Intelligent mining control method for unmanned working face in thin coal seams

Abstract

The present invention discloses a thin coal seam unmanned working face intelligent mining control method, comprising the following steps: after the thin coal seam working face is mined, the mining parameters of the working face are collected by using a detection system, and the mining parameters include three-machine operation parameters and mining condition data; the mining parameters are processed by using the detection system and the mining data are obtained, and then the mining data is sent to the control system by using a communication system; the mining data is analyzed for validity by the control system, and if the mining data does not meet the requirements, the mining data is acquired again, and if the mining data meets the requirements, the electro-hydraulic control system is controlled to drive the hydraulic components to move, the cutting control system is controlled to drive the coal mining machine to perform cutting operations, and the straightening system is controlled to straighten the three machines on the working face. The mining control method of the present invention can realize the intelligent mining of thin coal seams, and the accuracy and efficiency of the entire monitoring and control process are high, which fully guarantees the continuity and safety of thin coal seam mining.

Description

Technical Field

[0001] The present invention relates to the technical field of coal seam mining, and in particular to an intelligent mining control method for an unmanned working face in a thin coal seam. Background Art

[0002] The height of the thin coal seam working face is less than 0.8m. Due to the narrow space of the thin coal seam working face, the traditional working methods are mostly traditional working methods such as general mining and fully mechanized mining. For some areas with poor geological conditions, the mining of some thin coal seams even continues the manual mining method. At present, the efficient mining and unmanned mining of thin coal seams are important development directions in the field of coal resource mining. However, the existing technology lacks an intelligent control method and device for unmanned mining of thin coal seams, which cannot effectively support the development and field application of unmanned mining technology. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the present invention proposes an intelligent mining control method for an unmanned working face in a thin coal seam. The intelligent mining control method for an unmanned working face in a thin coal seam can realize intelligent mining of thin coal seams, and the accuracy and efficiency of the entire monitoring and control process are high, fully ensuring the continuity and safety of thin coal seam mining.

[0005] The thin coal seam unmanned working face intelligent mining control method of the embodiment of the present invention is implemented based on a mining system, the mining system includes a detection system, a communication system, a control system, an electro-hydraulic control system, a cutting control system and a straightening system, the detection system and the communication system are installed at the three machines of the working face, the three machines of the working face include a coal mining machine, a scraper conveyor and a hydraulic support, the electro-hydraulic control system is transferred to the hydraulic support, the control system, the cutting control system and the straightening system are installed in the equipment train of the mining roadway;

[0006] The mining control method comprises the following steps:

[0007] After the thin coal seam working face is mined, the detection system is used to collect mining parameters of the working face, wherein the mining parameters include three-machine operation parameters and mining condition data;

[0008] Processing the mining parameters and obtaining mining data by using the detection system, and then sending the mining data to the control system by using the communication system;

[0009] The control system is used to analyze the validity of the mining data. If the mining data does not meet the requirements, the mining data is reacquired. If the mining data meets the requirements, the electro-hydraulic control system is controlled to drive the hydraulic components to operate, the cutting control system is controlled to drive the coal mining machine to perform cutting operations, and the straightening system is controlled to straighten the three machines on the working face.

[0010] In some embodiments, the detection system includes a sensor module, a data acquisition module, and a data processing module;

[0011] Acquiring the mining parameters using the sensor module and the data acquisition module;

[0012] The mining parameters are processed by the data processing module to obtain the mining data, wherein the mining data includes stability analysis of the side wall of the working face and operation data of three machines of the working face.

[0013] In some embodiments, the communication system includes a wireless Mesh network node module, and the wireless Mesh network node module is configured with multiple transmission paths. The transmission process includes the following steps:

[0014] Determine the connectivity of the selected transmission path;

[0015] If the selected transmission path is blocked or disturbed, another transmission path is selected for data transmission.

[0016] In some embodiments, the communication system further includes a core node routing module and a data server, wherein the core node routing module is used to transmit the mining data to the control system, and the core node routing module is connected to the data server to form a network system.

[0017] In some embodiments, the control system includes an intrinsically safe explosion-proof computer, a data storage module and an operation console, and the control system has multiple data interfaces, the intrinsically safe explosion-proof computer is used to perform validity analysis on the mining data, the data storage module is used to store the mining data, and the operation console is used to control the three-machine actions on the working face.

[0018] In some embodiments, the electro-hydraulic control system includes a network controller and an electro-hydraulic reversing valve group. A mounting groove is provided in the middle of the top beam of the hydraulic support. The network controller and the electro-hydraulic reversing valve group are assembled in the mounting groove. The network controller is used to send and receive signals, and the electro-hydraulic reversing valve group is used to realize the switching of hydraulic fluid so that the hydraulic support can perform different actions.

[0019] In some embodiments, the mining parameters include inertial navigation data, temperature, inclination angle, current signal, and shaft encoder data of the coal mining machine;

[0020] The cutting control system drives the coal mining machine to perform cutting operations including: controlling the rise and fall of the rocker arm of the coal mining machine, controlling the start and stop and operating speed of the motor of the power unit and traction unit of the coal mining machine, controlling the cutting position of the cutting drum during movement, and matching the spray pressure according to the cutting speed.

[0021] In some embodiments, the process of straightening the three machines on the working surface by the straightening system comprises the following steps:

[0022] Acquiring spatial position information of the coal mining machine through the detection system;

[0023] Analyzing the current straightness of the current working surface through the spatial position information;

[0024] If the current straightness exceeds the set threshold, the straightening command is executed to straighten the working surface.

[0025] In some embodiments, the current straightness includes vertical straightness and horizontal straightness, the vertical straightness is used to control the cutting height of the coal mining machine, and the horizontal straightness is used to control the displacement stroke of the hydraulic support.

[0026] In some embodiments, executing the alignment instruction comprises the following steps:

[0027] Selecting the hydraulic support that does not exceed the set threshold as the straightening standard;

[0028] Based on the straightening standard, the compensation displacement required to be completed by each hydraulic support in the next working cycle is calculated;

[0029] The displacement of each hydraulic support in the next working cycle is completed according to the calculated compensation displacement.

[0030] Beneficial effects: The thin coal seam unmanned working face intelligent mining control method of the embodiment of the present invention can realize the intelligent mining of thin coal seams, and the accuracy and efficiency of the entire monitoring and control process are high, which fully guarantees the continuity and safety of thin coal seam mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the layout of the mining system for the thin coal seam working face according to an embodiment of the present invention.

[0032] Figure 2 It is a logic block diagram of the mining control method according to an embodiment of the present invention.

[0033] Figure 3 It is a schematic diagram of the loading of the network controller and the electro-hydraulic reversing valve group according to an embodiment of the present invention.

[0034] Reference numerals:

[0035] 1-Network controller; 2-Electro-hydraulic reversing valve group. DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0037] like Figure 1 As shown, the thin coal seam unmanned working face intelligent mining control method of the embodiment of the present invention is implemented based on the mining system, and the mining system includes a detection system (working condition detection subsystem), a communication system (communication subsystem), a control system (centralized remote control subsystem), an electro-hydraulic control system (electro-hydraulic control subsystem), a cutting control system (intelligent cutting control subsystem) and a straightening system (working face straightening subsystem).

[0038] The detection system and the communication system are installed at the three machines of the working face, which include a coal mining machine, a scraper conveyor and a hydraulic support. Specifically, the coal mining machine, the scraper conveyor and each hydraulic support can be installed with the detection system and the communication system.

[0039] The electro-hydraulic control system is transferred to the hydraulic support, so that the electro-hydraulic control system can move synchronously with the hydraulic support. The control system, cutting control system, and straightening system are loaded in the equipment train of the mining tunnel, so that the control system, cutting control system, and straightening system can move forward synchronously through the equipment train as the working face advances.

[0040] like Figure 2 As shown, the mining control method includes the following steps:

[0041] After the thin coal seam working face is mined, the detection system is used to collect the mining parameters of the working face, which include the operating parameters of the three machines and the mining condition data. The operating parameters of the three machines include the stress state and posture of the hydraulic support, scraper conveyor and coal mining machine, and the mining condition data include dust density, pressure and gap of the roof, floor and coal wall of the working face.

[0042] The detection system is used to process the mining parameters and obtain mining data, and then the mining data is sent to the control system using the communication system. For example, the detection system can be provided with an independent processor, etc., and the processor can analyze and process the received mining parameters, so as to generate mining data.

[0043] The control system performs validity analysis on the mining data, and if the mining data does not meet the requirements, the mining data is reacquired. For example, after receiving the mining data, the control system can compare and judge the mining data according to the preset condition threshold. If there is a large deviation in the mining data, it can be said that there is a large error in the mining data. At this time, the detection system can process the mining parameters again, and then transmit the mining data generated by the processing to the control system again.

[0044] If the transmitted mining data still does not meet the requirements, the mining parameters can be collected again and the mining data can be obtained through the detection system, and then the latest mining data can be transmitted to the control system.

[0045] If the mining data meets the requirements, the electro-hydraulic control system is controlled to drive the hydraulic components to move, the cutting control system is controlled to drive the coal mining machine to cut, and the straightening system is controlled to straighten the three machines on the working face. That is, through the coordination of the three systems, the key functions of unmanned mining of thin coal seams, such as detection, analysis, decision-making, and command execution, are realized.

[0046] The thin coal seam unmanned working face intelligent mining control method of the embodiment of the present invention can realize the intelligent mining of thin coal seams, and before actual operation, the validity of the obtained mining data will be judged, thereby avoiding the misjudgment of mining data and ensuring the accuracy and validity of mining data, thereby fully guaranteeing the continuity and safety of thin coal seam mining.

[0047] In some embodiments, the detection system includes a sensor module, a data acquisition module and a data processing module. The mining parameters are obtained by using the sensor module and the data acquisition module. The mining parameters are processed by the data processing module to obtain mining data, and the mining data includes stability analysis of the side wall of the working face and operation data of the three machines of the working face.

[0048] Specifically, in the process of processing mining data, the data processing module can judge the stability of the working face roof, floor and coal wall according to the support-surrounding rock coupling relationship model and the three-machine equipment spatial relationship model, and analyze the current working condition of the working face by solving the stress state, posture and other data of the hydraulic support, scraper conveyor and coal mining machine, and then feedback the data to the control system.

[0049] In some embodiments, the communication system includes a wireless Mesh network node module, the wireless Mesh network node module is configured with multiple transmission paths, and the transmission process includes the following steps:

[0050] Determine the connectivity of the selected transmission path. For example, each wireless mesh network node module can be preset with a preferred transmission path, the priority of which can be higher than the priority of other transmission paths, and the transmission path with higher priority can be regarded as the above-selected transmission path. When in use, the signal can be transmitted first through the transmission path with higher priority, and the connectivity of the transmission path can also be determined at the same time.

[0051] If the selected transmission path is blocked or interfered, another transmission path is selected for data transmission. For example, if the above-mentioned transmission path with higher priority is blocked by the device or the signal is interfered and disconnected, another transmission path can be automatically selected for data transmission, thereby ensuring that data transmission is uninterrupted and loss-free.

[0052] In some embodiments, the communication system also includes a core node routing module and a data server. The core node routing module is used to transmit mining data to the control system, and the core node routing module is connected to the data server to form a network system. Specifically, the core node routing module and the data server can form a network system with the mine network through the underground industrial Ethernet, thereby ensuring the stability of the overall network transmission.

[0053] In some embodiments, the control system includes an intrinsically safe explosion-proof computer, a data storage module and an operation console, and the control system has multiple data interfaces. The intrinsically safe explosion-proof computer is used to perform validity analysis on mining data, the data storage module is used to store mining data, and the operation console is used to control the actions of three machines on the working face.

[0054] In some embodiments, Figure 3 As shown, the electro-hydraulic control system includes a network controller 1 and an electro-hydraulic reversing valve group 2. A mounting groove is provided in the middle of the top beam of the hydraulic support. The network controller 1 and the electro-hydraulic reversing valve group 2 are assembled in the mounting groove, thereby reducing the number of cables and reducing the occupation of the installation space. The network controller 1 is used for sending and receiving signals, and the electro-hydraulic reversing valve group 2 is used to realize the switching of hydraulic fluid so that the hydraulic support performs different actions, thereby realizing the integration of hydraulic control operations.

[0055] In some embodiments, the mining parameters include the inertial navigation data, temperature, inclination, current signal, and shaft encoder data of the coal mining machine. The cutting control system drives the coal mining machine to perform cutting operations, including: controlling the rise and fall of the rocker arm of the coal mining machine, controlling the start and stop and running speed of the motor of the power unit and traction unit of the coal mining machine, controlling the cutting position of the cutting drum during movement, and matching the spray pressure according to the cutting speed. This meets the control needs of the automatic operation of the coal mining machine.

[0056] In some embodiments, the process of straightening the three machines of the working surface by the straightening system includes the following steps:

[0057] Acquire the spatial position information of the coal mining machine through the detection system;

[0058] Analyze the current straightness of the current working surface through spatial position information;

[0059] If the current straightness exceeds the set threshold, for example, the set threshold may be the maximum deviation allowed by the three machines on the working surface, and the deviation should normally be controlled within a reasonable range, and the reasonable range can be regarded as the set threshold. When the set threshold is exceeded, the straightening command is executed to straighten the three machines on the working surface. Specifically, the straightening process can be achieved by the jack of the scraper conveyor, the push jack of the hydraulic support, etc.

[0060] In some embodiments, the current straightness includes vertical straightness and horizontal straightness. The vertical straightness is used to control the cutting height of the coal mining machine, and the horizontal straightness is used to control the pushing stroke of the hydraulic support.

[0061] In some embodiments, executing the alignment instruction includes the following steps:

[0062] Select the hydraulic support that does not exceed the set threshold as the straightening standard;

[0063] Based on the straightening standard, the compensation displacement required for each hydraulic support in the next working cycle is calculated, where the compensation displacement can be regarded as the displacement required to calibrate each hydraulic support until it meets the above-mentioned set threshold.

[0064] The displacement of each hydraulic support in the next working cycle is completed according to the calculated compensation displacement, thereby completing the straightening of the hydraulic supports of the entire working surface.

[0065] A specific example of the thin coal seam unmanned working face intelligent mining control method according to an embodiment of the present invention is described below.

[0066] The mining control method of the embodiment of the present invention is implemented based on the corresponding mining system, such as Figure 1 As shown, the mining system includes a thin coal seam working condition detection subsystem (detection system), a thin coal seam communication subsystem (communication system), a centralized remote control subsystem (control system), a compact electro-hydraulic control subsystem (electro-hydraulic control system), an intelligent cutting control subsystem (cutting control system) and a working face straightening control subsystem (straightening system). The subsystems work together to realize the key functions of the thin coal seam unmanned mining intelligent control system, such as detection, analysis, decision-making, and command execution.

[0067] In a specific embodiment, the thin coal seam working condition detection subsystem is loaded on the top beam of the hydraulic support, the head and tail of the scraper conveyor, the middle trough side plate and the lower end of the rocker arm of the coal mining machine; the thin coal seam communication subsystem adopts a distributed layout and is installed on the hydraulic support, scraper conveyor and coal mining machine; the compact electro-hydraulic control subsystem is installed in the middle box of the hydraulic support top beam; the centralized remote control subsystem, intelligent cutting control subsystem and working face straightening control subsystem are installed in the equipment train in the tunnel.

[0068] like Figure 3 As shown, the compact electro-hydraulic control subsystem includes a miniaturized network controller 1 and a compact electro-hydraulic reversing valve group 2, which are installed in a combined manner. The above-mentioned equipment is installed in a special concave installation position designed in the middle box of the hydraulic support top beam, which reduces the number of cables and occupies less space on the work surface.

[0069] The thin coal seam working condition detection subsystem is composed of a sensor module, a data acquisition module and a data processing module. The sensor module includes sensors for height measurement, inclination measurement, triaxial acceleration measurement, dust measurement, vibration measurement, temperature measurement, and stroke measurement. The data acquisition module includes a data acquisition card, an embedded control unit and a data transmission cable to realize data extraction and reporting of various sensors.

[0070] The data processing module processes and analyzes the data collected by the sensor module and the data acquisition module, and determines the stability of the roof, floor and coal wall of the working face based on the support-surrounding rock coupling relationship model and the three-machine spatial relationship model. It analyzes the current working condition of the working face by solving the stress state, posture and other data of the hydraulic support, scraper conveyor and coal mining machine, and feeds back data to the centralized remote control subsystem.

[0071] The thin coal seam communication subsystem consists of a wireless Mesh network node module, a core node routing module and a data server. Each wireless Mesh network node module is configured with multiple transmission paths. If the connection with the nearest node is disconnected due to equipment obstruction or signal interference, the nearest other transmission path is automatically selected for data transmission to ensure that the data is connected and not lost. The data is transmitted to the centralized remote control subsystem via the core node routing, and is directly connected to the data server, forming a system with the mine network through the underground industrial Ethernet.

[0072] The centralized remote control subsystem analyzes and diagnoses abnormalities through data sent back by sensors and control elements of other subsystems, obtains the current status of the three equipment and working conditions, realizes human-computer interaction with remote operators through a visual operation terminal, and issues control instructions such as automatic frame moving, automatic coal placing, automatic push conveyor, and intelligent spray for each equipment on the working face.

[0073] The centralized remote control subsystem consists of an intrinsically safe high-performance explosion-proof computer, a data storage module and an operation console. The centralized remote control subsystem is installed in the equipment train in the tunnel. It has multiple data interfaces such as RS485 and RJ45. The data obtained by the working condition detection subsystem is uploaded to the intrinsically safe high-performance explosion-proof computer in real time. At the same time, the centralized remote control subsystem realizes real-time communication with the compact electro-hydraulic control subsystem, coal mining machine, hydraulic support, scraper conveyor onboard system, intelligent spray system, etc. The control instructions issued by the centralized remote control subsystem are directly transmitted to the electro-hydraulic control subsystem for execution.

[0074] The operation console includes a display and a key operation table, which can display data visually and has a graphical operation interface, and can realize remote control operation of the working face equipment through key operation.

[0075] The compact electro-hydraulic control subsystem receives control instructions from the centralized remote control subsystem, and controls the hydraulic components to perform motion operations according to the instructions, realizing intelligent three-machine control functions such as one-button start and stop control, locking protection, and following machine frame shifting.

[0076] The compact electro-hydraulic control subsystem is composed of a miniaturized network controller 1, a compact electro-hydraulic reversing valve group 2, an auxiliary valve, and a liquid supply and power supply device, wherein the miniaturized network controller 1 and the compact electro-hydraulic reversing valve group 2 are installed in a combined manner, which reduces the number of cables and the installation space occupied. The compact electro-hydraulic control subsystem receives the control instructions issued by the centralized remote control subsystem and converts them into hydraulic system actions, realizes the electric control of various actions of the hydraulic support, the support action data collection and upload, and controls the combination switch state. The power supply circuit is used to control the operation of various equipment on the working face, and can cooperate with the coal mining machine and the scraper conveyor to complete the automatic following machine pulling operation and the automatic group pushing operation, and cooperate with the three-machine equipment to carry out a complete set of coal mining process, thereby realizing the automatic adjustment of the mining process and parameters of the working face equipment under automatic or manual instructions.

[0077] The intelligent cutting control subsystem uses the three-machine equipment data obtained by the working condition detection subsystem to analyze the current movement state and real-time mining conditions of the coal mining machine, including the coal mining machine inertial navigation data, temperature, inclination, current signal, shaft encoder data, etc. Intelligent analysis obtains cutting control instructions, controls the rise and fall of the coal mining machine rocker arm, the start and stop of the traction motor of the power unit, the running speed, etc., controls the cutting drum to adjust its position in real time during the movement process, and keeps cutting along the top and bottom plates of the coal seam. At the same time, the appropriate spray pressure is matched according to the cutting speed, so as to achieve the purpose of adaptively adjusting the cutting of the coal mining machine drum and intelligent spray dust reduction, and ensure the moving space of the scraper conveyor and hydraulic support at the cutting position.

[0078] The working face alignment control subsystem uses the three-machine equipment data obtained by the working condition detection subsystem to detect the position change of the coal mining machine in the three-dimensional space of the working face in real time during operation, analyze the straightness of the current working face, and apply the vertical straightness data to the cutting height control of the coal mining machine, and the horizontal straightness data to the support displacement control. When the straightness of the working face exceeds the threshold, the automatic alignment instruction is immediately executed, and the supports that do not exceed the threshold are used as the alignment standard for nearby supports. The displacement amount required for each support in each working cycle is calculated, and compensation correction is achieved through displacement stroke adjustment, so that all hydraulic supports are adjusted to the same straight line to ensure the flush advancement of the working face.

[0079] like Figure 2 As shown, the method mainly includes the following steps:

[0080] S1. The thin coal seam working condition detection subsystem collects the three-machine operation and mining working condition data of the working face, thereby replacing the workers to complete the on-site monitoring of the three-machine equipment and mining working conditions underground.

[0081] S2. The communication subsystem transmits the data of each device on the working face to the centralized remote control subsystem. Specifically, the thin coal seam communication subsystem can transmit the data information of each device on the working face to the centralized remote control subsystem through the wireless Mesh network and access the underground high-speed industrial Ethernet.

[0082] S3, the centralized remote control subsystem analyzes and diagnoses abnormalities through the data sent back by the sensors and control components of other subsystems, obtains the current status of the three-machine equipment and working conditions, and remotely issues control instructions through human-computer interaction.

[0083] Specifically, the visual operation terminal can realize human-machine interaction with remote operators, and issue control instructions such as automatic frame moving, automatic coal placing, automatic conveyor pushing, intelligent spraying, etc. for various equipment on the working face;

[0084] S4, the compact electro-hydraulic control subsystem receives control commands from the centralized remote control subsystem and controls the hydraulic components to perform motion operations according to the commands. This enables intelligent three-machine control functions such as one-button start-stop control, locking protection, and machine-following frame shifting;

[0085] S5. The intelligent cutting control subsystem receives control instructions from the centralized remote control subsystem and outputs specific control signals to the compact electro-hydraulic control subsystem to achieve intelligent cutting.

[0086] Specifically, it can control the rise and fall of the coal mining machine's rocker arm, the start and stop of the traction motor of the power unit, the running speed, etc., control the cutting drum to adjust its position in real time during the movement, cut along the top and bottom plates of the coal seam, and ensure the moving space of the scraper conveyor and hydraulic support in the cutting position.

[0087] S6. The working face straightening control subsystem receives control instructions from the centralized remote control subsystem and outputs specific control signals to the compact electro-hydraulic control subsystem to achieve automatic straightening.

[0088] Specifically, when the straightness of the scraper conveyor exceeds a threshold, the automatic straightening command is immediately executed, and the bracket that does not exceed the threshold is used as the straightening standard for nearby brackets, and compensation correction is achieved through stroke adjustment.

[0089] The mining control method of the embodiment of the present invention proposes key technical solutions such as automated working condition monitoring, compact electro-hydraulic control, anti-interference communication in narrow spaces, remote control and intelligent three-machine control suitable for thin coal seams. This technical solution can adapt to the environmental characteristics and control requirements of thin coal seam working faces, and can realize intelligent control and remote monitoring of unmanned mining of thin coal seam working faces, effectively supporting the development and practical application of unmanned mining technology.

[0090] Compared with the prior art, the present invention has the following specific advantages:

[0091] 1) This method uses an automated technical solution to replace manual execution of working condition monitoring, coal mining machine cutting control and working face straightness control, thereby realizing remote control of thin coal seam working faces and on-site unmanned operation;

[0092] 2) Based on the narrow space characteristics of the thin coal seam working face, an integrated design of a compact electro-hydraulic controller and an installation layout embedded inside the top beam were proposed, which reduced the space occupation while ensuring its normal operation;

[0093] 3) This method designs a distributed communication system based on the actual situation that the thin coal seam working face is severely obscured and there are many signal interference sources, to ensure the stable and independent operation of intelligent control functions such as intelligent cutting, working face straightening, and intelligent spray dust reduction.

[0094] 4) The mining control method of the embodiment of the present invention proposes key technical solutions such as automated working condition monitoring, compact electro-hydraulic control, anti-interference communication in narrow spaces, remote control and intelligent three-machine control suitable for thin coal seams. This technical solution can adapt to the environmental characteristics and control requirements of thin coal seam working faces, and can realize intelligent control and remote monitoring of unmanned mining of thin coal seam working faces, effectively supporting the development and field application of unmanned mining technology.

[0095] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A thin coal seam unmanned working face intelligent mining control method, characterized in that: Based on the mining system, the mining system includes a detection system, a communication system, a control system, an electro-hydraulic control system, a cutting control system and a straightening system. The detection system and the communication system are installed at the three machines of the working face. The three machines of the working face include a coal mining machine, a scraper conveyor and a hydraulic support. The electro-hydraulic control system is transferred to the hydraulic support. The control system, the cutting control system and the straightening system are installed in the equipment train of the mining roadway. The mining control method comprises the following steps: After the thin coal seam working face is mined, the detection system is used to collect mining parameters of the working face, wherein the mining parameters include three-machine operation parameters and mining condition data; Processing the mining parameters and obtaining mining data by using the detection system, and then sending the mining data to the control system by using the communication system; The control system is used to analyze the validity of the mining data. If the mining data does not meet the requirements, the mining data is reacquired. If the mining data meets the requirements, the electro-hydraulic control system is controlled to drive the hydraulic components to operate, the cutting control system is controlled to drive the coal mining machine to perform cutting operations, and the straightening system is controlled to straighten the three machines on the working face; The mining parameters include inertial navigation data, temperature, inclination angle, current signal, and shaft encoder data of the coal mining machine; The cutting control system drives the coal mining machine to perform cutting operations, including: controlling the rise and fall of the rocker arm of the coal mining machine, controlling the start and stop and running speed of the motor of the power unit and traction unit of the coal mining machine, controlling the cutting position of the cutting drum during movement, and matching the spray pressure according to the cutting speed; The process of straightening the three machines on the working face by the straightening system comprises the following steps: Acquiring spatial position information of the coal mining machine through the detection system; Analyzing the current straightness of the current working surface through the spatial position information; If the current straightness exceeds the set threshold, a straightening instruction is executed to straighten the working surface three machines; The execution of the straightening instruction comprises the following steps: Selecting the hydraulic support that does not exceed the set threshold as the straightening standard; Based on the straightening standard, the compensation displacement required to be completed by each hydraulic support in the next working cycle is calculated; The displacement of each hydraulic support in the next working cycle is completed according to the calculated compensation displacement.

2. The thin coal seam unmanned working face intelligent mining control method according to claim 1 is characterized in that: The detection system includes a sensor module, a data acquisition module and a data processing module; Acquiring the mining parameters using the sensor module and the data acquisition module; The mining parameters are processed by the data processing module to obtain the mining data, wherein the mining data includes stability analysis of the side wall of the working face and operation data of three machines of the working face.

3. The thin coal seam unmanned working face intelligent mining control method according to claim 1 is characterized in that: The communication system includes a wireless Mesh network node module, and the wireless Mesh network node module is configured with multiple transmission paths. The transmission process includes the following steps: Determine the connectivity of the selected transmission path; If the selected transmission path is blocked or disturbed, another transmission path is selected for data transmission.

4. The thin coal seam unmanned working face intelligent mining control method according to claim 3 is characterized in that: The communication system also includes a core node routing module and a data server. The core node routing module is used to transmit the mining data to the control system, and the core node routing module is connected to the data server to form a network system.

5. The thin coal seam unmanned working face intelligent mining control method according to claim 1 is characterized in that: The control system includes an intrinsically safe explosion-proof computer, a data storage module and an operation console, and the control system has multiple data interfaces. The intrinsically safe explosion-proof computer is used to perform validity analysis on the mining data, the data storage module is used to store the mining data, and the operation console is used to control the actions of the three machines on the working face.

6. The thin coal seam unmanned working face intelligent mining control method according to claim 1 is characterized in that: The electro-hydraulic control system includes a network controller and an electro-hydraulic reversing valve group. A mounting groove is provided in the middle of the top beam of the hydraulic support. The network controller and the electro-hydraulic reversing valve group are assembled in the mounting groove. The network controller is used to send and receive signals, and the electro-hydraulic reversing valve group is used to realize the switching of hydraulic fluid so that the hydraulic support can perform different actions.

7. The thin coal seam unmanned working face intelligent mining control method according to claim 1 is characterized in that: The current straightness includes vertical straightness and horizontal straightness. The vertical straightness is used to control the cutting height of the coal mining machine, and the horizontal straightness is used to control the displacement stroke of the hydraulic support.

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