Scraping conveyor and hydraulic support collaborative control system and method and storage medium
By acquiring the position data of the scraper conveyor through laser ranging and image acquisition modules, the displacement value of the hydraulic support is determined, which solves the problem of poor collaborative control between the scraper conveyor and the hydraulic support, and realizes intelligent and efficient collaboration of the coal mining face.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CCTEG COAL MINING RES INST
- Filing Date
- 2023-08-07
- Publication Date
- 2026-05-29
AI Technical Summary
In the existing technology, the coordinated control of scraper conveyors and hydraulic supports fails to effectively consider their positional relationship with the coal seam, transport roadway, and return air roadway, resulting in poor coordinated control performance.
The position data of the scraper conveyor is obtained by the laser ranging module and the image acquisition module. Combined with the preset baseline, the displacement value of the hydraulic support is determined, so as to achieve precise coordinated control of the scraper conveyor and the hydraulic support.
It has improved the intelligence level of the coal mining face, ensured the coordinated operation of the scraper conveyor and hydraulic support, and improved the efficiency and safety of coal mining.
Smart Images
Figure CN117052449B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent mining, and in particular to a collaborative control system, method and storage medium for a scraper conveyor and a hydraulic support. Background Technology
[0002] Hydraulic supports are the main support equipment in coal mining faces, scraper conveyors are the main transportation equipment, and coal mining machines are mainly used to cut and excavate coal from the coal seam. These three components work together in coal mining. To ensure smooth coal mining, coordinated control of the hydraulic supports and scraper conveyors is necessary.
[0003] In related technologies, the straightness of the scraper conveyor is usually tested, and the straightness of the hydraulic support is adjusted based on the test results to achieve coordinated control of the scraper conveyor and hydraulic support in the coal mining face. However, this control method does not take into account the positional relationship between the scraper conveyor and the coal seam, transport roadway, return air roadway and hydraulic support, resulting in poor coordinated control effect between the scraper conveyor and hydraulic support. Summary of the Invention
[0004] This application provides a coordinated control system, device, electronic equipment, and storage medium for a scraper conveyor and a hydraulic support. The position of the scraper conveyor can be determined based on the acquired data, thereby controlling the movement of the hydraulic support according to the position of the scraper conveyor, improving the level of intelligence in coal mining faces.
[0005] In a first aspect, embodiments of this application provide a coordinated control system for a scraper conveyor and a hydraulic support, comprising: a first laser ranging module for acquiring a first distance value between the head of the scraper conveyor and the sidewall of the transport roadway of the coal mining face; a first signal receiving target for acquiring a second distance value between the irradiation point of the laser emitted by the first laser ranging module on the first signal receiving target and a preset baseline; wherein the first signal receiving target is disposed on the sidewall of the transport roadway; a second laser ranging module for acquiring a third distance value between the tail of the scraper conveyor and the sidewall of the return air roadway of the coal mining face; a second signal receiving target for acquiring a fourth distance value between the irradiation point of the laser emitted by the second laser ranging module on the second signal receiving target and the preset baseline; wherein the second signal receiving target is disposed on the sidewall of the return air roadway; an image acquisition module for acquiring image data of multiple scraper troughs of the scraper conveyor; and a processing module for controlling the movement of the hydraulic support corresponding to the scraper trough based on the first distance value, the second distance value, the third distance value, the fourth distance value, and the image data.
[0006] In this technical solution, the position of the scraper conveyor can be determined based on the acquired data, and the movement of the hydraulic support can be controlled according to the position of the scraper conveyor, thereby improving the level of intelligence of the coal mining face.
[0007] In one implementation, the processing module is specifically configured to: determine first position data of the machine head based on the first distance value and the second distance value; determine second position data of the machine tail based on the third distance value and the fourth distance value; obtain a first positional relationship between the scraper grooves according to the image data; obtain third position data of each section of the scraper groove based on the first position data or the second position data and the first positional relationship between the scraper grooves; determine a predicted cutting line based on the first position data and the second position data; obtain a predicted displacement value of the hydraulic support corresponding to each section of the scraper groove based on the third position data of each section of the scraper groove and the predicted cutting line; and control the displacement of the hydraulic support based on the predicted displacement value.
[0008] In one optional implementation, each section of the scraper groove is provided with a marking device at both ends. The processing module is specifically used to: determine the first marking device that is closest to the machine head; determine a second relative positional relationship between the machine head and the first marking device; obtain position data of the first marking device based on the first position data and the second positional relationship; obtain a first relative positional relationship between the marking devices based on the image data; obtain position data of each marking device based on the position data of the first marking device and the first relative positional relationship between the marking devices; and obtain a third positional data of each section of the scraper groove based on the position data of the marking devices on each section of the scraper groove.
[0009] Optionally, there are multiple image acquisition devices, each of which has a coverage area greater than or equal to the length of three scraper grooves, and the overlapping coverage area of two adjacent image acquisition devices is greater than or equal to the length of two scraper grooves. The processing module is specifically used to: obtain a first relative positional relationship between the marking devices based on multiple image data acquired by the multiple image acquisition devices.
[0010] In one optional implementation, the processing module is specifically configured to: determine a reference position from the first position data and the second position data; obtain an initial line based on the reference position data; obtain a target cutting depth; and determine the expected cutting line based on the initial line and the target cutting depth.
[0011] In one alternative implementation, both the first laser ranging device and the second laser ranging device can emit at least three laser beams at different angles, with one laser beam parallel to the long side of the scraper conveyor. Before controlling the movement of the hydraulic support corresponding to the scraper trough, the processing module is further configured to: adjust the position of the head of the scraper conveyor based on the three laser beams emitted by the first laser ranging device, so that the head of the scraper conveyor is perpendicular to the sidewall of the transport roadway; and adjust the position of the tail of the scraper conveyor based on the three laser beams emitted by the second laser ranging device, so that the tail of the scraper conveyor is perpendicular to the sidewall of the return air roadway.
[0012] In one implementation, the processing module is further configured to: determine whether the first distance value is less than a first distance threshold; and in response to the first distance value being less than the first distance threshold, determine that the scraper conveyor has slipped, and generate a slippage alarm message.
[0013] In one implementation, the processing module is further configured to: determine whether the third distance value is less than the second distance threshold; and in response to the third distance value being less than the second distance threshold, determine that the scraper conveyor has experienced upward movement and generate an upward movement alarm message.
[0014] Secondly, embodiments of this application provide a method for coordinated control of a scraper conveyor and a hydraulic support, comprising: acquiring a first distance value between the head of the scraper conveyor and the sidewall of the transport roadway of the coal mining face; acquiring a second distance value between the irradiation point of the laser emitted by the first laser ranging module on the first signal receiving target and a preset baseline; acquiring a third distance value between the tail of the scraper conveyor and the sidewall of the return air roadway of the coal mining face; acquiring a fourth distance value between the irradiation point of the laser emitted by the second laser ranging module on the second signal receiving target and the preset baseline; acquiring image data of multiple scraper troughs of the scraper conveyor; and controlling the movement of the hydraulic support corresponding to the scraper trough based on the first distance value, the second distance value, the third distance value, the fourth distance value and the image data.
[0015] In one implementation, controlling the movement of the hydraulic support corresponding to the scraper groove based on the first distance value, the second distance value, the third distance value, the fourth distance value, and the image data includes: determining first position data of the machine head based on the first distance value and the second distance value; determining second position data of the machine tail based on the third distance value and the fourth distance value; obtaining third position data of each section of the scraper groove according to the first position data and the image data; determining an expected cutting line according to the first position data and the second position data; obtaining a predicted movement value of the hydraulic support corresponding to each section of the scraper groove based on the third position data of each section of the scraper groove and the expected cutting line; and controlling the movement of the hydraulic support based on the predicted movement value.
[0016] In one optional implementation, each section of the scraper groove is provided with marking devices at both ends. The step of obtaining third position data for each section of the scraper groove based on the first position data and the image data includes: obtaining a first relative positional relationship between the marking devices based on the image data; determining a first marking device closest to the machine head; determining a second relative positional relationship between the machine head and the first marking device; obtaining position data of the first marking device based on the first position data and the second relative positional relationship; obtaining position data of each marking device based on the position data of the first marking device and the first relative positional relationship between the marking devices; and obtaining third position data for each section of the scraper groove based on the position data of the marking devices on each section of the scraper groove.
[0017] Optionally, there are multiple image acquisition devices, each of which has a coverage area greater than or equal to the length of three scraper grooves, and the overlapping coverage area of two adjacent image acquisition devices is greater than or equal to the length of two scraper grooves. The step of obtaining the first relative positional relationship between the marking devices based on the image data includes: obtaining the first relative positional relationship between the marking devices based on multiple image data acquired by the multiple image acquisition devices.
[0018] In one optional implementation, determining the expected cut line based on the first position data and the second position data includes: determining reference position data from the first position data and the second position data; obtaining an initial line based on the reference position data; obtaining a target cut depth; and determining the expected cut line based on the initial line and the target cut depth.
[0019] In one implementation, both the first laser ranging device and the second laser ranging device can emit at least three laser beams at different angles, with one laser beam parallel to the long side of the scraper conveyor. Before controlling the movement of the hydraulic support corresponding to the scraper trough, the method further includes: adjusting the position of the head of the scraper conveyor based on the three laser beams emitted by the first laser ranging device, so that the head of the scraper conveyor is perpendicular to the sidewall of the transport roadway; and adjusting the position of the tail of the scraper conveyor based on the three laser beams emitted by the second laser ranging device, so that the tail of the scraper conveyor is perpendicular to the sidewall of the return air roadway.
[0020] In one implementation, the method further includes: determining whether the first distance value is less than a first distance threshold; and in response to the first distance value being less than the first distance threshold, determining that the scraper conveyor has slipped, and generating a slippage alarm message.
[0021] In one implementation, the method further includes: determining whether the third distance value is less than a second distance threshold; and in response to the third distance value being less than the second distance threshold, determining that the scraper conveyor has experienced upward movement, and generating an upward movement alarm message.
[0022] Thirdly, embodiments of this application provide a computer-readable storage medium for storing instructions that, when executed, cause the method described in the first aspect to be implemented.
[0023] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the coordinated control system of the scraper conveyor and hydraulic support as described in the first aspect.
[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description
[0025] The accompanying drawings are provided for a better understanding of this solution and do not constitute a limitation of this application. Wherein:
[0026] Figure 1 This is a schematic diagram of a coordinated control system for a scraper conveyor and a hydraulic support provided in an embodiment of this application;
[0027] Figure 2 This is a schematic diagram of the module positions in a collaborative control system for a scraper conveyor and a hydraulic support provided in an embodiment of this application;
[0028] Figure 3This is a schematic diagram of a scraper trough of a scraper conveyor provided in an embodiment of this application;
[0029] Figure 4 This is a schematic diagram of the bending curve of a scraper conveyor provided in an embodiment of this application;
[0030] Figure 5 This is a schematic diagram of a scheme for determining the displacement value of a hydraulic support provided in an embodiment of this application;
[0031] Figure 6 This is a schematic diagram of a scheme for inspecting the position of the head of a scraper conveyor provided in an embodiment of this application;
[0032] Figure 7 This is a schematic diagram of a collaborative control method for a scraper conveyor and a hydraulic support provided in an embodiment of this application;
[0033] Figure 8 This is a schematic diagram of another collaborative control method between a scraper conveyor and a hydraulic support provided in an embodiment of this application. Detailed Implementation
[0034] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.
[0035] In the description of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The various numerical designations such as "first", "second", etc., involved in this application are only for the convenience of description and are not used to limit the scope of the embodiments of this application, nor do they indicate the order of events.
[0036] Please see Figure 1 , Figure 1 This is a schematic diagram of a collaborative control system for a scraper conveyor and a hydraulic support provided in an embodiment of this application. Figure 2 This is a schematic diagram showing the module positions in a collaborative control system for a scraper conveyor and a hydraulic support provided in an embodiment of this application. For example... Figure 1 and Figure 2As shown, the system may include: a first laser ranging module 101, a first signal receiving target 102, a second laser ranging module 103, a second signal receiving target 104, an image acquisition module 105, and a processing module 106.
[0037] The first laser ranging module 101 is used to obtain the first distance value between the head of the scraper conveyor and the side wall of the transport roadway of the coal mining face.
[0038] For example, such as Figure 1 As shown, the first laser ranging module 101 can be installed at the head of the scraper conveyor, so that the first laser ranging module 101 can directly obtain the distance value between itself and the side wall of the transport roadway of the coal mining face, as the first distance value between the head of the scraper conveyor and the side wall of the transport roadway of the coal mining face.
[0039] The first signal receiving target 102 is used to obtain a second distance value between the irradiation point of the laser emitted by the first laser ranging module 101 on the first signal receiving target 102 and a preset reference line.
[0040] In the embodiments of this application, the aforementioned preset baseline can be the stop line of the coal mining face.
[0041] For example, the distance values between different positions on the first signal receiving target 102 and a preset baseline can be predetermined, so that when the laser emitted by the first laser ranging module 101 illuminates the first signal receiving target 102, the first signal receiving target 102 can identify the illumination point of the laser emitted by the first laser ranging module 101 and obtain the distance value between the position corresponding to the illumination point and the baseline as a second distance value.
[0042] In one embodiment of this application, the first signal receiving target 102 is disposed on the side wall of the transport roadway.
[0043] As an example, the first signal receiving target 102 can be deployed along the entire length of the transport roadway sidewall.
[0044] As another example, the first signal receiving target 102 can be deployed along the side of the transport roadway at a distance based on the actual position of the scraper conveyor, so that the laser emitted by the first laser ranging module 101 can illuminate the first signal receiving target 102. The first signal receiving target 102 can be repositioned after the scraper conveyor moves beyond the deployment range.
[0045] The second laser ranging module 103 is used to obtain the third distance value between the tail of the scraper conveyor and the side wall of the return air roadway of the coal mining face.
[0046] For example, such as Figure 1As shown, the second laser ranging module 103 can be installed at the tail of the scraper conveyor, so that the second laser ranging module 103 can directly obtain the distance value between itself and the side wall of the return air roadway of the coal mining face, as the third distance value between the tail of the scraper conveyor and the side wall of the return air roadway of the coal mining face.
[0047] The second signal receiving target 104 is used to obtain a fourth distance value between the irradiation point of the laser emitted by the second laser ranging module 103 on the second signal receiving target 104 and a preset baseline.
[0048] For example, the distance values between different positions on the second signal receiving target 104 and a preset baseline can be predetermined. Thus, when the laser emitted by the second laser ranging module 103 illuminates the second signal receiving target 104, the second signal receiving target 104 can identify the position corresponding to the illumination point of the laser emitted by the second laser ranging module 103, and obtain the distance value between the position corresponding to the illumination point and the preset baseline as a third distance value.
[0049] In one embodiment of this application, the second signal receiving target 104 is disposed on the side wall of the return air roadway of the coal face.
[0050] As an example, the second signal receiving target 104 can be deployed along the entire length of the return airway sidewall.
[0051] As another example, the second signal receiving target 104 can be deployed along the side of the return air roadway at a distance according to the actual position of the scraper conveyor, so that the laser emitted by the second laser ranging module 103 can illuminate the second signal receiving target 104, and the second signal receiving target 104 can be repositioned after the position of the scraper conveyor changes.
[0052] The image acquisition module 105 is used to acquire image data of the multi-section scraper trough of the scraper conveyor.
[0053] As an example, please see Figure 2 ,like Figure 2 As shown, the image acquisition module 105 can be installed at the top beam position of the hydraulic support.
[0054] In one embodiment of this application, the image acquisition module 105 can be a camera.
[0055] The processing module 106 is used to control the movement of the hydraulic support corresponding to the scraper groove based on the first distance value, the second distance value, the third distance value, the fourth distance value and the image data.
[0056] As an example, the processing module 106 can determine the position data of the scraper conveyor head based on a first distance value and a second distance value, and obtain the relative positional relationship between the scraper troughs based on image data. Thus, using the position of the head as a reference, and combining the relative positional relationship between each scraper trough section, the position data of each scraper trough section is obtained. The expected cutting line of the next cut of the coal mining machine cooperating with the scraper conveyor is determined based on the second distance value and a fourth distance value. The distance value between each scraper trough section and the expected cutting line is determined based on the position data of each scraper trough section and the expected cutting line. The distance value between each scraper trough section and the expected cutting line is used as the displacement value of the hydraulic support corresponding to each scraper trough section, thereby controlling the displacement of the hydraulic support corresponding to each scraper trough section based on the displacement value.
[0057] As another example, the processing module 106 can determine the position data of the tail section of the scraper conveyor based on the third and fourth distance values, and obtain the relative positional relationship between the scraper troughs according to the image data. Thus, using the tail section position as a reference, and combining the relative positional relationship between each scraper trough section, the position data of each scraper trough section is obtained. The expected cutting line of the next cut of the coal mining machine cooperating with the scraper conveyor is determined based on the second and fourth distance values. The distance value between each scraper trough section and the expected cutting line is determined based on the position data of each scraper trough section and the expected cutting line. This distance value is used as the displacement value of the hydraulic support corresponding to each scraper trough section, thereby controlling the displacement of the hydraulic support corresponding to each scraper trough section according to the displacement value.
[0058] In some embodiments of this application, the system may further include a hydraulic support push stroke sensor.
[0059] As an example, please see Figure 2 ,like Figure 2 As shown, a hydraulic support push stroke sensor 107 can be installed on each hydraulic support to monitor the push value of the hydraulic support and achieve precise control of the hydraulic support push.
[0060] In an alternative implementation, the processing module 106 can control the movement of the hydraulic support corresponding to the scraper groove based on a first distance value, a second distance value, a third distance value, a fourth distance value, and image data through the following steps.
[0061] A1: Determine the first position data of the nose based on the first distance value and the second distance value.
[0062] For example, the first position data of the scraper conveyor head relative to the intersection of the transport roadway sidewall and the stop line can be determined based on the first distance value and the second distance value.
[0063] In some embodiments of this application, a corresponding coordinate system can be established, and the coordinate values of the coordinate system can be used as corresponding position data to facilitate calculation. As an example, such as... Figure 1 As shown, a coordinate system can be established with the long axis of the coal mining face as the x-axis, the advancing direction of the coal mining face as the y-axis, and the intersection of the stop line and the sidewall of the transport roadway as the origin O. The first distance value is then used as the x-axis coordinate value of the machine head, and the second distance value is used as the y-axis coordinate value of the machine head. The obtained x-axis and y-axis coordinate values are then used as the first position data of the machine head.
[0064] A2: Determine the second position data of the tail based on the third and fourth distance values.
[0065] For example, the second position data of the scraper conveyor tail relative to the intersection of the return air roadway sidewall and the stop line can be determined based on the third and fourth distance values.
[0066] A3: Based on the first position data and image data, obtain the third position data for each scraper groove.
[0067] For example, the relative positional relationship between the scraper trough closest to the head of the scraper conveyor and the head itself is obtained. Based on this positional relationship and the first position data of the head, the positional data of the scraper trough closest to the head of the scraper conveyor is obtained. Image recognition is then performed based on the image data to obtain the relative positional relationship between each section of the scraper trough. Finally, based on the positional data of the scraper trough closest to the head of the scraper conveyor and the relative positional relationship between each section of the scraper trough, the third positional data of each section of the scraper trough is obtained sequentially.
[0068] In one optional implementation of this application embodiment, each scraper groove is provided with a marking device at both ends, and the processing module 106 can obtain the third position data of each scraper groove through the following steps.
[0069] B1: Based on the image data, obtain the first relative positional relationship between the marking devices.
[0070] For example, image recognition is performed on image data to obtain the first relative positional relationship between the marking devices on each section of the scraper groove in the image data.
[0071] In an optional implementation of this application embodiment, there are multiple image acquisition devices 105, the coverage area of each image acquisition device 105 is greater than or equal to the length of three scraper grooves, the overlapping coverage area of two adjacent image acquisition devices 105 is greater than or equal to the length of two scraper grooves, and the processing module 106 is specifically used to: obtain a first relative positional relationship between the marking devices based on the multiple image data acquired by the multiple image acquisition devices 105.
[0072] For example, multiple image acquisition devices can be installed on the top beams of multiple different hydraulic supports, and the coverage area of each image acquisition device along the long side of the scraper conveyor is greater than or equal to the length of three scraper troughs connected together. At the same time, the overlapping coverage area of two adjacent image acquisition devices along the long side of the scraper conveyor is greater than or equal to the length of two scraper troughs connected together.
[0073] As an example, please see Figure 3 , Figure 3 This is a schematic diagram of a scraper trough in a scraper conveyor provided in an embodiment of this application. For example... Figure 3 As shown, each scraper groove has marking devices at both ends. As mentioned earlier, assuming that marking devices 301, 302, 303, 304, 305, and 306 are within the coverage area of the first image acquisition device, and marking devices 303, 304, 305, 306, 307, and 308 are within the coverage area of the second image acquisition device, then image recognition can be performed on the image data acquired by the first image acquisition device to obtain the relative positional relationship between marking devices 301, 302, 303, 304, 305, and 306. Similarly, image recognition can be performed on the image data acquired by the second image acquisition device to obtain the relative positional relationship between marking devices 303, 304, 305, 306, 307, and 308. By combining these relative positional relationships, the relative positional relationship between marking devices 301 to 306 can be obtained. Thus, the relative positional relationships between all the marking devices can be obtained by following the steps described above.
[0074] In some embodiments of this application, the bending curve of the scraper conveyor can be generated based on the obtained relative positional relationship between the marking devices to facilitate the execution of subsequent steps. As an example, please refer to... Figure 4 , Figure 4 This is a schematic diagram of the bending curve of a scraper conveyor provided in an embodiment of this application.
[0075] B2: Identify the first marking device that is closest to the nose of the aircraft among the marking devices.
[0076] Specifically, from all the marking devices on the scraper trough, the marking device closest to the head of the scraper conveyor is identified as the first marking device.
[0077] B3: Determine the second relative positional relationship between the machine head and the first marking device.
[0078] It is understood that the second relative positional relationship between the machine head and the first marking device is a fixed value, so the second relative positional relationship between the machine head and the first marking device can be determined in advance.
[0079] B4: Obtain the position data of the first marking device based on the first position data and the second relative position relationship.
[0080] Specifically, the position data of the first marking device is obtained based on the first position data of the machine head and the second relative positional relationship between the machine head and the first marking device.
[0081] B5: Obtain the position data of each marking device based on the position data of the first marking device and the first relative positional relationship between the marking devices.
[0082] For example, based on the position data of the first marking device and the relative positional relationship between the first and second marking devices, the position data of the second marking device is obtained; then, based on the position data of the second marking device and the relative positional relationship between the second and third marking devices, the position data of the third marking device is obtained. The above steps are repeated to obtain the position data of each marking device. Here, the second marking device is the marking device adjacent to the first marking device, the third marking device is the marking device adjacent to the second marking device, and the third marking device is different from the first marking device.
[0083] B6: Obtain the third position data of each scraper groove based on the position data of the marking device on each scraper groove.
[0084] For example, the average of the position data of the two marking devices set at both ends of the same scraper groove is used as the third position data of the scraper groove.
[0085] It is understood that the above steps are based on the head position, and the third position data of each scraper groove is obtained according to the first position data of the head and the first positional relationship between them. In some other embodiments of this application, the tail position can be used as a reference, and the third position data of each scraper groove can be obtained according to the second position data of the tail and the first positional relationship between them. Specific implementation details will not be elaborated upon here.
[0086] In one of the embodiments of this application, the marking device may be a light signal transmitting device.
[0087] A4: Determine the expected cut line based on the first position data and the second position data.
[0088] In some embodiments of this application, the processing module 106 may determine the expected cut line through the following steps:
[0089] C1: Determine the reference position data from the first position data and the second position data.
[0090] As an example, taking the case where the second distance value is less than the fourth distance value, the first position data of the nose is determined as the reference position data.
[0091] As another example, taking the case where the second distance value is greater than the fourth distance value, the second position data of the tail is determined as the reference position data.
[0092] C2: Obtain the initial line based on the reference position data.
[0093] For example, the initial line is obtained by finding a straight line that passes through the reference position and is parallel to the preset reference line.
[0094] C3: Get the target cut depth.
[0095] Specifically, it involves obtaining the target cutting depth that the coal mining machine needs to cut.
[0096] C4: Determine the expected cut line based on the initial line and the target cut depth.
[0097] As an example, please see Figure 5 , Figure 5 This is a schematic diagram of a scheme for determining the displacement value of a hydraulic support provided in an embodiment of this application. Figure 5 As shown, after determining the position of the initial line, the initial line can be translated along the advancing direction of the coal mining face, and the translation distance is equal to the target cutting depth of the next cut of the coal mining machine. The straight line obtained after translation is determined as the expected cutting line.
[0098] A5: Based on the third position data of each scraper groove and the expected cutting line, obtain the predicted displacement value of the hydraulic support corresponding to each scraper groove.
[0099] For example, based on the third position data of each scraper groove, the distance between each scraper groove and the expected cutting line is obtained, and this distance is used as the predicted displacement value of the hydraulic support corresponding to each scraper groove.
[0100] Understandably, the marking device is installed at both ends of each scraper groove, and the middle position of the scraper groove is connected to the jack that pushes the hydraulic support. Therefore, the distance between each scraper groove and the expected cutting line can be determined based on the position data of each scraper groove, and this distance value is used as the predicted pushing value of the jack of the hydraulic support corresponding to each scraper groove.
[0101] A6: Control the movement of the hydraulic support based on the predicted displacement value.
[0102] Specifically, each hydraulic support is controlled to move along the advancing direction of the coal mining face, and the moving distance is the predicted moving value corresponding to each hydraulic support.
[0103] It should be noted that, because the scraper conveyor bends and is blocked by the coal wall when the coal mining machine is not cutting coal, the hydraulic support cannot be controlled to move. The hydraulic support can only be moved after the coal mining machine has finished cutting coal, so as to drive the scraper conveyor and ensure that the next scraper conveyor is straight and the coal wall cut by the coal mining machine is flat. The hydraulic support can also remain straight after it is moved.
[0104] The system of this application embodiment can determine the position data of the scraper conveyor head based on a first distance value and a second distance value. Then, using the head as a reference and combining it with the image data of the scraper trough, the position data of the scraper trough can be determined. A reference position is determined based on the second and fourth distance values. An initial line is determined based on the reference position, and then a target cutting line is determined. Based on the position data of the scraper trough and the target cutting line, the distance value between each section of the scraper trough and the target cutting line is determined. This distance value is used as the displacement value of the hydraulic support corresponding to each section of the scraper trough, thereby controlling the displacement of the hydraulic support corresponding to the scraper trough based on this displacement value. This improves the intelligence level of the coal mining face.
[0105] In other embodiments of this application, the position data of the scraper conveyor tail can be determined based on a third distance value and a fourth distance value. Using the tail as a reference and combining it with the image data of the scraper trough, the position data of the scraper trough can be determined. A reference position is then determined based on the second and fourth distance values. An initial line is determined based on the reference position, and subsequently, a target cutting line is determined. Based on the position data of the scraper trough and the target cutting line, the distance value between each section of the scraper trough and the target cutting line is determined. This distance value is used as the displacement value of the hydraulic support corresponding to each section of the scraper trough, thereby controlling the displacement of the hydraulic support corresponding to the scraper trough based on this displacement value. Specific implementation details of the above process will not be elaborated upon here.
[0106] In some embodiments of this application, the first laser ranging device 101 and the second laser ranging device 103 can both emit three laser beams at at least different angles, and one of the three laser beams is parallel to the long side of the scraper conveyor. Before controlling the movement of the hydraulic support corresponding to the scraper trough, the processing module 106 is further configured to: adjust the position of the head of the scraper conveyor based on the three laser beams emitted by the first laser ranging device 101, so that the head of the scraper conveyor is perpendicular to the side wall of the transport roadway; and adjust the position of the tail of the scraper conveyor based on the three laser beams emitted by the second laser ranging device 103, so that the tail of the scraper conveyor is perpendicular to the side wall of the return air roadway.
[0107] As an example, please see Figure 6 , Figure 6 This is a schematic diagram of a scheme for inspecting the position of the scraper conveyor head provided in an embodiment of this application. Figure 6 As shown, taking the determination of whether the head of the scraper conveyor is perpendicular to the sidewall of the transport roadway as an example, the three illumination points of the three laser beams emitted by the first laser ranging module 101 towards the first signal receiving target can form a tetrahedron with the first laser ranging module. Based on the trigonometric function relationship of the tetrahedron, the vertical distance between the first laser ranging module 101 and the first signal receiving target 102 can be calculated. The length of the laser beam parallel to the long side of the scraper conveyor is then obtained, and the calculated vertical distance value is compared with this length value. If the calculated vertical distance value is equal to the length of the laser beam, it can be determined that the head of the scraper conveyor is perpendicular to the sidewall of the transport roadway; if the calculated vertical distance value is not equal to the length of the laser beam, it can be determined that the head of the scraper conveyor is not perpendicular to the sidewall of the transport roadway, and the position of the scraper conveyor head needs to be adjusted, and the determination should be repeated according to the above steps.
[0108] In some embodiments of this application, the processing module 106 is further configured to: determine whether a first distance value is less than a first distance threshold; and in response to the first distance value being less than the first distance threshold, determine that the scraper conveyor has slipped and generate a slippage alarm message.
[0109] Specifically, a first distance value is compared with a first distance threshold. If the first distance value is less than the first distance threshold, it is determined that the scraper conveyor has slipped, and a slippage alarm is generated. In the embodiments of this application, the first distance threshold is a distance value used to determine whether the scraper conveyor has slipped.
[0110] In some embodiments of this application, the processing module 106 is further configured to: determine whether a third distance value is less than a second distance threshold; and in response to the third distance value being less than the second distance threshold, determine that the scraper conveyor has experienced upward movement and generate an upward movement alarm message.
[0111] Specifically, a third distance value is compared with a second distance threshold. If the third distance value is less than the second distance threshold, it is determined that the scraper conveyor has experienced upward movement, and an upward movement alarm is generated. In the embodiments of this application, the second distance threshold is a distance value used to determine whether the scraper conveyor has experienced upward movement.
[0112] Please see Figure 7 , Figure 7 This is a schematic diagram of a coordinated control method for a scraper conveyor and a hydraulic support provided in an embodiment of this application. Figure 7 As shown, the method may include, but is not limited to, the following steps:
[0113] Step S701: Obtain the first distance value between the head of the scraper conveyor and the sidewall of the transport roadway of the coal mining face.
[0114] Step S702: Obtain the second distance value between the illumination point of the laser emitted by the first laser ranging module on the first signal receiving target and the preset baseline.
[0115] Step S703: Obtain the third distance value between the tail of the scraper conveyor and the side wall of the return air roadway of the coal mining face.
[0116] Step S704: Obtain the fourth distance value between the illumination point of the laser emitted by the second laser ranging module on the second signal receiving target and the preset baseline.
[0117] Step S705: Acquire image data of the multi-section scraper trough of the scraper conveyor.
[0118] Step S706: Based on the first distance value, the second distance value, the third distance value, the fourth distance value and the image data, control the movement of the hydraulic support corresponding to the scraper groove.
[0119] By implementing the embodiments of this application, the position of the scraper trough and the expected cutting line of the scraper conveyor can be determined based on the acquired data. Then, based on the distance between the position of the scraper trough and the expected cutting line, the movement of the hydraulic support corresponding to the scraper trough can be controlled, thereby improving the intelligence level of the coal mining face.
[0120] Please see Figure 8 , Figure 8 This is a schematic diagram of another coordinated control method for a scraper conveyor and a hydraulic support provided in an embodiment of this application. This method can be executed by the processing module in the foregoing embodiments. Figure 8 As shown, the method may include, but is not limited to, the following steps:
[0121] Step S801: Determine the first position data of the nose based on the first distance value and the second distance value. Step S802: Determine the second position data of the tail based on the third distance value and the fourth distance value.
[0122] Step S803: Based on the first position data and the image data, obtain the third position data of each scraper groove.
[0123] In one optional implementation, each scraper groove is provided with marking devices at both ends. The above-mentioned acquisition of the third position data of each scraper groove based on the first position data and image data may include the following steps: acquiring the first relative positional relationship between the marking devices based on the image data; determining the first marking device closest to the machine head; determining the second relative positional relationship between the machine head and the first marking device; acquiring the position data of the first marking device based on the first position data and the second relative positional relationship; acquiring the position data of each marking device based on the position data of the first marking device and the first relative positional relationship between the marking devices; and acquiring the third position data of each scraper groove based on the position data of the marking devices on each scraper groove.
[0124] Optionally, the coverage area of each image acquisition device is greater than or equal to the length of three scraper grooves, and the overlapping coverage area of two adjacent image acquisition devices is greater than or equal to the length of two scraper grooves. The above-mentioned acquisition of the first relative positional relationship between the marking devices based on the image data may include the following steps: acquiring the first relative positional relationship between the marking devices based on the multiple image data acquired by the multiple image acquisition devices.
[0125] Step S804: Determine the expected cut line based on the first position data and the second position data.
[0126] In one alternative implementation, determining the expected cut line based on the first position data and the second position data may include the following steps: determining a reference position from the first position data and the second position data; obtaining an initial line based on the reference position data; obtaining a target cut depth; and determining the expected cut line based on the initial line and the target cut depth.
[0127] Step S805: Based on the third position data of each scraper groove and the expected cutting line, obtain the predicted displacement value of the hydraulic support corresponding to each scraper groove.
[0128] Step S806: Control the hydraulic support to move based on the predicted displacement value.
[0129] By implementing the embodiments of this application, the position of the scraper trough and the expected cutting line of the scraper conveyor can be determined based on the acquired data. Then, based on the distance between the position of the scraper trough and the expected cutting line, the movement of the hydraulic support corresponding to the scraper trough can be controlled, thereby improving the intelligence level of the coal mining face.
[0130] In one alternative implementation, both the first laser ranging device and the second laser ranging device can emit three laser beams at at least different angles, with one laser beam parallel to the long side of the scraper conveyor. Before executing the above-described coordinated control method of the scraper conveyor and the hydraulic support, the method further includes: adjusting the position of the head of the scraper conveyor based on the three laser beams emitted by the first laser ranging device, so that the head of the scraper conveyor is perpendicular to the sidewall of the transport roadway; and adjusting the position of the tail of the scraper conveyor based on the three laser beams emitted by the second laser ranging device, so that the tail of the scraper conveyor is perpendicular to the sidewall of the return air roadway.
[0131] In some embodiments of this application, the above method further includes: determining whether a first distance value is less than a first distance threshold; and in response to the first distance value being less than the first distance threshold, determining that the scraper conveyor has slipped and generating a slippage alarm message.
[0132] In some embodiments of this application, the above method further includes: determining whether a third distance value is less than a second distance threshold; and in response to the third distance value being less than the second distance threshold, determining that the scraper conveyor has experienced upward movement and generating an upward movement alarm message.
[0133] The specific implementation of each step in the methods described in the above embodiments has been described in detail in the embodiments of the aforementioned system, and will not be elaborated here.
[0134] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard parts (ASSPs), systems-on-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.
[0135] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.
[0136] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fiber, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
[0137] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a cathode ray tube (CRT) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).
[0138] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.
[0139] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is established by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers integrated with blockchain technology.
[0140] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.
[0141] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.
Claims
1. A coordinated control system for a scraper conveyor and a hydraulic support, characterized in that, include: The first laser ranging module is used to obtain the first distance value between the head of the scraper conveyor and the side wall of the transport roadway of the coal mining face; A first signal receiving target is used to obtain a second distance value between the illumination point of the laser emitted by the first laser ranging module on the first signal receiving target and a preset baseline; wherein, the first signal receiving target is disposed on the side wall of the transport tunnel. The second laser ranging module is used to obtain a third distance value between the tail of the scraper conveyor and the side wall of the return air roadway of the coal mining face. The second signal receiving target is used to obtain a fourth distance value between the illumination point of the laser emitted by the second laser ranging module on the second signal receiving target and the preset baseline; wherein, the second signal receiving target is set on the side wall of the return airway. The image acquisition module is used to acquire image data of the multi-section scraper trough of the scraper conveyor; The processing module is used to control the movement of the hydraulic support corresponding to the scraper groove based on the first distance value, the second distance value, the third distance value, the fourth distance value and the image data; The processing module is specifically used for: Based on the first distance value and the second distance value, the first position data of the machine head is determined; Based on the third distance value and the fourth distance value, the second position data of the tail section is determined; Based on the first position data and the image data, obtain the third position data of each section of the scraper groove; Based on the first position data and the second position data, determine the expected cut line; Based on the third position data of each scraper groove and the expected cutting line, the predicted displacement value of the hydraulic support corresponding to each scraper groove is obtained. Based on the predicted displacement value, the hydraulic support is controlled to move. Each section of the scraper groove is equipped with a marking device at both ends, and the processing module is specifically used for: Based on the image data, a first relative positional relationship between the marking devices is obtained; Identify the first marking device that is closest to the machine head among the marking devices; Determine the second relative positional relationship between the machine head and the first marking device; Based on the first position data and the second relative position relationship, the position data of the first marking device is obtained; Based on the position data of the first marking device and the first relative positional relationship between the marking devices, the position data of each marking device is obtained; Based on the position data of the marking device on each scraper groove, obtain the third position data of each scraper groove; The image acquisition module comprises multiple modules, each with a coverage area greater than or equal to the length of three scraper grooves. The overlapping coverage area of two adjacent image acquisition modules is greater than or equal to the length of two scraper grooves. The processing module is specifically used for: Based on multiple image data acquired by the multiple image acquisition modules, a first relative positional relationship is obtained between the marking devices; Both the first laser ranging module and the second laser ranging module can emit at least three laser beams at different angles, with one laser beam parallel to the long side of the scraper conveyor. Before controlling the movement of the hydraulic support corresponding to the scraper groove, the processing module is further configured to: The position of the scraper conveyor head is adjusted based on the three laser beams emitted by the first laser ranging module, so that the scraper conveyor head is perpendicular to the side wall of the transport roadway. The position of the tail of the scraper conveyor is adjusted by the three laser beams emitted by the second laser ranging module, so that the tail of the scraper conveyor is perpendicular to the side wall of the return air tunnel.
2. The system as described in claim 1, characterized in that, The processing module is specifically used for: Determine reference position data from the first position data and the second position data; The initial line is obtained based on the reference position data; Obtain the target cut depth; The expected cut line is determined based on the initial line and the target cut depth.
3. The system as described in claim 1, characterized in that, The processing module is also used for: Determine whether the first distance value is less than the first distance threshold; In response to the first distance value being less than the first distance threshold, it is determined that the scraper conveyor has slipped, and a slippage alarm message is generated.
4. The system as described in claim 1, characterized in that, The processing module is also used for: Determine whether the third distance value is less than the second distance threshold; In response to the third distance value being less than the second distance threshold, it is determined that the scraper conveyor has experienced upward movement, and an upward movement alarm message is generated.
5. A method for coordinated control of a scraper conveyor and a hydraulic support, characterized in that, The method is applied to the system as described in any one of claims 1-4, and the method comprises: Obtain the first distance value between the head of the scraper conveyor and the side wall of the transport roadway in the coal mining face; Obtain the second distance value between the illumination point of the laser emitted by the first laser ranging module on the first signal receiving target and the preset baseline; Obtain the third distance value between the tail of the scraper conveyor and the side wall of the return air roadway of the coal mining face; Obtain the fourth distance value between the illumination point of the laser emitted by the second laser ranging module on the second signal receiving target and the preset baseline; Acquire image data of the multi-section scraper trough of the scraper conveyor; Based on the first distance value, the second distance value, the third distance value, the fourth distance value, and the image data, the movement of the hydraulic support corresponding to the scraper groove is controlled.
6. A computer-readable storage medium for storing instructions, characterized in that, When the instruction is executed, the method as described in claim 5 is implemented.