Environmental cutting linkage control system and method for digging and anchoring all-in-one machine

Abstract

The invention belongs to the technical field of coal mine tunneling equipment control, and particularly relates to an environment cutting linkage control system and method for a tunneling and anchoring all-in-one machine. Comprising an environment sensing system which is used for collecting head-on working environment information of a driving face in real time; the upper computer interface is a human-computer interaction software carrier and is an industrial control computer or an integrated display; the controller is used for collecting environmental data, receiving set parameters of the upper computer interface, calculating a cutting linkage algorithm, controlling the action of the oil cylinder and sending control data to the upper computer interface; and the environment sensing base station is used for realizing communication between the environment sensing system and the controller as well as between the environment sensing system and the upper computer interface. According to the invention, the equipment failure rate is reduced, and the working environment of workers is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine excavation equipment control, and in particular is an environmental cutting linkage control system and method for an all-in-one excavator and anchor machine. Background Art

[0002] Coal mining excavation is the primary link and necessary step in coal mining. In recent years, with the development of intelligent coal mining technology, the requirements for intelligent coal mining have increased year by year. At present, the excavation face of coal mines has generally adopted a set of rapid excavation equipment with parallel operations of excavation, support and transportation. The excavation anchoring machine is the leading excavation equipment currently used. In addition to autonomous cutting, the intelligent cutting of the excavation anchoring machine also includes the linkage control of cutting with the environment, which is also one of the important contents of the intelligent construction of the excavation face. There are many types of equipment in the excavation face, and the operation process is complicated. In addition, the excavation face often has complex geological conditions and environments such as high methane, high water, and spalling. Therefore, it is of great significance to realize the linkage between the cutting of the excavation anchoring machine and the environment, which can improve the safety of coal mine excavation, reduce the equipment failure rate, and improve the level of intelligent excavation. In addition, there are many problems in the linkage cutting of the current excavation equipment, especially the excavation anchoring machine and the environment, which requires targeted design.

[0003] The anchoring machine is a full-face coal tunnel excavation equipment with complex application conditions. The cutting work of the anchoring machine is the main operation link of the excavation work. Its cutting work directly affects the coal mine excavation speed and coal output. The working environment faced by the anchoring machine is the head of the excavation working face. The head of the excavation working face has a harsh environment such as high methane, high water, and high dust concentration. The harsh environment is the main factor causing safety hazards in the excavation working face. Therefore, the speed and method of cutting work must be adjusted according to the environment to ensure efficient cutting efficiency and a safe working environment. However, the current anchoring machine cutting on the excavation working face often ignores environmental conditions and performs cutting operations according to conventional operating habits and fixed speeds. This leads to a high failure rate of the cutting motor and loading motor of the anchoring machine and a great danger in the working environment. With the development of intelligent excavation technology in coal mines, automatic cutting has gradually become a standard configuration of the anchoring machine, and the environmental monitoring parameters are provided to the anchoring machine controller. Therefore, the linkage with the environment in the automatic cutting process has the conditions for implementation, and has become an indispensable link for autonomous cutting. Therefore, the development of an environmental linkage cutting control system for the anchoring and digging machine is a prerequisite for the autonomous cutting of the anchoring and digging machine, and is also a prerequisite for the rapid and efficient excavation of the excavation face. The corresponding environmental cutting linkage control method for the anchoring and digging machine is a new operating process and specification that is different from traditional coal mine excavation work. The environmental cutting linkage control system for the anchoring and digging machine needs to be equipped with complete information prompts and feedback, have reasonable control logic procedures, and be based on intelligent perception systems and network communication systems. It includes the design work of both hardware systems and software systems, has adaptive characteristics, and needs to fully consider the safety working mechanism. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an environmental cutting linkage control system and method for an integrated anchoring and digging machine.

[0005] The present invention adopts the following technical scheme: an environmental cutting linkage control system of an integrated digging and anchoring machine, comprising: An environmental perception system, which is used to collect real-time working environment information of the excavation working face; Host computer interface, which is a human-computer interaction software carrier and is an industrial control computer or an integrated display; A controller, which is used to collect environmental data, receive setting parameters of the host computer interface, calculate the cutting linkage algorithm, control the action of the cylinder, and send control data to the host computer interface; The environment sensing base station is used to enable the environment sensing system to communicate with the controller and the host computer interface.

[0006] In some embodiments, the environment sensing system includes: A mining dust concentration sensor, which is used to sense the dust concentration at the excavation working face; A mine methane sensor, which is used to sense the methane concentration at the excavation working face; A mine humidity and temperature sensor is used to sense the humidity and temperature of an excavation working face.

[0007] In some embodiments, the ModbusRTU communication protocol is used between the environmental sensor and the environmental sensing base station, and the 485 serial port communication electrical connection method is used.

[0008] In some embodiments, ModbusTCP communication is used between the environmental sensing base station and the controller to realize the transmission of real-time sensing data of dust concentration, methane concentration, humidity and temperature at the excavation working face, and the controller uses this data as input to adjust the cutting speed; the environmental sensing base station and the host computer interface use ModbusTCP communication to transmit the received environmental sensing information to the host computer interface; the host computer interface and the integrated mining and anchoring machine controller use traditional Ethernet communication method of TCP, the integrated mining and anchoring machine passes the adjustment parameters to the host computer interface for display, and the host computer interface transmits the set adjustment parameter information to the local controller of the integrated mining and anchoring machine.

[0009] A control method based on the environmental cutting linkage control system of the anchoring and digging machine includes: S100: Set environmental cutting linkage parameters on the host computer interface, including the safety setting values ​​of methane concentration, temperature and humidity G max , T max , H max , minimum adjustment value G min , T min , H min , constant cutting fast value V0, constant cutting medium speed value V 0m , the weighted values ​​k1, k2, k3, k4 of the cutting speed of each environment linkage, and whether to enable the data storage function; S200: Environmental perception system collects data; S300: Calculate the cutting speed adjustment value, take the collected environmental sensor data in real time as input, obtain the environmental linkage cutting relationship model according to the environmental parameters and the cutting speed linkage curve, and then calculate the weighted linkage cutting speed value; S400: performing self-tuning adjustment of the cutting speed according to the cutting speed adjustment value obtained in S300; S500: Execute cutting speed output.

[0010] In some embodiments, step S300 includes: S301: Calculate the cutting speed V1 according to the dust concentration D; ; Where V0 is the constant cutting fast value, V 0m It is the constant cutting medium speed value.

[0011] S302: Calculating a cutting speed V2 according to the methane concentration G; ; In the formula, G max is the safe setting value of methane concentration, G min为 The lowest adjustment value, V0 is the constant cutting fast value.

[0012] S303: Calculate the cutting speed V3 according to the temperature T; ; Where, T max is the safe set value of temperature, T min is the lowest adjustment value, V0 is the constant cutting fast value S304: Calculating a cutting speed V4 according to the humidity H; ; In the formula, H max is the safe setting value of temperature, H min is the lowest adjustment value, and V0 is the constant cutting fast value.

[0013] S305: Substitute the obtained speeds V1, V2, V3, and V4 into the following formula to calculate the final linked cutting speed V: ; k1, k2, k3, and k4 are the adjustment weights of dust concentration, methane concentration, humidity, and temperature, respectively.

[0014] In some embodiments, step S400 includes: S401: Determine the maximum and minimum values ​​of the PID output; S402: giving a commonly used setting value; S403: When the measured value is smaller than the set value, the maximum value is output; when the measured value is larger than the set value, the minimum value is output; in this way, after three cycles, an oscillation waveform of the measured output speed value is obtained; from this oscillation waveform, the characteristic parameters of the system are extracted, thereby obtaining the required PID parameters; S404: Extract characteristic parameters of the system; the characteristic parameters of the relay setting method include the period T of the measured value oscillation waveform u , the amplitude A of the measured value oscillation waveform and the amplitude d of the output value; based on this, the critical oscillation period T is calculated u, using the formula Calculate the critical gain K c ;Then determine the PID parameters. In some embodiments, step S500 includes: S501: Calculate the electromagnetic valve current signal I corresponding to the cutting speed according to the cutting speed V: Where, I0 is the current signal corresponding to the constant cut-off fast value V0; S502: Outputting the solenoid valve current signal I obtained in step S501 to the solenoid valve to achieve speed adjustment of the cutting lifting cylinder and the cutting telescopic cylinder.

[0015] In some embodiments, in step S100, the safety setting values ​​of methane concentration, temperature, and humidity are set to G max =0.8%, T max =28℃、H max =60%.

[0016] In some embodiments, in step S100, the minimum adjustment values ​​of methane concentration, temperature, and humidity are set to G min 0.5%-0.8%, T min 24℃-28℃, H min It is 50%-60%.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The environmental cutting linkage control system and method of the anchoring machine provided by the present invention is different from the environmental linkage of the anchoring machine in the current underground excavation working face, which only considers a single environmental factor such as methane. It fully considers multiple key environmental factors such as methane, dust, temperature, and humidity, and can perform subjective and reasonable weight adjustment; it is different from the simple start-stop environmental linkage cutting control of the current coal mine underground excavation working face, and it performs segmented adjustment and fusion with various forms of relationship curves; it is different from the current coal mine underground excavation working face, which only outputs instructions and does not pay attention to the adjustment effect, and adds self-tuning of the cutting cylinder speed adjustment, in order to achieve the ideal adjustment effect. In addition, the environmental linkage cutting linkage system has multiple communication methods, an intelligent upper computer interface, a safety threshold adjustment function, and strong fault tolerance. The environmental linkage cutting control system and method of the anchoring and digging machine are prerequisites for the anchoring and digging machine to realize automated cutting operations, and are an indispensable collaborative control link for intelligent rapid tunneling equipment in coal mines. They help to reduce equipment failure rates and improve the working environment of workers. The environmental linkage cutting control system and method of the anchoring and digging machine can be applied to a variety of geological conditions and a variety of supporting rapid tunneling equipment sets, and have reference significance and value for other collaborative control functions among rapid tunneling equipment sets in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of an environmental cutting linkage control system of an integrated anchoring and digging machine; Figure 2 A curve diagram showing the linkage relationship between dust concentration and cutting speed of an integrated anchoring and digging machine; Figure 3 A curve diagram showing the linkage relationship between methane concentration and cutting speed of a drilling and anchoring machine; Figure 4 A curve diagram showing the linkage relationship between the temperature and cutting speed of an integrated anchoring and digging machine; Figure 5 A curve diagram showing the linkage relationship between humidity and cutting speed of an integrated anchoring and digging machine; Figure 6 It is a communication structure diagram of an environmental cutting linkage control system of an integrated anchoring and digging machine; Figure 7 The present invention is a flow chart of an environmental cutting linkage control method for an integrated anchoring and digging machine. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] An environmental cutting linkage control system for an integrated anchoring and digging machine includes a hardware system and a software system. The hardware system includes an environmental sensing system, an environmental sensing base station, a controller, an upper computer interface, a proportional solenoid valve, a cutting lifting cylinder, and a cutting telescopic cylinder; the software system includes environmental cutting linkage lower computer software, environmental cutting linkage communication software, and environmental cutting linkage human-computer interaction software. The system structure diagram is shown in the figure below. Figure 1 shown.

[0021] The environment perception system in the hardware system collects real-time working environment information of the tunneling face, including mining dust concentration sensors, mining methane sensors and mining humidity and temperature sensors. The mining dust concentration sensor can sense the dust concentration of the tunneling face, the mining methane sensor can sense the methane concentration of the tunneling face, and the mining humidity and temperature sensor can sense the humidity and temperature of the tunneling face.

[0022] The environmental perception base station uses a wired physical connection to realize the communication between the environmental perception system and the drilling and anchoring machine controller and the host computer interface. The base station processes the data of each sensor in a unified manner and forwards the perception data through the Ethernet communication protocol. The protocol content uniformly defines and converts the data of each sensor.

[0023] The controller refers to the integrated drilling and anchoring machine controller, which is responsible for collecting environmental data, receiving setting parameters of the host computer interface, calculating the cutting linkage algorithm, controlling the movement of the cylinder, and sending control data to the host computer interface.

[0024] The host computer interface is the carrier of human-computer interaction software, which is an industrial control computer or an integrated display. The host computer interface must have a network interface to achieve large-capacity and high-speed data storage and high-resolution three-dimensional image linkage.

[0025] The environment-cutting linkage lower-level software in the software system is an algorithm software that controls the cutting speed by the integrated miner and anchor machine controller according to the feedback of environmental perception information. That is, after obtaining environmental perception data, the integrated miner and anchor machine performs adaptive regulation of the cutting speed according to the real-time environmental perception information, and the control target is that the environmental perception data is within the safe range required by production. Specifically, there are two adjustment methods, one is adaptive start-stop adjustment, which is mainly for linkage outside the safe setting value range of methane and wet temperature; the other is adaptive linear adjustment, which is mainly for the linkage of dust concentration, methane concentration, humidity and temperature within the safe setting value range.

[0026] The adaptive start-stop switch quantity adjustment is to control the cutting motor to stop running, the cutting lifting cylinder and the cutting telescopic cylinder to stop when the methane concentration, humidity and temperature exceed the safety setting value; when the methane concentration, temperature and humidity exceed the safety setting value, the whole machine is dangerous to operate with electricity, so the start-stop switch quantity adjustment method of the cutting speed and the environment is realized by controlling the power supply of the anchor drilling machine. The safety setting value of methane concentration, temperature and humidity is set to G max , T max , H max , the reference values ​​are 0.8%, 28℃, and 60%; the safety setting value is generally determined according to the production conditions of the mine, and can be set and adjusted on the host computer interface. The linkage relationship between dust concentration and cutting operation in adaptive linear adjustment is as follows Figure 2 As shown in the segmented fitting curve, the dust concentration directly reflects the safety of the working environment and the amount of coal transported. It is the main factor affecting the failure rate of the anchor and digging machine. However, the dust concentration will not directly cause fatal harm to people. The overall trend is that the greater the dust concentration, the slower the cutting speed. When the dust concentration change rate accelerates, the cutting speed adjustment rate also accelerates. The cutting speed adjustment mainly refers to the speed of the cutting lifting cylinder and the speed of the cutting telescopic cylinder.

[0027] The linkage of methane concentration, temperature, humidity and cutting speed in adaptive linear regulation is as follows: Figure 3The segmented curve shown is used for adjustment. It should be noted that the cutting speed of methane concentration, temperature and humidity is linearly adjusted only within the range of the minimum adjustment value and the safety setting value. Otherwise, constant speed control is adopted. When the value is lower than the minimum adjustment value, the constant cutting fast value V0 is used for cutting. When the value is higher than the safety setting value, the cutting speed is 0. The minimum adjustment value of methane concentration, temperature and humidity is specified as G min , T min , H min The reference value of the adjustment range of methane concentration is 0.5%-0.8%; the reference value of the adjustment range of temperature is 24℃-28℃; the safe range of humidity is 50%-60%. The minimum adjustment value is generally determined according to the production conditions of the mine and can be set and adjusted on the upper computer interface.

[0028] The adjustment of cutting speed includes the adjustment of cutting lifting cylinder speed and cutting telescopic cylinder speed. In the adaptive linear adjustment, the influence of dust concentration, methane concentration, humidity and temperature on cutting speed is determined by weighted value. The weighted value is generally determined according to the production conditions of the mine and can be set on the upper computer interface. The cutting speed values ​​obtained from the four curves are calculated by weighted average to obtain the real-time adjusted cutting speed value V. The calculation formula is as follows: (1) Where V1, V2, V3, and V4 are the real-time adjustment values ​​of the cutting speed calculated from dust concentration, methane concentration, humidity, and temperature, respectively; k1, k2, k3, and k4 are the adjustment weights of dust concentration, methane concentration, humidity, and temperature, respectively. In general, k 2> k1>k3>k4. In the actual cutting process, methane poses the greatest safety hazard. The weighted average value is multiplied by the cutting speed associated with the methane concentration, and then the square root is calculated as the final environmental cutting linkage speed value.

[0029] The environmental linkage cutting communication software includes the communication software between the environmental sensor and the environmental perception base station, the communication software between the environmental perception base station and the integrated digging and anchoring machine controller, the communication software between the environmental perception base station and the host computer interface, and the communication software between the host computer interface and the integrated digging and anchoring machine controller. Environmental sensors and environmental sensing base stations are all implemented using the ModbusRTU communication protocol and the 485 serial communication electrical connection method; the ModbusTCP communication method is used between the environmental sensing base station and the integrated digging and anchoring machine controller to realize the transmission of real-time sensing data of dust concentration, methane concentration, humidity and temperature at the head of the excavation working face. The integrated digging and anchoring machine controller uses this data as input to realize adaptive start-stop switch quantity adjustment and adaptive linear adjustment of the cutting speed; the environmental sensing base station and the host computer interface use ModbusTCP communication to transmit the received environmental sensing information to the host computer interface; the host computer interface and the integrated digging and anchoring machine controller use the traditional Ethernet communication method of TCP. The integrated digging and anchoring machine transmits the adjustment parameters to the host computer interface for display, and the host computer interface transmits the set adjustment parameter information to the local controller of the integrated digging and anchoring machine. The specific setting parameters include two parts: the safe setting values ​​of methane concentration, humidity and temperature in the start-stop switch quantity control, the minimum adjustment value, and the adjustment weighted values ​​of each environmental parameter and the cutting speed. The environmental cutting linkage communication system is as follows: Figure 4 shown.

[0030] The human-computer interaction software for environmental cutting linkage includes environmental cutting linkage 3D mapping software, environmental cutting linkage parameter setting software, and environmental cutting linkage database software. The environmental cutting linkage 3D mapping software includes the mapping body of the anchoring and digging machine and the mapping body of the environmental perception system. The mapping body of the anchoring and digging machine mainly reflects the actions and frequencies of the cutting part, the loading part, and the transportation part. The environmental perception mapping body mainly reflects the environmental information, and simulates the real dust concentration, methane concentration, humidity, and temperature underground through 3D animation, and can realize over-limit alarm animation and voice output; the environmental cutting linkage parameter setting software can set the safe setting value, minimum adjustment value, and weighted value of the cutting speed of each environmental linkage for methane concentration, humidity, and temperature, enable the storage function, and output the relationship curve online; the environmental cutting linkage database software realizes the collection and storage of sensor data, cutting lifting cylinder speed data, cutting telescopic cylinder speed data, cutting motor data, cutting height, and cutting depth data during the environmental linkage cutting process, and can store 3 months of data.

[0031] A method for controlling the environmental cutting linkage of an integrated anchoring and digging machine comprises the following steps.

[0032] S100~Environmental cutting linkage parameter setting. Set the environmental cutting linkage parameters on the host computer interface, including the safety setting values ​​of methane concentration, temperature, and humidity. max , T max , H max , minimum adjustment value Gmin , T min , H min , constant cutting fast value V0, constant cutting medium speed value V 0m , the weighted values ​​of the cutting speed k1, k2, k3, k4 of each environment linkage, and whether to enable the data storage function. After the parameters are set, the parameters are sent to the controller of the anchor drilling machine through the TCP Ethernet protocol.

[0033] S200~Environmental sensor data collection. Use wired connections between environmental sensors and environmental sensing base stations, environmental sensing base stations and integrated mining and anchoring machine controllers, and environmental sensing base stations and host computer interfaces. Environmental data is collected and distributed by the environmental sensing base stations. The collection frequency is 100ms / time.

[0034] S300~ Calculation of cutting speed adjustment value. The collected environmental sensor data is used as input in real time, and the linkage cutting relationship model of each environment is obtained according to the linkage curve between each environmental parameter and the cutting speed. Then, the weighted linkage cutting speed value is calculated by calculation formula 1. The calculation of cutting speed adjustment value is completed in the local controller of the anchoring machine. After the calculation is completed, the calculated speed value is passed to the upper computer interface for display. The linkage relationship formula of each environment is as follows: The adjustment relationship between dust concentration D and cutting speed V1 is: (2) The regulating relationship between methane concentration G and cutting speed V2 is: (3) The adjustment relationship between temperature T and cutting speed V3 is: (4) The relationship between humidity H and cutting speed adjustment V4 is: (5) Among them, the slopes of methane concentration, temperature, humidity and cutting speed slow down in turn, that is, (6) Substituting the obtained speeds V1, V2, V3, and V4 into formula 1, the final linked cutting speed V can be calculated.

[0035] S400~Self-tuning adjustment of cutting speed. In the actual speed control process of the anchor drilling machine, after the cutting speed is converted into a current signal output, the speed cannot be adjusted immediately due to the hysteresis characteristics of the hydraulic system. It is necessary to consider the lag time to adjust the control time of the output speed; in addition, when the environment changes drastically and the safety setting value and the minimum adjustment value are set unreasonably, adjustment jitter is prone to occur. To address the above problems, the self-tuning PID algorithm is used to achieve anti-shake adjustment and timely response of the cutting speed, so as to achieve ideal environmental linkage cutting.

[0036] Step S400 includes: S401: Determine the maximum and minimum values ​​of the PID output; in this example, the PID output is the cutting output speed of the anchoring and digging machine, and the maximum output speed analog control value is determined to be 30000, and the minimum output speed analog control value is determined to be 1000.

[0037] S402: Give a commonly used setting value; select the medium output speed analog control value 15000 as the commonly used setting value.

[0038] S403: When the measured value is smaller than the set value, the maximum value is output; when the measured value is larger than the set value, the minimum value is output; in this way, after three cycles, the oscillation waveform of the measured output speed value is obtained; from this oscillation waveform, the characteristic parameters of the system are extracted to obtain the required PID parameters; in this system, first we set the output speed analog control value to 30000, always detect the environmental parameter value, and when the measured value is greater than the set safety value of each environmental parameter, the output speed analog control value is immediately switched to 1000. Continue to detect the measured value, when the measured value is less than the lowest adjustment value of each environmental parameter, we immediately switch the speed analog control value to 30000. In this way, after at least three cycles, we can get an oscillation waveform of the environmental parameter measurement value.

[0039] S404: Extract characteristic parameters of the system; the characteristic parameters of the relay setting method include the period T of the measured value oscillation waveform u , the amplitude A of the measured value oscillation waveform and the amplitude d of the output value; based on this, the critical oscillation period T is calculated u , using the formula Calculate the critical gain K c ; Then the PID parameters are determined according to the Ziegle-Nichols algorithm.

[0040] S500~cutting speed output execution. The cutting speed of the anchoring and digging machine refers to the action speed of the cutting lifting cylinder and the cutting telescopic cylinder. The speed of the cutting lifting cylinder and the cutting telescopic cylinder is achieved by controlling the oil flow of the proportional solenoid valve, and the oil flow of the proportional valve is controlled by the current signal of the solenoid valve. The current signal size I corresponding to the cutting speed is obtained by the following relationship: Where I0 is the current signal corresponding to the constant cutting fast value V0. The current signal is output by the corresponding analog control module to the solenoid valve to realize the control execution of the cutting speed.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An environmental cutting linkage control system for an integrated anchoring and digging machine, characterized in that: include: An environmental perception system, which is used to collect real-time working environment information of the excavation working face; Host computer interface, which is a human-computer interaction software carrier and is an industrial control computer or an integrated display; A controller, which is used to collect environmental data, receive setting parameters of the host computer interface, calculate the cutting linkage algorithm, control the action of the cylinder, and send control data to the host computer interface; The environment sensing base station is used to enable the environment sensing system to communicate with the controller and the host computer interface.

2. The environmental cutting linkage control system of the anchoring and digging machine according to claim 1 is characterized in that: The environment perception system comprises: A mining dust concentration sensor, which is used to sense the dust concentration at the excavation working face; A mine methane sensor, which is used to sense the methane concentration at the excavation working face; A mine humidity and temperature sensor is used to sense the humidity and temperature of an excavation working face.

3. The environmental cutting linkage control system of the anchoring and digging machine according to claim 2 is characterized in that: The environment sensor and the environment perception base station are implemented using the ModbusRTU communication protocol and a 485 serial port communication electrical connection method.

4. The environmental cutting linkage control system of the anchoring and digging machine according to claim 2 is characterized in that: The ModbusTCP communication method is used between the environmental perception base station and the controller to realize the transmission of real-time perception data of dust concentration, methane concentration, humidity and temperature at the excavation working face. The controller uses this data as input to adjust the cutting speed; the environmental perception base station and the host computer interface use ModbusTCP communication to transmit the received environmental perception information to the host computer interface; the host computer interface and the integrated mining and anchoring machine controller use the traditional Ethernet communication method of TCP. The integrated mining and anchoring machine transmits the adjustment parameters to the host computer interface for display, and the host computer interface transmits the set adjustment parameter information to the local controller of the integrated mining and anchoring machine.

5. A control method for the environmental cutting linkage control system of the anchoring and digging machine according to any one of claims 2 to 4, characterized in that: S100: Set environmental cutting linkage parameters on the host computer interface, including the safety setting values ​​of methane concentration, temperature and humidity G max 、T max , H max , minimum adjustment value G min 、T min , H min , constant cutting fast value V0, constant cutting medium speed value V 0m , the weighted values ​​k1, k2, k3, k4 of the cutting speed of each environment linkage, and whether to enable the data storage function; S200: Environmental perception system collects data; S300: Calculate the cutting speed adjustment value, take the collected environmental sensor data in real time as input, obtain the environmental linkage cutting relationship model according to the environmental parameters and the cutting speed linkage curve, and then calculate the weighted linkage cutting speed value; S400: performing self-tuning adjustment of the cutting speed according to the cutting speed adjustment value obtained in S300; S500: Execute cutting speed output.

6. The control method of the environmental cutting linkage control system of the anchoring and digging machine according to claim 5 is characterized by: The step S300 includes: S301: Calculate the cutting speed V1 according to the dust concentration D; ； Where V0 is the constant cutting fast value, V 0m It is the constant cutting medium speed value. S302: Calculating a cutting speed V2 according to the methane concentration G; ； In the formula, G max is the safe setting value of methane concentration, G min为 The lowest adjustment value, V0 is the constant cutting fast value. S303: Calculate the cutting speed V3 according to the temperature T; ； Where, T max is the safe set value of temperature, T min is the lowest adjustment value, V0 is the constant cutting fast value S304: Calculating a cutting speed V4 according to the humidity H; ； In the formula, H max is the safe setting value of temperature, H min is the lowest adjustment value, and V0 is the constant cutting fast value. S305: Substitute the obtained speeds V1, V2, V3, and V4 into the following formula to calculate the final linked cutting speed V: ； k1, k2, k3, and k4 are the adjustment weights of dust concentration, methane concentration, humidity, and temperature, respectively.

7. The control method of the environmental cutting linkage control system of the anchoring and digging machine according to claim 5 is characterized by: The step S400 includes: S401: Determine the maximum and minimum values ​​of the PID output; S402: giving a commonly used setting value; S403: When the measured value is smaller than the set value, the maximum value is output; when the measured value is larger than the set value, the minimum value is output; in this way, after three cycles, an oscillation waveform of the measured output speed value is obtained; from this oscillation waveform, the characteristic parameters of the system are extracted, thereby obtaining the required PID parameters; S404: Extract characteristic parameters of the system; the characteristic parameters of the relay setting method include the period T of the measured value oscillation waveform u , the amplitude A of the measured value oscillation waveform and the amplitude d of the output value; based on this, the critical oscillation period T is calculated u , using the formula Calculate the critical gain K c ;Then determine the PID parameters.

8. The control method of the environmental cutting linkage control system of the anchoring and digging machine according to claim 5 is characterized by: The step S500 includes: S501: Calculate the electromagnetic valve current signal I corresponding to the cutting speed according to the cutting speed V: Where, I0 is the current signal corresponding to the constant cut-off fast value V0; S502: Outputting the solenoid valve current signal I obtained in step S501 to the solenoid valve to achieve speed adjustment of the cutting lifting cylinder and the cutting telescopic cylinder.

9. The control method of the environmental cutting linkage control system of the anchoring and digging machine according to claim 5, characterized in that: In step S100, the safety setting values ​​of methane concentration, temperature and humidity are set to G max =0.8%, T max =28℃、H max =60%.

10. The control method of the environmental cutting linkage control system of the anchoring and digging machine according to claim 5, characterized in that: In step S100, the minimum adjustment values ​​of methane concentration, temperature and humidity are set to G min 0.5%-0.8%, T min 24℃-28℃, H min It is 50%-60%.

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