Coal mining automation control method, system and equipment and storage medium

Abstract

The invention discloses a coal mining automation control method, system and equipment and a storage medium, and is applied to the following steps: calculating a real-time moving track of a coal mining machine based on a real-time moving posture and a moving distance of the coal mining machine, and correcting the posture of the coal mining machine according to the real-time moving track to ensure that the coal mining machine works in an optimal path; the traction speed of the coal mining machine is determined based on the nameplate capacity of the scraper conveyor, and the traction speed is further adjusted based on the machine following speed of the hydraulic support; and on the basis of the corrected pose information of the coal mining machine, automatic control over face guard plate retracting, support moving, face guard plate stretching, sliding pushing and scraper conveyor pushing of the hydraulic support is carried out. According to the invention, automatic cooperative control of the underground coal mining machine, the hydraulic support and the scraper conveyer is realized, the coal mining efficiency is effectively improved, and the coal mining cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining automation, and in particular to a coal mining automation control method, system, equipment and storage medium. Background Art

[0002] During underground coal mining, due to natural and production reasons and the special working environment of the working face, the process of manually adjusting the position of the scraper conveyor and the posture of the hydraulic support as the coal mining machine moves is very cumbersome. Due to the low automation coordination capability among the underground coal mining machine, hydraulic support and scraper conveyor, the entire process requires multiple operators to communicate and coordinate in real time, which is time-consuming and labor-intensive, resulting in low coal mining efficiency and indirectly increasing the cost of coal mining.

[0003] To this end, how to provide a coal mining automation control method, system, equipment and storage medium that can realize automated coordinated control of underground coal mining machines, hydraulic supports and scraper conveyors according to the actual on-site conditions of the coal mining face, effectively improve coal mining efficiency, and reduce coal mining costs is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of this, the present invention proposes a coal mining automation control method, system, equipment and storage medium.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A coal mining automation control method, comprising:

[0007] Step 1: Based on the real-time motion posture and moving distance of the coal mining machine, the real-time moving trajectory of the coal mining machine is solved, and the posture of the coal mining machine is corrected according to the real-time moving trajectory to ensure that the coal mining machine operates in the optimal path;

[0008] Step 2: Determine the traction speed of the coal mining machine based on the nameplate capacity of the scraper conveyor, and further adjust the traction speed based on the follow-up speed of the hydraulic support;

[0009] Step 3: Based on the corrected position information of the coal mining machine, automatic control is performed on the hydraulic support's retracting of the side guard plates, moving of the frame, extending of the side guard plates, pushing of the slide, and movement of the scraper conveyor.

[0010] Optionally, the automated control process also includes: detecting abnormal points in the operating status data of the coal mining machine, hydraulic support and scraper conveyor, and using a machine learning model to issue fault warnings for the abnormal points.

[0011] Optionally, determine the shearer haulage speed based on the face conveyor nameplate capacity as follows:

[0012]

[0013] Among them, V c is the traction speed of the coal mining machine; Q m is the nameplate capacity of the scraper conveyor, in t / h; K g is the capacity reduction coefficient of the scraper conveyor; m is the average mining height of the working face; S is the cutting depth of the coal mining machine; γ is the coal body capacity; C is the working face recovery rate.

[0014] Optionally, the traction speed is further adjusted based on the hydraulic support's following speed as follows:

[0015]

[0016] Among them, V c is the traction speed of the coal mining machine; V z is the follow-up speed of the hydraulic support; n z is the number of hydraulic supports moving simultaneously; l is the center distance of the supports; t is the moving time.

[0017] Optionally, based on the corrected position information of the coal mining machine, automatic control of the hydraulic support for retracting the side guard plate, moving the frame, extending the side guard plate, and pushing the slide is performed, specifically:

[0018] The hydraulic support 3 frames away from the front drum of the coal mining machine is used to collect the side plates;

[0019] The hydraulic support at a distance of 2 frames from the rear drum of the coal mining machine is moved;

[0020] The hydraulic support 8 frames away from the rear drum of the coal mining machine is used to extend the side plate;

[0021] When entering the straight section, the traction of the coal mining machine is stopped, and the hydraulic support pushes the scraper conveyor to the end.

[0022] Optionally, based on the corrected position information of the coal mining machine, the automatic control of the movement of the scraper conveyor is performed, specifically:

[0023] After the coal mining machine runs from the end to the end, and then from the end to the end, when the coal mining machine is advanced to the point where the rear drum is 15 frames away from the end, the scraper conveyor is pushed forward.

[0024] Optionally, after the coal mining machine runs from the end to the end, it also includes: cutting of triangular coal.

[0025] The present invention also provides a coal mining automation control device using a coal mining automation control method, comprising:

[0026] Optimal path operation ensuring module: used to solve the real-time movement trajectory of the coal mining machine based on the real-time movement posture and movement distance of the coal mining machine, and correct the position of the coal mining machine according to the real-time movement trajectory to ensure that the coal mining machine operates in the optimal path;

[0027] Coal mining machine traction speed adjustment module: used to determine the traction speed of the coal mining machine based on the nameplate capacity of the scraper conveyor, and further adjust the traction speed based on the follow-up speed of the hydraulic support;

[0028] Coal mining automation control module: Based on the corrected position information of the coal mining machine, automatic control is performed on the hydraulic support's retracting and guard plate removal, frame shifting, guard plate extension, sliding and scraper conveyor movement.

[0029] The present invention also provides an electronic device, comprising:

[0030] Memory for storing computer programs;

[0031] A processor is used to implement the steps of a coal mining automation control method when executing a computer program.

[0032] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a coal mining automation control method are implemented.

[0033] It can be seen from the above technical solutions that compared with the prior art, the present invention proposes a method, system, equipment and storage medium for automatic coal mining control. By limiting the traction speed of the coal mining machine based on the nameplate capacity of the scraper conveyor and the follow-up speed of the hydraulic support, and based on the position of the coal mining machine and the traction direction, the automatic control of the hydraulic support's side guard plate retraction, frame shifting, side guard plate extension, sliding and scraper conveyor movement is performed, realizing the automatic coordinated control of the three machines of the underground coal mining machine, hydraulic support and scraper conveyor, effectively improving the coal mining efficiency and reducing the coal mining cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 This is a schematic diagram of the method flow of Example 1 of the present invention.

[0036] Figure 2 The figure is a flowchart of a specific application of the method of embodiment 2 of the present invention.

[0037] Figure 3 This is a schematic diagram of a scenario structure for a specific application of the method of Example 2 of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment 1:

[0040] Embodiment 1 of the present invention discloses a method for automatic control of coal mining, such as Figure 1 As shown, including:

[0041] Step 1: Based on the real-time motion posture and moving distance of the coal mining machine, the real-time moving trajectory of the coal mining machine is solved, and the position and posture of the coal mining machine (including: the position of the coal mining machine and the traction direction) are corrected according to the real-time moving trajectory to ensure that the coal mining machine operates in the optimal path.

[0042] Step 2: Determine the shearer hauling speed based on the nameplate capacity of the face conveyor and further adjust the hauling speed based on the support follower speed.

[0043] Based on the nameplate capacity of the face conveyor, determine the shearer hauling speed as follows:

[0044]

[0045] Among them, V c is the traction speed of the coal mining machine; Q m is the nameplate capacity of the scraper conveyor, in t / h; K g is the capacity reduction coefficient of the scraper conveyor; m is the average mining height of the working face; S is the cutting depth of the coal mining machine; γ is the coal body capacity; C is the working face recovery rate.

[0046] In order to ensure that the coal mining machine can continuously cut coal in the fully mechanized mining face, the following speed of the hydraulic support in the working face should be greater than the traction speed of the coal mining machine. The traction speed is further adjusted based on the following speed of the hydraulic support as follows:

[0047]

[0048] Among them, V c is the traction speed of the coal mining machine; V z is the follow-up speed of the hydraulic support; n zis the number of hydraulic supports moving simultaneously; l is the center distance of the supports; t is the moving time.

[0049] Step 3: Based on the corrected position information of the coal mining machine, automatic control is performed on the hydraulic support's retracting of the side guard plates, moving of the frame, extending of the side guard plates, pushing of the slide, and movement of the scraper conveyor.

[0050] The automated control process also includes: detecting abnormal points in the operating status data of coal mining machines, hydraulic supports and scraper conveyors, and using machine learning models to issue fault warnings for abnormal points to ensure safe production at the coal mining face.

[0051] Based on the corrected position information of the coal mining machine, the automatic control of the hydraulic support's side plate retraction, frame shifting, side plate extension, and side plate pushing is carried out, specifically:

[0052] The hydraulic support 3 frames away from the front drum of the coal mining machine is used to collect the side plates;

[0053] The hydraulic support at a distance of 2 frames from the rear drum of the coal mining machine is moved;

[0054] The hydraulic support 8 frames away from the rear drum of the coal mining machine is used to extend the side plate;

[0055] When entering the straight section, the traction of the coal mining machine is stopped, and the hydraulic support pushes the scraper conveyor to the end.

[0056] Based on the corrected position information of the coal mining machine, the automatic control of the scraper conveyor is carried out, specifically:

[0057] After the coal mining machine runs from the end to the end, and then from the end to the end, when the coal mining machine is advanced to the point where the rear drum is 15 frames away from the end, the scraper conveyor is pushed forward.

[0058] After the coal mining machine runs from the end to the end, it also includes: cutting of triangular coal.

[0059] Embodiment 2:

[0060] Embodiment 2 of the present invention discloses a specific application of automatic coal mining control using the coal mining automatic control method described in Embodiment 1, such as Figure 2 As shown, including:

[0061] Before the coal mining machine starts to haul and cut coal on the working face, it needs to follow a certain startup process to start the working face equipment. First, start the scraper conveyor signal, make the scraper conveyor idle for 2 minutes to achieve normal operation, send a signal to start the coal mining machine, start the coal mining machine cutting motor, and adjust the rolling to the appropriate height, and finally open the traction lock to allow the coal mining machine to haul and cut coal.

[0062] like Figure 3As shown, the initial position of the coal mining machine is at the leftmost end of the coal mining working face. The way the coal mining machine pulls and cuts coal from the end to the tail is to open the traction lock to make the coal mining machine pull and cut coal to the right, the front drum cuts the top coal, and the rear drum cuts the bottom coal. The coal mining machine is currently in support No. 17, and the hydraulic support follows the machine. Support No. 25, which is 3 frames away from the front drum, begins to retract the side guard plate, support No. 10, which is 2 frames away from the rear drum, begins to move the support, and support No. 4, which is 8 frames away from the rear drum, begins to extend the side guard plate.

[0063] As the coal mining machine advances, when it reaches a distance of 3 frames from the front drum, the step of "retracting the side guard plate" begins. The role of the side guard plate is to protect the coal wall and prevent the coal wall from collapsing during the coal mining process, causing damage to equipment and personnel. By retracting the side guard plate in time, the safe passage of the coal mining machine can be ensured.

[0064] Next, when the shearer continues to advance to a distance of 2 frames from the rear drum, the "frame shifting" operation begins. The hydraulic support is one of the important equipment in the coal mining face, used to support the coal wall and roof to ensure the stability of the working face. The frame shifting operation is to adjust the position of the hydraulic support to adapt to the advancement of the shearer to maintain the stability and safety of the working face.

[0065] When the coal mining machine advances to a distance of 8 frames from the rear drum, the step of "extending the side guard plate" begins. At this time, the coal mining machine has passed the area and re-extended the side guard plate to protect the newly exposed coal wall and prevent it from collapsing.

[0066] Then, the shearer enters the "straight section" working area, stops traction, and adjusts the position of the drum to adapt to different coal mining conditions. In the straight section, the shearer cuts coal at a constant speed and depth to ensure coal mining efficiency and coal quality.

[0067] After the straight section coal is cut, the hydraulic support will perform the "push to the end (end)" operation. Pushing means pushing the scraper conveyor forward a certain distance to clean and transport the newly cut coal. By pushing the scraper conveyor to the end or end of the working face, it can ensure that the coal is smoothly transported to the next link.

[0068] After that, the shearer is pulled back to cut the triangular coal towards the end (end). Triangular coal refers to the coal at the edge of the working face. Due to its irregular shape, it needs to be mined by a specific coal cutting method. When cutting triangular coal, the operator needs to pay special attention to adjusting the position and speed of the shearer's drum to ensure safety and efficiency.

[0069] After the shearer reaches the end (end), the traction is stopped again and the drum position is adjusted to adapt to the new working conditions. Then, the shearer is pulled to cut coal in the opposite direction (end or end) and the previous steps are repeated, including retracting the guard plate when it is 3 frames away from the front drum and moving the frame when it is 2 frames away from the rear drum.

[0070] When the shearer is 8 frames away from the rear drum, the guard plate is extended again to protect the newly exposed coal wall. Then, when the shearer is advanced to 15 frames away from the rear drum, the "scraper conveyor" is moved. At this time, the scraper conveyor has accumulated a certain amount of coal and needs to be pushed forward for a distance to continue to receive new coal. By moving the scraper conveyor, the continuous transportation and efficient use of coal can be ensured.

[0071] Finally, when the coal mining machine runs to the other end (end or end), the traction is stopped again, the roller position is adjusted, and the frame moving and pushing operations are stopped according to the distance requirements. At this point, a complete working cycle process ends, and the equipment enters the standby state, waiting for the next start command.

[0072] In the entire work cycle, the linkage of the "three machines" ensures the efficient, safe and continuous operation of coal mining. The coordinated operation between the coal mining machine, hydraulic support and scraper conveyor enables the entire system to quickly and accurately complete the mining and transportation tasks of coal resources, improving the efficiency and quality of coal mining.

[0073] Embodiment 3:

[0074] Embodiment 3 of the present invention discloses a coal mining automation control device using the coal mining automation control method described in Embodiment 1, comprising:

[0075] Optimal path operation ensuring module: used to solve the real-time movement trajectory of the coal mining machine based on the real-time movement posture and movement distance of the coal mining machine, and correct the position of the coal mining machine according to the real-time movement trajectory to ensure that the coal mining machine operates in the optimal path;

[0076] Coal mining machine traction speed adjustment module: used to determine the traction speed of the coal mining machine based on the nameplate capacity of the scraper conveyor, and further adjust the traction speed based on the follow-up speed of the hydraulic support;

[0077] Coal mining automation control module: Based on the corrected position information of the coal mining machine, automatic control is performed on the hydraulic support's retracting and guard plate removal, frame shifting, guard plate extension, sliding and scraper conveyor movement.

[0078] Embodiment 4:

[0079] Embodiment 4 of the present invention discloses an electronic device, including:

[0080] Memory for storing computer programs;

[0081] The processor is used to implement the steps of a coal mining automation control method described in Example 1 when executing a computer program.

[0082] Embodiment 5:

[0083] Embodiment 5 of the present invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a coal mining automation control method described in Embodiment 1 are implemented.

[0084] The embodiment of the present invention discloses a method, system, device and storage medium for automatic control of coal mining. By limiting the traction speed of the coal mining machine based on the nameplate capacity of the scraper conveyor and the follow-up speed of the hydraulic support, and based on the position of the coal mining machine and the traction direction, the automatic control of the hydraulic support for retracting the side guard plate, moving the frame, extending the side guard plate, pushing the slide and the pushing of the scraper conveyor is performed, so that the automatic coordinated control of the three machines of the underground coal mining machine, hydraulic support and scraper conveyor is realized, which effectively improves the coal mining efficiency and reduces the coal mining cost.

[0085] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0086] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A coal mining automation control method, characterized in that: include: Step 1: Based on the real-time motion posture and moving distance of the coal mining machine, the real-time moving trajectory of the coal mining machine is solved, and the posture of the coal mining machine is corrected according to the real-time moving trajectory to ensure that the coal mining machine operates in an optimal path; Step 2: Determine the traction speed of the coal mining machine based on the nameplate capacity of the scraper conveyor, and further adjust the traction speed based on the follow-up speed of the hydraulic support; Step 3: Based on the corrected position information of the coal mining machine, automatic control is performed on the hydraulic support's retracting of the side guard plates, shifting of the frame, extending of the side guard plates, pushing of the slide, and movement of the scraper conveyor.

2. A coal mining automation control method according to claim 1, characterized in that: The automated control process also includes: detecting abnormal points in the operating status data of the coal mining machine, hydraulic support and scraper conveyor, and using a machine learning model to issue fault warnings for the abnormal points.

3. A coal mining automation control method according to claim 1, characterized in that: Based on the nameplate capacity of the face conveyor, the shearer hauling speed is determined as follows: Among them, V c is the traction speed of the coal mining machine; Q m is the nameplate capacity of the scraper conveyor, in t / h; K g is the capacity reduction coefficient of the scraper conveyor; m is the average mining height of the working face; S is the cutting depth of the coal mining machine; γ is the coal body capacity; C is the working face recovery rate.

4. A coal mining automation control method according to claim 1, characterized in that: The traction speed is further adjusted based on the following speed of the hydraulic support as follows: Among them, V c V is the traction speed of the coal mining machine; z is the follow-up speed of the hydraulic support; n z is the number of hydraulic supports moving simultaneously; l is the center distance of the supports; t is the moving time.

5. The method for coal mining automation control according to claim 1, characterized in that: Based on the corrected position information of the coal mining machine, automatic control of the hydraulic support for retracting the side guard plate, moving the frame, extending the side guard plate, and pushing the slide is performed, specifically: The hydraulic support which is 3 frames away from the front drum of the coal mining machine is used to collect the side plates; The hydraulic support at a distance of 2 frames from the rear drum of the coal mining machine is moved; The hydraulic support at a distance of 8 frames from the rear drum of the coal mining machine is extended to protect the side plate; When entering the straight section, the traction of the coal mining machine is stopped, and the hydraulic support pushes the scraper conveyor to the end.

6. A coal mining automation control method according to claim 1, characterized in that: Based on the corrected position information of the coal mining machine, the automatic control of the movement of the scraper conveyor is carried out, specifically: After the coal mining machine runs from the end to the end, and then runs from the end to the end, when the coal mining machine is advanced to the point where the rear roller is 15 frames away from the end, the scraper conveyor is pushed forward.

7. A coal mining automation control method according to claim 6, characterized in that: After the coal mining machine runs from the end to the end, it also includes: cutting the triangular coal.

8. A coal mining automation control device using a coal mining automation control method according to any one of claims 1 to 7, characterized in that: include: Optimal path operation ensuring module: used to solve the real-time movement trajectory of the coal mining machine based on the real-time movement posture and movement distance of the coal mining machine, and correct the posture of the coal mining machine according to the real-time movement trajectory to ensure that the coal mining machine operates in the optimal path; Coal mining machine traction speed adjustment module: used to determine the traction speed of the coal mining machine based on the nameplate capacity of the scraper conveyor, and further adjust the traction speed based on the follow-up speed of the hydraulic support; Coal mining automation control module: Based on the corrected position information of the coal mining machine, automatic control is performed on the hydraulic support's retracting and guarding plate, frame shifting, guarding plate extension, sliding and scraper conveyor movement.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of a coal mining automation control method as described in any one of claims 1-7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a coal mining automation control method as described in any one of claims 1 to 7 are implemented.

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