Intelligent monitoring based coal mine fully mechanized mining equipment adaptive control method and application

Abstract

This application provides an adaptive control method and application for fully mechanized coal mining equipment based on intelligent monitoring, relating to the field of fully mechanized coal mining technology. In this application, a monitoring robot controls the position of data acquisition equipment through a data acquisition arm. Sensors and cameras monitor the excavation data of the fully mechanized coal mining equipment and changes in the surrounding environment in real time, transmitting the data to a monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the fully mechanized coal mining equipment and transmits control commands to it, achieving adaptive control of the equipment. This reduces errors and safety hazards associated with manual coal mining, improving safety during the fully mechanized coal mining process.

Description

Technical Field

[0001] This invention relates to the field of fully mechanized coal mining technology, and more specifically, to an adaptive control method and application for fully mechanized coal mining equipment based on intelligent monitoring. Background Technology

[0002] Fully mechanized coal mining refers to a comprehensive method of mining coal, also known as integrated coal mining, integrated top coal caving, or fully mechanized longwall mining. It involves extracting coal resources layer by layer from underground while simultaneously controlling and supporting the coal seam roof, achieving high-efficiency and continuous coal mining. In traditional coal mining methods, mining and support are carried out separately, i.e., mining first and then supporting. This method is less efficient and carries significant safety risks. Fully mechanized coal mining, however, organically combines mining and support, using integrated construction machinery and processes to achieve continuous coal mining and controlled support of the coal seam roof.

[0003] Coal mining robots (manipulators) are commonly used mining equipment in coal mining processes. They can greatly improve the efficiency of coal mining. In existing technologies, the operation of coal mining equipment requires manual control. That is, the operator controls the coal mining equipment based on the excavation situation and changes in the surrounding environment. This control method requires the operator to judge the situation of the work area based on experience. However, human judgment is prone to errors, leading to errors and safety hazards in the manual control of coal mining.

[0004] For example, Chinese invention patent CN201510996174.2 discloses a "remote control virtual training system for fully mechanized coal mining faces". Its specification states that: because operators need to observe many parameters in remote control, it is difficult to make manual intervention decisions based on video, equipment status parameters, etc., which makes the existing remote control system have certain safety hazards....; The above patent can corroborate the defects of the existing technology.

[0005] Therefore, we have made improvements to this by proposing an adaptive control method and application for fully mechanized coal mining equipment based on intelligent monitoring. Summary of the Invention

[0006] The purpose of this invention is to address the problem that the operation of existing coal mining equipment requires manual control, and that human judgment is prone to errors, leading to errors and safety hazards in the manual control of coal mining.

[0007] To achieve the above-mentioned objectives, this invention provides an adaptive control method and application for fully mechanized coal mining equipment based on intelligent monitoring, in order to improve the aforementioned problems.

[0008] The application is as follows:

[0009] An adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring includes:

[0010] A monitoring robot arm is used to install data acquisition equipment and to move the data acquisition equipment.

[0011] The data acquisition equipment, which is installed on the monitoring robotic arm, includes sensors and cameras, and is used to monitor the mining data and changes in the surrounding environment of the coal mining robot in real time.

[0012] The network communication module is used to transmit the mining data and information on changes in the surrounding environment of the coal mining robot to the monitoring center.

[0013] The monitoring and control center is used to receive, analyze, and process data collected by data acquisition equipment, and to control the coal mine fully mechanized mining robot based on the analysis results.

[0014] It also includes the following steps:

[0015] The monitoring robot controls the position of the data acquisition equipment by collecting data. Sensors and cameras monitor the mining data of the coal mining equipment and changes in the surrounding environment in real time, and transmit the data to the monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the coal mining equipment and transmits control commands to the coal mining equipment to achieve adaptive control of the coal mining equipment.

[0016] As a preferred technical solution of this application, the sensors of the data acquisition equipment monitor the temperature, humidity and gas concentration data of the working environment of the coal mine fully mechanized mining equipment in real time.

[0017] The camera in the data acquisition equipment is used to capture images of the ore and mining data in real time, which are then used by the monitoring and control center to analyze the characteristics of the ore and the mining data.

[0018] As a preferred technical solution of this application, it also includes a sensor data preprocessing module, which is used to filter, calibrate and fuse the data collected by the sensor to improve the accuracy and reliability of the data.

[0019] As a preferred technical solution of this application, it also includes a real-time image processing module, which is used to process and analyze the ore images captured by the camera in real time, extract key features and mining data, and provide visual guidance and optimization strategies for the mining process.

[0020] As a preferred technical solution in this application, the network communication module is a wireless communication module, a mobile communication module, an Ethernet module, a LoRaWAN module, an NB-IoT module, a satellite communication module, or an optical fiber communication module.

[0021] As a preferred technical solution in this application, the monitoring and control center includes:

[0022] The analysis module is used to perform real-time analysis of mining data from coal mine fully mechanized mining equipment and information on changes in the surrounding environment collected by sensors and cameras, and to extract key features.

[0023] The decision-making module generates adaptive control strategies based on the key features provided by the analysis module.

[0024] The control command generation module transmits the corresponding control commands to the fully mechanized coal mining equipment based on the adaptive control strategy generated by the decision module.

[0025] The feedback loop is used to receive status feedback information from the fully mechanized coal mining equipment and to adjust and optimize the control strategy in real time based on the feedback information.

[0026] The application of an adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring is applied to the detection of adaptive control of fully mechanized coal mining equipment, including a monitoring device. The monitoring device includes several drive mechanisms, and multiple connecting seats are connected between the several drive mechanisms.

[0027] The driving mechanism includes a support base, and adjustable support parts are provided on both sides of the support base. A limit part is provided between the adjustable support parts and the support base.

[0028] As a preferred technical solution of this application, the adjustable support includes two support shafts 1 respectively rotatably mounted on both sides of a support base 1 via bearings. A turntable is fixedly sleeved on the outer surface of each of the two support shafts 1. Two rotating shafts 2 are mounted on the side of each of the two turntables that are far apart from each other via bearings. A connecting rod is fixedly connected to the end of each rotating shaft 2 that is far away from the turntable. A connecting plate is fixedly connected to the end of each connecting rod. Support shafts 3 are fixedly mounted on both of the two connecting plates. A support base 2 is rotatably connected between the ends of the two support shafts 3 that are close to each other via bearings. A motor is installed inside the support base 2. The output shaft of the motor is connected to a transmission shaft. One end of the transmission shaft extends out of the support base 2 and is fixedly connected to a transmission wheel.

[0029] A drive track is rotatably connected between the outer surfaces of the drive wheels in several adjustable support parts, and multiple connecting seats are respectively fixedly connected between support seats one in several adjustable support parts;

[0030] A limit rod is fixedly connected to the side of the support base one near the transmission wheel. Two support plates one are fixedly installed on the inner side of the support base two. A support shaft four is fixedly installed between the two support plates one and the inner side of the support base two. A transition rod located between the two support plates one is sleeved on the outer surface of the support shaft four. A hydraulic cylinder one is hinged between the transition rod and the limit rod.

[0031] Each of the two support plates has a sliding groove on one side that is close to each other. A stop bar is slidably connected between the two sliding grooves. A cavity is formed inside the stop bar. A flowing medium is stored in the cavity. One side of the cavity is inclined.

[0032] An arc-shaped groove is provided between each pair of connecting plates, and a positioning rod is slidably connected in each of the two arc-shaped grooves. The ends of the two positioning rods that are close to each other are fixedly connected to the second support base.

[0033] As a preferred technical solution of this application, the limiting part includes two sliding grooves three respectively opened on both sides of the support base one. Each of the two sliding grooves three is slidably connected to a baffle. Each of the two baffles is connected to the interior of the support base one by a drive cylinder. Each of the two turntables has a positioning groove on the side away from each other. Each of the two positioning grooves is slidably connected to a positioning post. The ends of the two positioning posts that are away from each other are fixedly connected to the two baffles respectively.

[0034] Both connecting plates are also provided with a sliding groove that communicates with the arc-shaped groove. A limiting plate is slidably connected in each sliding groove. One end of the limiting plate is in contact with the positioning rod, and the other end of the limiting plate is fixedly connected to the limiting rod. The end of the limiting rod away from the limiting plate passes through one of the connecting rods and is in contact with the baffle.

[0035] As a preferred technical solution of this application, a hydraulic cylinder II is fixedly installed on both sides of each of the connecting seats, and a pad is connected to the bottom end of the hydraulic cylinder II.

[0036] The monitoring mechanism includes a notch in the middle of the connecting seat and a support plate two hinged to the top of the connecting seat. A hydraulic cylinder three is hinged between the notch and the support plate two. A motor is also installed inside the support plate two. The output shaft of the motor extends out of the support plate two and is connected to the support plate three. A monitoring camera is installed on the side of the support plate three near the notch. The monitoring camera is equipped with a supplementary light and a monitoring sensor.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] In the scheme of this application:

[0039] 1. To address the problem that the operation of fully mechanized coal mining equipment in existing technologies requires manual control, and that human judgment is prone to errors, leading to errors and safety hazards during manual coal mining, this application proposes a monitoring robot arm that controls the position of data acquisition equipment. Sensors and cameras monitor the mining data of the fully mechanized coal mining equipment and changes in the surrounding environment in real time, and transmit the data to the monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the fully mechanized coal mining equipment and transmits control commands to the equipment, thereby achieving adaptive control of the equipment. This reduces errors and safety hazards during manual coal mining and improves the safety of fully mechanized coal mining.

[0040] 2. Through the monitoring device, the drive mechanism and connecting seat in the monitoring device can work together to drive the monitoring mechanism to move. The monitoring mechanism can automatically monitor the excavation data of the work area and the information on changes in the surrounding environment, thereby improving the safety of the monitoring process. The monitoring device can also change its structural form to form a conveying structure, that is, it can temporarily transport some objects for emergency use, thereby improving the functionality of the monitoring device.

[0041] 3. Through the monitoring device, the height of the monitoring mechanism can be adjusted by adjusting the setting of the support part during monitoring, thereby increasing the monitoring range. When conveying objects, the adjustable support part can be rotated upward to stand upright, thereby driving the transmission track to move and realizing the adjustment of the position of the transmission track, so that the transmission track can convey objects.

[0042] 4. Through the monitoring mechanism, the monitoring mechanism can monitor the excavation data and changes in the surrounding environment. When transporting objects, the monitoring mechanism can clean the transmission track. That is, the monitoring mechanism has different functions in different states, which improves the functionality of this application.

[0043] 5. During the monitoring process, the turntable can be fixed by inserting the positioning pin into the positioning slot, preventing it from rotating. At this time, the extension and retraction of hydraulic cylinder one can adjust the height of support seat one. After the positioning slot and positioning pin are separated, the extension and retraction of hydraulic cylinder one can drive the turntable to rotate, thereby achieving the switching of the form. When the positioning pin is inserted into the positioning slot, the baffle can limit the limit plate through the limit rod, so that the limit plate can limit the positioning rod and prevent support seat two from rotating. After the positioning slot and positioning pin are separated, the restriction of the limit rod by the baffle is released. At this time, support seat two can rotate around support shaft three, thereby achieving the change of form and meeting different usage requirements.

[0044] 6. During the monitoring process, the baffle bar can limit the transition rod and prevent it from rotating. When the connecting rod rotates upward to the vertical position, the second slide is horizontal. The flow of the medium makes the weight on one side of the baffle bar greater than the weight on the other side. At this time, the baffle bar slides along the second slide, thereby releasing the limit on the transition rod. At this time, the second support seat rotates towards the middle of the first support seat, thereby realizing the switching of the position of the transmission track, which enables the transport of objects. Attached Figure Description

[0045] Figure 1 A schematic diagram of the monitoring device provided in this application;

[0046] Figure 2 This is a schematic diagram of the transmission wheel provided in this application;

[0047] Figure 3 A structural schematic diagram of the adjustable support provided in this application;

[0048] Figure 4 This is a structural schematic diagram of the hydraulic cylinder provided in this application;

[0049] Figure 5 This is a structural schematic diagram of the support plate 1 provided in this application;

[0050] Figure 6 A partial cross-sectional structural diagram of the support base 1 provided in this application;

[0051] Figure 7 This is a schematic diagram of the positioning groove provided in this application;

[0052] Figure 8 This is a schematic diagram of the structure of the stop provided in this application;

[0053] Figure 9 A cross-sectional structural schematic diagram of the stop provided in this application;

[0054] Figure 10 A schematic diagram of the structure of the monitoring device provided in this application when transporting an object;

[0055] Figure 11 Provided for this application Figure 10 Schematic diagram of the central transmission wheel;

[0056] Figure 12 A schematic diagram of the adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring provided in this application.

[0057] The image shows:

[0058] 1. Drive mechanism; 101. Support base one; 102. Support shaft one; 103. Turntable; 104. Rotating shaft two; 105. Connecting rod; 106. Connecting plate; 107. Support shaft three; 108. Support base two; 109. Transmission shaft; 110. Transmission wheel; 111. Arc groove; 112. Positioning rod; 113. Slide groove one; 114. Limiting plate; 115. Limiting rod; 116. Support plate one; 117. Support shaft four; 118. Adapter rod; 119. Hydraulic... 1. Pressure cylinder 1; 120. Slide groove 2; 121. Stop bar; 122. Cavity; 123. Flowing medium; 124. Slide groove 3; 125. Drive cylinder; 126. Baffle plate; 127. Positioning groove; 128. Positioning column; 2. Transmission track; 3. Connecting seat; 4. Hydraulic cylinder 2; 5. Pad plate; 6. Monitoring mechanism; 601. Notch; 602. Support plate 2; 603. Hydraulic cylinder 3; 604. Monitoring camera; 605. Monitoring sensor; 606. Support plate 3. Detailed Implementation

[0059] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0060] As described in the background section, fully mechanized coal mining robots (manipulators) are commonly used equipment in the fully mechanized coal mining process. These robots can greatly improve the efficiency of fully mechanized coal mining. In the existing technology, the operation of fully mechanized coal mining equipment requires manual control. That is, the operator controls the equipment based on the excavation situation and changes in the surrounding environment. This control method requires the operator to judge the situation of the work area based on experience. However, human judgment is prone to errors, leading to errors and safety hazards in the manual control of coal mining.

[0061] To address this technical problem, this invention provides an adaptive control method and application for fully mechanized coal mining equipment based on intelligent monitoring. This method is used to achieve adaptive control of fully mechanized coal mining equipment and improve safety during the fully mechanized coal mining process.

[0062] For details, please refer to Figure 1-3 The adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring specifically includes:

[0063] A monitoring robot arm is used to install data acquisition equipment and to move the data acquisition equipment.

[0064] The data acquisition equipment, which is installed on the monitoring robotic arm, includes sensors and cameras, and is used to monitor the mining data and changes in the surrounding environment of the coal mining robot in real time.

[0065] The network communication module is used to transmit the mining data and information on changes in the surrounding environment of the coal mining robot to the monitoring center.

[0066] The monitoring and control center is used to receive, analyze, and process data collected by data acquisition equipment, and to control the coal mine fully mechanized mining robot based on the analysis results.

[0067] It also includes the following steps:

[0068] The monitoring robot controls the position of the data acquisition equipment by collecting data. Sensors and cameras monitor the mining data of the coal mining equipment and changes in the surrounding environment in real time, and transmit the data to the monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the coal mining equipment and transmits control commands to the coal mining equipment to achieve adaptive control of the coal mining equipment.

[0069] The present invention provides an adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring. In this application, the monitoring robot controls the position of the data acquisition equipment through a data acquisition robot. Sensors and cameras monitor the mining data of the fully mechanized coal mining equipment and the changes in the surrounding environment in real time, and transmit the data information to the monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the fully mechanized coal mining equipment and transmits control commands to the equipment, thereby realizing adaptive control of the equipment. This reduces the errors and safety hazards that exist in the manual control of coal mining, and improves the safety of the fully mechanized coal mining process.

[0070] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0071] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0072] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0073] Example 1

[0074] Please refer to Figure 12 An adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring includes:

[0075] The monitoring robot is used to install data acquisition equipment and move the data acquisition equipment. The monitoring robot can adjust the position of the data acquisition equipment to facilitate data acquisition.

[0076] The data acquisition equipment, which is installed on the monitoring robotic arm, includes sensors and cameras, and is used to monitor the mining data and changes in the surrounding environment of the coal mining robot in real time.

[0077] The network communication module is used to transmit the mining data and information on changes in the surrounding environment of the coal mine fully mechanized mining robot to the monitoring center, thereby enabling data transmission.

[0078] The monitoring and control center is used to receive, analyze, and process data information collected by data acquisition equipment, and to control the coal mine fully mechanized mining robot based on the analysis results, thereby reducing the safety hazards that exist when manually controlling the coal mine fully mechanized mining robot.

[0079] It also includes the following steps:

[0080] The monitoring robot controls the position of the data acquisition equipment. Sensors and cameras monitor the excavation data of the fully mechanized coal mining equipment and changes in the surrounding environment in real time, and transmit the data to the monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the fully mechanized coal mining equipment and transmits control commands to the equipment, thereby achieving adaptive control of the equipment. This reduces errors and safety hazards that exist in manual coal mining and improves the safety of fully mechanized coal mining.

[0081] Furthermore, the sensors of the data acquisition equipment monitor the temperature, humidity, and gas concentration data of the working environment of the coal mine fully mechanized mining equipment in real time;

[0082] The camera in the data acquisition equipment is used to capture images of the ore and mining data in real time, which are then used by the monitoring and control center to analyze the characteristics of the ore and the mining data, thereby facilitating the control of the coal mine fully mechanized mining equipment.

[0083] Furthermore, it also includes a sensor data preprocessing module, which is used to filter, calibrate, and fuse the data collected by the sensor to improve the accuracy and reliability of the data.

[0084] Furthermore, it also includes a real-time image processing module, which is used to process and analyze the ore images captured by the camera in real time, extract key features and mining data, provide visual guidance and optimization strategies for the mining process, and improve the accuracy and safety of mining.

[0085] Furthermore, the network communication module is as follows:

[0086] Wireless communication modules: such as Wi-Fi (IEEE 802.11 standard), Bluetooth, Zigbee, etc., are used for wireless data transmission and communication within a short range;

[0087] Mobile communication module: such as 4G LTE, 5G and other mobile communication technologies, used for high-speed data transmission and remote communication over a wide area;

[0088] Ethernet module: A network interface module based on the Ethernet protocol, used to connect to a local area network or the Internet via a wired connection to achieve high-speed data transmission and remote control;

[0089] LoRaWAN module: Based on Low Power Wide Area Network (LPWAN) wireless communication technology, it is suitable for long-distance, low-power, and low-data-rate IoT applications;

[0090] NB-IoT module: Narrowband Internet of Things (NB-IoT) communication module, suitable for low-power, wide-coverage IoT device connectivity;

[0091] Satellite communication module: Utilizes satellites for remote communication and data transmission, suitable for remote areas or areas without coverage, to achieve global communication connectivity;

[0092] Fiber optic communication module: A communication module that uses optical fiber to transmit data, providing high-speed, high-bandwidth data transmission and communication capabilities.

[0093] Example 2

[0094] The adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring provided in Example 1 is further optimized. Specifically, the monitoring and control center includes:

[0095] The analysis module is used to perform real-time analysis of mining data from coal mine fully mechanized mining equipment and information on changes in the surrounding environment collected by sensors and cameras, and to extract key features.

[0096] The decision-making module generates adaptive control strategies based on the key features provided by the analysis module.

[0097] The control command generation module transmits the corresponding control commands to the fully mechanized coal mining equipment based on the adaptive control strategy generated by the decision module.

[0098] The feedback loop is used to receive status feedback information from the fully mechanized coal mining equipment and to adjust and optimize the control strategy in real time based on the feedback information.

[0099] Example 3

[0100] Please refer to Figure 1-11 The application of an adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring is applied to the detection of adaptive control of fully mechanized coal mining equipment, including a monitoring device. The monitoring device includes several drive mechanisms 1, and several connecting seats 3 are connected between the several drive mechanisms 1. The multiple connecting seats 3 are used to connect the several drive mechanisms 1 together.

[0101] The drive mechanism 1 includes a support base 101. Adjustable support parts are provided on both sides of the support base 101. A limiting part is provided between the adjustable support parts and the support base 101. The limiting part is used to limit the adjustable support parts.

[0102] Furthermore, such as Figure 1-7 As shown, the adjustable support includes two support shafts 102 rotatably mounted on both sides of the support base 101 via bearings. A turntable 103 is fixedly sleeved on the outer surface of each support shaft 102. The support shafts 102 support the turntable 103, and the turntable 103 can rotate around the support shafts 102. Two rotating shafts 104 are mounted on the opposite sides of the two turntables 103 via bearings. A connecting rod 10 is fixedly connected to the end of each rotating shaft 104 away from the turntable 103. 5. Each end of the connecting rod 105 is fixedly connected to a connecting plate 106. Support shaft 3 107 is fixedly installed on each of the two connecting plates 106. Support seat 2 108 is rotatably connected between the two support shaft 3 107 near each other through a bearing. A motor is installed inside the support seat 2 108. The output shaft of the motor is connected to a transmission shaft 109. One end of the transmission shaft 109 extends out of the support seat 2 108 and is fixedly connected to a transmission wheel 110. The motor can drive the transmission wheel 110 to rotate through the transmission shaft 109.

[0103] A drive track 2 is rotatably connected between the outer surfaces of the drive wheels 110 in several adjustable support sections, and multiple connecting seats 3 are respectively fixedly connected between the support seats 101 in the several adjustable support sections. Figure 1 When the drive wheel 110 rotates in this state, it can drive the entire unit to move through the drive track 2. Figure 10 When the drive wheel 110 rotates in this state, it can transport objects through the drive track 2;

[0104] A limit rod 115 is fixedly connected to the side of support base 101 near the transmission wheel 110. Two support plates 116 are fixedly installed on the inner side of support base 2 108. A support shaft 117 is fixedly installed between the two support plates 116 and the inner side of support base 2 108. A transition rod 118 located between the two support plates 116 is sleeved on the outer surface of support shaft 117. A hydraulic cylinder 119 is hinged between the transition rod 118 and the limit rod 115. Figure 1 The height of the support base 101 can be adjusted when it is in the telescopic state.

[0105] Two support plates 116 are each provided with a groove 120 on one side close to each other. A stop rod 121 is slidably connected between the two grooves 120. A cavity 122 is provided inside the stop rod 121, and a flowing medium 123 is stored in the cavity 122. One side of the cavity 122 is inclined. The flowing medium 123 can be liquid mercury, which is the densest liquid. When the connecting rod 105 is rotated upward to a vertical position, the groove 120 becomes horizontal, and the flow of the flowing medium 123 causes the stop rod 121 to tilt. When the weight is greater than that on the other side, the stop lever 121 slides along the second slide groove 120, thereby releasing the limit on the adapter rod 118. At this time, the second support seat 108 rotates towards the middle of the first support seat 101, thereby realizing the switching of the position of the transmission track 2, so as to enable the transport of objects. The stop lever 121 and the second slide groove 120 are coated with lubricating oil to ensure that the sliding of the stop lever 121 is smoother. If necessary, the movement of the stop lever 121 can also be pushed by manual push or electric push rod.

[0106] An arc-shaped groove 111 is provided between each pair of connecting plates 106. A positioning rod 112 is slidably connected in each of the two arc-shaped grooves 111. The ends of the two positioning rods 112 that are close to each other are fixedly connected to the second support base 108. The second support base 108 can rotate along the third support shaft 107. When the second support base 108 rotates, the positioning rod 112 slides in the arc-shaped groove 111.

[0107] Furthermore, such as Figure 6-7As shown, the limiting part includes two sliding grooves 124 respectively opened on both sides of the support base 101. A baffle 126 is slidably connected to each of the two sliding grooves 124. A drive cylinder 125 is connected between each of the two baffles 126 and the interior of the support base 101. A positioning groove 127 is opened on the side of each of the two turntables 103 that is far apart from each other. A positioning pin 128 is slidably connected to each of the two positioning grooves 127. The ends of the two positioning pins 128 that are far apart from each other are fixedly connected to the two baffles 126. Inserting the positioning pin 128 into the positioning groove 127 can fix the turntable 103, preventing it from rotating. At this time, when the hydraulic cylinder 119 extends or retracts, it can provide support. The height of the support seat 101 can be adjusted. After the positioning groove 127 is separated from the positioning post 128, the hydraulic cylinder 119 can drive the turntable 103 to rotate when it extends and retracts, thereby realizing the change of form. When the positioning post 128 is inserted into the positioning groove 127, the baffle 126 can limit the limiting plate 114 through the limiting rod 115, so that the limiting plate 114 can limit the positioning rod 112 and prevent the support seat 108 from rotating. After the positioning groove 127 is separated from the positioning post 128, the restriction of the baffle 126 on the limiting rod 115 is released. At this time, the support seat 108 can rotate around the support shaft 107, thereby realizing the change of form and meeting different usage requirements.

[0108] Both connecting plates 106 are also provided with a sliding groove 113 that communicates with the arc-shaped groove 111. A limiting plate 114 is slidably connected in each sliding groove 113. One end of the limiting plate 114 is in contact with the positioning rod 112, and the other end of the limiting plate 114 is fixedly connected to a limiting rod 115. The end of the limiting rod 115 away from the limiting plate 114 passes through one of the connecting rods 105 and is in contact with the baffle 126. A spring located in the sliding groove 113 can be provided on the outer surface of the limiting rod 115. When the limiting rod 115 is separated from the baffle 126, the force of the spring can pull the limiting plate 114 and the positioning rod 112 apart.

[0109] Furthermore, such as Figure 1 As shown, hydraulic cylinders 4 are fixedly installed on both sides of each connecting seat 3. A pad 5 is connected to the bottom of each hydraulic cylinder 4. The monitoring robot arm, i.e., the monitoring mechanism 6, and the data acquisition equipment consist of a monitoring camera 604 and a monitoring sensor 605. The sensor is the monitoring sensor 605, and the camera is the monitoring camera 604.

[0110] The monitoring mechanism 6 includes a notch 601 in the middle of the connecting seat 3 and a support plate 602 hinged to the top of the connecting seat 3. A hydraulic cylinder 603 is hinged between the notch 601 and the support plate 602. A motor is also installed in the support plate 602. The output shaft of the motor extends out of the support plate 602 and is connected to the support plate 606. A monitoring camera 604 is installed on the side of the support plate 606 near the notch 601. A supplementary light and a monitoring sensor 605 are installed on the monitoring camera 604. The motor can drive the support plate 606 to rotate, thereby adjusting the orientation of the monitoring camera 604 and the monitoring sensor 605 for easy detection.

[0111] The usage process of the adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring provided by this invention and its application is as follows:

[0112] Reference Figure 1 The motor drives the monitoring camera 604 to rotate the support plate 606. The orientation of the monitoring camera 604 and the monitoring sensor 605 is adjusted according to the actual situation. The hydraulic cylinder 603 drives the support plate 602 to rotate and adjusts the angle of the support plate 602. When the hydraulic cylinder 119 extends and retracts, it pulls the support seat 108 through the adapter rod 118 to adjust the height of the support seat 101. After adjustment, the motor in the support seat 108 drives the transmission wheel 110 to rotate through the transmission shaft 109. The rotation of the transmission wheel 110 drives the transmission track 2 to rotate, realizing the overall movement. During the movement, the monitoring camera 604 and the monitoring sensor 605 monitor the mining data and the changes in the surrounding environment of the coal mine fully mechanized mining equipment in real time, and transmit the data information to the monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the coal mine fully mechanized mining equipment and transmits the control command to the coal mine fully mechanized mining equipment to realize the adaptive control of the coal mine fully mechanized mining equipment.

[0113] When transporting objects, hydraulic cylinder 2 pushes the pad 5 to extend, causing the transmission track 2 to separate from the ground. The motor inside support plate 2 602 drives support plate 3 606 to rotate and reset. Meanwhile, hydraulic cylinder 3 603 moves support plate 2 602 towards hydraulic cylinder 3 603. Drive cylinder 125 moves the baffle 126, causing the baffle 126 to separate from the limit rod 115, and the positioning pin 128 to separate from the positioning groove 127. Hydraulic cylinder 119 pushes support seat 2 108, causing turntable 103 to rotate around support shaft 1 102. The connecting rod 105 is rotated to an upright position, and the slide groove 120 is horizontal. The flow of the medium 123 causes the weight on one side of the stop rod 121 to be greater than the weight on the other side. At this time, the stop rod 121 slides along the slide groove 120, thereby releasing the restriction on the adapter rod 118. At this time, the support seat 108 rotates around the support shaft 107 towards the middle of the support seat 101, thereby realizing the switching of the position of the transmission track 2. If necessary, the movement of the stop rod 121 can also be pushed manually or by an electric push rod. At this time, the overall shape changes from Figure 1 Switch to Figure 10 The motor in the second support base 108 drives the transmission wheel 110 to rotate through the transmission shaft 109. The rotation of the transmission wheel 110 drives the transmission track 2 to rotate, thereby realizing the conveying of objects. During the conveying process, the third hydraulic cylinder 603 pushes the second support plate 602 so that the third support plate 606 contacts the transmission track 2. At this time, the third support plate 606 can clean the transmission track 2.

[0114] When it is necessary to change the overall shape Figure 10 Switch to Figure 1 When hydraulic cylinder 119 retracts, it drives support base 108 and turntable 103 to rotate. During the rotation, support base 108 rotates around support shaft 107. Hydraulic cylinder 4 retracts, driving support base 101 to descend, so that the transmission track 2 contacts the ground. The transmission track 2, connecting plate 106 and connecting rod 105 remain horizontal. At this time, drive cylinder 125 pushes baffle 126 to extend, so that positioning pin 128 is inserted into positioning groove 127. Baffle 126 pushes limiting plate 114 to reset through limiting rod 115. Support plate 116 is vertical. Under the action of gravity, baffle 121 slides down to limit the adapter rod 118 again, thus completing the form switching.

[0115] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0116] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. A fully mechanized coal mining equipment based on intelligent monitoring, employing an adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring, characterized in that... The device includes a monitoring device, which includes several drive mechanisms (1), and several connecting seats (3) are connected between the drive mechanisms (1). The drive mechanism (1) includes a support base (101), and adjustable support parts are provided on both sides of the support base (101). A limit part is provided between the adjustable support parts and the support base (101). The adjustable support includes two support shafts (102) that are rotatably mounted on both sides of a support base (101) via bearings. Turntables (103) are fixedly mounted on the outer surfaces of the two support shafts (102). Two rotating shafts (104) are mounted on the side of the two rotating shafts (103) that are far apart from each other via bearings. A connecting rod (105) is fixedly connected to the end of each rotating shaft (104) that is far away from the turntable (103). A connecting plate (106) is fixedly connected to the end of each connecting rod (105). Support shafts (107) are fixedly mounted on the two connecting plates (106). A support base (108) is rotatably connected between the ends of the two support shafts (107) that are close to each other via bearings. A motor is installed inside the support base (108). The output shaft of the motor is connected to a transmission shaft (109). One end of the transmission shaft (109) extends out of the support base (108) and is fixedly connected to a transmission wheel (110). A drive track (2) is rotatably connected between the outer surfaces of the drive wheels (110) in several adjustable support parts, and multiple connecting seats (3) are respectively fixedly connected between the support seats (101) in several adjustable support parts; A limiting rod (115) is fixedly connected to the side of the support base one (101) near the transmission wheel (110). Two support plates one (116) are fixedly installed on the inner side of the support base two (108). A support shaft four (117) is fixedly installed between the two support plates one (116) and the inner side of the support base two (108). A transition rod (118) located between the two support plates one (116) is sleeved on the outer surface of the support shaft four (117). A hydraulic cylinder one (119) is hinged between the transition rod (118) and the limiting rod (115). Each of the two support plates (116) has a sliding groove (120) on one side that is close to each other. A stop rod (121) is slidably connected between the two sliding grooves (120). A cavity (122) is provided in the stop rod (121). A flowing medium (123) is stored in the cavity (122). One side of the cavity (122) is inclined.

2. The fully mechanized coal mining equipment based on intelligent monitoring according to claim 1, characterized in that, An arc-shaped groove (111) is provided between each pair of connecting plates (106), and a positioning rod (112) is slidably connected in each of the two arc-shaped grooves (111). The ends of the two positioning rods (112) that are close to each other are fixedly connected to the second support base (108).

3. The fully mechanized coal mining equipment based on intelligent monitoring according to claim 2, characterized in that, The limiting part includes two sliding grooves (124) respectively opened on both sides of the support base (101). A baffle (126) is slidably connected in each of the two sliding grooves (124). A drive cylinder (125) is connected between each of the two baffles (126) and the inside of the support base (101). A positioning groove (127) is opened on the side of each of the two turntables (103) that is far apart from each other. A positioning post (128) is slidably connected in each of the two positioning grooves (127). The ends of the two positioning posts (128) that are far apart from each other are fixedly connected to the two baffles (126). Both connecting plates (106) are also provided with a sliding groove (113) communicating with the arc groove (111). Each sliding groove (113) is slidably connected with a limiting plate (114). One end of the limiting plate (114) is in contact with the positioning rod (112), and the other end of the limiting plate (114) is fixedly connected with a limiting rod (115). The end of the limiting rod (115) away from the limiting plate (114) passes through one of the connecting rods (105) and is in contact with the baffle (126).

4. The fully mechanized coal mining equipment based on intelligent monitoring according to claim 3, characterized in that, Hydraulic cylinders (4) are fixedly installed on both sides of each of the connecting seats (3), and a pad (5) is connected to the bottom end of each hydraulic cylinder (4). It also includes a monitoring mechanism (6), which has a notch (601) in the middle of the connecting seat (3) and a support plate two (602) hinged to the top of the connecting seat (3). A hydraulic cylinder three (603) is hinged between the notch (601) and the support plate two (602). A motor is also installed in the support plate two (602). The output shaft of the motor extends out of the support plate two (602) and is connected to the support plate three (606). A monitoring camera (604) is provided on the side of the support plate three (606) near the notch (601). A supplementary light and a monitoring sensor (605) are installed on the monitoring camera (604).

5. The adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring according to claim 1, characterized in that, include: A monitoring robot arm is used to install data acquisition equipment and to move the data acquisition equipment. The data acquisition equipment, which is installed on the monitoring robotic arm, includes sensors and cameras, and is used to monitor the mining data and changes in the surrounding environment of the coal mining robot in real time. The network communication module is used to transmit the mining data and information on changes in the surrounding environment of the coal mining robot to the monitoring center. The monitoring and control center is used to receive, analyze, and process data collected by data acquisition equipment, and to control the coal mine fully mechanized mining robot based on the analysis results. It also includes the following steps: The monitoring robot controls the position of the data acquisition equipment by collecting data. Sensors and cameras monitor the mining data of the coal mining equipment and changes in the surrounding environment in real time, and transmit the data to the monitoring center for real-time analysis and processing. The monitoring center generates an adaptive control strategy for the coal mining equipment and transmits control commands to the coal mining equipment to achieve adaptive control of the coal mining equipment.

6. The adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring according to claim 5, characterized in that, The sensors of the data acquisition equipment monitor the temperature, humidity, and gas concentration data of the working environment of the fully mechanized coal mining equipment in real time; The camera in the data acquisition equipment is used to capture images of the ore and mining data in real time, which are then used by the monitoring and control center to analyze the characteristics of the ore and the mining data.

7. The adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring according to claim 6, characterized in that, It also includes a sensor data preprocessing module, which is used to filter, calibrate and fuse the data collected by the sensor.

8. The adaptive control method for fully mechanized coal mining equipment based on intelligent monitoring according to claim 7, characterized in that, It also includes a real-time image processing module, which is used to process and analyze the ore images captured by the camera in real time, extract key features and mining data, and provide visual guidance and optimization strategies for the mining process; The network communication module can be a wireless communication module, a mobile communication module, an Ethernet module, a LoRaWAN module, an NB-IoT module, a satellite communication module, or a fiber optic communication module; The monitoring and control center includes: The analysis module is used to perform real-time analysis of mining data from coal mine fully mechanized mining equipment and information on changes in the surrounding environment collected by sensors and cameras, and to extract key features. The decision-making module generates adaptive control strategies based on the key features provided by the analysis module. The control command generation module transmits the corresponding control commands to the fully mechanized coal mining equipment based on the adaptive control strategy generated by the decision module. The feedback loop is used to receive status feedback information from the fully mechanized coal mining equipment and to adjust and optimize the control strategy in real time based on the feedback information.

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