Mining Machinery and Its Control Method, Device, Readable Storage Medium, and Program Product

Abstract

The present invention relates to the technical field of equipment control, and provides an excavation machine and its control method, device, readable storage medium, and program product. The control method of the excavation machine includes: obtaining the concentration value of flammable gas in the working space; obtaining the concentration relationship function, which is used to represent the relationship between the concentration of flammable gas, the ventilation speed of the ventilation device, and the tunneling speed of the excavation machine; when the concentration value is greater than the preset threshold, determining the first speed value of the ventilation device and the second speed value of the excavation machine according to the concentration value and the concentration relationship function; adjusting the ventilation speed to the first speed value and adjusting the tunneling speed to the second speed value, so that the updated concentration value is equal to the preset threshold.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and more particularly, to an excavation machinery and its control method, device, readable storage medium, and program product. Background Art

[0002] Exceeding the limit of gas concentration is one of the main hazards in the process of coal mining. In many coal mines, the safety and reliability of gas management are poor, and gas accidents occur frequently, causing a large number of casualties and property losses. Therefore, the intelligent control of gas concentration in coal mine driving roadways is of great importance. However, the existing excavation machinery is not associated with the concentration of harmful gases such as gas in the roadway, resulting in problems such as poor safety in the current control methods for excavation machinery. Summary of the Invention

[0003] The present invention aims to at least solve the technical problems such as poor safety in the prior art or related technologies.

[0004] To this end, a first aspect of the present invention is to propose a control method for an excavation machinery.

[0005] A second aspect of the present invention is to propose a control device for an excavation machinery.

[0006] A third aspect of the present invention is to propose another control device for an excavation machinery.

[0007] A fourth aspect of the present invention is to propose a readable storage medium.

[0008] A fifth aspect of the present invention is to propose a computer program product.

[0009] A sixth aspect of the present invention is to propose an excavation machinery.

[0010] In view of this, according to the first aspect of the present invention, a control method for an excavation machinery is proposed. The control method is applied to a control terminal, and the control terminal is used to control the excavation machinery and a ventilation device. The ventilation device is used to perform gas exchange on the working space where the excavation machinery is located. The control method for the excavation machinery includes: obtaining the concentration value of the flammable gas in the working space; obtaining the concentration relationship function, where the concentration relationship function is used to represent the relationship between the concentration of the flammable gas and the ventilation speed of the ventilation device and the tunneling speed of the excavation machinery; in the case where the concentration value is greater than a preset threshold, determining a first speed value of the ventilation device and a second speed value of the excavation machinery according to the concentration value and the concentration relationship function; adjusting the ventilation speed to the first speed value, and adjusting the tunneling speed to the second speed value, so that the updated concentration value is equal to the preset threshold.

[0011] In the control method of the mining machinery in this technical solution, when the concentration value of the flammable gas is greater than the preset threshold, the control terminal determines the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function, adjusts the ventilation speed to the first speed value, and adjusts the tunneling speed to the second speed value, so that the updated concentration value is equal to the preset threshold, ensuring the safe operation of the mining machinery, improving the safety performance of the mining machinery, ensuring that the concentration of the flammable gas is maintained at a safe level, and reducing the probability of safety accidents.

[0012] According to the second aspect of the present invention, a control device for mining machinery is proposed, which is applied to a control terminal. The control terminal is used to control the mining machinery and the ventilation device, and the ventilation device is used to perform gas exchange on the working space where the mining machinery is located. The control device for mining machinery includes: a control module, configured to obtain the concentration value of the flammable gas in the working space; the control module is further configured to obtain the concentration relationship function of the flammable gas, and the concentration relationship function is used to represent the relationship between the concentration of the flammable gas and the ventilation speed of the ventilation device and the tunneling speed of the mining machinery; the control module is further configured to, when the concentration value is greater than the preset threshold, determine the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function; the control module is further configured to adjust the ventilation speed to the first speed value and adjust the tunneling speed to the second speed value so that the updated concentration value is equal to the preset threshold.

[0013] In the control device of the mining machinery in this technical solution, when the concentration value of the flammable gas is greater than the preset threshold, the control terminal determines the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function, adjusts the ventilation speed to the first speed value, and adjusts the tunneling speed to the second speed value, so that the updated concentration value is equal to the preset threshold, ensuring the safe operation of the mining machinery, improving the safety performance of the mining machinery, ensuring that the concentration of the flammable gas is maintained at a safe level, and reducing the probability of safety accidents.

[0014] According to the third aspect of the present invention, another control device for mining machinery is proposed, which includes a processor and a memory. A program or instruction is stored in the memory, and when the program or instruction is executed by the processor, the steps of the control method of the mining machinery in any of the above technical solutions are implemented. Therefore, the control device of the mining machinery has all the beneficial effects of the control method of the mining machinery in any of the above technical solutions, and will not be described in detail here.

[0015] According to the fourth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the control method of the mining machinery in any of the above technical solutions are implemented. Therefore, this readable storage medium has all the beneficial effects of the control method of the mining machinery in any of the above technical solutions, which will not be elaborated here.

[0016] According to the fifth aspect of the present invention, a computer program product is provided, including computer instructions. When the computer instructions are executed by a processor, the steps of the control method of the mining machinery in any of the above technical solutions are implemented. Therefore, this computer program product has all the beneficial effects of the control method of the mining machinery in any of the above technical solutions, which will not be elaborated here.

[0017] According to the sixth aspect of the present invention, a mining machinery is provided, including: the control device of the mining machinery defined in the second aspect above, or the control device of the mining machinery defined in the third aspect above, and / or the readable storage medium defined in the fourth aspect above. Thus, it has all the beneficial technical effects of the control device of the mining machinery defined in the second aspect above, or the control device of the mining machinery defined in the third aspect above, and / or the readable storage medium defined in the fourth aspect above, which will not be elaborated here too much.

[0018] The additional aspects and advantages of the present invention will become obvious in the following description part, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0020] Figure 1 One of the schematic flowcharts of the control method of the mining machinery in the embodiments of the present invention is shown;

[0021] Figure 2 Another schematic flowchart of the control method of the mining machinery in the embodiments of the present invention is shown;

[0022] Figure 3 Still another schematic flowchart of the control method of the mining machinery in the embodiments of the present invention is shown;

[0023] Figure 4 Yet another schematic flowchart of the control method of the mining machinery in the embodiments of the present invention is shown;

[0024] Figure 5 Another schematic flowchart of the control method of the mining machinery in the embodiments of the present invention is shown;

[0025] Figure 6Shows the sixth schematic flowchart of the control method of the mining machinery in the embodiment of the present invention;

[0026] Figure 7 Shows the first structural block diagram of the control device of the mining machinery in the embodiment of the present invention;

[0027] Figure 8 Shows the second structural block diagram of the control device of the mining machinery in the embodiment of the present invention. Detailed implementation manners

[0028] In order to be able to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0029] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the limitations of the specific embodiments disclosed below.

[0030] The following combines Figures 1 to 8 , and through specific embodiments and their application scenarios, the mining machinery and its control method, device, readable storage medium and program product provided by the embodiments of the present application are described in detail.

[0031] As Figure 1 shown, in the embodiment of the present invention, a control method for a mining machinery is provided, including:

[0032] Step 102, obtaining the concentration value of the flammable gas in the working space;

[0033] Step 104, obtaining the concentration relationship function of the flammable gas;

[0034] Step 106, when the concentration value is greater than the preset threshold, determining the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function;

[0035] Step 108, adjusting the ventilation speed to the first speed value and adjusting the tunneling speed to the second speed value so that the updated concentration value is equal to the preset threshold.

[0036] In this embodiment, a control method for a mining machinery is proposed, which is applied to a control terminal. The control terminal is used to control the mining machinery and the ventilation device. The ventilation device is used to perform gas exchange on the working space where the mining machinery is located. The mining machinery is a device for industrial production, and the working space is the space where the mining machinery is located.

[0037] Exemplarily, the mining machine can be an intelligent tunneling machine.

[0038] Exemplarily, the mining machine can be a coal shearer.

[0039] Exemplarily, the ventilation device can be a ventilation fan.

[0040] Exemplarily, the working space can be an underground roadway.

[0041] Exemplarily, the working space can be a roadway in the mountain.

[0042] Exemplarily, the control terminal can be deployed in the intelligent centralized control center.

[0043] The control terminal obtains the concentration value of the flammable gas in the working space, where the flammable gas is a flammable gas, and the concentration value is used to represent the concentration of the flammable gas.

[0044] Exemplarily, the flammable gas can be gas, and the concentration value can be 30%.

[0045] Exemplarily, the flammable gas can be carbon monoxide, and the concentration value can be 20%.

[0046] The control terminal obtains the concentration relationship function of the flammable gas, where the concentration relationship function is used to represent the relationship between the concentration of the flammable gas, the ventilation speed of the ventilation device, and the tunneling speed of the mining machine. The ventilation speed is the operating ventilation speed of the ventilation device, and the tunneling speed is the mining speed of the mining machine.

[0047] Exemplarily, the ventilation speed can represent the fan speed of the ventilation device.

[0048] Exemplarily, the tunneling speed can represent the excavation speed of the tunneling machine.

[0049] Exemplarily, the concentration relationship function can be Q 浓度 =K1V 风机 +K2V 掘进机 , where K1 is the first coefficient, K2 is the second coefficient, V 风机 is the ventilation speed of the ventilation device, and V 掘进机 is the tunneling speed of the mining machine.

[0050] When the concentration value is greater than the preset threshold, the control terminal determines the first speed value of the ventilation device and the second speed value of the mining machine according to the concentration value and the concentration relationship function, where the first speed value is the target speed of the ventilation device, and the second speed value is the target speed value of the mining machine.

[0051] Exemplarily, the first speed value can represent the target fan speed of the ventilation device.

[0052] Exemplarily, the second speed value may represent the target excavation rotation speed of the roadheader.

[0053] Exemplarily, the preset threshold may be the safety concentration value of the flammable gas.

[0054] The control terminal adjusts the ventilation speed to the first speed value and adjusts the excavation speed to the second speed value so that the updated concentration value is equal to the preset threshold.

[0055] It should be noted that during the excavation process of the mining machinery, the excavation of the mining machinery will cause the concentration of the flammable gas inside the working space to rise. The faster the excavation speed of the mining machinery, the faster the concentration of the flammable gas rises. Therefore, reducing the excavation speed of the mining machinery can reduce the rising speed of the concentration of the flammable gas.

[0056] Exemplarily, the control terminal increases the ventilation speed of the ventilation device so that the ventilation speed is equal to the first speed value, and increases the excavation speed of the mining machinery so that the excavation speed is equal to the second speed value, thereby ensuring that the updated concentration value is equal to the preset threshold.

[0057] In the control method of the mining machinery in this embodiment, when the concentration value of the flammable gas is greater than the preset threshold, the control terminal determines the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function, adjusts the ventilation speed to the first speed value, and adjusts the excavation speed to the second speed value so that the updated concentration value is equal to the preset threshold, ensuring the safe operation of the mining machinery, improving the safety performance of the mining machinery, ensuring that the concentration of the flammable gas is maintained at a safe level, and reducing the occurrence probability of safety accidents.

[0058] In some embodiments, optionally, as Figure 2 shown, a control method of a mining machinery is proposed. The working space includes multiple concentration detection points. Obtaining the concentration value of the flammable gas in the working space includes:

[0059] Step 202, perform data collection on the working space to obtain multiple concentration data of the flammable gas at multiple concentration detection points;

[0060] Step 204, create a concentration distribution map of the flammable gas in the working space based on the multiple concentration detection points and the multiple concentration data;

[0061] Step 206, determine the concentration value based on the concentration distribution map.

[0062] In this embodiment, the working space includes multiple concentration detection points, which are detection points for flammable gases. The control terminal collects data on the working space to obtain multiple concentration data of the flammable gas at the multiple concentration detection points. Among them, the concentration data is the gas concentration data corresponding to the concentration detection point, and the multiple concentration data corresponds one-to-one with the multiple concentration detection points.

[0063] Exemplarily, a concentration sensor may be deployed at the concentration detection point to control the concentration sensor to collect concentration data.

[0064] The control terminal creates a concentration distribution map of the flammable gas in the working space according to the multiple concentration detection points and the multiple concentration data, where the concentration distribution map is used to represent the concentration situation of the flammable gas in the working space.

[0065] Exemplarily, the control terminal performs data estimation on the multiple concentration detection points and the multiple concentration data to obtain the concentration distribution map.

[0066] The control terminal determines the concentration value based on the concentration distribution map.

[0067] Exemplarily, in the case where the concentration distribution map is abnormal, the maximum value of the concentration distribution map is set as the concentration value.

[0068] Exemplarily, in the case where the concentration distribution map is abnormal, the average value of the concentration distribution map is set as the concentration value.

[0069] The control method of the mining machinery in this embodiment creates a concentration distribution map of the flammable gas in the working space according to the multiple concentration detection points and the multiple concentration data. The control terminal determines the concentration value based on the concentration distribution map, ensuring the data accuracy of the concentration value, and further ensuring the control accuracy of the mining machinery.

[0070] In some embodiments, optionally, as Figure 3 shown, a control method of mining machinery is proposed, which obtains a concentration relationship function of the flammable gas, including:

[0071] Step 302, obtain a first coefficient corresponding to the air change speed and a second coefficient corresponding to the tunneling speed, and the sum value of the first coefficient and the second coefficient is a first value;

[0072] Step 304, create a concentration relationship function according to the concentration of the flammable gas, the air change speed, the first coefficient, the tunneling speed and the second coefficient.

[0073] In this embodiment, the control terminal obtains a first coefficient corresponding to the air change speed and a second coefficient corresponding to the tunneling speed, where the first coefficient is the coefficient corresponding to the air change speed, the second coefficient is the coefficient corresponding to the tunneling speed, and the sum value of the first coefficient and the second coefficient is a first value.

[0074] Exemplarily, the first numerical value can be 1, the first coefficient can be 0.5, and the second coefficient can be 0.5.

[0075] The control terminal creates a concentration relationship function according to the concentration of the flammable gas, the ventilation speed, the first coefficient, the tunneling speed, and the second coefficient.

[0076] Exemplarily, the concentration relationship function can be Q 浓度 = K1V 风机 + K2V 掘进机 , where K1 is the first coefficient, K2 is the second coefficient, V 风机 is the ventilation speed of the ventilation device, and V 掘进机 is the tunneling speed of the mining machinery.

[0077] The control method of the mining machinery in this embodiment creates a concentration relationship function according to the concentration of the flammable gas, the ventilation speed, the first coefficient, the tunneling speed, and the second coefficient, ensuring the accuracy of the concentration relationship function and thus ensuring the control accuracy of the mining machinery.

[0078] In some embodiments, optionally, as Figure 4 shown, a control method of a mining machinery is proposed, which adjusts the ventilation speed to a first speed value, including:

[0079] Step 402, obtaining a first proportional coefficient, a first integral coefficient, and a first differential coefficient;

[0080] Step 404, performing a difference operation on the concentration value and a preset threshold to determine the concentration adjustment amount of the flammable gas;

[0081] Step 406, performing proportional-integral-derivative control on the ventilation device based on the concentration adjustment amount, the first proportional coefficient, the first integral coefficient, and the first differential coefficient, so that the ventilation speed is adjusted to the first speed value.

[0082] In this embodiment, the control terminal obtains a first proportional coefficient, a first integral coefficient, and a first differential coefficient, where the first proportional coefficient is the proportional coefficient of the ventilation device, the first integral coefficient is the integral coefficient of the ventilation device, and the first differential coefficient is the differential coefficient of the ventilation device.

[0083] The control terminal performs a difference operation on the concentration value and a preset threshold to determine the concentration adjustment amount of the flammable gas, where the concentration adjustment amount is the concentration difference that the flammable gas needs to be adjusted.

[0084] The control terminal performs proportional-integral-derivative control on the ventilation device according to the concentration adjustment amount, the first proportional coefficient, the first integral coefficient, and the first differential coefficient, so that the ventilation speed is adjusted to the first speed value.

[0085] Exemplarily, the control terminal can perform PID (Proportional Integral Derivative) control on the ventilation device, and the specific control formula is:

[0086] V 风机 = Kp 风机 ×Q 调节量 + Ki 风机 ×Σ j k Q 调节量 + Kd 风机 ×Q 调节量 ;

[0087] where j and k are coefficients, V 风机 is the ventilation speed, Q 调节量 is the concentration adjustment amount, Kp 风机 is the first proportional coefficient, Ki 风机 is the first integral coefficient, Kd 风机 is the first derivative coefficient.

[0088] The control method of the mining machinery in this embodiment performs proportional integral derivative control on the ventilation device according to the concentration adjustment amount, the first proportional coefficient, the first integral coefficient, and the first derivative coefficient, so as to adjust the ventilation speed to the first speed value, ensuring the control accuracy of the ventilation device.

[0089] In some embodiments, optionally, as Figure 5 shown, a control method of mining machinery is proposed, which adjusts the tunneling speed to the second speed value, including:

[0090] Step 502, obtain the second proportional coefficient, the second integral coefficient, and the second derivative coefficient;

[0091] Step 504, perform a difference operation on the concentration value and the preset threshold to determine the concentration adjustment amount of the flammable gas;

[0092] Step 506, based on the concentration adjustment amount, the second proportional coefficient, the second integral coefficient, and the second derivative coefficient, perform proportional integral derivative control on the mining machinery, so as to adjust the tunneling speed to the second speed value.

[0093] In this embodiment, the control terminal obtains the second proportional coefficient, the second integral coefficient, and the second derivative coefficient, where the second proportional coefficient is the proportional coefficient of the mining machinery, the second integral coefficient is the integral coefficient of the mining machinery, and the second derivative coefficient is the derivative coefficient of the mining machinery.

[0094] The control terminal performs a difference operation on the concentration value and the preset threshold to determine the concentration adjustment amount of the flammable gas, where the concentration adjustment amount is the concentration difference that the flammable gas needs to be adjusted.

[0095] The control terminal performs proportional-integral-derivative control on the mining machinery according to the concentration adjustment amount, the second proportional coefficient, the second integral coefficient, and the second derivative coefficient, so as to adjust the tunneling speed to the second speed value.

[0096] Exemplarily, the control terminal can perform PID (proportional-integral-derivative) control on the mining machinery. The specific control formula is:

[0097] V 掘进机 =Kp 掘进机 ×Q 调节量 +Ki 掘进机 ×Σ j k Q 调节量 +Kd 掘进机 ×Q 调节量 ;

[0098] Wherein, V 掘进机 is the tunneling speed, Q 调节量 is the concentration adjustment amount, Kp 掘进机 is the second proportional coefficient, Ki 掘进机 is the second integral coefficient, Kd 掘进机 is the second derivative coefficient, and j and k are coefficients.

[0099] The control method of the mining machinery in this embodiment performs proportional-integral-derivative control on the mining machinery according to the concentration adjustment amount, the second proportional coefficient, the second integral coefficient, and the second derivative coefficient, so as to adjust the tunneling speed to the second speed value, ensuring the control accuracy of the mining machinery.

[0100] In some embodiments, optionally, as Figure 6 shown, a control method of a mining machinery is proposed, including:

[0101] Step 602, establish a communication connection among the gas concentration detection device, the ventilation system, and the intelligent tunneling machine control system;

[0102] Step 604, analyze the gas concentration spatial database. If the gas concentration distribution is abnormal, send a control instruction;

[0103] Step 606, determine the functional relationship between the roadway gas concentration distribution value, the frequency conversion motor speed of the ventilation system, and the tunneling speed of the tunneling machine;

[0104] Step 608, perform PID control on the ventilation system and the intelligent tunneling machine control system according to the gas concentration adjustment amount;

[0105] Step 610, control the frequency conversion motor speed of the ventilation system;

[0106] Step 612, control the tunneling speed of the intelligent tunneling machine.

[0107] In this embodiment, the specific steps of the control method are as follows:

[0108] S1: The roadway gas concentration detection device, the ventilation system, and the intelligent roadheader control system transmit and control signals with the intelligent centralized control center through Ethernet communication.

[0109] S2: The intelligent centralized control center establishes a Mysql database for the spatial distribution of gas concentration, analyzes the spatial distribution parameters of gas concentration in the database in real time, determines whether the gas concentration distribution in the roadway is reasonable. If the gas concentration distribution is abnormal, it sends a control instruction to the ventilation system and the intelligent roadheader control system for linkage control to adjust the gas concentration.

[0110] S3: Establish a functional relationship between the gas concentration distribution value in the roadway, the rotational speed of the variable-frequency motor of the ventilation system, and the tunneling speed of the roadheader to ensure normal gas concentration distribution in the roadway.

[0111] S4: The rotational speed V 风机 of the variable-frequency motor of the ventilation system and the tunneling speed V 掘进机 of the intelligent roadheader respectively perform PID control according to the gas concentration adjustment amount Q. 调节量

[0112] S5: The intelligent centralized control center controls the rotational speed V 风机 of the variable-frequency motor of the ventilation system to adjust the ventilation volume of the coal mine tunneling roadway in real time, and uses the magnitude of the ventilation volume to reduce the gas concentration.

[0113] S6: The intelligent centralized control center controls the tunneling speed V 掘进机 of the intelligent roadheader to limit the gas outburst amount in the coal mine tunneling roadway in real time. The tunneling speed V 掘进机 of the roadheader is proportional to the swing speed and the advance speed of the cutting arm.

[0114] Specifically, in step S1, the intelligent centralized control center is an intelligent decision-making center for the linkage control of the equipment in the tunneling face.

[0115] In step S2, it also includes establishing a gas concentration distribution curve graph according to the gas concentration parameters in the Mysql database of the coal mine gas concentration spatial distribution, and dynamically adjusting the position and opening angle of the air window according to the gas concentration distribution.

[0116] In step S3, the coefficients corresponding to the function are determined according to the extraction volume of the variable-frequency fan and the tunneling outburst amount of the intelligent roadheader per unit time.

[0117] In step S5, it also includes the intelligent centralized control center obtaining and updating the control parameters of the ventilation system in real time.

[0118] In step S6, it also includes the intelligent centralized control center obtaining and updating the control parameters of the intelligent roadheader in real time and controlling the dust removal fan in a linkage manner. ​

[0119] As shown Figure 7 in the embodiment of the present invention, a control device 700 for an excavation machine is provided, including:

[0120] A control module 702, configured to obtain the concentration value of flammable gas in the working space;

[0121] The control module 702 is further configured to obtain a concentration relationship function, where the concentration relationship function is used to represent the relationship between the concentration of flammable gas, the ventilation speed of the ventilation device, and the tunneling speed of the excavation machine;

[0122] The control module 702 is further configured to, when the concentration value is greater than a preset threshold, determine a first speed value of the ventilation device and a second speed value of the excavation machine according to the concentration value and the concentration relationship function;

[0123] The control module 702 is further configured to adjust the ventilation speed to the first speed value and adjust the tunneling speed to the second speed value, so that the updated concentration value is equal to the preset threshold.

[0124] In this embodiment, a control device 700 for an excavation machine is proposed, which is applied to a control terminal. The control terminal is used to control the excavation machine and the ventilation device. The ventilation device is used to perform gas exchange on the working space where the excavation machine is located. The excavation machine is a device for industrial production, and the working space is the space where the excavation machine is located.

[0125] Exemplarily, the working space can be an underground roadway.

[0126] Exemplarily, the excavation machine can be an intelligent tunneling machine.

[0127] Exemplarily, the ventilation device can be a ventilation fan.

[0128] Exemplarily, the control terminal can be deployed in an intelligent centralized control center.

[0129] The control terminal obtains the concentration value of flammable gas in the working space, where the flammable gas is a flammable gas, and the concentration value is used to represent the concentration of the flammable gas.

[0130] Exemplarily, the flammable gas can be gas, and the concentration value can be 30%.

[0131] The control terminal obtains the concentration relationship function of the flammable gas, where the concentration relationship function is used to represent the relationship between the concentration of the flammable gas, the ventilation speed of the ventilation device, and the tunneling speed of the excavation machine. The ventilation speed is the operating ventilation speed of the ventilation device, and the tunneling speed is the excavation speed of the excavation machine.

[0132] Exemplarily, the ventilation speed can represent the fan speed of the ventilation device.

[0133] Exemplarily, the tunneling speed may represent the excavation rotation speed of the tunneling machine.

[0134] Exemplarily, the concentration relationship function may be Q 浓度 = K1V 风机 + K2V 掘进机 , where K1 is the first coefficient, K2 is the second coefficient, and V 风机 is the ventilation speed of the ventilation device, and V 掘进机 is the tunneling speed of the mining machinery.

[0135] When the concentration value is greater than the preset threshold, the control terminal determines the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function, where the first speed value is the target speed of the ventilation device, and the second speed value is the target speed value of the mining machinery.

[0136] Exemplarily, the first speed value may represent the target fan rotation speed of the ventilation device.

[0137] Exemplarily, the second speed value may represent the target excavation rotation speed of the tunneling machine.

[0138] Exemplarily, the preset threshold may be the safety concentration value of the flammable gas.

[0139] The control terminal adjusts the ventilation speed to the first speed value and adjusts the tunneling speed to the second speed value so that the updated concentration value is equal to the preset threshold.

[0140] It should be noted that during the excavation process of the mining machinery, the excavation of the mining machinery will cause the concentration of the flammable gas inside the working space to rise. The faster the tunneling speed of the mining machinery, the faster the concentration of the flammable gas rises. Therefore, reducing the tunneling speed of the mining machinery can reduce the rising speed of the concentration of the flammable gas.

[0141] Exemplarily, the control terminal increases the ventilation speed of the ventilation device so that the ventilation speed is equal to the first speed value, and increases the tunneling speed of the mining machinery so that the tunneling speed is equal to the second speed value, thereby ensuring that the updated concentration value is equal to the preset threshold.

[0142] In the case where the concentration value of the flammable gas in the control device 700 of the mining machinery in this embodiment is greater than the preset threshold, the control terminal determines the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function, adjusts the ventilation speed to the first speed value, and adjusts the tunneling speed to the second speed value so that the updated concentration value is equal to the preset threshold, ensuring the safe operation of the mining machinery, improving the safety performance of the mining machinery, ensuring that the concentration of the flammable gas is maintained at a safe level, and reducing the occurrence probability of safety accidents.

[0143] In some embodiments, optionally, the control device 700 of the mining machinery further includes:

[0144] The control module 702 is further configured to collect data from the working space to obtain multiple concentration data of the flammable gas at multiple concentration detection points, and the multiple concentration data correspond one-to-one to the multiple concentration detection points;

[0145] The control module 702 is further configured to create a concentration distribution map of the flammable gas in the working space based on the multiple concentration detection points and the multiple concentration data;

[0146] The control module 702 is further configured to determine a concentration value based on the concentration distribution map.

[0147] In the control device 700 of the mining machinery in this embodiment, a concentration distribution map of the flammable gas in the working space is created according to the multiple concentration detection points and the multiple concentration data, and the control terminal determines the concentration value based on the concentration distribution map, ensuring the data accuracy of the concentration value, and further ensuring the control accuracy of the mining machinery.

[0148] In some embodiments, optionally, the control device 700 of the mining machinery further includes:

[0149] The control module 702 is further configured to obtain a first coefficient corresponding to the air change speed and a second coefficient corresponding to the tunneling speed, and the sum value of the first coefficient and the second coefficient is a first value;

[0150] The control module 702 is further configured to create a concentration relationship function according to the concentration of the flammable gas, the air change speed, the first coefficient, the tunneling speed, and the second coefficient.

[0151] In the control device 700 of the mining machinery in this embodiment, a concentration relationship function is created according to the concentration of the flammable gas, the air change speed, the first coefficient, the tunneling speed, and the second coefficient, ensuring the accuracy of the concentration relationship function, and further ensuring the control accuracy of the mining machinery.

[0152] In some embodiments, optionally, the control device 700 of the mining machinery further includes:

[0153] The control module 702 is further configured to obtain a first proportional coefficient, a first integral coefficient, and a first differential coefficient;

[0154] The control module 702 is further configured to perform a difference operation on the concentration value and a preset threshold to determine the concentration adjustment amount of the flammable gas;

[0155] The control module 702 is further configured to perform proportional-integral-derivative control on the air change device based on the concentration adjustment amount, the first proportional coefficient, the first integral coefficient, and the first differential coefficient, so that the air change speed is adjusted to a first speed value.

[0156] In the control device 700 of the mining machinery in this embodiment, according to the concentration adjustment amount, the first proportional coefficient, the first integral coefficient, and the first differential coefficient, proportional-integral-derivative control is performed on the ventilation device so that the ventilation speed is adjusted to the first speed value, ensuring the control accuracy of the ventilation device.

[0157] In some embodiments, optionally, the control device 700 of the mining machinery further includes:

[0158] The control module 702 is further configured to obtain a second proportional coefficient, a second integral coefficient, and a second differential coefficient;

[0159] The control module 702 is further configured to perform a difference operation on the concentration value and the preset threshold to determine the concentration adjustment amount of the flammable gas;

[0160] The control module 702 is further configured to perform proportional-integral-derivative control on the mining machinery based on the concentration adjustment amount, the second proportional coefficient, the second integral coefficient, and the second differential coefficient so that the tunneling speed is adjusted to the second speed value.

[0161] In the control device 700 of the mining machinery in this embodiment, according to the concentration adjustment amount, the second proportional coefficient, the second integral coefficient, and the second differential coefficient, proportional-integral-derivative control is performed on the mining machinery so that the tunneling speed is adjusted to the second speed value, ensuring the control accuracy of the mining machinery.

[0162] In some embodiments, optionally, as Figure 8 shown, a control device 800 of a mining machinery is proposed. The control device 800 of the mining machinery includes a processor 802 and a memory 804. A program or instruction is stored in the memory 804. When the program or instruction is executed by the processor 802, the steps of the control method of the mining machinery in any of the above technical solutions are implemented. Therefore, the control device 800 of the mining machinery has all the beneficial effects of the control method of the mining machinery in any of the above technical solutions, which will not be elaborated here.

[0163] In some embodiments, optionally, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the control method of the mining machinery in any of the above embodiments is implemented, and thus has all the beneficial technical effects of the control method of the mining machinery in any of the above embodiments.

[0164] Among them, the readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.

[0165] In some embodiments, optionally, a computer program product is provided, including computer instructions which, when executed by a processor, implement the control method of the mining machine in any of the above embodiments, and thus have all the beneficial technical effects of the control method of the mining machine in any of the above embodiments.

[0166] In some embodiments, optionally, a mining machine is proposed, including: the control device of the mining machine in any of the above embodiments, and / or the readable storage medium in any of the above embodiments, and thus has all the beneficial technical effects of the control device of the mining machine in any of the above embodiments, and / or the readable storage medium in any of the above embodiments, and will not be elaborated here too much.

[0167] It should be clear that in the claims, the specification and the drawings of the present invention, the term "a plurality of" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation, be constructed and operated in the specific orientation. Therefore, these descriptions should not be construed as limitations on the present invention; terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances of the above data.

[0168] In the claims, the specification and the drawings of the present invention, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, the specification and the drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0169] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for an excavation machine, characterized in that, Applied to a control terminal, the control terminal is used to control a mining machine and a ventilation device, the ventilation device is used to perform gas exchange in a working space where the mining machine is located, and the control method of the mining machine includes: Obtaining a concentration value of flammable gas in the working space; Acquire a concentration relationship function of the flammable gas, wherein the concentration relationship function is used to express the relationship between the concentration of the flammable gas and the ventilation speed of the ventilation device and the excavation speed of the mining machine; When the concentration value is greater than a preset threshold, determining a first speed value of the ventilation device and a second speed value of the mining machine according to the concentration value and the concentration relationship function; Adjusting the ventilation speed to the first speed value, and adjusting the excavation speed to the second speed value, so that the updated concentration value is equal to the preset threshold value; The working space includes a plurality of concentration detection points, and obtaining the concentration value of the flammable gas in the working space includes: Collecting data on the workspace to obtain a plurality of concentration data of the flammable gas at the plurality of concentration detection points, wherein the plurality of concentration data corresponds to the plurality of concentration detection points one by one; Creating a concentration distribution diagram of the flammable gas in the workspace based on the plurality of concentration detection points and the plurality of concentration data; Based on the concentration distribution graph, determining the concentration value; In the case where the concentration distribution graph is abnormal, setting the maximum value of the concentration distribution graph as the concentration value; or, When the concentration distribution graph is abnormal, the average value of the concentration distribution graph is set as the concentration value; The control method of the mining machine also includes: Establish communication connection between gas concentration detection device, ventilation system and intelligent tunnel boring machine control system; Establish a Mysql database of gas concentration spatial distribution; Establishing a functional relationship between the gas concentration distribution value in the tunnel and the speed of the variable frequency motor of the ventilation system and the tunneling speed of the tunnel boring machine; A gas concentration distribution curve is established according to the gas concentration parameters in the MySQL database of the gas concentration spatial distribution, and the wind window position and the opening and closing angle of the wind window are dynamically adjusted according to the gas concentration distribution; Acquire and update intelligent tunnel boring machine control parameters in real time and control dust removal fans in linkage.

2. The control method of the mining machinery according to claim 1, characterized in that, The step of obtaining the concentration relationship function of the flammable gas comprises: Acquire a first coefficient corresponding to the ventilation speed and a second coefficient corresponding to the excavation speed, wherein the sum of the first coefficient and the second coefficient is a first value; The concentration relationship function is created according to the concentration of the flammable gas, the ventilation speed, the first coefficient, the excavation speed, and the second coefficient.

3. The control method of the mining machine according to claim 1 or 2, characterized in that, The step of adjusting the ventilation speed to the first speed value includes: Obtaining a first proportional coefficient, a first integral coefficient, and a first differential coefficient; Performing a difference operation on the concentration value and a preset threshold value to determine the concentration adjustment amount of the flammable gas; Based on the concentration adjustment amount, the first proportional coefficient, the first integral coefficient, and the first differential coefficient, perform proportional-integral-derivative control on the ventilation device so that the ventilation speed is adjusted to the first speed value.

4. The control method of the mining machine according to claim 1 or 2, characterized in that, The adjusting the tunneling speed to the second speed value includes: Obtain a second proportional coefficient, a second integral coefficient, and a second differential coefficient; Perform a difference operation on the concentration value and a preset threshold to determine the concentration adjustment amount of the flammable gas; Based on the concentration adjustment amount, the second proportional coefficient, the second integral coefficient, and the second differential coefficient, perform proportional-integral-derivative control on the mining machinery so that the tunneling speed is adjusted to the second speed value.

5. A control device for an excavation machine, characterized in that, Applied to a control terminal, the control terminal is used to control mining machinery and a ventilation device, the ventilation device is used to perform gas exchange on the working space where the mining machinery is located, and the control device of the mining machinery adopts the control method of the mining machinery according to any one of claims 1 to 4. The control device of the mining machinery includes: A control module for obtaining the concentration value of the flammable gas in the working space; The control module is further configured to obtain the concentration relationship function, and the concentration relationship function is used to represent the relationship between the concentration of the flammable gas and the ventilation speed of the ventilation device and the tunneling speed of the mining machinery; The control module is further configured to, when the concentration value is greater than the preset threshold, determine the first speed value of the ventilation device and the second speed value of the mining machinery according to the concentration value and the concentration relationship function; The control module is further configured to adjust the ventilation speed to the first speed value and adjust the tunneling speed to the second speed value so that the updated concentration value is equal to the preset threshold.

6. A control device for an excavation machine, characterized in that, Comprising: A processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the control method of the mining machinery according to any one of claims 1 to 4 are implemented.

7. A readable storage medium, characterized in that, The program or instruction is stored on the readable storage medium, and when the program or instruction is executed by the processor, the steps of the control method of the mining machinery according to any one of claims 1 to 4 are implemented.

8. A computer program product, characterized in that, Comprising computer instructions, and when the computer instructions are executed by the processor, the steps of the control method of the mining machinery according to any one of claims 1 to 4 are implemented.

9. An excavation machine, characterized in that, Comprising: The control device of the mining machinery according to claim 5 or 6; And / or The readable storage medium according to claim 7.

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