A coal mine fully mechanized working face coal wall spalling early warning method and device

Abstract

The present application relates to the technical field of coal mining, and provides a coal wall spalling early warning method and device for a fully mechanized coal mining face, the device comprising: a hydraulic support assembly arranged between the roof and floor of the fully mechanized coal mining face; a scanning assembly arranged on the hydraulic support assembly and used for scanning the coal wall spalling in the fully mechanized coal mining face; a ground monitoring device electrically connected with the scanning assembly and used for controlling the scanning assembly to periodically scan the coal wall spalling in the fully mechanized coal mining face, generating early warning information of the coal wall spalling based on the scanning data of the scanning assembly; and a centralized control system electrically connected with the ground monitoring device and used for judging the early warning level based on the early warning information and generating a control strategy for the fully mechanized coal mining face according to the early warning level. The device provided by the present application has higher observation accuracy of the coal wall spalling, more comprehensive spalling information, and higher observation efficiency, and can timely and effectively provide early warning and effectively guide the safety production of the fully mechanized coal mining face.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to a method and device for early warning of coal wall spalling in fully mechanized coal mining faces. Background Technology

[0002] High-seam fully mechanized mining, with its advantages of high mining efficiency, simple process, and high recovery rate, has become one of the main mining technologies for thick and extra-thick coal seams. With the continuous development of mining technology and equipment, the height of high-seam longwall faces in a single mining operation has repeatedly reached new highs. However, with the increase in mining height, the problem of coal face spalling has become increasingly prominent, becoming a major factor restricting the development of ultra-high-seam mining technology and posing a significant threat to safe production. Especially against the backdrop of the widespread adoption of intelligent mining technology, how to achieve intelligent monitoring, early warning, and prevention of coal face spalling in high-seam longwall faces has become an important issue in the application of ultra-high-seam mining technology.

[0003] However, the current observation of coal face spalling still mainly relies on manual observation, which has low accuracy and is lagging, and cannot provide timely and effective early warning of coal face spalling, thus limiting its guiding role in safe production at the working face. Summary of the Invention

[0004] This invention provides a method and device for early warning of coal wall spalling in fully mechanized coal mining faces, which solves the problem that existing technologies cannot provide timely and effective early warning of coal wall spalling and have limited guiding role in safe production at the working face.

[0005] This invention provides a coal wall spalling early warning device for fully mechanized coal mining faces, comprising:

[0006] Hydraulic support components are used to be installed between the roof and floor of a fully mechanized mining face;

[0007] A scanning component, mounted on the hydraulic support component, is used to scan the coal wall spalling in the fully mechanized mining face;

[0008] Ground monitoring equipment, electrically connected to the scanning component, is used to control the scanning component to periodically scan the coal wall spalling in the fully mechanized mining face, so as to generate early warning information of coal wall spalling based on the scanning data of the scanning component;

[0009] The centralized control system is electrically connected to the ground monitoring equipment and is used to determine the warning level based on the warning information, so as to generate a control strategy for the fully mechanized coal mining face according to the warning level.

[0010] A power supply, which is electrically connected to the scanning component, is used to supply power to the scanning component.

[0011] According to the present invention, a coal wall spalling early warning device for a fully mechanized coal mining face is provided, wherein the hydraulic support assembly includes:

[0012] Top beam, protective plate, base and lifting cylinder;

[0013] The top beam is used to support the bottom of the top plate. The top beam is connected to the top of the shield plate. The base is set on the bottom plate. The bottom end of the shield plate is rotatably connected to the base. The lifting cylinder is supported between the top beam and the base.

[0014] According to the present invention, a coal wall spalling early warning device for a fully mechanized coal mining face is provided, wherein the lifting cylinder includes a cylinder body and a support rod, one end of the support rod is movably disposed in the cylinder body, and the other end of the support rod is connected to the top beam.

[0015] According to the present invention, a coal wall spalling early warning device for a fully mechanized coal mining face is provided, wherein the scanning component includes: a base, a body, and a lens;

[0016] The body is connected to the hydraulic support assembly via the base, and the lens is rotatably mounted on the body.

[0017] According to the present invention, a coal wall spalling early warning device for a fully mechanized coal mining face is provided, wherein the scanning component further includes: a control switch;

[0018] The control switch is located on the hydraulic support assembly and is electrically connected to the lens via the body.

[0019] According to the present invention, a coal wall spalling early warning device for a fully mechanized coal mining face is provided, wherein multiple hydraulic support components and multiple scanning components are provided, the multiple hydraulic support components are arranged sequentially at intervals, and the scanning components are arranged at intervals on the multiple hydraulic support components.

[0020] This invention also provides a method for early warning of coal wall spalling in fully mechanized coal mining faces, comprising:

[0021] Record the initial distance between the scanning component set on the hydraulic support assembly and the coal wall spalling.

[0022] After the hydraulic support components move, the control scanning components scan the coal wall spalling in the fully mechanized mining face to determine the initial point cloud coordinates of the coal wall spalling.

[0023] Within a coal mining cycle, the control scanning component scans the coal wall spalling in the fully mechanized mining face at fixed time intervals to determine the end point cloud coordinates of the coal wall spalling.

[0024] Based on the initial distance, initial point cloud coordinates, and final point cloud coordinates, generate a slope displacement cloud map and a slope velocity cloud map.

[0025] Based on the coal face displacement cloud map and the coal face velocity cloud map, early warning information for coal face spalling is generated.

[0026] Based on the early warning information, the warning level is determined, and a control strategy for the fully mechanized coal mining face is generated according to the warning level.

[0027] According to the present invention, a method for early warning of coal wall spalling in a fully mechanized coal mining face is provided, wherein the early warning information includes the spalling depth and the rate of change of the spalling depth.

[0028] The step of determining the warning level based on the warning information includes:

[0029] Based on the relationship between the spalling depth in the early warning information and the coal seam spalling depth threshold, as well as the relationship between the spalling depth change rate in the early warning information and the coal seam spalling depth change rate threshold, the early warning level of the early warning information is determined.

[0030] The coal wall spalling early warning device for fully mechanized mining faces provided by this invention includes a hydraulic support assembly, a scanning assembly, ground monitoring equipment, and a centralized control system. The hydraulic support assembly is installed between the roof and floor of the fully mechanized mining face; the scanning assembly scans the coal wall spalling within the face; the ground monitoring equipment controls the scanning assembly to periodically scan the coal wall spalling, generating early warning information based on the scanning data; the centralized control system determines the warning level based on the warning information and generates a control strategy for the fully mechanized mining face accordingly. Using the scanning assembly provides higher accuracy in observing coal wall spalling, obtains more comprehensive spalling information, and increases observation efficiency, enabling timely and effective early warning and providing effective guidance for safe production in fully mechanized mining faces. This is of great significance for the safe mining of high-extraction faces.

[0031] The coal wall spalling early warning method for fully mechanized coal mining faces provided by this invention, compared with the traditional method of observing coal wall spalling manually, uses a scanning component to observe coal wall spalling with higher accuracy and more comprehensive spalling information, and greatly reduces the workload of observers, resulting in higher observation efficiency. Moreover, this method can easily extract and calculate the displacement of each monitoring point on the coal wall, resulting in higher data processing efficiency. Furthermore, the visualization of the observation results is richer and more intuitive. The data processing and analysis results can also provide useful assistance for the research on spalling patterns and effective spalling prevention and control technologies in high-mining-height working faces. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is one of the schematic diagrams of the early warning device for coal wall spalling in fully mechanized coal mining faces provided by the present invention;

[0034] Figure 2 This is the second schematic diagram of the early warning device for coal wall spalling in fully mechanized coal mining faces provided by the present invention;

[0035] Figure 3 This is a flowchart illustrating the early warning method for coal wall spalling in fully mechanized coal mining faces provided by the present invention.

[0036] Figure 4 This is a schematic diagram of the coal wall spalling early warning system for fully mechanized coal mining faces provided by the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0038] Figure label:

[0039] 1. Hydraulic support assembly; 11. Top beam; 12. Shield plate; 13. Base; 14. Lifting cylinder; 141. Cylinder body; 142. Support rod

[0040] 2. Scanning assembly; 21. Base; 22. Body; 23. Lens; 24. Glass lens cover; 25. Control switch;

[0041] 3. Ground monitoring equipment; 4. Centralized control system;

[0042] 410. Acquisition module; 420. First control module; 430. Second control module; 440. Generation module;

[0043] 510. Processor; 520. Communication interface; 530. Memory; 540. Communication bus. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The following is combined with Figures 1-5 This invention describes the early warning device and method for coal wall spalling in fully mechanized coal mining faces.

[0046] like Figure 1 and Figure 2 As shown, the coal face collapse early warning device for the fully mechanized mining face includes: hydraulic support component 1, scanning component 2, power supply, ground monitoring equipment 3, and centralized control system 4.

[0047] In this embodiment, the hydraulic support assembly 1 is installed between the roof and floor of the fully mechanized mining face, and its position on the face can be adjusted as needed. The scanning assembly 2 can be a 3D laser scanner, which is installed on the hydraulic support assembly 1 and is used to scan the coal wall spalling in the fully mechanized mining face.

[0048] The ground monitoring device 3 is electrically connected to the scanning component 2. The ground monitoring device 3 is used to control the scanning component 2 to periodically scan the coal wall spalling in the fully mechanized mining face, so as to generate early warning information of coal wall spalling based on the scanning data obtained by the scanning component 2.

[0049] The centralized control system 4 is the centralized control component for the fully mechanized mining face. The centralized control system 4 is electrically connected to the ground monitoring equipment 3 and is used to determine the warning level based on the warning information, so as to generate a control strategy for the fully mechanized mining face according to the warning level.

[0050] To facilitate power supply, the coal wall spalling early warning device for fully mechanized coal mining faces also includes a power supply, which is electrically connected to the scanning component 2 and is used to power the scanning component 2. This power supply is an external power supply, and the entire scanning component 2 is continuously powered by the external power supply, which is located on the working face equipment train.

[0051] When using the coal wall spalling early warning device for fully mechanized coal mining faces provided in this embodiment, the scanning component 2 is first set on the hydraulic support component 1, and the initial distance x0 between the scanning component 2 set on the hydraulic support component 1 and the coal wall spalling is recorded.

[0052] The scanning component 2 is connected to the industrial ring network, and the point cloud data generated in each round of scanning is transmitted to the ground monitoring equipment 3 in real time through the industrial ring network. After the coal mining machine in the fully mechanized mining face completes coal cutting, and the hydraulic support component 1 moves forward, the scanning component 2 also moves forward accordingly. The scanning component 2 is used to scan the coal wall spalling in the fully mechanized mining face to determine the initial point cloud coordinates (x, y, y) of the coal wall spalling. 1j y 1j , z 1j ), where 1 represents the first scan and j represents the point cloud number.

[0053] Within a single mining cycle (before the start of the next cycle), the control scanning component 2 scans the coal wall spalling in the fully mechanized mining face at fixed time intervals to determine the end point cloud coordinates (x-axis) of the coal wall spalling. ij y ij , z ij ), where 1 represents the first scan and j represents the point cloud number.

[0054] Based on the initial distance, initial point cloud coordinates, and final point cloud coordinates, generate a slope displacement cloud map and a slope velocity cloud map.

[0055] Calculate the initial sheet depth (Δx1 = x) of the scanned region in this cycle. 1j -x0) and the change in surface depth per scan (Δx) j =x ij -x0) and the rate of change of the slope depth v=(Δx j -Δx j-1 ) / Δt; Generate a rock spalling displacement cloud map and a rock spalling rate cloud map. Based on the rock spalling displacement cloud map and the rock spalling rate cloud map, determine the range and degree of rock spalling in the coal seam of the fully mechanized mining face.

[0056] Ground monitoring equipment 3 has the function of real-time acquisition, storage and data processing of signals from scanning component 2. Based on the coal face displacement cloud map and coal face velocity cloud map, it generates early warning information of coal face spalling; the centralized control system 4 determines the early warning level based on the early warning information, and generates control strategies for the fully mechanized coal mining face according to the early warning level.

[0057] This control strategy can guide the working face to take necessary control measures in response to coal face spalling. For example, the centralized control system 4 can generate control commands for the coal mining machine to adjust the coal mining position and coal mining rate, and can also trigger alarms to remind users when the warning level is dangerous.

[0058] The coal wall spalling early warning device for fully mechanized mining faces provided in this invention includes a hydraulic support assembly, a scanning assembly, ground monitoring equipment, and a centralized control system. The hydraulic support assembly is installed between the roof and floor of the fully mechanized mining face; the scanning assembly scans the coal wall spalling in the face; the ground monitoring equipment controls the scanning assembly to periodically scan the coal wall spalling in the face, generating early warning information based on the scanning data; the centralized control system determines the early warning level based on the early warning information and generates a control strategy for the fully mechanized mining face according to the warning level. Using the scanning assembly provides higher accuracy in observing coal wall spalling, obtains more comprehensive spalling information, and has higher observation efficiency, enabling timely and effective early warning. This provides effective guidance for safe production in fully mechanized mining faces and is of great significance for the safe mining of high-extraction faces.

[0059] In one embodiment, such as Figure 1 As shown, the hydraulic support assembly 1 includes: a top beam 11, a shield plate 12, a base 13, and a lifting cylinder 14; the top beam 11 is used to support the bottom of the top plate, the top beam 11 is connected to the top of the shield plate 12, the base 13 is set on the bottom plate, the bottom end of the shield plate 12 is rotatably connected to the base 13, and the lifting cylinder 14 is supported between the top beam 11 and the base 13.

[0060] When the position of the hydraulic support assembly 1 needs to be adjusted, the height of the top beam 11 can be lowered by lifting cylinder 14, and the shield plate 12 can be rotated relative to the base 13 to separate the top beam 11 from the top plate, thus moving the entire hydraulic support assembly 1. When the hydraulic support assembly 1 needs to be used for support, the top beam 11 can be raised by lifting cylinder 14, and the shield plate 12 can be rotated relative to the base 13, so that the top beam 11 is supported at the bottom of the top plate, thus completing the support of the top and bottom plates of the fully mechanized mining face.

[0061] In this embodiment, the lifting cylinder 14 includes a cylinder body 141 and a support rod 142. One end of the support rod 142 is movably disposed inside the cylinder body 141, and the other end of the support rod 142 is connected to the top beam 11. By adjusting the cylinder body 141, the position of the support rod 142 relative to the cylinder body 141 can be adjusted, thereby adjusting the height of the top beam 11.

[0062] In some embodiments, such as Figure 1 As shown, the scanning assembly 2 includes a base 21, a body 22, and a lens 23. The body 22 is connected to the hydraulic support assembly 1 via the base 21, and the lens 23 is rotatably mounted on the body 22.

[0063] For ease of control, the scanning assembly 2 also includes a control switch 25; the control switch 25 is mounted on the hydraulic support assembly 1, generally mounted on the cylinder 141, and electrically connected to the lens 23 via the body 22.

[0064] Specifically, in this embodiment, the scanning component 2 is a three-dimensional laser scanner, which consists of five parts: a base 21, a body 22, a lens 23, a glass cover 24, and a control switch 25. The body 22 is covered by an explosion-proof shell, and the lens 23 is covered by a high-strength semi-circular transparent cover. The lens 23 can rotate at an angle of not less than 180° in the up-down and left-right directions. The control switch 25 of the three-dimensional laser scanner is installed on the cylinder body 141 of the lifting cylinder 14. The control switch 25 can remotely control the start and stop of the three-dimensional laser scanner via Bluetooth.

[0065] The number of hydraulic support components 1 and scanning components 2 can be adjusted according to the area of ​​the entire longwall mining face. In this embodiment, multiple hydraulic support components 1 and multiple scanning components 2 are provided. Multiple hydraulic support components 1 are arranged sequentially at intervals, and scanning components 2 are arranged at intervals on multiple hydraulic support components 1. The effective scanning width l of a single scanner is determined according to the performance of the scanning component 2. One scanner is provided every few hydraulic support components, which can realize the scanning of the entire coal face.

[0066] In addition, it should be noted that the coal face collapse early warning device in a fully mechanized coal mining face also includes a coal mining machine. To facilitate control of the coal mining machine using the control strategies generated by the centralized control system, the coal mining machine is electrically connected to the centralized control system. The coal mining machine is used to adjust the mining position and mining rate according to the control strategies.

[0067] In one specific embodiment, the first step is to install and fix the base 21 to the top beam 11 with bolts, and install and fix the control switch 25 on the cylinder 141 for easy operation by personnel. After the coal cutting and frame shifting at the working face, the hydraulic support assembly 1 is moved to the normal control distance. The initial distance x0 between the scanning assembly 2 and the coal wall is recorded, and the signal of the scanning assembly 2 is connected to the industrial ring network. The point cloud data formed by each round of scanning is transmitted to the data processing system of the ground monitoring equipment 3 in real time through the industrial ring network. The effective scanning width l of a single scanner is determined according to the performance of the scanning assembly 2. One scanning assembly 2 is installed every few hydraulic support assemblies 1, which can realize the scanning of the entire coal wall of the working face.

[0068] Step 2: After the coal mining machine completes coal cutting and the hydraulic support moves forward, the scanning component 2 is activated to complete the initial scan of the coal wall for this mining cycle, obtaining the initial coordinates (x, y, y) of each point on the coal wall within the scanned area. 1j y 1j , z 1j () and coal wall morphology, where 1 represents the first scan and j represents the point cloud number.

[0069] Step 3: Within one coal mining cycle (before the start of the next cycle), the coal wall is scanned multiple times at fixed time intervals Δt; using a three-dimensional laser scanning data processing system, the point cloud coordinate data (x, y, y) of each point on the coal wall in the scanned area is obtained. ij y ij , z ij ), where i is the scan round and j is the point cloud number.

[0070] Step 4: Ground monitoring equipment 3 calculates the initial slab depth (Δx1 = x) of the scanned area in this cycle. 1j -x0) and the change in surface depth per scan (Δx) j =x ij -x0) and the rate of change of the slope depth v=(Δx j-Δx j-1 ) / Δt; Generate slope displacement cloud map and slope velocity cloud map to understand the slope range and slope degree of the working face.

[0071] Step 5: Set the coal face spalling early warning threshold. The early warning indicators include the spalling depth Δx and the rate of change of the spalling depth v. Different early warning levels are set according to the different degrees of impact of coal face spalling on the working face production, divided into three levels: Level 1 (dangerous), Level 2 (relatively dangerous), and Level 3 (safe). The baseline indicators for spalling depth are Δx1 and Δx2, and the baseline indicators for the rate of change of the spalling depth are v1 and v2. The early warning indicator system is shown in Table 1 below. The centralized control system 4 determines the danger of coal face spalling based on the early warning level and guides the working face to take necessary control measures in response to the coal face spalling situation.

[0072] Table 1

[0073]

[0074] As shown above, when the depth of spalling and the rate of change of spalling depth are small, the warning level is level three, indicating that the entire fully mechanized mining face is in a relatively safe situation. In this case, the control strategy can be more aggressive, increasing the coal mining rate of the coal mining machine. However, when the depth of spalling and the rate of change of spalling depth are large, the warning level is level one, indicating that the entire fully mechanized mining face is in a dangerous situation. In this case, the control strategy needs to ensure the safety of the entire fully mechanized mining face, requiring a reduction in the coal mining rate of the coal mining machine.

[0075] This invention also provides a method for early warning of coal wall spalling in fully mechanized coal mining faces. This method is used to control the aforementioned early warning device for coal wall spalling in fully mechanized coal mining faces. The structure of the early warning device for coal wall spalling in fully mechanized coal mining faces is as described above. Figures 1 to 2 The relevant textual descriptions will not be repeated here.

[0076] like Figure 3 As shown, the early warning method for coal wall spalling in the fully mechanized mining face of this coal mine includes the following steps:

[0077] Step S1: Record the initial distance between the scanning component set on the hydraulic support assembly and the coal wall spalling.

[0078] Step S2: After the hydraulic support assembly moves, the scanning assembly is controlled to scan the coal wall spalling in the fully mechanized mining face to determine the initial point cloud coordinates of the coal wall spalling.

[0079] Step S3: Within one coal mining cycle, the control scanning component scans the coal wall spalling in the fully mechanized mining face at fixed time intervals to determine the end point cloud coordinates of the coal wall spalling.

[0080] Step S4: Based on the initial distance, initial point cloud coordinates, and final point cloud coordinates, generate a slope displacement cloud map and a slope velocity cloud map.

[0081] Step S5: Based on the coal wall displacement cloud map and coal wall velocity cloud map, generate early warning information for coal wall spalling.

[0082] Step S6: Determine the warning level based on the warning information, and generate a control strategy for the fully mechanized coal mining face according to the warning level.

[0083] Specifically, before testing, the base 21 is fixed to the top beam 11 with bolts, and the control switch 25 is fixed to the cylinder 141 for easy operation. After the coal cutting and frame shifting at the working face, the hydraulic support assembly 1 is moved to the normal control distance. The initial distance x0 between the scanning assembly 2 and the coal wall is recorded, and the signal of the scanning assembly 2 is connected to the industrial ring network. The point cloud data formed by each round of scanning is transmitted in real time to the data processing system of the ground monitoring equipment 3 through the industrial ring network. The effective scanning width l of a single scanner is determined according to the performance of the scanning assembly 2. One scanning assembly 2 is installed every few hydraulic support assemblies 1, which can realize the scanning of the entire coal wall of the working face.

[0084] After the coal cutting machine completes coal cutting and the hydraulic support moves forward, scanning component 2 is activated to complete the initial scan of the coal wall for this mining cycle, obtaining the initial coordinates (x, y, y) of each point on the coal wall within the scanned area. 1j y 1j , z 1j () and coal wall morphology, where 1 represents the first scan and j represents the point cloud number.

[0085] Then, within one coal mining cycle (before the start of the next cycle), the coal wall is scanned multiple times at fixed time intervals Δt; using a three-dimensional laser scanning data processing system, the point cloud coordinate data (x, y, y) of each point on the coal wall in the scanned area is obtained. ij y ij , z ij ), where i is the scan round and j is the point cloud number.

[0086] Ground monitoring equipment 3 calculates the initial slab depth (Δx1=x) of the scanned area in this cycle. 1j -x0) and the change in surface depth per scan (Δx) j =x ij -x0) and the rate of change of the slope depth v=(Δx j -Δx j-1 ) / Δt; Generate slope displacement cloud map and slope velocity cloud map to understand the slope range and slope degree of the working face.

[0087] Ground monitoring equipment 3 has the function of real-time acquisition, storage and data processing of signals from scanning component 2. Based on the coal face displacement cloud map and coal face velocity cloud map, it generates early warning information of coal face spalling; the centralized control system 4 determines the early warning level based on the early warning information, and generates control strategies for the fully mechanized coal mining face according to the early warning level.

[0088] The coal wall spalling early warning method for fully mechanized coal mining faces provided by this invention, compared with the traditional method of observing coal wall spalling manually, uses a scanning component to observe coal wall spalling with higher accuracy and more comprehensive spalling information, and greatly reduces the workload of observers, resulting in higher observation efficiency. Moreover, this method can easily extract and calculate the displacement of each monitoring point on the coal wall, resulting in higher data processing efficiency. Furthermore, the visualization of the observation results is richer and more intuitive. The data processing and analysis results can also provide useful assistance for the research on spalling patterns and effective spalling prevention and control technologies in high-mining-height working faces.

[0089] In one embodiment, the warning information includes the spalling depth and the rate of change of the spalling depth; the step of determining the warning level based on the warning information includes: determining the warning level of the warning information based on the relationship between the spalling depth in the warning information and the coal seam spalling depth threshold, and the relationship between the spalling depth change rate in the warning information and the coal seam spalling depth change rate threshold.

[0090] A coal face spalling warning threshold is set, and the warning indicators include the spalling depth Δx and the rate of change of the spalling depth v. Different warning levels are set according to the degree of impact of coal face spalling on the working face production, divided into three levels: Level 1 (dangerous), Level 2 (relatively dangerous), and Level 3 (safe). The baseline indicators for spalling depth are Δx1 and Δx2, and the baseline indicators for the rate of change of the spalling depth are v1 and v2. The warning indicator system is shown in Table 1. Based on the spalling warning level, the danger of coal face spalling is judged, guiding the working face to take necessary control measures in response to the spalling situation. As can be seen above, when the spalling depth and the rate of change of the spalling depth are small, the warning level is Level 3, and the entire fully mechanized mining face is in a relatively safe scenario. At this time, the control strategy can be more aggressive, increasing the coal mining machine's mining rate. However, when the spalling depth and the rate of change of the spalling depth are large, the warning level is Level 1, and the entire fully mechanized mining face is in a dangerous scenario. At this time, the control strategy needs to ensure the safety of the entire fully mechanized mining face, requiring a reduction in the coal mining machine's mining rate.

[0091] The coal wall spalling early warning system for fully mechanized coal mining faces provided by the present invention is described below. The coal wall spalling early warning system described below can be referred to in correspondence with the coal wall spalling early warning method described above.

[0092] like Figure 4As shown, the coal face collapse early warning system for fully mechanized coal mining faces includes: an acquisition module 410, a first control module 420, a second control module 430, and a generation module 440.

[0093] In this embodiment, the acquisition module 410 is used to record the initial distance between the scanning component set on the hydraulic support assembly and the coal wall spalling. The first control module 420 is used to control the scanning component to scan the coal wall spalling in the fully mechanized mining face after the hydraulic support assembly moves, so as to determine the initial point cloud coordinates of the coal wall spalling; the second control module 430 is used to control the scanning component to scan the coal wall spalling in the fully mechanized mining face at fixed time intervals within one mining cycle, so as to determine the final point cloud coordinates of the coal wall spalling. The generation module 440 is used to generate a spalling displacement cloud map and a spalling rate cloud map based on the initial distance, initial point cloud coordinates, and final point cloud coordinates; generate early warning information for coal wall spalling based on the spalling displacement cloud map and spalling rate cloud map; determine the early warning level based on the early warning information, and generate a control strategy for the fully mechanized mining face according to the early warning level.

[0094] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call logic instructions in the memory 530 to execute a coal wall spalling early warning method for fully mechanized coal mining faces. This method includes: recording the initial distance between a scanning component mounted on a hydraulic support assembly and the coal wall spalling; after the hydraulic support assembly moves, controlling the scanning component to scan the coal wall spalling in the fully mechanized mining face to determine the initial point cloud coordinates of the spalling; within one mining cycle, controlling the scanning component to scan the coal wall spalling in the fully mechanized mining face at fixed time intervals to determine the final point cloud coordinates of the spalling; generating a spalling displacement cloud map and a spalling rate cloud map based on the initial distance, initial point cloud coordinates, and final point cloud coordinates; generating early warning information for coal wall spalling based on the spalling displacement cloud map and spalling rate cloud map; and determining the early warning level based on the early warning information to generate a control strategy for the fully mechanized coal mining face according to the early warning level.

[0095] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the coal wall spalling early warning method for fully mechanized coal mining faces provided by the above methods. The method includes: recording the initial distance between a scanning component set on a hydraulic support assembly and the coal wall spalling; after the hydraulic support assembly moves, controlling the scanning component to scan the coal wall spalling in the fully mechanized coal mining face to determine the initial point cloud coordinates of the coal wall spalling; within one mining cycle, controlling the scanning component to scan the coal wall spalling in the fully mechanized coal mining face at fixed time intervals to determine the final point cloud coordinates of the coal wall spalling; generating a spalling displacement cloud map and a spalling rate cloud map based on the initial distance, initial point cloud coordinates, and final point cloud coordinates; generating early warning information for coal wall spalling based on the spalling displacement cloud map and spalling rate cloud map; and determining the early warning level based on the early warning information to generate a control strategy for the fully mechanized coal mining face according to the early warning level.

[0097] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the coal wall spalling early warning method for fully mechanized coal mining faces provided by the methods described above. This method includes: recording the initial distance between a scanning component mounted on a hydraulic support assembly and the coal wall spalling; after the hydraulic support assembly moves, controlling the scanning component to scan the coal wall spalling in the fully mechanized coal mining face to determine the initial point cloud coordinates of the spalling; within one mining cycle, controlling the scanning component to scan the coal wall spalling in the fully mechanized coal mining face at fixed time intervals to determine the final point cloud coordinates of the spalling; generating a spalling displacement cloud map and a spalling rate cloud map based on the initial distance, initial point cloud coordinates, and final point cloud coordinates; generating early warning information for coal wall spalling based on the spalling displacement cloud map and spalling rate cloud map; and determining the early warning level based on the early warning information to generate a control strategy for the fully mechanized coal mining face according to the early warning level.

[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coal wall spalling early warning device for fully mechanized coal mining faces, characterized in that, include: Hydraulic support components are used to be installed between the roof and floor of a fully mechanized mining face; A scanning component, mounted on the hydraulic support component, is used to scan the coal wall spalling in the fully mechanized mining face; Ground monitoring equipment, electrically connected to the scanning component, is used to control the scanning component to periodically scan the coal wall spalling in the fully mechanized mining face, so as to generate early warning information of coal wall spalling based on the scanning data of the scanning component; The centralized control system is electrically connected to the ground monitoring equipment and is used to determine the warning level based on the warning information, so as to generate a control strategy for the fully mechanized coal mining face according to the warning level. A power supply, electrically connected to the scanning component, is used to supply power to the scanning component; The method for providing early warning of coal wall spalling in fully mechanized coal mining faces using the coal wall spalling early warning device includes: Record the initial distance between the scanning component set on the hydraulic support assembly and the coal wall spalling; After the hydraulic support assembly moves, the scanning assembly is controlled to scan the coal wall spalling in the fully mechanized mining face to determine the initial point cloud coordinates of the coal wall spalling. Within a coal mining cycle, the scanning component is controlled to scan the coal wall spalling in the fully mechanized mining face at fixed time intervals to determine the end point cloud coordinates of the coal wall spalling. Based on the initial distance, the initial point cloud coordinates, and the final point cloud coordinates, generate a slope displacement cloud map and a slope velocity cloud map. Based on the displacement cloud map and the rate cloud map of coal wall spalling, early warning information for coal wall spalling is generated, and the early warning information includes the spalling depth and the rate of change of the spalling depth. The determination of the warning level based on the warning information specifically includes: Based on the relationship between the spalling depth and the coal seam spalling depth threshold in the warning information, and the relationship between the spalling depth change rate and the coal seam spalling depth change rate threshold in the warning information, the warning level of the warning information is determined.

2. The early warning device for coal wall spalling in a fully mechanized coal mining face according to claim 1, characterized in that, The hydraulic support assembly includes: Top beam, protective plate, base and lifting cylinder; The top beam is used to support the bottom of the top plate. The top beam is connected to the top of the shield plate. The base is set on the bottom plate. The bottom end of the shield plate is rotatably connected to the base. The lifting cylinder is supported between the top beam and the base.

3. The early warning device for coal wall spalling in a fully mechanized coal mining face according to claim 2, characterized in that, The lifting cylinder includes a cylinder body and a support rod. One end of the support rod is movably disposed in the cylinder body, and the other end of the support rod is connected to the top beam.

4. The early warning device for coal wall spalling in a fully mechanized coal mining face according to claim 1, characterized in that, The scanning components include: a base, a body, and a lens; The body is connected to the hydraulic support assembly via the base, and the lens is rotatably mounted on the body.

5. The early warning device for coal wall spalling in a fully mechanized coal mining face according to claim 4, characterized in that, The scanning component also includes: a control switch; The control switch is located on the hydraulic support assembly and is electrically connected to the lens via the body.

6. The early warning device for coal wall spalling in a fully mechanized coal mining face according to claim 1, characterized in that, Multiple hydraulic support components and multiple scanning components are provided. The multiple hydraulic support components are arranged sequentially at intervals, and the scanning components are arranged at intervals on the multiple hydraulic support components.

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