Dual shearer same direction cooperative mining method, device, equipment and medium

Abstract

The present application relates to a kind of double coal cutter same direction collaborative mining method, device, equipment and medium, the method comprises: demarcating first position point, second position point, third position point and fourth position point on working face;Control second coal cutter starts, make second coal cutter in second position point executes oblique cutting action, from third position point starts to the coal seam of working face and is mined until advancing to fourth position point;After second coal cutter reaches fourth position point, control second coal cutter continues to the coal seam and is mined from fourth position point to the direction of second position point;Control first coal cutter starts, make first coal cutter from first position point starts to the coal seam and is mined until advancing to second position point, and control first coal cutter cutting is between second position point to third position point Triangular coal area;Control first coal cutter continues to the coal seam and is mined from third position point to the direction of first position point, to efficiently complete the collaborative mining operation of entire working face.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to a method, apparatus, equipment and medium for co-directional collaborative mining using dual coal mining machines. Background Technology

[0002] In the coal mining industry, rationally increasing the distance between working faces is one of the effective ways to improve mine production capacity. The safe and efficient mining of ultra-long working faces is not only constrained by geological conditions and the level of technical equipment, but also related to coal mining methods. Reasonable mining methods can effectively improve mining efficiency.

[0003] In related technologies, coal seams are mined by setting up dual coal mining machines in ultra-long working faces, with immediate frame shifting and conveyor pushing after the mining machines advance, thereby improving the mining efficiency of ultra-long working faces. When dual coal mining machines mine in opposite directions, the cutting distances of the two machines are different. When they meet in the middle of the working face, one of the mining machines will stop and wait, reducing the mining efficiency of the coal seam. Mining in the same direction can avoid the above problems. However, due to the large distance between the working faces and the large transport capacity of the scraper conveyor, mining in the same direction with dual coal mining machines causes multiple bends in the scraper conveyor in the middle of the working face, affecting the safe operation of the scraper conveyor. Therefore, the research on the method of co-directional cooperative mining with dual coal mining machines has important engineering significance. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the first objective of this invention is to propose a method for co-operating mining with two coal mining machines in the same direction, which can improve the mining efficiency of the working face.

[0006] The second objective of this invention is to provide a dual-coal mining machine co-directional collaborative mining device.

[0007] The third objective of this invention is to provide an electronic device.

[0008] The fourth objective of this invention is to provide a computer-readable storage medium.

[0009] The fifth objective of this invention is to provide a computer program product.

[0010] To achieve the above objectives, a first aspect of the present invention proposes a method for simultaneous mining of the coal seam using two coal mining machines in the same direction, comprising: marking four key position points on the working face, namely, a first position point, a second position point, a third position point, and a fourth position point; wherein the distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point; controlling the first coal mining machine to be located at the first position point, and controlling the second coal mining machine to be located at the second position point; controlling the second coal mining machine to start, causing the second coal mining machine to perform an oblique cutting advance action at the second position point, and starting to mine the coal seam of the working face from the third position point. Until the second coal mining machine reaches the fourth position point; after the second coal mining machine reaches the fourth position point, control the second coal mining machine to continue mining the coal seam from the fourth position point towards the second position point; control the first coal mining machine to start, so that the first coal mining machine starts mining the coal seam from the first position point until it advances to the second position point, and control the first coal mining machine to cut the triangular coal area between the second position point and the third position point; control the first coal mining machine to continue mining the coal seam from the third position point towards the first position point, so as to complete the coordinated mining operation of the entire working face.

[0011] According to the dual-mining machine co-operating mining method of the present invention, four key position points are marked on the working face, namely the first position point, the second position point, the third position point, and the fourth position point. The distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point. Then, the first mining machine is controlled to be located at the first position point, and the second mining machine is controlled to be located at the second position point. The second mining machine is then started, and it performs a slanted cutting action at the second position point. Mining of the coal seam on the working face begins from the third position point until it advances to the fourth position point. After the second mining machine reaches the fourth position point, it is controlled to continue mining the coal seam from the fourth position point towards the second position point. The first mining machine is then started, and it begins mining the coal seam from the first position point until it advances to the second position point. The first mining machine is then controlled to cut the triangular coal area between the second and third position points. The first mining machine is then controlled to continue mining the coal seam from the third position point towards the first position point to complete the co-operating mining operation of the entire working face. Therefore, this method can improve the mining efficiency of the working face.

[0012] In addition, the dual-coal mining machine co-directional cooperative mining method proposed in the first aspect of the present invention may also have the following additional technical features:

[0013] According to one embodiment of the present invention, the running direction of the scraper conveyor is set to move from the fourth position point to the first position point. The process of controlling the second coal mining machine to start, so that the second coal mining machine begins mining the coal seam of the working face from the third position point until it advances to the fourth position point, further includes:

[0014] During the mining process of the second coal mining machine in the first working area between the third and fourth position points, the hydraulic support in the first working area is controlled to perform an immediate shifting operation, and the scraper conveyor in the first working area is controlled to temporarily refrain from pushing the conveyor until the second coal mining machine reaches the fourth position point, after which the scraper conveyor in the first working area is controlled to perform a concentrated pushing operation.

[0015] According to one embodiment of the present invention, the step of controlling the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point after the second coal mining machine reaches the fourth position point includes:

[0016] The second coal mining machine is controlled to perform an end-angle cutting motion at the fourth position point and then return to cut the triangular coal area left at the fourth position point.

[0017] The second coal mining machine is controlled to continue mining operations on the coal seam from the fourth position point toward the second position point;

[0018] During the mining process of the second coal mining machine in the second working area between the fourth position point and the second position point, the hydraulic support in the second working area is controlled to perform an instantaneous support shifting operation, and the scraper conveyor in the second working area is simultaneously controlled to perform a push conveyor operation.

[0019] According to one embodiment of the present invention, the scraper conveyor is set to move from the fourth position point to the first position point. The step of controlling the first coal mining machine to start, causing the first coal mining machine to begin mining the coal seam from the first position point until it advances to the second position point, and controlling the first coal mining machine to cut the triangular coal seam area between the second position point and the third position point, includes:

[0020] Control the first coal mining machine to perform an end oblique cutting action at the first position point, and return to cut the triangular coal area left at the first position point;

[0021] The first coal mining machine is controlled to continue mining the coal seam from the first position point to the second position point;

[0022] Control the first coal mining machine to cut the triangular coal area between the second position point and the third position point;

[0023] During the mining process of the first coal mining machine in the third working area between the first position point and the third position point, the hydraulic support in the third working area is controlled to perform an instantaneous support shifting operation, and the scraper conveyor in the third working area is simultaneously controlled to perform a push conveyor operation.

[0024] According to one embodiment of the present invention, controlling the first coal mining machine to continue mining the coal seam from the third position point towards the first position point includes:

[0025] The first coal mining machine is controlled to perform a slanted cutting action at the second position point to mine the coal body in the direction of the first position point;

[0026] During the mining process of the first coal mining machine in the fourth working area between the second position point and the first position point, the hydraulic support in the fourth working area is controlled to perform an immediate support shifting operation, and the scraper conveyor in the fourth working area is controlled to temporarily suspend the push operation until the first coal mining machine reaches the first position point, after which the scraper conveyor in the fourth working area is controlled to perform a concentrated push operation.

[0027] According to one embodiment of the present invention, before controlling the start-up of the first coal mining machine and the second coal mining machine, the method further includes:

[0028] The first distance between the second position point and the third position point, the second distance between the first position point and the fourth position point, the first speed of the coal mining machine during empty operation, and the second speed of the working face pushing the scraper conveyor are obtained.

[0029] The coal cutting speeds of the first and second coal mining machines are determined based on the first distance, the second distance, the first speed, and the second speed.

[0030] According to an embodiment of the present invention, determining the coal cutting speed of the first coal mining machine and the second coal mining machine based on the first distance, the second distance, the first speed, and the second speed includes:

[0031] Calculate twice the product of the first speed, the third speed, and the first distance, and use this as the first value;

[0032] Calculate the difference between the second distance and the first distance, and use it as the second value;

[0033] Calculate the product between the second value and the first velocity, and use it as the third value;

[0034] Calculate twice the product of the second speed and the first distance, and use this as the fourth value;

[0035] Calculate the difference between the third value and the fourth value, and use it as the fifth value;

[0036] The quotient between the first value and the fifth value is calculated as the coal cutting speed.

[0037] According to one embodiment of the present invention, the distance between the second position point and the third position point is the distance between the oblique cutting cutters of the first coal mining machine and the second coal mining machine.

[0038] To achieve the above objectives, a second aspect of the present invention provides a dual-coal-mining machine co-operating mining device, comprising: a calibration module for calibrating four key position points on the working face, namely a first position point, a second position point, a third position point, and a fourth position point; wherein the distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point; a first control module for controlling the first coal mining machine to be located at the first position point and controlling the second coal mining machine to be located at the second position point; and a second control module for controlling the second coal mining machine to start, causing the second coal mining machine to perform a slanted cutting advance action at the second position point, and to start mining the coal seam of the working face from the third position point, directly... The process involves several modules: a third control module, which controls the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point after the second coal mining machine reaches the fourth position point; a fourth control module, which controls the first coal mining machine to start mining the coal seam from the first position point until it reaches the second position point, and controls the first coal mining machine to cut the triangular coal area between the second position point and the third position point; and a fifth control module, which controls the first coal mining machine to continue mining the coal seam from the third position point to the first position point, in order to complete the coordinated mining operation of the entire working face.

[0039] According to an embodiment of the present invention, the dual-mining machine co-operating mining device marks four key position points on the working face through a calibration module, namely, a first position point, a second position point, a third position point, and a fourth position point, wherein the distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point. A first control module controls the first mining machine to be positioned at the first position point and the second mining machine to be positioned at the second position point. A second control module controls the second mining machine to start, causing it to perform an oblique cutting advance at the second position point and begin mining the coal seam from the third position point. Until the second coal mining machine reaches the fourth position point, the third control module controls it to continue mining the coal seam from the fourth position point back to the second position point. The fourth control module then starts the first coal mining machine, which begins mining from the first position point until it reaches the second position point. The first coal mining machine then cuts the triangular coal seam between the second and third position points. Finally, the fifth control module controls the first coal mining machine to continue mining from the third position point back to the first position point, completing the coordinated mining operation of the entire working face. Therefore, this device can improve the mining efficiency of the working face.

[0040] Furthermore, the dual coal mining machine co-directional cooperative mining device proposed in the second aspect embodiment of the present invention may also have the following additional technical features:

[0041] According to one embodiment of the present invention, the scraper conveyor is set to move from the fourth position point to the first position point. The second control module is used to control the second coal mining machine to start, so that the second coal mining machine starts mining the coal seam of the working face from the third position point until it advances to the fourth position point. During this process, it is also used to:

[0042] During the mining process of the second coal mining machine in the first working area between the third and fourth position points, the hydraulic support in the first working area is controlled to perform an immediate shifting operation, and the scraper conveyor in the first working area is controlled to temporarily refrain from pushing the conveyor until the second coal mining machine reaches the fourth position point, after which the scraper conveyor in the first working area is controlled to perform a concentrated pushing operation.

[0043] According to an embodiment of the present invention, when the third control module is used to control the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point after the second coal mining machine reaches the fourth position point, the module includes:

[0044] The second coal mining machine is controlled to perform an end-angle cutting motion at the fourth position point and then return to cut the triangular coal area left at the fourth position point.

[0045] The second coal mining machine is controlled to continue mining operations on the coal seam from the fourth position point toward the second position point;

[0046] During the mining process of the second coal mining machine in the second working area between the fourth position point and the second position point, the hydraulic support in the second working area is controlled to perform an instantaneous support shifting operation, and the scraper conveyor in the second working area is simultaneously controlled to perform a push conveyor operation.

[0047] According to one embodiment of the present invention, the scraper conveyor is set to move from the fourth position point to the first position point. The fourth control module is used to control the first coal mining machine to start, so that the first coal mining machine starts mining the coal seam from the first position point until it advances to the second position point. When controlling the first coal mining machine to cut the triangular coal seam between the second position point and the third position point, the following steps are included:

[0048] Control the first coal mining machine to perform an end oblique cutting action at the first position point, and return to cut the triangular coal area left at the first position point;

[0049] The first coal mining machine is controlled to continue mining the coal seam from the first position point to the second position point;

[0050] Control the first coal mining machine to cut the triangular coal area between the second position point and the third position point;

[0051] During the mining process of the first coal mining machine in the third working area between the first position point and the third position point, the hydraulic support in the third working area is controlled to perform an instantaneous support shifting operation, and the scraper conveyor in the third working area is simultaneously controlled to perform a push conveyor operation.

[0052] According to an embodiment of the present invention, when the fifth control module is used to control the first coal mining machine to continue mining the coal seam from the third position point to the first position point, it includes:

[0053] The first coal mining machine is controlled to perform a slanted cutting action at the second position point to mine the coal body in the direction of the first position point;

[0054] During the mining process of the first coal mining machine in the fourth working area between the second position point and the first position point, the hydraulic support in the fourth working area is controlled to perform an immediate support shifting operation, and the scraper conveyor in the fourth working area is controlled to temporarily suspend the push operation until the first coal mining machine reaches the first position point, after which the scraper conveyor in the fourth working area is controlled to perform a concentrated push operation.

[0055] According to one embodiment of the present invention, the above-described apparatus further includes:

[0056] The acquisition module is used to acquire the first distance between the second position point and the third position point, the second distance between the first position point and the fourth position point, the first speed of the coal mining machine when the empty blade is running, and the second speed of the working face pushing the scraper conveyor.

[0057] The determining module is used to determine the coal cutting speed of the first coal mining machine and the second coal mining machine based on the first distance, the second distance, the first speed and the second speed.

[0058] According to an embodiment of the present invention, when the determining module is used to determine the coal cutting speed of the first coal mining machine and the second coal mining machine based on the first distance, the second distance, the first speed, and the second speed, it includes:

[0059] Calculate twice the product of the first speed, the third speed, and the first distance, and use this as the first value;

[0060] Calculate the difference between the second distance and the first distance, and use it as the second value;

[0061] Calculate the product between the second value and the first velocity, and use it as the third value;

[0062] Calculate twice the product of the second speed and the first distance, and use this as the fourth value;

[0063] Calculate the difference between the third value and the fourth value, and use it as the fifth value;

[0064] Calculate the quotient between the first value and the fifth value, and use it as the coal cutting speed v.

[0065] According to one embodiment of the present invention, the distance between the second position point and the third position point is the distance between the oblique cutting cutters of the first coal mining machine and the second coal mining machine.

[0066] To achieve the above objectives, a third aspect of the present invention also provides an electronic device, comprising:

[0067] At least one processor; and

[0068] A memory communicatively connected to the at least one processor; wherein,

[0069] The memory stores instructions that can be executed by the at least one processor, which enables the at least one processor to perform the above-described dual-mining machine co-operating mining method.

[0070] The battery device of this invention can improve mining efficiency by executing the above-described dual coal mining machine co-directional collaborative mining method.

[0071] To achieve the above objectives, a fourth aspect of the present invention also provides a computer-readable storage medium, wherein the computer instructions are used to cause the computer to execute the above-described dual-mining machine co-operating mining method.

[0072] The computer-readable storage medium of this invention can improve mining efficiency by executing the above-described dual-coal-mining machine co-directional cooperative mining method.

[0073] To achieve the above objectives, the fifth aspect of the present invention also proposes a computer program product, which, when the instruction processor in the computer program product is executed, performs the above-described dual coal mining machine co-directional cooperative mining method.

[0074] The computer program product of this invention can improve mining efficiency by executing the above-described dual coal mining machine co-directional collaborative mining method.

[0075] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0076] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0077] Figure 1 This is a flowchart of a dual-coal mining machine co-directional collaborative mining method according to an embodiment of the present invention;

[0078] Figure 2 According to an embodiment of the present invention, the first and second coal mining machines are intended to begin oblique cutting from the left end and middle region of the working face;

[0079] Figure 3 This is a schematic diagram of the first and second coal mining machines completing their oblique cutting infeed from the left end and middle region of the working face according to an embodiment of the present invention.

[0080] Figure 4This is a schematic diagram of a first coal mining machine cutting through the left-end triangular coal area and a second coal mining machine continuing to cut to the right, according to an embodiment of the present invention.

[0081] Figure 5 This is a schematic diagram of the normal cutting process of the left cutter in the left and right half of the working face by the first and second coal mining machines according to an embodiment of the present invention;

[0082] Figure 6 This is a schematic diagram of a first coal mining machine cutting through the coal pillar in the middle of the working face and a second coal mining machine cutting through the right end of the working face, according to an embodiment of the present invention.

[0083] Figure 7 This is a schematic diagram of a first coal mining machine and a second coal mining machine according to an embodiment of the present invention, which start oblique cutting from the middle region and the right end of the working face;

[0084] Figure 8 This is a schematic diagram of the first and second coal mining machines completing their oblique cutting infeed from the left end and middle region of the working face according to an embodiment of the present invention.

[0085] Figure 9 This is a schematic diagram of the second coal mining machine cutting through the left-end triangular coal area and the first coal mining machine continuing to cut to the right, according to an embodiment of the present invention.

[0086] Figure 10 This is a schematic diagram of the normal cutting process of the right cutter in the left and right halves of the working face by the first and second coal mining machines according to an embodiment of the present invention;

[0087] Figure 11 This is a schematic diagram of a first coal mining machine cutting through the left end of the working face and a second coal mining machine cutting the triangular coal in the middle of the working face, according to an embodiment of the present invention.

[0088] Figure 12 This is a block diagram of a dual coal mining machine co-directional collaborative mining device according to an embodiment of the present invention. Detailed Implementation

[0089] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0090] The following description, with reference to the accompanying drawings, describes the method, apparatus, equipment, and medium for co-directional collaborative mining using dual coal mining machines according to embodiments of the present invention.

[0091] Figure 1 This is a flowchart of a dual-coal mining machine co-directional collaborative mining method according to an embodiment of the present invention.

[0092] like Figure 1 As shown, the dual-coal mining machine co-directional cooperative mining method of this invention includes:

[0093] S1. Mark four key locations on the working surface, namely the first location point, the second location point, the third location point, and the fourth location point; wherein, the distance from the first location point to the second location point is equal to the distance from the fourth location point to the third location point.

[0094] like Figures 2 to 11 As shown, the coal mining face extends in a left-right direction. A first position point (point A), a second position point (point C), a third position point (point D), and a fourth position point (point B) are set on the working face. The second position point (point C) and the third position point (point D) are located between the first position point (point A) and the second position point (point C), and satisfy the length L... AC =L BD In addition, the second distance of the working face is L, the oblique cutting distance of the coal mining machine is Lx, and the distance between the second position point (point C) and the third position point (point D) is the oblique cutting distance of the first coal mining machine and the second coal mining machine.

[0095] S2 controls the first coal mining machine to be located at the first position point and controls the second coal mining machine to be located at the second position point.

[0096] A first coal mining machine (1), a second coal mining machine (2), a scraper conveyor (3), and a non-push section (31) of the scraper conveyor are set up on the working face. The scraper conveyor (3) is located behind the coal seam (4) and extends in the left and right direction. The first coal mining machine (1) and the second coal mining machine (2) are set on the scraper conveyor (3) and can move in the left and right direction under the guidance of the scraper conveyor (3) to realize the mining of the coal seam (4). The coal flow direction of the scraper conveyor (3) is from right to left. The first coal mining machine (1) is controlled to be located at the first position point (point A), and the second coal mining machine (2) is controlled to be located at the second position point (point C).

[0097] S3 controls the start of the second coal mining machine, causing it to perform an oblique cutting action at the second position point, and begin mining the coal seam from the third position point until it advances to the fourth position point.

[0098] The execution process of step S3 is as follows:

[0099] like Figures 2-6 As shown, the second coal mining machine (2) is started, and the second coal mining machine (2) performs the oblique cutting action by using the middle oblique cutting method at the second position point (point C). It starts mining the coal seam of the working face from the third position point (point D) until it advances to the fourth position point (point B).

[0100] During the mining process of the second coal mining machine (2) in the first working area between the third position point (point D) and the fourth position point (point B), the hydraulic support in the first working area is controlled to perform an immediate support shifting operation, and the scraper conveyor in the first working area is controlled not to perform a push operation until the second coal mining machine (2) reaches the fourth position point (point B) and then the scraper conveyor in the first working area is controlled to perform a concentrated push operation.

[0101] S4, after the second coal mining machine reaches the fourth position point, control the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point.

[0102] The execution process of step S4 is as follows:

[0103] like Figures 7-11 As shown, after the second coal mining machine reaches the fourth position point (point B), the second coal mining machine is controlled to perform end oblique cutting at the fourth position point (point B). After the oblique cutting is completed, it returns to cut the triangular coal area left at the fourth position point (point B) and performs hydraulic support shifting and scraper conveyor (4) pushing operation in the triangular coal area at the second position point (point B).

[0104] Control the second coal mining machine to continue mining operations in the coal seam from the fourth position point (point B) towards the second position point (point C);

[0105] During the mining process of the second coal mining machine in the second working area between the fourth position point (point B) and the second position point (point C), the hydraulic support in the second working area is controlled to perform real-time support shifting operation, and the scraper conveyor in the second working area is controlled to perform push conveyor operation simultaneously.

[0106] S5 controls the start of the first coal mining machine, enabling it to mine the coal seam from the first position point until it advances to the second position point, and controls the first coal mining machine to cut the triangular coal area between the second and third position points.

[0107] The execution process of step S5 is as follows:

[0108] like Figures 2-6As shown, the first coal mining machine is controlled to perform an end-angle cutting operation at the first position point (point A) in the direction of end-angle cutting, and after the angle cutting is completed, it returns to cut the triangular coal area left at the first position point (point A); the first coal mining machine is controlled to continue mining the coal seam from the first position point (point A) to the second position point (point C); the first coal mining machine is controlled to cut the triangular coal area between the second position point (point C) and the third position point (point D); during the mining of the third working area between the first position point (point A) and the third position point (point D) by the first coal mining machine, the hydraulic support in the third working area is controlled to perform an immediate support shifting operation, and the scraper conveyor in the third working area is simultaneously controlled to perform a push conveyor operation.

[0109] S6 controls the first coal mining machine to continue mining the coal seam from the third position point to the first position point, so as to complete the coordinated mining operation of the entire working face.

[0110] The execution process of step S6 is as follows:

[0111] like Figures 7-11 As shown, the first coal mining machine is controlled to perform a slanted cutting motion at the second position point (point C) to mine the coal body in the direction of the first position point (point A);

[0112] During the mining process of the first coal mining machine in the fourth working area between the second position point (point C) and the first position point (point A), the hydraulic support in the fourth working area is controlled to perform an immediate support shifting operation, and the scraper conveyor in the fourth working area is controlled to temporarily suspend the push operation until the first coal mining machine reaches the first position point (point A), after which the scraper conveyor in the fourth working area is controlled to perform a concentrated push operation.

[0113] In this invention, during the process of the first coal mining machine (1) mining the coal seam (4) to the right, the scraper conveyor (4) from the first position point (point A) to the third position point (point D) is pushed immediately. When the second coal mining machine (2) mines the coal seam (4) to the right, the scraper conveyor (4) from the third position point (point D) to the fourth position point (point B) is not pushed. This ensures that the scraper conveyor (4) between the first coal mining machine (1) and the second coal mining machine (2) remains straight, which is beneficial to improving the transportation efficiency of coal in the ultra-long working face. Since the first coal mining machine (1) returns to the triangular coal cutting area, the second coal mining machine (2) arrives at the second position point (point B) first. At this time, the hydraulic support from the third position point (point D) to the fourth position point (point B) is pushed in a concentrated manner. The first coal mining machine (1) cuts the triangular coal area left between the second coal mining machine (2) and the third position point (D). After the cutting is completed, it cuts obliquely to the left at the third position point (D) and continues to cut the coal seam to the left (4).

[0114] Let the normal coal cutting speed of the coal mining machine be v, the oblique cutting speed be v1, the empty cutting speed be v2, the concentrated pushing speed of the working face be v3, the normal operation time of the coal mining machine be t1, the oblique cutting time be t2, the empty cutting time be t3, the concentrated pushing time of the working face be t4, the length of the working face be L, and the oblique cutting distance of the coal mining machine in one operation be Lx.

[0115] In one cycle, the left coal mining machine makes one oblique cutting advance from the left end and one oblique cutting advance in the middle area of ​​the working face. The oblique cutting advance time of the left coal mining machine is given by the following formula (1):

[0116]

[0117] Since after the oblique cutting at the end, the first coal mining machine (1) needs to return to cut the triangular coal area left at the first position point (point A), and after cutting through the triangular coal area, it moves to the right with the empty cutter to the position after the oblique cutting at the end to continue cutting the coal body. Therefore, the normal coal cutting distance of the first coal mining machine to the right is the distance between the first position point (point A) and the third position point (point D), and the normal coal cutting distance to the left is the distance between the first position point (point A) and the second position point (point C). Therefore, the normal cutting time and the empty cutter time of the first coal mining machine are respectively given by the following formulas (2) and (3):

[0118]

[0119]

[0120] During the process of the first coal mining machine (1) cutting coal to the right, the scraper conveyor (4) pushes the conveyor immediately. When the first coal mining machine (1) cuts coal to the left and reaches the first position point (point A), the scraper conveyor (4) pushes the conveyor in a concentrated manner. Since the running time of the first coal mining machine (1) and the second coal mining machine (2) is equal, the total time of one cycle is given by the following formula (4):

[0121]

[0122] During the synchronous rightward movement of the two coal mining machines, let the time for one cut of the first coal mining machine be T1 and the time for one cut of the second coal mining machine be T2. Then, the expression for T1 is as follows (5), and the expression for T2 is as follows (6):

[0123]

[0124]

[0125] Therefore, the time difference for the coal advance of the dual coal mining machine is shown in the following formula (7):

[0126]

[0127] If ΔT = 0, then when the first coal mining machine (1) reaches the third position point (point D) of the working face, the second coal mining machine (2) will have just finished pushing the conveyor. This situation is more ideal, and this invention is based on this.

[0128] If ΔT>0, when the first coal mining machine (1) cuts the triangular coal area in the middle of the working face, the second coal mining machine (2) has already finished pushing the conveyor and starts to cut obliquely to the left. At this time, there will be multiple S-bends in the middle area of ​​the working face, and the scraper conveyor is at risk of breaking. This situation should be avoided.

[0129] If ΔT < 0, when the first coal mining machine (1) reaches the third position point (point D) of the working face, the second coal mining machine (2) has not finished pushing the conveyor, and the pushing efficiency is low at this time.

[0130] Therefore, before controlling the start-up of the first coal mining machine (1) and the second coal mining machine (2), the following is also included:

[0131] Obtain the first distance L between the second location point (point C) and the third location point (point D). x The second distance L between the first position point (point A) and the fourth position point (point B), the first speed v2 of the coal mining machine during empty operation, and the second speed v3 of the working face centralized pusher scraper conveyor (3); based on the first distance L x The cutting speed v of the first and second coal mining machines is determined by the second distance L, the first speed v2, and the second speed v3.

[0132] According to an embodiment of the present invention, based on a first distance L x The cutting speed v of the first and second coal mining machines is determined by considering the second distance L, the first velocity v2, and the second velocity v3, including:

[0133] Calculate the first velocity v2, the third velocity v3, and the first distance L. x Double the product, and use that as the first value;

[0134] Calculate the second distance L and the first distance L x The difference between them is used as the second value;

[0135] Calculate the product between the second value and the first velocity v2, and use it as the third value;

[0136] Calculate the second velocity v3 and the first distance L. x Double the product, and use it as the fourth value;

[0137] Calculate the difference between the third and fourth values, and use that as the fifth value;

[0138] Calculate the quotient between the first and fifth values, and use it as the coal cutting speed v.

[0139] Therefore, the coal cutting speed v can be expressed by the following formula (8).

[0140]

[0141] Therefore, in ultra-long working faces, the two coal mining machines mine in the same direction, alternately cutting the triangular coal left in the middle. The process is simple, the coal mining machine runs for a short time, and the problem of collision in the middle when the two coal mining machines mine in opposite directions is avoided, thus improving mining efficiency. During the coal cutting process of the two coal mining machines, the middle section of the two coal mining machines adopts the method of shifting the frame but not pushing the conveyor, and finally pushing the conveyor in a concentrated manner. The coal transport section of the scraper conveyor only produces an S-shaped bend, which reduces the transport resistance of the scraper conveyor, improves the transport efficiency of the scraper conveyor, and ensures the safe operation of the working face equipment.

[0142] In summary, according to the dual-mining machine co-operating mining method of the present invention, four key position points are marked on the working face, namely the first position point, the second position point, the third position point, and the fourth position point. The distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point. Then, the first mining machine is controlled to be located at the first position point, and the second mining machine is controlled to be located at the second position point. The second mining machine is then started, and it performs a slanted cutting action at the second position point. Mining of the coal seam on the working face begins from the third position point until it advances to the fourth position point. After the second mining machine reaches the fourth position point, it is controlled to continue mining the coal seam from the fourth position point towards the second position point. The first mining machine is then started, and it begins mining the coal seam from the first position point until it advances to the second position point. The first mining machine is then controlled to cut the triangular coal area between the second and third position points. The first mining machine is then controlled to continue mining the coal seam from the third position point towards the first position point, thereby completing the co-operating mining operation of the entire working face. Therefore, this method can improve the mining efficiency of the working face.

[0143] Figure 12 This is a block diagram of a dual coal mining machine co-directional collaborative mining device according to an embodiment of the present invention.

[0144] like Figure 12 As shown, the dual-coal mining machine co-directional cooperative mining device 100 of this embodiment includes:

[0145] The calibration module 110 is used to calibrate four key position points on the working surface, namely the first position point, the second position point, the third position point, and the fourth position point; wherein the distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point;

[0146] The first control module 120 is used to control the first coal mining machine to be located at the first position point and to control the second coal mining machine to be located at the second position point;

[0147] The second control module 130 is used to control the start of the second coal mining machine, so that the second coal mining machine performs a slanted cutting action at the second position point, and starts mining the coal seam of the working face from the third position point until it advances to the fourth position point;

[0148] The third control module 140 is used to control the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point after the second coal mining machine reaches the fourth position point.

[0149] The fourth control module 150 is used to control the start of the first coal mining machine, so that the first coal mining machine starts mining the coal seam from the first position point until it advances to the second position point, and controls the first coal mining machine to cut the triangular coal area between the second position point and the third position point.

[0150] The fifth control module 160 is used to control the first coal mining machine to continue mining the coal seam from the third position point to the first position point, so as to complete the coordinated mining operation of the entire working face.

[0151] According to one embodiment of the present invention, the scraper conveyor is set to move from the fourth position point to the first position point. The second control module 130 is used to control the start of the second coal mining machine, so that the second coal mining machine starts mining the coal seam of the working face from the third position point until it advances to the fourth position point. During this process, it is also used to:

[0152] During the mining process of the second coal mining machine in the first working area between the third and fourth position points, the hydraulic support in the first working area is controlled to move in real time, and the scraper conveyor in the first working area is controlled not to push the conveyor until the second coal mining machine reaches the fourth position point, after which the scraper conveyor in the first working area is controlled to push the conveyor in a concentrated manner.

[0153] According to one embodiment of the present invention, the third control module 140 is used to control the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point after the second coal mining machine reaches the fourth position point, including:

[0154] Control the second coal mining machine to perform an end-angle cutting motion at the fourth position point, and return to cut the triangular coal area left at the fourth position point;

[0155] Control the second coal mining machine to continue mining operations in the coal seam from the fourth position point towards the second position point;

[0156] During the mining process of the second coal mining machine in the second working area between the fourth position point and the second position point, the hydraulic support in the second working area is controlled to perform real-time support shifting operation, and the scraper conveyor in the second working area is controlled to perform push conveyor operation simultaneously.

[0157] According to one embodiment of the present invention, the scraper conveyor is set to move from a fourth position point to a first position point. A fourth control module 150 is used to control the start-up of a first coal mining machine, enabling the first coal mining machine to begin mining the coal seam from the first position point until it advances to the second position point. When controlling the first coal mining machine to cut the triangular coal seam area between the second and third position points, the following steps are included:

[0158] The first coal mining machine is controlled to perform an end oblique cutting motion at the first position point and then return to cut the triangular coal area left at the first position point;

[0159] Control the first coal mining machine to continue mining the coal seam from the first position point to the second position point;

[0160] Control the first coal mining machine to cut the triangular coal area between the second and third position points;

[0161] During the mining process of the first coal mining machine in the third working area between the first position point and the third position point, the hydraulic support in the third working area is controlled to perform real-time support shifting operation, and the scraper conveyor in the third working area is controlled to perform push conveyor operation simultaneously.

[0162] According to one embodiment of the present invention, when the fifth control module 160 is used to control the first coal mining machine to continue mining the coal seam from the third position point to the first position point, it includes:

[0163] The first coal mining machine is controlled to perform a slanted cutting motion at the second position point to mine the coal body in the direction of the first position point;

[0164] During the mining process of the first coal mining machine in the fourth working area between the second position point and the first position point, the hydraulic support in the fourth working area is controlled to perform an immediate support shifting operation, and the scraper conveyor in the fourth working area is controlled to temporarily suspend the push operation until the first coal mining machine reaches the first position point, after which the scraper conveyor in the fourth working area is controlled to perform a centralized push operation.

[0165] According to one embodiment of the present invention, the above-described apparatus further includes:

[0166] The acquisition module is used to acquire the first distance between the second position point and the third position point, the second distance between the first position point and the fourth position point, the first speed of the coal mining machine when the empty blade is running, and the second speed of the working face centralized pusher scraper conveyor.

[0167] The determination module is used to determine the coal cutting speed of the first coal mining machine and the second coal mining machine based on the first distance, the second distance, the first speed, and the second speed.

[0168] According to one embodiment of the present invention, when the determining module determines the coal cutting speed of the first coal mining machine and the second coal mining machine based on a first distance, a second distance, a first speed, and a second speed, it includes:

[0169] Calculate twice the product of the first speed, the third speed, and the first distance, and use this as the first value;

[0170] Calculate the difference between the second distance and the first distance, and use it as the second value;

[0171] Calculate the product between the second value and the first velocity, and use it as the third value;

[0172] Calculate twice the product of the second speed and the first distance, and use that as the fourth value;

[0173] Calculate the difference between the third and fourth values, and use that as the fifth value;

[0174] Calculate the quotient between the first and fifth values, and use it as the coal cutting speed.

[0175] According to one embodiment of the present invention, the distance between the second position point and the third position point is the distance between the oblique cutting cutters of the first and second coal mining machines.

[0176] It should be noted that for details not disclosed in the dual coal mining machine co-directional cooperative mining device of the present invention, please refer to the details disclosed in the dual coal mining machine co-directional cooperative mining method of the present invention, which will not be repeated here.

[0177] According to an embodiment of the present invention, the dual-mining machine co-operating mining device marks four key position points on the working face through a calibration module, namely, a first position point, a second position point, a third position point, and a fourth position point, wherein the distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point. A first control module controls the first mining machine to be positioned at the first position point and the second mining machine to be positioned at the second position point. A second control module controls the second mining machine to start, causing it to perform an oblique cutting advance at the second position point and begin mining the coal seam from the third position point. Until the second coal mining machine reaches the fourth position point, the third control module controls it to continue mining the coal seam from the fourth position point back to the second position point. The fourth control module then starts the first coal mining machine, which begins mining from the first position point until it reaches the second position point. The first coal mining machine then cuts the triangular coal seam between the second and third position points. Finally, the fifth control module controls the first coal mining machine to continue mining from the third position point back to the first position point, completing the coordinated mining operation of the entire working face. Therefore, this device can improve the mining efficiency of the working face.

[0178] Based on the above embodiments, the present invention also proposes an electronic device.

[0179] An electronic device according to an embodiment of the present invention includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described dual-mining machine co-operating mining method.

[0180] The battery device of this invention can improve mining efficiency by executing the above-described dual coal mining machine co-directional collaborative mining method.

[0181] Based on the above embodiments, the present invention also proposes a computer-readable storage medium.

[0182] The computer instructions in the computer-readable storage medium of this invention are used to cause a computer to execute the above-described method of co-directional collaborative mining using dual coal mining machines.

[0183] The computer-readable storage medium of this invention can improve mining efficiency by executing the above-described dual-coal-mining machine co-directional cooperative mining method.

[0184] Based on the above embodiments, the present invention also proposes a computer program product.

[0185] In an embodiment of the present invention, when the instruction processor in the computer program product is executed, the above-described method of co-directional collaborative mining by dual coal mining machines is executed.

[0186] The computer program product of this invention can improve mining efficiency by executing the above-described dual coal mining machine co-directional collaborative mining method.

[0187] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0188] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0189] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0190] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0191] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0192] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0193] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0194] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for simultaneous mining with dual coal mining machines in the same direction, characterized in that, include: Four key locations are marked on the working surface, namely, the first location point, the second location point, the third location point, and the fourth location point; wherein, the distance from the first location point to the second location point is equal to the distance from the fourth location point to the third location point; Control the first coal mining machine to be located at the first position point, and control the second coal mining machine to be located at the second position point; The second coal mining machine is started and then performs a slanted cutting motion at the second position point. It then begins mining the coal seam at the working face from the third position point until it advances to the fourth position point. After the second coal mining machine reaches the fourth position point, control the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point; Control the first coal mining machine to start, so that the first coal mining machine starts mining the coal seam from the first position point until it advances to the second position point, and control the first coal mining machine to cut the triangular coal area between the second position point and the third position point; The first coal mining machine is controlled to continue mining the coal seam from the third position point toward the first position point, so as to complete the coordinated mining operation of the entire working face.

2. The method according to claim 1, characterized in that, The scraper conveyor is set to move from the fourth position point to the first position point. The process of controlling the second coal mining machine to start, so that the second coal mining machine begins mining the coal seam from the third position point until it advances to the fourth position point, also includes: During the mining process of the second coal mining machine in the first working area between the third and fourth position points, the hydraulic support in the first working area is controlled to perform an immediate shifting operation, and the scraper conveyor in the first working area is controlled to temporarily refrain from pushing the conveyor until the second coal mining machine reaches the fourth position point, after which the scraper conveyor in the first working area is controlled to perform a concentrated pushing operation.

3. The method according to claim 2, characterized in that, The step of controlling the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point after the second coal mining machine reaches the fourth position point includes: The second coal mining machine is controlled to perform an end-angle cutting motion at the fourth position point and then return to cut the triangular coal area left at the fourth position point. The second coal mining machine is controlled to continue mining operations on the coal seam from the fourth position point toward the second position point; During the mining process of the second coal mining machine in the second working area between the fourth position point and the second position point, the hydraulic support in the second working area is controlled to perform an instantaneous support shifting operation, and the scraper conveyor in the second working area is simultaneously controlled to perform a push conveyor operation.

4. The method according to claim 1, characterized in that, The scraper conveyor is set to move from the fourth position point to the first position point. The first coal mining machine is started, causing it to begin mining the coal seam from the first position point until it advances to the second position point. The first coal mining machine is then controlled to cut the triangular coal seam between the second and third position points, including: Control the first coal mining machine to perform an end oblique cutting action at the first position point, and return to cut the triangular coal area left at the first position point; The first coal mining machine is controlled to continue mining the coal seam from the first position point to the second position point; Control the first coal mining machine to cut the triangular coal area between the second position point and the third position point; During the mining process of the first coal mining machine in the third working area between the first position point and the third position point, the hydraulic support in the third working area is controlled to perform an instantaneous support shifting operation, and the scraper conveyor in the third working area is simultaneously controlled to perform a push conveyor operation.

5. The method according to claim 4, characterized in that, The control of the first coal mining machine to continue mining the coal seam from the third position point towards the first position point includes: The first coal mining machine is controlled to perform a slanted cutting action at the second position point to mine the coal seam in the direction of the first position point; During the mining process of the first coal mining machine in the fourth working area between the second position point and the first position point, the hydraulic support in the fourth working area is controlled to perform an immediate support shifting operation, and the scraper conveyor in the fourth working area is controlled to temporarily suspend the push operation until the first coal mining machine reaches the first position point, after which the scraper conveyor in the fourth working area is controlled to perform a concentrated push operation.

6. The method according to claim 1, characterized in that, Before controlling the start-up of the first and second coal mining machines, the following steps are also included: The first distance between the second position point and the third position point, the second distance between the first position point and the fourth position point, the first speed of the coal mining machine during empty operation, and the second speed of the working face centralized push-slide scraper conveyor are obtained; The coal cutting speeds of the first and second coal mining machines are determined based on the first distance, the second distance, the first speed, and the second speed.

7. The method according to claim 6, characterized in that, Determining the coal cutting speed of the first and second coal mining machines based on the first distance, the second distance, the first speed, and the second speed includes: Calculate twice the product of the first speed, the third speed, and the first distance, and use this as the first value; Calculate the difference between the second distance and the first distance, and use it as the second value; Calculate the product between the second value and the first velocity, and use it as the third value; Calculate twice the product of the second speed and the first distance, and use this as the fourth value; Calculate the difference between the third value and the fourth value, and use it as the fifth value; The quotient between the first value and the fifth value is calculated as the coal cutting speed.

8. A dual-coal mining machine co-operating mining device, characterized in that, include: The calibration module is used to mark four key position points on the working surface, namely the first position point, the second position point, the third position point, and the fourth position point; wherein the distance from the first position point to the second position point is equal to the distance from the fourth position point to the third position point; The first control module is used to control the first coal mining machine to be located at the first position point and to control the second coal mining machine to be located at the second position point; The second control module is used to control the start of the second coal mining machine, so that the second coal mining machine performs a slanted cutting action at the second position point, and starts mining the coal seam of the working face from the third position point until it advances to the fourth position point; The third control module is used to control the second coal mining machine to continue mining the coal seam from the fourth position point to the second position point after the second coal mining machine reaches the fourth position point. The fourth control module is used to control the start of the first coal mining machine, so that the first coal mining machine starts mining the coal seam from the first position point until it advances to the second position point, and controls the first coal mining machine to cut the triangular coal area between the second position point and the third position point; The fifth control module is used to control the first coal mining machine to continue mining the coal seam from the third position point to the first position point, so as to complete the coordinated mining operation of the entire working face.

9. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the dual-mining machine co-operating mining method according to any one of claims 1-7.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, they implement the dual coal mining machine co-directional cooperative mining method as described in any one of claims 1-7.

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