

This invention provides a method for determining the movement status of hydraulic supports in a fully mechanized mining face, belonging to the technical field of hydraulic support movement determination. It can form a systematic determination of the movement status, solving the prerequisites for automatic coal feeding and compensating for the shortcomings of current coal cutter calculations. The method includes the following steps: real-time acquisition of hydraulic support movement signals, hydraulic support cylinder stroke data, and hydraulic support column pressure in the fully mechanized mining face, while simultaneously acquiring the position and direction of the coal mining machine; based on the aforementioned hydraulic support movement signals, hydraulic support cylinder stroke data, hydraulic support column pressure, and the position and direction of the coal mining machine, a judgment analysis is performed to obtain a result indicating whether a particular hydraulic support has moved. This process is repeated to obtain the movement results of all hydraulic supports on the fully mechanized mining face during coal cutting. When all hydraulic supports have completed their movement, a cut is marked as complete. This invention is applied to hydraulic supports.

Description

Technical Field

[0001] This invention provides a method for determining the movement status of hydraulic support in a fully mechanized mining face, belonging to the technical field of hydraulic support movement determination. Background Technology

[0002] Intelligentization of equipment in fully mechanized mining faces is a major issue in current coal mining processes, and data analysis based on the mining process is fundamental to achieving intelligent fully mechanized mining. While coal mine faces have achieved a certain level of informatization, various network and equipment issues have resulted in incomplete production process data. Analyzing only one type of data will not yield reasonable results. Therefore, combining operational data with both observed phenomena and observed results for analysis is a more reasonable approach.

[0003] During coal mining, whether the hydraulic supports have completed their shift is fundamental to a series of intelligent decisions and analyses, including remote automatic control, automatic-manual collaboration, and data analysis. This is especially true for automatic coal release, which presupposes that the hydraulic supports have already shifted. Currently, there is no method for determining whether the hydraulic supports on the longwall face have shifted; it simply records the actions within a certain time period or collects and displays real-time data from stroke sensors. However, this approach lacks a unified global analysis result and historical shift data, making it impossible to generate effective reports for automatic control, automatic-manual collaboration, and data analysis. Furthermore, current algorithms for calculating the number of cutters are mostly based on the position of the coal mining machine. However, the number of cutters can be divided into coal cutting cutters, support shifting cutters, and chute pushers. Coal cutting cutters are measured from the perspective of the coal mining machine, support shifting cutters from the perspective of the hydraulic supports, and chute pushers from the perspective of the chute. Moreover, the coal cutting cutter has a certain error during the middle-entry cutting process, leading to inaccurate calculation results. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, this invention proposes a method for judging the shifting state of a fully mechanized mining face. The shifting state is taken as a prerequisite for automatic coal release, forming a systematic judgment result of the shifting state, which makes up for the deficiencies of coal cutter calculation.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for determining the shifting state of a fully mechanized mining face, comprising the following steps:

[0006] S1: Real-time acquisition of hydraulic support movement signals, hydraulic support push cylinder stroke data, and hydraulic support column pressure in the fully mechanized mining face; simultaneously, acquisition of the support number and movement direction of the hydraulic support where the coal mining machine is located.

[0007] S2: Based on the above hydraulic support movement action signal, hydraulic support pushing cylinder stroke data, hydraulic support column pressure, and the position and direction of the coal mining machine, a judgment and analysis are performed to obtain the judgment result of whether a certain hydraulic support has moved. By analogy, the movement results of all hydraulic supports on the fully mechanized mining face during the coal cutting process are obtained. When all hydraulic supports have completed the movement, a cut is marked as completed.

[0008] In step S1, the hydraulic support's movement signal is obtained by acquiring the current signal of the driver connected to the electromagnetic pilot valve through the electro-hydraulic controller. The stroke data of the hydraulic support's pushing cylinder is acquired by the stroke sensor installed in the hydraulic support's pushing cylinder. The pressure of the hydraulic support's column is acquired by the pressure sensor installed on the hydraulic control check valve in the lower cavity of the column. The position of the hydraulic support and the direction of movement of the coal mining machine are obtained by the travel encoder installed on the coal mining machine.

[0009] The process for determining whether a hydraulic support has moved in step S2 is as follows:

[0010] S21. After the oblique cutting is completed and all hydraulic supports have completed the shifting, perform initialization configuration. The initialization configuration requires configuring the number of cuts for the next cut, whether the direction of the next cut is towards the smaller or larger direction, and configuring the start and end range of the middle section of the hydraulic support.

[0011] S22, determine whether the position of the coal mining machine is within the middle section of the hydraulic support. If yes, execute S23; if no, execute S24.

[0012] S23, if the current position of the coal mining machine is within the middle section of the hydraulic support, then monitor the action, pressure, and stroke data of the hydraulic support behind the position of the coal mining machine to determine whether the hydraulic support behind the position of the coal mining machine has been moved.

[0013] S24. If the current position of the coal mining machine is not within the middle section of the hydraulic support, monitor the action, pressure, and stroke data of all hydraulic supports on the fully mechanized mining face to determine whether all hydraulic supports on the fully mechanized mining face have been moved.

[0014] S25. When the number of hydraulic supports that have been moved is more than 98% of the total number of supports, determine whether the four hydraulic supports that have not been moved have been moved, with two supports in front of and two in front of them. If all four hydraulic supports in front of them have been moved, then mark the hydraulic support that has been moved as completed.

[0015] The process of determining whether the hydraulic support for the blade and the frame has completed its shift in step S23 is as follows:

[0016] S23.1, Determine whether a hydraulic support has undergone a pulling action; if yes, mark the hydraulic support of this blade frame as moved after the monitoring of the moving action is completed;

[0017] S23.2, determine whether the stroke value of a certain hydraulic support changes from large to small, and the number of different data points in the stroke reduction process is greater than or equal to 3, and the reduction in stroke value is greater than or equal to 50cm. When the stroke value meets the above conditions, mark the hydraulic support of this tool frame as having completed the shift.

[0018] S23.3, determine whether the pressure of the hydraulic support column changes trend. That is, during the process of lowering, moving and raising the hydraulic support, the pressure of the column will go through a process of pressure decrease -> pressure fluctuates at a certain low point -> pressure rise. Analyze the occurrence of the frame movement based on this pressure change trend. When the data trend of the column pressure meets the above conditions, mark the hydraulic support of this frame as completed.

[0019] If any one of S23.1, S23.2, or S23.3 is satisfied, the hydraulic support shift of the tool and the frame is considered complete.

[0020] In step S23.3, it is required that the number of different data points during the pressure drop process be greater than or equal to 3, the number of different data points during the low point fluctuation be greater than or equal to 2, and the pressure should reach the set pressure value again within 15 seconds after the pressure drops to the lowest point.

[0021] The determination of whether a hydraulic support has moved in step S2 does not include the hydraulic support of the machine head connected in parallel with the transfer machine.

[0022] When all hydraulic supports in a cut are marked, the cut ends, the cut count is incremented by 1, and the next cut judgment begins.

[0023] The advantages of this invention compared to existing technologies are as follows: The method for judging the support shifting status of a fully mechanized mining face provided by this invention deduces the occurrence of support shifting by working backward from the stroke and pressure data generated during the shifting process. This makes the judgment of whether the shifting is complete more accurate, rather than relying entirely on action signals. The judgment of the support shifting cutter is not based on the position of the coal mining machine, but on the dimension of the hydraulic support advancing all the way forward by one cutting depth, which is more accurate and reasonable. In addition, if the number of cutters is simply calculated based on the position of the coal mining machine, the middle-entry cutting process will cause an error where the calculated number of cutters is greater than the actual number of cutters. The support shifting cutter can be applied to the middle-entry cutting process. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings:

[0025] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0026] like Figure 1As shown, this invention provides a method for determining the movement status of hydraulic supports in a fully mechanized mining face. The method involves real-time acquisition of movement signals from hydraulic supports in the face, values ​​from stroke sensors installed in the hydraulic support cylinders, pressure on the hydraulic support columns, and the position and orientation of the coal mining machine. The acquired data is then used to perform algorithmic analysis to determine whether a particular hydraulic support has moved. This process is repeated to obtain the movement status of all hydraulic supports during coal cutting. When all hydraulic supports have completed their movement, a cut is marked as complete.

[0027] Specifically, the software program involved in the method is deployed in the roadway centralized control system. The electro-hydraulic controller collects the current signal from the pull-out port of the hydraulic support driver. The driver is connected to the solenoid pilot valve, which is connected to the main valve, and the main valve is connected to the oil cylinder. The controller judges the collected current signal and converts it into a pull-out action signal. The electro-hydraulic controller collects the value of the stroke sensor installed in the hydraulic support push cylinder and the value of the pressure sensor installed on the hydraulic control check valve in the lower cavity of the column. Then, the electro-hydraulic controller forwards the collected signals to the electro-hydraulic control server, which then forwards them to the roadway centralized control system.

[0028] The specific steps of the method for determining the shift mechanism in this invention are as follows:

[0029] S1. After the oblique cutting is completed and all hydraulic supports have been moved, initialization configuration is performed. This initialization configuration requires setting the number of cuts for the next cut, the direction of the next cut (whether it's towards a smaller or larger number), and the start and end range of the hydraulic support's middle section. This step is used to initialize data. Based on different coal mining processes or requirements, the number of cuts, the direction of the next coal mining machine's movement, and the middle section of the hydraulic supports are pre-set. This limits the accumulation of subsequent cut counts and the range of hydraulic support numbers to be determined during the move. The start and end range of the hydraulic support's middle section can be set based on the number of all hydraulic supports on the longwall face. For example, if there are 100 hydraulic supports, the middle section can be set to 21-80 supports.

[0030] S2, determine whether the coal mining machine is within the middle section of the hydraulic support. If yes, proceed to S3; otherwise, proceed to S4. The position of the coal mining machine in this step is determined by the travel encoder installed on the machine. The current distance and direction of travel of the coal mining machine can be calculated based on the number of revolutions of the encoder. Then, the distance is converted into the corresponding hydraulic support frame number to determine whether the coal mining machine is within the middle section of the hydraulic support.

[0031] S3, if the current position of the coal mining machine is within the middle section of the hydraulic support, then monitor the action, pressure, and stroke data of the hydraulic support behind the coal mining machine, and execute the judgment logic of S3.1, S3.2, and S3.3.

[0032] S3.1, determine whether a hydraulic support has a "support pulling" action; if "yes", mark the hydraulic support of this tool frame as completed after the monitoring of the support movement ends;

[0033] S3.2, determine whether the stroke value of a certain hydraulic support changes from large to small, and the number of different data points in the stroke reduction process is greater than or equal to 3, and the reduction in stroke value is greater than or equal to 50cm (the number of 3 data points and 50cm can be adjusted according to different working surfaces). When the stroke value meets the above conditions, mark the hydraulic support of this tool frame as having completed the shift.

[0034] S3.3, determine whether the pressure of the hydraulic support column changes trend. Here, the trend refers to the process of pressure decrease -> pressure fluctuating at a certain low point -> pressure increase during the process of lowering, moving and raising the hydraulic support. The occurrence of the movement can be analyzed based on this pressure change trend. It is required that the number of different data points during the pressure decrease process is greater than or equal to 3, the number of different data points during the low point fluctuation is greater than or equal to 2, and the pressure should reach 24MPa again within 15 seconds after the pressure drops to the lowest point (the number of data points, 2 data points, 15 seconds, and 24MPa can be adjusted according to different working surfaces). When the data trend of the column pressure meets the above conditions, mark the hydraulic support of this tool frame as moved.

[0035] If any one of S3.1, S3.2, or S3.3 is satisfied, the hydraulic support shift of the tool and the frame is considered complete.

[0036] S4. If the current position of the coal mining machine is not within the middle section, monitor the action, pressure, and stroke data of all hydraulic supports on the working face, and execute the judgment logic of S3.1, S3.2, and S3.3.

[0037] S5. When the number of hydraulic supports that have been moved is more than 98% of the total number of supports, determine whether the four hydraulic supports that have not been moved have been moved, with two supports in front of and two in front of them. If all four hydraulic supports in front of them have been moved, then mark the hydraulic support that has been moved as completed.

[0038] S6. Since the head end frame is associated with the transfer machine, the hydraulic support of the head can be excluded in the above judgment logic.

[0039] When all the supports for a cut are marked, the cut ends, the cut count is incremented by 1, and the next cut begins. The above is the calculation method for the cutter that moves the support.

[0040] Regarding the specific structure of this invention, it should be noted that the connection relationships between the various component modules used in this invention are definite and achievable. Except as specifically described in the embodiments, their specific connection relationships can bring about corresponding technical effects and solve the technical problems proposed by this invention without relying on the execution of corresponding software programs. The models of the components, modules, and specific components appearing in this invention, the connection methods between them, and the conventional usage methods and expected technical effects brought about by the above technical features, unless specifically described, are all publicly disclosed content in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by those skilled in the art before the application date, or belong to conventional technology, common knowledge, and other existing technologies in this field. There is no need to elaborate, which makes the technical solution provided in this case clear, complete, and achievable, and can reproduce or obtain corresponding physical products based on this technical means.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the shifting state of a fully mechanized mining face, characterized in that: Includes the following steps: S1: Real-time acquisition of hydraulic support movement signals, hydraulic support push cylinder stroke data, and hydraulic support column pressure in the fully mechanized mining face; simultaneously, acquisition of the support number and movement direction of the hydraulic support where the coal mining machine is located. S2: Based on the above hydraulic support shifting action signal, hydraulic support pushing cylinder stroke data, hydraulic support column pressure, and the position and direction of the coal mining machine, a judgment and analysis are performed to obtain the judgment result of whether a certain hydraulic support has shifted. By analogy, the shifting results of all hydraulic supports on the fully mechanized mining face during the coal cutting process are obtained. When all hydraulic supports have completed shifting, one cut is marked as completed. The process for determining whether a hydraulic support has moved in step S2 is as follows: S21. After the oblique cutting is completed and all hydraulic supports have completed the shifting, perform initialization configuration. The initialization configuration requires configuring the number of cuts for the next cut, whether the direction of the next cut is towards the smaller or larger direction, and configuring the start and end range of the middle section of the hydraulic support. S22, determine whether the position of the coal mining machine is within the middle section of the hydraulic support. If yes, execute S23; if no, execute S24. S23, if the current position of the coal mining machine is within the middle section of the hydraulic support, then monitor the action, pressure, and stroke data of the hydraulic support behind the position of the coal mining machine to determine whether the hydraulic support behind the position of the coal mining machine has been moved. The process of determining whether the hydraulic support for the blade and the frame has completed its shift in step S23 is as follows: S23.1, Determine whether a hydraulic support has undergone a pulling action; if yes, mark the hydraulic support of this blade frame as moved after the monitoring of the moving action is completed; S23.2, determine whether the stroke value of a certain hydraulic support changes from large to small, and the number of different data points in the stroke reduction process is greater than or equal to 3, and the reduction in stroke value is greater than or equal to 50cm. When the stroke value meets the above conditions, mark the hydraulic support of this tool frame as having completed the shift. S23.3, determine whether the pressure of the hydraulic support column changes trend. That is, during the process of lowering, moving and raising the hydraulic support, the pressure of the column will go through a process of pressure decrease -> pressure fluctuates at a certain low point -> pressure rise. Analyze the occurrence of the frame movement based on this pressure change trend. When the data trend of the column pressure meets the above conditions, mark the hydraulic support of this frame as completed. If any one of S23.1, S23.2, or S23.3 is satisfied, the hydraulic support shift of the tool and the frame is considered complete. S24. If the current position of the coal mining machine is not within the middle section of the hydraulic support, monitor the action, pressure, and stroke data of all hydraulic supports on the fully mechanized mining face to determine whether all hydraulic supports on the fully mechanized mining face have been moved. S25. When the number of hydraulic supports that have been moved is more than 98% of the total number of supports, determine whether the four hydraulic supports that have not been moved have been moved, with two supports in front of and two in front of them. If all four hydraulic supports in front of them have been moved, then mark the hydraulic support that has been moved as completed.

2. The method for determining the shifting state of a fully mechanized mining face according to claim 1, characterized in that: In step S1, the hydraulic support's movement signal is obtained by acquiring the current signal of the driver connected to the electromagnetic pilot valve through the electro-hydraulic controller. The stroke data of the hydraulic support's pushing cylinder is acquired by the stroke sensor installed in the hydraulic support's pushing cylinder. The pressure of the hydraulic support's column is acquired by the pressure sensor installed on the hydraulic control check valve in the lower cavity of the column. The position of the hydraulic support and the direction of movement of the coal mining machine are obtained by the travel encoder installed on the coal mining machine.

3. The method for determining the shifting state of a fully mechanized mining face according to claim 1, characterized in that: In step S23.3, it is required that the number of different data points during the pressure drop process be greater than or equal to 3, the number of different data points during the low point fluctuation be greater than or equal to 2, and the pressure should reach the set pressure value again within 15 seconds after the pressure drops to the lowest point.

4. The method for determining the shifting state of a fully mechanized mining face according to claim 1, characterized in that: The determination of whether a hydraulic support has moved in step S2 does not include the hydraulic support of the machine head connected in parallel with the transfer machine.

5. The method for determining the shifting state of a fully mechanized mining face according to claim 3, characterized in that: When all hydraulic supports in a cut are marked, the cut ends, the cut count is incremented by 1, and the next cut judgment begins.

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