Coal cutter coal cutting speed control system and method based on comprehensive detection signal

Abstract

The invention belongs to the technical field of coal mining, and particularly relates to a coal cutter coal cutting speed control system and method based on a comprehensive detection signal, and the method comprises the steps: arranging sensor modules at an air inlet crossheading, a working face support, a coal cutter, a working face upper corner and an air return crossheading; acquiring sensing data of each sensor module in real time, and judging whether the walking speed and the cutting speed of the coal mining machine need to be changed or not; when the walking speed and the cutting speed of the coal mining machine need to be reduced, sensing data of all the sensor modules are input into the first machine learning module in real time, the cutting speed and the walking speed value are output through the second machine learning module, and when the walking speed and the cutting speed of the coal mining machine need to be increased, the second machine learning module outputs the cutting speed value and the walking speed value. And sensing data of each sensor module are input into a second machine learning module in real time, and cutting speed and walking speed values are output through the second machine learning module. The control precision of the walking speed and the cutting speed of the coal mining machine is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mining, and in particular relates to a coal cutting speed control system and method of a coal mining machine based on comprehensive detection signals. Background Art

[0002] The four major disasters that affect coal mine safety production are water, fire, gas, coal dust, and roof disasters. On the one hand, gas and coal dust affect underground production efficiency, and on the other hand, they seriously threaten the safety of workers. With the informatization and intelligent construction of coal mines, production automation control is the development direction of coal mine production. At present, the automation and intelligence of coal mining machines are relatively low, especially in mines with large gas and coal dust, which seriously affects production efficiency and worker health. In the production process of high-gas mines, as the coal cutting speed of the coal mining machine increases, a large amount of gas is released, and the accumulation of gas in the return air chute and upper corner often causes gas concentration to exceed the limit, or even gas power outages; a large amount of coal dust is generated in the process of crushing the coal body, causing coal dust to exceed the standard, and even causing coal dust explosions. At present, on the one hand, the gas and coal dust generated by the working face can be discharged by strengthening ventilation, and on the other hand, the gas release and coal dust generation can be controlled by controlling the coal cutting speed of the coal mining machine from the source.

[0003] Invention patent CN 103967489 B discloses an intelligent control device and method for safe coal cutting of a coal mining machine, which mainly controls the cutting speed of the coal mining machine by detecting signals from sensors installed on the rocker arm of the coal mining machine, can monitor the gas generated in production in real time, and control the walking speed and coal cutting speed of the coal mining machine to achieve the purpose of controlling gas release. However, in the actual production process of high-gas mines, the places with higher gas concentrations are located in the upper corners of the working face and the return air lane. Invention patent CN103967489 B does not fully consider the influence of the gas concentration and other factors of the working face, so its control of the coal cutting speed of the coal mining machine is not accurate enough. Summary of the invention

[0004] The purpose of the present invention is to solve the above technical problems and provide a method for controlling the walking and coal cutting speed of a coal mining machine by monitoring signals such as gas and coal dust at the working face.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a method for controlling the coal cutting speed of a coal mining machine based on a comprehensive detection signal, comprising the following steps: Step 1: Sensor modules are installed at the air inlet chute, working face support, coal mining machine, working face corner and return air chute; Step 2: Acquire the sensor data of each sensor module in real time to determine whether the walking speed and cutting speed of the coal mining machine need to be changed: when the gas concentration value and dust value measured by any sensor module exceed the set first warning value, it is determined that the walking speed and cutting speed of the coal mining machine need to be reduced; when the gas concentration value and dust value measured by all sensor modules are lower than the set second warning value, it is determined that the walking speed and cutting speed of the coal mining machine need to be increased; Step 3: When the walking speed and cutting speed of the coal mining machine need to be reduced, the sensor data of each sensor module is input into the first machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module. When the walking speed and cutting speed of the coal mining machine need to be increased, the sensor data of each sensor module is input into the second machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module.

[0006] The sensor module includes a methane sensor, a gas outflow pressure sensor, a dust sensor, a carbon monoxide sensor, and a temperature sensor.

[0007] The sensor module on the coal mining machine is arranged on the rocker arm of the coal mining machine.

[0008] In addition, the present invention also provides a coal cutting speed control system for a coal mining machine based on a comprehensive detection signal, comprising: A plurality of sensor modules are respectively arranged at the air inlet chute, the working face support, the coal mining machine, the working face corner and the return air chute to collect gas concentration and dust values; Data acquisition module: used to collect the sensor data output by the multiple sensor modules and send them to the cloud and PC; The PC side is used to output the cutting speed and travel speed values ​​of the coal mining machine according to the sensor data of each sensor module and send them to the PLC controller; The PLC controller is used to output control signals to control the coal mining machine's travel device according to the cutting speed and travel speed values ​​output by the PC terminal.

[0009] The sensor module includes a methane sensor, a gas outflow pressure sensor, a dust sensor, a carbon monoxide sensor, and a temperature sensor.

[0010] The PC terminal is provided with a machine learning module, and the machine learning module is used to output cutting speed and walking speed values ​​according to the real-time sensing data of each sensor module.

[0011] The specific method of outputting the cutting speed and walking speed values ​​of the coal mining machine on the PC side is: acquiring the sensor data of each sensor module in real time, and judging whether the walking speed and cutting speed of the coal mining machine need to be changed: when the gas concentration value and dust value measured by any sensor module exceed the set first warning value, it is judged that the walking speed and cutting speed of the coal mining machine need to be reduced; when the gas concentration value and dust value measured by all sensor modules are lower than the set second warning value, it is judged that the walking speed and cutting speed of the coal mining machine need to be increased; When the walking speed and cutting speed of the coal mining machine need to be reduced, the sensor data of each sensor module is input into the first machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module. When the walking speed and cutting speed of the coal mining machine need to be increased, the sensor data of each sensor module is input into the second machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module.

[0012] The coal cutting speed control system of a coal mining machine based on a comprehensive detection signal also includes a cloud. The data acquisition module is connected to the coal mining machine walker and is also used to send the coal mining machine walking data to the cloud in real time. The cloud is provided with a database for storing historical working conditions. The PC is also used to obtain historical sensor data and walking data from the cloud to train the first machine learning module and the second machine learning module.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention monitors signals such as gas and coal dust concentration in real time by means of sensors arranged on the air intake tunnel, the working face support, the upper corner, the return air tunnel and the coal mining machine, and transmits the signals to the coal mining machine control box through the data processor, thereby achieving control over the travel speed and coal cutting speed of the coal mining machine; moreover, the present invention introduces a machine learning module to first determine whether the cutting speed needs to be adjusted, and according to the adjustment trend, uses different machine learning modules to predict the speed value, so as to achieve intelligent and precise control over the travel and coal cutting speed of the coal mining machine, slow down the release rate of gas during coal cutting, avoid accidents of excessive gas concentration and excessive coal dust on the working face, and provide a guarantee for safe and efficient mining of mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic flow chart of a method for controlling the coal cutting speed of a coal mining machine based on a comprehensive detection signal provided in the first embodiment of the present invention; Figure 2 This is a schematic diagram of the installation of the sensor module in the first embodiment of the present invention; Figure 3 A structural schematic diagram of a method for controlling the coal cutting speed of a coal mining machine based on comprehensive detection signals provided in Embodiment 2 of the present invention.

[0015] In the figure: 1—working face hydraulic support; 2—scraper conveyor; 3—coal mining machine; 4—drum. DETAILED DESCRIPTION

[0016] 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.

[0017] Embodiment 1 like Figure 1 As shown, the first embodiment of the present invention provides a method for controlling the coal cutting speed of a coal mining machine based on a comprehensive detection signal, comprising the following steps: Step 1: Sensor modules are installed at the air inlet chute, working face support, coal mining machine, working face corner and return air chute. Figure 2 shown.

[0018] Specifically, in this embodiment, the sensor module includes methane sensors, gas outflow pressure sensors, dust sensors, carbon monoxide sensors, temperature sensors and other sensors that affect the production safety of the coal mining face. The arrangement positions are mainly in the air inlet chute, the working face support, the coal mining machine, the upper corner and the return air chute. The onboard sensor is arranged on the coal cutting rocker arm of the coal mining machine, the working face sensor is arranged on several supports of the working face, the upper corner sensor is arranged at the upper corner position of the working face, and the return air lane sensor is arranged in the return air lane. Each sensor is respectively connected to a data processor, and the data processor is connected to the coal mining machine control box; the coal mining machine control box is a component on the coal mining machine, which can control various actions of the coal mining machine.

[0019] Step 2: Acquire the sensor data of each sensor module in real time to determine whether the walking speed and cutting speed of the coal mining machine need to be changed: when the gas concentration value and dust value measured by any sensor module exceed the set first warning value, it is determined that the walking speed and cutting speed of the coal mining machine need to be reduced; when the gas concentration value and dust value measured by all sensor modules are lower than the set second warning value, it is determined that the walking speed and cutting speed of the coal mining machine need to be increased.

[0020] Among them, the first warning value is greater than the second warning value. The first warning value is the upper safety threshold of the gas concentration value and the dust value. If it exceeds the upper safety threshold, it means that the cutting and walking speed needs to be reduced. The second warning value is the lower safety threshold of the gas concentration value and the dust value. If it is lower than the lower safety threshold, it indicates that the current environmental gas concentration value and dust value are at an extremely low level and the mining speed is too low.

[0021] Step 3: When the walking speed and cutting speed of the coal mining machine need to be reduced, the sensor data of each sensor module is input into the first machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module. When the walking speed and cutting speed of the coal mining machine need to be increased, the sensor data of each sensor module is input into the second machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module.

[0022] In this embodiment, through two separately trained machine learning modules, monitoring signals such as gas or coal dust are analyzed, processed and classified, which can not only match different coal mining machine travel or coal cutting speeds for gas or coal dust in different concentration ranges, but also, based on the changing trend of the cutting speed, the machine learning models are trained separately to realize the separate prediction of the cutting speed and travel speed when the values ​​increase and decrease, which can greatly improve the prediction accuracy of the machine learning module, realize the intelligent and precise control of the coal mining machine travel and coal cutting speeds, and provide guarantee for efficient and safe production.

[0023] Embodiment 2 like Figure 3 As shown, the second embodiment of the present invention provides a coal cutting speed control system for a coal mining machine based on comprehensive detection signals, including: multiple sensor modules, a data acquisition module, a PC terminal and a PLC controller.

[0024] Among them, the multiple sensor modules are respectively arranged at the air inlet chute, working face support, coal mining machine, upper corner of the working face and return air chute, and are used to collect gas concentration and dust values ​​at various positions.

[0025] The sensor module includes a methane sensor and a dust sensor. In addition, the sensor module may also include a gas outburst pressure sensor, a carbon monoxide sensor, a temperature sensor and other sensors for measuring parameters that affect the production safety of the coal mining face.

[0026] The data acquisition module is used to collect the sensor data output by the multiple sensor modules and send it to the cloud and PC. The PC is used to output the cutting speed and travel speed values ​​of the coal mining machine according to the sensor data of each sensor module and send them to the PLC controller; the PLC controller outputs a control signal to control the coal mining machine travel device according to the cutting speed and travel speed values ​​output by the PC.

[0027] Specifically, in this embodiment, a machine learning module is provided in the PC, and the machine learning module is used to output cutting speed and walking speed values ​​according to real-time sensing data of each sensor module.

[0028] Specifically, in this embodiment, the specific method for the PC end to output the cutting speed and walking speed values ​​of the coal mining machine is: acquiring the sensor data of each sensor module in real time, and judging whether the walking speed and cutting speed of the coal mining machine need to be changed: when the gas concentration value and dust value measured by any sensor module exceed the set first warning value, it is judged that the walking speed and cutting speed of the coal mining machine need to be reduced; when the gas concentration value and dust value measured by all sensor modules are lower than the set second warning value, it is judged that the walking speed and cutting speed of the coal mining machine need to be increased; When the walking speed and cutting speed of the coal mining machine need to be reduced, the sensor data of each sensor module is input into the first machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module. When the walking speed and cutting speed of the coal mining machine need to be increased, the sensor data of each sensor module is input into the second machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module.

[0029] Furthermore, a coal cutting speed control system of a coal mining machine based on a comprehensive detection signal in this embodiment also includes a cloud. The data acquisition module is connected to the coal mining machine walker and is also used to send the coal mining machine walking data to the cloud in real time. The cloud is provided with a database for storing historical working conditions. The PC is also used to obtain historical sensor data and walking data from the cloud to train the machine learning module.

[0030] 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 with 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. A method for controlling the coal cutting speed of a coal mining machine based on comprehensive detection signals, characterized in that: The following steps are involved: Step 1: Sensor modules are installed at the air inlet chute, working face support, coal mining machine, working face corner and return air chute; Step 2: Acquire the sensor data of each sensor module in real time to determine whether the walking speed and cutting speed of the coal mining machine need to be changed: when the gas concentration value and dust value measured by any sensor module exceed the set first warning value, it is determined that the walking speed and cutting speed of the coal mining machine need to be reduced; when the gas concentration value and dust value measured by all sensor modules are lower than the set second warning value, it is determined that the walking speed and cutting speed of the coal mining machine need to be increased; Step 3: When the walking speed and cutting speed of the coal mining machine need to be reduced, the sensor data of each sensor module is input into the first machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module. When the walking speed and cutting speed of the coal mining machine need to be increased, the sensor data of each sensor module is input into the second machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module.

2. A method for controlling the coal cutting speed of a coal mining machine based on comprehensive detection signals according to claim 1, characterized in that: The sensor module includes a methane sensor, a gas outflow pressure sensor, a dust sensor, a carbon monoxide sensor, and a temperature sensor.

3. The method for controlling the coal cutting speed of a coal mining machine based on comprehensive detection signals according to claim 1, characterized in that: The sensor module on the coal mining machine is arranged on the rocker arm of the coal mining machine.

4. A coal cutting speed control system for a coal mining machine based on comprehensive detection signals, characterized in that: include: A plurality of sensor modules are respectively arranged at the air inlet chute, the working face support, the coal mining machine, the working face corner and the return air chute to collect gas concentration and dust values; Data acquisition module: used to collect the sensor data output by the multiple sensor modules and send them to the cloud and PC; The PC side is used to output the cutting speed and travel speed values ​​of the coal mining machine according to the sensor data of each sensor module and send them to the PLC controller; The PLC controller is used to output control signals to control the coal mining machine's travel device according to the cutting speed and travel speed values ​​output by the PC terminal.

5. A coal cutting speed control system for a coal mining machine based on comprehensive detection signals according to claim 4, characterized in that: The sensor module includes a methane sensor, a gas outflow pressure sensor, a dust sensor, a carbon monoxide sensor, and a temperature sensor.

6. A coal cutting speed control system for a coal mining machine based on comprehensive detection signals according to claim 4, characterized in that: The PC terminal is provided with a machine learning module, and the machine learning module is used to output cutting speed and walking speed values ​​according to the real-time sensing data of each sensor module.

7. A coal cutting speed control system for a coal mining machine based on comprehensive detection signals according to claim 4, characterized in that: The specific method of outputting the cutting speed and walking speed values ​​of the coal mining machine on the PC side is: acquiring the sensor data of each sensor module in real time, and judging whether the walking speed and cutting speed of the coal mining machine need to be changed: when the gas concentration value and dust value measured by any sensor module exceed the set first warning value, it is judged that the walking speed and cutting speed of the coal mining machine need to be reduced; when the gas concentration value and dust value measured by all sensor modules are lower than the set second warning value, it is judged that the walking speed and cutting speed of the coal mining machine need to be increased; When the walking speed and cutting speed of the coal mining machine need to be reduced, the sensor data of each sensor module is input into the first machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module. When the walking speed and cutting speed of the coal mining machine need to be increased, the sensor data of each sensor module is input into the second machine learning module in real time, and the cutting speed and walking speed values ​​are output through the second machine learning module.

8. A coal cutting speed control system for a coal mining machine based on comprehensive detection signals according to claim 6, characterized in that: It also includes a cloud, and the data acquisition module is connected to the coal mining machine's walker, and is also used to send the coal mining machine's travel data to the cloud in real time. The cloud is equipped with a historical operating condition database, and the PC is also used to obtain historical sensor data and travel data from the cloud to train the first machine learning module and the second machine learning module.

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