Remote automatic control system and method for coal mining machine

Abstract

The invention discloses a coal cutter remote automation control system and method, the system comprises a remote supervision module, an operation supervision module, a simulation processing module, a management platform module and a storage management module, the remote supervision module and the operation supervision module are both in control connection with a communication transmission module, and the communication transmission module is in control connection with a central processing module. According to the invention, the operation supervision module is used for detecting a deviation value between a remote instruction and actual output, and corresponding action compensation is carried out, so that the operation precision of the system is guaranteed, and the practicability of the system is improved; an initial environment model is established through the simulation processing module, working simulation is carried out in combination with the state of the coal mining machine, the simulation result is fed back in real time, and the convenience of mining engineering management is improved; the feedback information of the central processing module is received through the platform receiving module, the abnormal characteristics are compared, and the abnormal image is fed back to the management terminal through the visual feedback module when the abnormal image is judged, so that the processing efficiency of the field abnormal condition is improved.

Description

Technical Field

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

[0002] Coal mining machine is an important equipment in coal mining production. It has evolved from coal cutting machine and is one of the main equipment of comprehensive mining equipment. Coal mining machine breaks coal from coal body through working mechanism and loads it into working face conveyor to realize continuous coal mining operation, thereby reducing physical labor, improving safety, and achieving high output, high efficiency and low consumption. It is a large and complex system integrating mechanical, electrical and hydraulic systems, which is used for mechanized coal mining in coal mines. In order to reduce the labor cost of coal mining process, coal mining machine remote control system is generally used to operate coal mining machine in real time in remote terminal. The existing automatic control system for coal mining machine can basically meet the daily use needs. However, there are some shortcomings. First, the existing control system has a single function and can only control the coal mining machine to work, but it cannot detect the on-site environment during the coal mining process, and cannot provide real-time feedback to the operation terminal under abnormal conditions on the site, thereby affecting the efficiency of handling abnormal conditions on the site; second, the existing control system cannot simulate the coal mining process according to the on-site conditions, affecting the convenience of coal mining project management; third, the existing control system has low control accuracy, and cannot detect the deviation between the operating instructions and the actual operation of the equipment and make corresponding corrections, thereby affecting the practicability of the system; therefore, it is necessary to design a remote automatic control system and method for coal mining machines. Summary of the invention

[0003] The object of the present invention is to provide a remote automatic control system and method for a coal mining machine to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a remote automation control system for a coal mining machine, comprising a remote supervision module, an operation supervision module, a communication transmission module, a central processing module, a simulation processing module, a management platform module and a storage management module, wherein the remote supervision module and the operation supervision module both control the connection to the communication transmission module, and the communication transmission module controls the connection to the central processing module, the central processing module respectively controls the connection to the simulation processing module, the management platform module and the storage management module, and the simulation processing module controls the connection to the storage management module.

[0005] As a further technical solution of the present invention, the remote supervision module is composed of a viewing angle detection module, a monitoring docking module, a picture output module and a posture adjustment module. The posture adjustment module controls the connection to the viewing angle detection module, the viewing angle detection module controls the connection to the monitoring docking module, and the monitoring docking module controls the connection to the picture output module.

[0006] As a further technical solution of the present invention, the operation supervision module is composed of an instruction receiving module, an instruction comparison module, an equipment docking module, an operation detection module, an error feedback module and a reverse compensation module. The instruction receiving module controls the connection instruction comparison module, and the instruction comparison module controls the connection operation detection module.

[0007] As a further technical solution of the present invention, the instruction receiving module controls the connection device docking module, the device docking module controls the connection operation detection module, the operation detection module controls the connection error feedback module, and the error feedback module controls the connection reverse compensation module.

[0008] As a further technical solution of the present invention, the communication transmission module is composed of a transmission processing module, a temporary storage module, a communication detection module, a state feedback module and a channel switching module, and the transmission processing module controls the connection to the temporary storage module.

[0009] As a further technical solution of the present invention, the temporary storage module controls the connection to the communication detection module, the communication detection module controls the connection to the state feedback module, the state feedback module controls the connection to the channel switching module, and the channel switching module controls the connection to the temporary storage module.

[0010] As a further technical solution of the present invention, the simulation processing module is composed of an image receiving module, an image processing module, a splicing modeling module, a device transmission module, a state analysis module, a device adding module and a simulation output module. The image receiving module controls the connection to the image processing module, the image processing module controls the connection to the splicing modeling module, and the splicing modeling module controls the connection to the device adding module.

[0011] As a further technical solution of the present invention, the device transmission module controls the connection status analysis module, the status analysis module controls the connection device adding module, and the device adding module controls the connection simulation output module.

[0012] As a further technical solution of the present invention, the management platform module is composed of a platform receiving module, a simulation analysis module, a real-time supervision module, a feature analysis module, an abnormal case module, an abnormal output module and a visual feedback module. The platform receiving module controls the connection of the simulation analysis module and the real-time supervision module respectively, the simulation analysis module and the real-time supervision module control the connection of the abnormal output module and the feature analysis module respectively, the feature analysis module controls the connection of the abnormal case module and the abnormal output module respectively, and the abnormal output module controls the connection of the visual feedback module.

[0013] A remote automatic control method for a coal mining machine comprises the following steps: step one, system layout; step two, field condition collection; step three, field simulation; step four, abnormality feedback; In the above step 1, the monitoring equipment is arranged at the coal mining site in the mine and supported by the position adjustment mechanism. After the arrangement, the monitoring equipment and the position adjustment mechanism are controlled and connected to the remote monitoring module. Then, the sensor system is arranged in the action terminal of the coal mining machine and controlled and connected to the operation monitoring module. Then, the communication transmission module is connected to the central processing module through the wireless network as the perception layer of the system, and the arrangement process of the system is completed. In the above step 2, the environmental image of the work site is collected by the monitoring equipment, and then transmitted to the monitoring docking module in the remote supervision module. After that, the viewing angle detection module is combined with the environmental image to analyze whether the shooting angle of the monitoring equipment is blocked. When it is determined that there is an obstruction, the position adjustment mechanism is adjusted by the posture adjustment module to adjust the support position and the acquisition angle of the monitoring equipment until it is determined that there is no obstruction, and then the unobstructed image is sent to the communication transmission module through the picture output module; the temporary storage module in the communication transmission module temporarily stores the image data after receiving it, and detects the wireless transmission status of the system through the communication detection module, and then the status feedback module feedbacks the network environment according to the wireless transmission status. When the transmission environment is abnormal, the channel switching module switches the transmission channel until the network environment is detected to be normal, and then the transmission processing module sends the image data temporarily stored in the temporary storage module to the central processing module; In the above step three, the central processing module receives the image data and sends it to the simulation processing module, the management platform module and the storage management module respectively, and displays it visually through the management platform module, and stores it by the storage management module for easy later call; after the simulation processing module receives the image data, it is received by the image receiving module, and then the image processing module performs noise reduction and edge processing, and then the splicing modeling module performs modeling and splicing, and after the splicing is completed, the initial environment model of the working environment is obtained; then the coal mining machine operation instructions are input into the management platform module, and transmitted to the coal mining machine on site through the communication transmission module for corresponding operations. During the operation, the sensor system on the equipment is docked through the equipment docking module to detect the posture data of the coal mining machine action terminal, and then the instructions The comparison module detects the deviation between the remote command and the actual output according to the command received by the command receiving module and transmitted to the operation detection module, and feeds back to the central processing module through the error feedback module, and performs corresponding action compensation through the reverse compensation module, thereby ensuring the operation accuracy of the system and improving the practicality of the system; during the process, the equipment transmission module receives the equipment operation status, and performs status analysis in conjunction with the status analysis module, and fills the coal mining machine equipment in action into the model temporarily stored in the splicing modeling module through the equipment adding module for work simulation, and the simulation results are output to the storage management module through the simulation output module for storage, and at the same time are called and sent to the management platform module through the central processing module, and real-time feedback is performed through the visual feedback module in the management platform module; In the above step 4, after the platform receiving module receives the feedback information from the central processing module, it analyzes the simulation situation through the simulation analysis module. At the same time, the real-time supervision module receives the impact of the work site and calls the abnormal features in the abnormal case module through the feature analysis module for comparison. When an abnormal image is determined, it is fed back to the abnormal output module and fed back to the management terminal through the visual feedback module.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the remote automation control system and method for a coal mining machine, during operation, uses the equipment docking module to dock with the sensor system on the equipment, detects the posture data of the coal mining machine action terminal, and then the instruction comparison module receives the instruction from the instruction receiving module and transmits it to the operation detection module to detect the deviation between the remote instruction and the actual output, and feeds back to the central processing module through the error feedback module, and at the same time performs corresponding action compensation through the reverse compensation module, thereby ensuring the operation accuracy of the system and improving the practicality of the system; after the simulation processing module receives the image data, it is received by the image receiving module, and then the image processing module performs noise reduction and edge processing, and then the splicing modeling module performs modeling and splicing, and after the splicing is completed, the initial environment model of the working environment is obtained; at the same time, the device transmission module receives the image data The equipment operation status is analyzed in conjunction with the status analysis module, and the coal mining machine equipment in action is filled into the model temporarily stored in the splicing modeling module through the equipment adding module for working simulation. The simulation result is output to the storage management module through the simulation output module for storage, and at the same time, it is called and sent to the management platform module through the central processing module. Real-time feedback is performed through the visual feedback module in the management platform module to improve the convenience of mining project management; after the platform receiving module receives the feedback information from the central processing module, it analyzes the simulation situation through the simulation analysis module. At the same time, the real-time supervision module receives the impact of the work site and calls the abnormal features in the abnormal case module through the feature analysis module for comparison. When an abnormal image is determined, it is fed back to the abnormal output module, and fed back to the management terminal through the visual feedback module, which improves the efficiency of handling abnormal conditions on site. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a system flow chart of the present invention; Figure 2 It is a system framework diagram of the present invention; Figure 3 This is a schematic diagram of the architecture of the remote monitoring module in the present invention; Figure 4 This is a schematic diagram of the architecture of the operation supervision module in the present invention; Figure 5 It is a schematic diagram of the architecture of the communication transmission module in the present invention; Figure 6 It is a schematic diagram of the architecture of the simulation processing module in the present invention; Figure 7 This is a schematic diagram of the architecture of the management platform module in the present invention; Figure 8 is a flow chart of the method of the present invention; In the figure: 1. Remote monitoring module; 2. Operation monitoring module; 3. Communication transmission module; 4. Central processing module; 5. Simulation processing module; 6. Management platform module; 7. Storage management module; 11. Viewing angle detection module; 12. Monitoring docking module; 13. Picture output module; 14. Posture adjustment module; 21. Instruction receiving module; 22. Instruction comparison module; 23. Equipment docking module; 24. Operation detection module; 25. Error feedback module; 26. Reverse compensation module; 31. Transmission processing module; 32 , temporary storage module; 33, communication detection module; 34, state feedback module; 35, channel switching module; 51, image receiving module; 52, image processing module; 53, splicing modeling module; 54, equipment transmission module; 55, state analysis module; 56, equipment adding module; 57, simulation output module; 61, platform receiving module; 62, simulation analysis module; 63, real-time supervision module; 64, feature analysis module; 65, abnormal case module; 66, abnormal output module; 67, visual feedback module. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Please refer to the attached Figure 1 -Attached Figure 7The present invention provides an embodiment: a coal mining machine remote automation control system, including a remote supervision module 1, an operation supervision module 2, a communication transmission module 3, a central processing module 4, a simulation processing module 5, a management platform module 6 and a storage management module 7, the remote supervision module 1 and the operation supervision module 2 both control the connection to the communication transmission module 3, and the communication transmission module 3 controls the connection to the central processing module 4, the central processing module 4 controls the connection to the simulation processing module 5, the management platform module 6 and the storage management module 7, and the simulation processing module 5 controls the connection to the storage management module 7, the remote supervision module 1 is composed of a viewing angle detection module 11, a monitoring docking module 12, a monitoring interface module 13, a monitoring interface module 14, a monitoring interface module 15, a monitoring interface module 16, a monitoring interface module 17, a monitoring interface module 18, a monitoring interface module 19, a monitoring interface module 20, a monitoring interface module 21, a monitoring interface module 22, a monitoring interface module 23, a monitoring interface module 24, a monitoring interface module 25, a monitoring interface module 26, a monitoring interface module 27, a monitoring interface module 28, a monitoring interface module 29, a monitoring interface module 29, a monitoring interface module 21, a monitoring interface module 29, a monitoring interface module 2 The operation supervision module 2 is composed of a command receiving module 21, a command comparison module 22, a device docking module 23, an operation detection module 24, an error feedback module 25 and a reverse compensation module 26. The command receiving module 21 controls the connection to the command comparison module 22, and the command comparison module 22 controls the connection to the operation detection module 24; the command receiving module 21 controls the connection to the device docking module 23, the device docking module 23 controls the connection operation detection module 24, the operation detection module 24 controls the connection error feedback module 25, and the error feedback module 25 controls the connection reverse compensation module 26; the communication transmission module 3 is composed of a transmission processing module 31, a temporary storage module 32, a communication detection module 33, a state feedback module 34 and a channel switching module 35, the transmission processing module 31 controls the connection temporary storage module 32; the temporary storage module 32 controls the connection communication detection module 33, the communication detection module 33 controls the connection state feedback module 34, the state feedback module 34 controls the connection channel switching module 35, the channel switching module 3 5 controls the connection to the temporary storage module 32; the simulation processing module 5 is composed of an image receiving module 51, an image processing module 52, a splicing modeling module 53, a device transmission module 54, a state analysis module 55, a device adding module 56 and a simulation output module 57. The image receiving module 51 controls the connection to the image processing module 52, the image processing module 52 controls the connection to the splicing modeling module 53, and the splicing modeling module 53 controls the connection to the device adding module 56; the device transmission module 54 controls the connection to the state analysis module 55, the state analysis module 55 controls the connection to the device adding module 56, and the device adding module 56 controls the connection to the simulation output module 57;The management platform module 6 is composed of a platform receiving module 61, a simulation analysis module 62, a real-time supervision module 63, a feature analysis module 64, an abnormal case module 65, an abnormal output module 66 and a visual feedback module 67. The platform receiving module 61 controls the connection with the simulation analysis module 62 and the real-time supervision module 63 respectively, the simulation analysis module 62 and the real-time supervision module 63 respectively control the connection with the abnormal output module 66 and the feature analysis module 64, the feature analysis module 64 controls the connection with the abnormal case module 65 and the abnormal output module 66 respectively, and the abnormal output module 66 controls the connection with the visual feedback module 67. ;

[0018] Please refer to the attached Figure 8 , an embodiment provided by the present invention: a remote automatic control method for a coal mining machine, comprising the following steps: step one, system layout; step two, field condition collection; step three, field simulation; step four, abnormal feedback; In the above step 1, the monitoring equipment is arranged at the coal mining site in the mine and supported by the position adjustment mechanism. After the arrangement, the monitoring equipment and the position adjustment mechanism are controlled and connected to the remote monitoring module 1. Then, the sensor system is arranged in the action terminal of the coal mining machine and controlled and connected to the operation monitoring module 2. Then, the communication transmission module 3 is connected to the central processing module 4 as the perception layer of the system through the wireless network, and the arrangement process of the system is completed; Among them, in the above step 2, the environmental image of the work site is collected by the monitoring equipment, and then transmitted to the monitoring docking module 12 in the remote monitoring module 1. After that, the viewing angle detection module 11 is combined with the environmental image to analyze whether the shooting angle of the monitoring equipment is blocked. When it is determined that there is an obstruction, the position adjustment mechanism is adjusted by the posture adjustment module 14 to adjust the support position and the acquisition angle of the monitoring equipment until it is determined that there is no obstruction, and then the unobstructed image is sent to the communication transmission module 3 through the picture output module 13; the temporary storage module 32 in the communication transmission module 3 temporarily stores the image data after receiving it, and at the same time detects the wireless transmission status of the system through the communication detection module 33, and then the status feedback module 34 feedbacks the network environment according to the wireless transmission status. When the transmission environment is abnormal, the channel switching module 35 switches the transmission channel until the network environment is detected to be normal, and then the transmission processing module 31 sends the image data temporarily stored in the temporary storage module 32 to the central processing module 4; In the above step three, the central processing module 4 receives the image data and sends it to the simulation processing module 5, the management platform module 6 and the storage management module 7 respectively, and displays it visually through the management platform module 6, and stores it by the storage management module 7 for later call; after the simulation processing module 5 receives the image data, it is received by the image receiving module 51, and then the image processing module 52 performs noise reduction and edge processing, and then the splicing modeling module 53 performs modeling and splicing, and the initial environment model of the working environment is obtained after the splicing is completed; then the coal mining machine operation instructions are input into the management platform module 6, and transmitted to the coal mining machine on site through the communication transmission module 3 for corresponding operations. During the operation, the sensor system on the equipment is docked through the equipment docking module 23 to detect the posture data of the coal mining machine action terminal, and then the instruction comparison module 22 detects the deviation between the remote command and the actual output according to the command received by the command receiving module 21 and transmitted to the operation detection module 24, and feeds back to the central processing module 4 through the error feedback module 25, and performs corresponding action compensation through the reverse compensation module 26, thereby ensuring the operation accuracy of the system and improving the practicality of the system; in the process, the equipment transmission module 54 receives the equipment operation status, cooperates with the state analysis module 55 to perform state analysis, and fills the coal mining machine equipment in action into the model temporarily stored in the splicing modeling module 53 through the equipment adding module 56 for working simulation, and the simulation result is output to the storage management module 7 through the simulation output module 57 for storage, and at the same time is called and sent to the management platform module 6 through the central processing module 4, and real-time feedback is performed through the visual feedback module 67 in the management platform module 6; In the above step four, after the platform receiving module 61 receives the feedback information from the central processing module 4, it analyzes the simulation situation through the simulation analysis module 62. At the same time, the real-time supervision module 63 receives the impact of the work site and calls the abnormal features in the abnormal case module 65 through the feature analysis module 64 for comparison. When it is determined that an abnormal image occurs, it is fed back to the abnormal output module 66, and fed back to the management terminal through the visual feedback module 67.

[0019] Based on the above, the advantage of the present invention is that when the present invention is in use, the device docking module 23 is used to dock the sensor system on the device to detect the posture data of the coal mining machine action terminal, and then the instruction comparison module 22 receives the instruction from the instruction receiving module 21 and transmits it to the operation detection module 24 to detect the deviation between the remote instruction and the actual output, and feeds back to the central processing module 4 through the error feedback module 25, and at the same time, the corresponding action compensation is performed through the reverse compensation module 26, thereby ensuring the operation accuracy of the system and improving the practicality of the system; after the simulation processing module 5 receives the image data, it is received by the image receiving module 51, and then the image processing module 52 performs noise reduction and edge processing, and then the splicing modeling module 53 performs modeling and splicing, and after the splicing is completed, the initial environment model of the working environment is obtained; at the same time, the equipment transmission module 54 receives the equipment operation status, and cooperates with the state analysis module Block 55 performs status analysis, and fills the coal mining machine equipment in action into the model temporarily stored in the splicing modeling module 53 through the equipment adding module 56 for working simulation. The simulation result is output to the storage management module 7 through the simulation output module 57 for storage, and at the same time, it is called and sent to the management platform module 6 through the central processing module 4, and real-time feedback is performed through the visual feedback module 67 in the management platform module 6, thereby improving the convenience of mining project management; after the platform receiving module 61 receives the feedback information from the central processing module 4, it analyzes the simulation situation through the simulation analysis module 62, and at the same time, the real-time supervision module 63 receives the impact of the work site and calls the abnormal features in the abnormal case module 65 through the feature analysis module 64 for comparison, and when it is determined that an abnormal image occurs, it is fed back to the abnormal output module 66, and fed back to the management terminal through the visual feedback module 67, thereby improving the efficiency of handling abnormal conditions on site.

[0020] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A remote automated control system for a coal mining machine, comprising a remote monitoring module (1), an operation monitoring module (2), a communication transmission module (3), a central processing module (4), a simulation processing module (5), a management platform module (6) and a storage management module (7), characterized in that: The remote monitoring module (1) and the operation monitoring module (2) both control the connection to the communication transmission module (3), and the communication transmission module (3) controls the connection to the central processing module (4), the central processing module (4) respectively controls the connection to the simulation processing module (5), the management platform module (6) and the storage management module (7), and the simulation processing module (5) controls the connection to the storage management module (7).

2. A coal mining machine remote automation control system according to claim 1, characterized in that: The remote monitoring module (1) is composed of a viewing angle detection module (11), a monitoring docking module (12), a picture output module (13) and a posture adjustment module (14); the posture adjustment module (14) controls the connection to the viewing angle detection module (11); the viewing angle detection module (11) controls the connection to the monitoring docking module (12); and the monitoring docking module (12) controls the connection to the picture output module (13).

3. A coal mining machine remote automation control system according to claim 1, characterized in that: The operation supervision module (2) is composed of an instruction receiving module (21), an instruction comparison module (22), an equipment docking module (23), an operation detection module (24), an error feedback module (25) and a reverse compensation module (26); the instruction receiving module (21) controls the connection to the instruction comparison module (22), and the instruction comparison module (22) controls the connection to the operation detection module (24).

4. A coal mining machine remote automation control system according to claim 3, characterized in that: The instruction receiving module (21) controls the connection to the device docking module (23), the device docking module (23) controls the connection to the operation detection module (24), the operation detection module (24) controls the connection to the error feedback module (25), and the error feedback module (25) controls the connection to the reverse compensation module (26).

5. A coal mining machine remote automation control system according to claim 1, characterized in that: The communication transmission module (3) is composed of a transmission processing module (31), a temporary storage module (32), a communication detection module (33), a state feedback module (34) and a channel switching module (35), and the transmission processing module (31) controls the connection to the temporary storage module (32).

6. A coal mining machine remote automation control system according to claim 5, characterized in that: The temporary storage module (32) controls the connection to the communication detection module (33), the communication detection module (33) controls the connection to the state feedback module (34), the state feedback module (34) controls the connection to the channel switching module (35), and the channel switching module (35) controls the connection to the temporary storage module (32).

7. A coal mining machine remote automation control system according to claim 1, characterized in that: The simulation processing module (5) is composed of an image receiving module (51), an image processing module (52), a splicing modeling module (53), a device transmission module (54), a state analysis module (55), a device adding module (56) and a simulation output module (57); the image receiving module (51) controls the connection to the image processing module (52); the image processing module (52) controls the connection to the splicing modeling module (53); and the splicing modeling module (53) controls the connection to the device adding module (56).

8. A coal mining machine remote automation control system according to claim 7, characterized in that: The device transmission module (54) controls the connection status analysis module (55), the status analysis module (55) controls the connection device adding module (56), and the device adding module (56) controls the connection simulation output module (57).

9. A coal mining machine remote automation control system according to claim 1, characterized in that: The management platform module (6) is composed of a platform receiving module (61), a simulation analysis module (62), a real-time supervision module (63), a feature analysis module (64), an abnormal case module (65), an abnormal output module (66) and a visual feedback module (67). The platform receiving module (61) controls the connection to the simulation analysis module (62) and the real-time supervision module (63) respectively; the simulation analysis module (62) and the real-time supervision module (63) control the connection to the abnormal output module (66) and the feature analysis module (64) respectively; the feature analysis module (64) controls the connection to the abnormal case module (65) and the abnormal output module (66) respectively; and the abnormal output module (66) controls the connection to the visual feedback module (67).

10. A method for remote automatic control of a coal mining machine, comprising the following steps: Step 1: system layout; Step 2: on-site condition collection; Step 3: on-site simulation; Step 4: abnormal feedback; It is characterized by: In the above step 1, the monitoring equipment is arranged at the coal mining site in the mine and supported by the position adjustment mechanism. After the arrangement, the monitoring equipment and the position adjustment mechanism are both controlled and connected to the remote monitoring module (1). Then, the sensor system is arranged in the action terminal of the coal mining machine and controlled and connected to the operation monitoring module (2). Then, the communication transmission module (3) is connected to the central processing module (4) as the perception layer of the system through the wireless network, thus completing the arrangement process of the system. In the above step 2, the monitoring device collects the environmental image of the work site and then transmits it to the monitoring docking module (12) in the remote monitoring module (1). Then, the viewing angle detection module (11) is combined with the environmental image to analyze whether the shooting angle of the monitoring device is blocked. When it is determined that there is an obstruction, the posture adjustment module (14) adjusts the position adjustment mechanism to adjust the support position and the acquisition angle of the monitoring device until it is determined that there is no obstruction. Then, the image output module (13) sends the unobstructed image to the communication transmission module (3); the temporary storage module (32) in the communication transmission module (3) temporarily stores the image data after receiving it, and detects the wireless transmission status of the system through the communication detection module (33). Then, the status feedback module (34) feeds back the network environment according to the wireless transmission status. When the transmission environment is abnormal, the channel switching module (35) switches the transmission channel until the network environment is detected to be normal. Then, the transmission processing module (31) sends the image data temporarily stored in the temporary storage module (32) to the central processing module (4); In the above step 3, the central processing module (4) receives the image data and sends it to the simulation processing module (5), the management platform module (6) and the storage management module (7) respectively, and the management platform module (6) performs visual display, and the storage management module (7) stores the image data for later use; after the simulation processing module (5) receives the image data, the image receiving module (51) receives it, and then performs noise reduction and edge processing through the image processing module (52), and then performs modeling and splicing through the splicing modeling module (53), and after the splicing is completed, the initial environment model of the working environment is obtained; then, the coal mining machine operation instruction is input into the management platform module (6), and transmitted to the coal mining machine on site through the communication transmission module (3) for corresponding operation. During the operation, the sensor system on the equipment is docked through the equipment docking module (23) to detect the posture data of the coal mining machine action terminal, and then the instruction comparison module (22 ) According to the instructions received by the instruction receiving module (21), the instructions are transmitted to the operation detection module (24) to detect the deviation between the remote instruction and the actual output, and the error feedback module (25) is used to feed back to the central processing module (4). At the same time, the reverse compensation module (26) performs corresponding action compensation, thereby ensuring the operation accuracy of the system and improving the practicality of the system. During the process, the equipment transmission module (54) receives the equipment operation status, cooperates with the state analysis module (55) to perform state analysis, and fills the coal mining machine equipment in action into the model temporarily stored in the splicing modeling module (53) through the equipment adding module (56) to perform work simulation. The simulation result is output to the storage management module (7) through the simulation output module (57) for storage, and is called and sent to the management platform module (6) through the central processing module (4), and real-time feedback is performed through the visual feedback module (67) in the management platform module (6); In the above step 4, after the platform receiving module (61) receives the feedback information from the central processing module (4), it analyzes the simulation situation through the simulation analysis module (62). At the same time, the real-time monitoring module (63) receives the impact of the work site and calls the abnormal features in the abnormal case module (65) through the feature analysis module (64) for comparison. When it is determined that an abnormal image appears, it is fed back to the abnormal output module (66) and fed back to the management terminal through the visual feedback module (67).

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