System and method for automatically recording footage of digging and anchoring all-in-one machine for coal mine

Abstract

The invention provides an automatic footage recording system and method for a coal mine driving and anchoring all-in-one machine, and relates to the technical field of coal mine driving equipment measurement, and the method comprises the following steps: a ground server sends a footage distance obtained by final calculation and compensation to a ground display and a local display to display the current footage; the daily footage and monthly footage data after statistical analysis are sent to a ground display for display; after the PLC calculates the current footage distance value, the server on the ground performs data analysis according to data recorded in a 10ms period, compares the data with the current footage distance recorded by the PLC, and performs calculation optimization of footage after compensation according to a footage compensation optimization algorithm; and the ground server accumulates the footage distance value obtained by final compensation. The drilling footage of the digging and anchoring integrated machine is recorded in real time, and manpower and material resources are saved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine excavation equipment measurement, in particular to an automatic recording method for the footage of a coal mine excavation and anchoring integrated machine. Background Art

[0002] In coal mining, tunnel excavation footage is the main indicator to measure coal mining efficiency. Tunnel excavation footage generally refers to the real-time development length of the tunnel, which is the main calculation parameter for coal mine output and excavation speed. At present, the measurement of coal mine excavation footage in my country mainly relies on two methods. One is manual measurement, which records the footage cumulatively. After each shift of excavation work is completed, workers use handheld laser rangefinders or tape measures to measure, count and report to the dispatch center.

[0003] Manual measurement is a commonly used method at present. Its advantages are flexible measurement, timely correction and simple measurement method; its disadvantages are that there are problems such as delayed measurement data, untimely measurement, poor measurement accuracy and frequent measurement. With the development of intelligent coal mine technology, electronic measurement methods such as total stations and communication base stations have emerged. The advantage of this method is that it can measure in real time and save labor costs; its disadvantage is that it increases time and maintenance costs. In addition, due to the harsh environmental conditions and complex operating procedures of the underground excavation working face of coal mines, this method has poor measurement accuracy and is not practical. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method for automatically recording the footage of a digging and anchoring machine for a coal mine, which realizes the indirect recording and measurement of the footage of the digging and anchoring machine, realizes the real-time recording of the footage of the digging and anchoring machine, saves manpower and material resources, enables the footage recording to be realized without increasing any cost and hardware, and realizes the automatic real-time update function.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, a method for automatically recording the footage of a coal mine anchoring machine includes:

[0007] Step S100, setting the parameters of the footage recording system on the local display, including the coal contact current range Imin-Imax, the footage recording time interval TF, and the footage recording manual compensation value, and sending the parameters to the PLC controller of the anchor and digging machine through the ModbusTCP protocol; setting the parameters of the footage recording system on the ground display, including the coal contact current range Imin-Imax reference value of 80-200A, the footage recording time interval TF reference value of 3000ms, and the weighted values ​​k1, k2, and k3 of each footage distance reference value of 0.2, 0.3, and 0.5. After the parameters are set, the parameters are sent to the PLC controller of the anchor and digging machine through the TCP / IP protocol;

[0008] Step S200, a remote control, ground mouse keyboard or ground operation panel is used to issue a footage recording enable command, and the PLC controller executes the footage accumulation recording program after receiving it, and sends the footage, cutting parameters and time information data calculated by the PLC controller to the ground server for storage and calculation according to a 10ms cycle. The ground server sends the footage distance obtained by the final calculation and compensation to the ground display and the local display to display the current footage, and sends the daily footage and monthly footage data after statistical analysis to the ground display for display;

[0009] Step S300, footage record correction;

[0010] Step S400, after the PLC controller calculates the current footage distance value, the server on the ground performs data analysis according to the data recorded in a 10ms period, compares it with the current footage distance recorded by the PLC controller, and performs calculation optimization of the footage after compensation according to the footage compensation optimization algorithm;

[0011] In step S500, the server on the ground accumulates the footage distance value obtained by the final compensation, performs statistical analysis of the daily footage and monthly footage according to the PC system time, and finally displays the footage change rate in a graphical visualization form.

[0012] Furthermore, a remote control, ground mouse and keyboard or ground operation panel is used to issue a footage recording enable command, and the PLC controller executes the footage accumulation recording program after receiving it, and sends the footage, cutting parameters and time information data calculated by the PLC controller to the ground server for storage and calculation according to a 10ms cycle, including:

[0013] The command to start recording footage is issued through the remote control, ground mouse keyboard or buttons or interface options on the ground operation panel. This command serves as a signal indicating that the drilling and anchoring machine is about to start or continue its footage operation and record relevant data during the process;

[0014] The PLC controller monitors the command signal from the remote control, ground mouse keyboard or ground operation panel in real time through its input interface or communication module. If it receives the footage recording enable command, the PLC controller confirms the validity of the command and executes the corresponding footage accumulation recording program;

[0015] The PLC controller works inside to collect key data of the drilling and anchoring machine in real time, including drilling depth, cutting speed, and cutting force parameters;

[0016] The PLC controller packages the footage data, cutting parameters and current time information it has calculated in a 10ms cycle;

[0017] The packaged data is sent to the ground server through the communication module built into the PLC controller according to the preset communication protocol;

[0018] After receiving the data packet from the PLC controller, the server on the ground parses and verifies the data. The verified data is stored in the server's database. The server on the ground calculates the footage distance and analyzes the cutting efficiency in real time based on the received data.

[0019] Furthermore, the server on the ground sends the final calculated compensation footage distance to the ground display and the local display to display the current footage, and sends the statistically analyzed daily and monthly footage data to the ground display for display, including:

[0020] After receiving the original footage data sent by the PLC controller, the server on the ground processes the original footage data. After the data is processed by the compensation algorithm, the server on the ground obtains a corrected footage distance value.

[0021] The server on the ground sends the corrected footage distance value to the ground display and the local display through the network connection; after the display receives the data, it updates the displayed footage distance in real time;

[0022] The server on the ground regularly performs statistical analysis on the received footage data, including calculating the total footage distance and average footage speed per day or month. After the statistical analysis is completed, the server on the ground sends the daily and monthly footage statistics to the ground display;

[0023] The ground display counts the daily and monthly footage and displays them in charts.

[0024] Further, the footage record corrections include:

[0025] When encountering the following situations, the drilling and anchoring machine stops recording footage, that is, the cutting enable signal is turned off. At this time, the footage recording function is suspended, and the original recorded data remains unchanged, including:

[0026] The trenching and anchoring machine is extended when cutting the joint tunnel or the angled non-linear footage;

[0027] When the trench digging and anchoring machine touches the coal pile instead of the coal wall.

[0028] Furthermore, after the PLC controller calculates the current footage distance value, the server on the ground performs data analysis according to the data recorded in a 10ms cycle, compares it with the current footage distance recorded by the PLC controller, and calculates and optimizes the footage after compensation according to the footage compensation optimization algorithm, including:

[0029] The PLC controller calculates the current advance distance value in real time based on the internal sensor data. The current advance distance value represents the actual advance distance of the anchor and digger in the most recent period of time.

[0030] The server on the ground continuously collects data from the PLC controller. The data is sent in a 10ms cycle and contains information about the excavation process.

[0031] The server on the ground performs filtering on the collected 10ms periodic data;

[0032] The server compares the filtered data with the current footage distance recorded by the PLC controller, analyzes the differences and trends between them, and obtains the comparison results;

[0033] According to the comparison results, the server on the ground calls the preset footage compensation optimization algorithm. The footage compensation optimization algorithm corrects the footage distance according to the historical data and the current status to obtain the compensated footage value.

[0034] The server on the ground uses the output data of the compensation optimization algorithm as the optimized footage distance value.

[0035] Furthermore, the footage compensation optimization algorithm includes the validity judgment of the footage distance value and the footage distance compensation operation; wherein, the validity judgment of the footage distance value is judged by the following method:

[0036] Find the first time when the footage recording enable signal changes from FALSE to TRUE, add n to this time multiplied by the time interval T F Then the current time point is obtained, where n represents the index value of the time interval TF;

[0037] Find the moment S0 when the last groove depth is 0 and the moment S0 when the next groove depth is full range before the current time point L ; Determine whether the action of S0 at the previous moment is cutting up, and whether the cutting height meets the process requirements; determine whether the action of SL at the next moment is cutting down, and whether the cutting height meets the process requirements. If both requirements are met at the same time, the footage recording distance Fn is considered to be a valid value, otherwise it is an invalid value. The time interval here is 10ms.

[0038] Furthermore, the footage distance compensation calculation adopts the following method for compensation, specifically including:

[0039] According to the time point data recorded in the database, confirm the footage recording distance F n At the time point S, the server obtains the footage recording distance F′ accumulated according to 10ms. n , the footage recorded by the PLC controller is recorded as distance F nThe footage recorded by the server is F', which is accumulated in 10ms. n For comparison, the recorded footage distance value F at the final time point S is calculated according to the following formula: S for:

[0040]

[0041] Among them, F n F′ n The footage distance value recorded by the server at the last moment, i.e. 10ms ago, F′ n The next moment, that is, the advancement distance value recorded by the server after 10ms; k1 is the weight value of the advancement distance of the server at the previous moment or the next moment, k2 is the weight value of the advancement distance recorded by the server at this moment, and k3 is the weight value of the advancement distance recorded by the PLC controller at this moment; where k1+k2+k3=1, k1<k2<k3.

[0042] In the second aspect, a system for automatically recording the footage of a coal mining and anchoring machine includes a hardware system and a software system. The hardware system includes a displacement sensing system, a current sensing system, a remote controller, a PLC controller, a server, a local display, and a ground display; the software system includes a sensor information acquisition and analysis module, a footage accumulation recording module, a footage compensation optimization module, and a human-computer interaction module for recording the footage of the coal mining and anchoring machine;

[0043] The displacement sensing system collects the cutting displacement data of the anchor-digger in real time, including the cutting lifting displacement sensor and the cutting slotting displacement sensor;

[0044] The current sensing system collects the cutting current data of the anchor-mining machine in real time. The cutting motor of the anchor-mining machine includes a left cutting motor and a right cutting motor. The current sensing system includes a left cutting motor current transformer and a right cutting motor current transformer.

[0045] The remote controller is the remote controller of the anchor-mining machine. It is used to operate the cutting and lifting action, the slotting and telescopic action, and to control the start and stop, compensation optimization and parameter setting of the footage recording system.

[0046] The PLC controller is the local controller of the anchor-mining machine, which is used to collect displacement and current sensor data, receive the setting parameters of the local display and the ground display and the server calculation parameters, calculate the footage record, control the cutting action, and send data to the local display, the ground display and the server;

[0047] The server is a computer used to implement the footage compensation recording algorithm, the filtering processing of footage data, the statistical processing of footage data, the classification processing of footage data, and the backup storage of footage historical data. The server is placed in the ground control center of the coal mine excavation working face and uses TCP / IP communication with the PLC controller to realize data interaction.

[0048] Furthermore, the working method of the hardware system is as follows:

[0049] The remote controller sends out parameter setting commands to set the local display interface parameters, and the ground display sets parameters through the mouse, keyboard or operation panel;

[0050] The local display transmits the setting parameters to the PLC controller as the initial conditions through ModbusTCP communication; the displacement sensing system transmits the displacement value to the PLC controller through 4-20mA analog signal, and the current sensing system transmits the current value to the PLC controller through CAN communication;

[0051] The PLC controller performs the footage recording calculation; the remote controller issues the cylinder action command and the footage recording command, which are transmitted to the PLC controller via CAN communication, and the PLC controller controls the cylinder action and footage recording.

[0052] The PLC controller transmits the footage record data to the ground server and ground display for display and calculation through the TCP / IP protocol.

[0053] Furthermore, the sensor information acquisition and analysis module in the software system includes the PLC controller of the anchoring machine to collect the cutting displacement sensor data, and the cutting displacement sensor data acquisition and analysis includes the cutting lifting displacement sensor data acquisition and the groove displacement sensor data acquisition. The cutting lifting displacement sensor data includes the left cutting oil cylinder displacement sensor distance D L Distance D from the right cutting cylinder displacement sensor R , calculate the real-time distance value D0 of the cutting lifting displacement, as shown in the following formula:

[0054] D0=MAX(D L ,D R );

[0055] The distance D1 of the slot displacement sensor is recorded in real time, and sampling and recording are performed according to the operation cycle of the PLC controller;

[0056] Current sensor data acquisition and analysis includes left cut current I L and right cutoff current I R , the current data acquisition adopts the average method, the left cut current I L The specific implementation process of the collection is as follows:

[0057] Set the sampling period to T, the operation period to T0, and calculate the sampling times C num for:

[0058]

[0059] Finally, the left cutoff current I' is calculated L The values ​​are:

[0060]

[0061] Among them, I Li is the left cutoff current at the i-th moment; select the current cutoff current value I0, and the specific calculation formula is as follows:

[0062] I0=MAX(I' L ,I' R ).

[0063] According to a third aspect, a computing device includes:

[0064] one or more processors;

[0065] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0066] In a fourth aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described is implemented.

[0067] The above scheme of the present invention includes at least the following beneficial effects.

[0068] Different from the current manual recording method of footage, this method realizes the real-time recording and updating of the footage of the tunnel excavation by the anchor and digger, solves the problem of delayed and cumbersome footage recording, and saves manpower and time costs. Compared with existing electronic measurement methods such as total stations, it avoids the impact of harsh environments on direct measurement of footage. By utilizing the special operation process of full-width cutting of the anchor and digger and its own displacement sensor, the real-time and accurate recording and updating of footage is realized through software algorithms without increasing hardware costs. It can also run automatically, improving the accuracy of footage measurement, saving financial and hardware costs, and this method can be normalized. In addition, this footage recording method can be manually compensated, realizing the flexibility of footage recording, ensuring the accuracy of footage, and reducing recording errors caused by accidents.

[0069] By establishing a database of footage records, valuable data resources and first-hand information are provided for coal mine footage analysis and production analysis, and basic conditions are also provided for the application of subsequent intelligent decision-making algorithms.

[0070] The present invention utilizes the original hardware system and adopts software to indirectly realize the recording and measurement of the footage, realizes the automatic updating and real-time recording of the footage, saves the manpower cost of the coal mine, lays a technical foundation for the intelligentization of the coal mine, and solves the problem of relying on manual recording of the footage in the excavation tunnel where the excavator-anchor machine is located in a simple way. The real-time recording of the footage data also provides the possibility for intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 The present invention provides a hardware system structure diagram of the automatic recording system of the footage of the integrated digging and anchoring machine for coal mines;

[0072] Figure 2 A flow chart for judging the effectiveness of the footage distance of a coal mine anchoring machine provided by the present invention;

[0073] Figure 3 A schematic diagram of a human-computer interaction interface of an automatic recording system for footage of a coal mine anchoring machine provided by the present invention;

[0074] Figure 4 A flow chart of a method for automatically recording the footage of a coal mine anchoring and digging machine provided by the present invention. DETAILED DESCRIPTION

[0075] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0076] The embodiment of the present invention provides a method for automatically recording the footage of a coal mine anchoring machine, comprising:

[0077] Step S100, setting the parameters of the footage recording system on the local display, including the coal contact current range Imin-Imax, the footage recording time interval TF, and the footage recording manual compensation value, and sending the parameters to the PLC controller of the anchor and digging machine through the ModbusTCP protocol; setting the parameters of the footage recording system on the ground display, including the coal contact current range Imin-Imax reference value of 80-200A, the footage recording time interval TF reference value of 3000ms, and the weighted values ​​k1, k2, and k3 of each footage distance reference value of 0.2, 0.3, and 0.5. After the parameters are set, the parameters are sent to the PLC controller of the anchor and digging machine through the TCP / IP protocol;

[0078] Step S200, a remote control, ground mouse keyboard or ground operation panel is used to issue a footage recording enable command, and the PLC controller executes the footage accumulation recording program after receiving it, and sends the footage, cutting parameters and time information data calculated by the PLC controller to the ground server for storage and calculation according to a 10ms cycle. The ground server sends the footage distance obtained by the final calculation and compensation to the ground display and the local display to display the current footage, and sends the daily footage and monthly footage data after statistical analysis to the ground display for display;

[0079] Step S300, footage record correction;

[0080] Step S400, after the PLC controller calculates the current footage distance value, the server on the ground performs data analysis according to the data recorded in a 10ms period, compares it with the current footage distance recorded by the PLC controller, and performs calculation optimization of the footage after compensation according to the footage compensation optimization algorithm;

[0081] In step S500, the server on the ground accumulates the footage distance value obtained by the final compensation, performs statistical analysis of the daily footage and monthly footage according to the PC system time, and finally displays the footage change rate in a graphical visualization form.

[0082] In the embodiment of the present invention, the footage of the anchoring machine can be recorded in real time and accurately through the automated footage recording system. Compared with the traditional manual recording method, this method not only improves the recording accuracy, but also greatly improves the recording efficiency and reduces the possibility of human error. The system sends the footage data to the ground server through the TCP / IP protocol, so that the ground management personnel can remotely monitor the working status of the anchoring machine in real time, timely understand the footage situation, and provide strong data support for coal mine production. The ground server calculates the footage compensation optimization algorithm based on the recorded data, which can more accurately reflect the actual footage of the anchoring machine. This optimization calculation helps to reduce the footage error caused by factors such as equipment vibration and changes in coal rock hardness. It can perform statistical analysis of daily and monthly footage according to the PC system time, and display the footage change rate in the form of a visual chart. This provides a comprehensive production data analysis tool for coal mining enterprises, which helps enterprises better understand the production status and formulate more reasonable production plans. Through the automated footage recording and monitoring system, abnormal situations that may occur in the anchoring machine during operation, such as current exceeding the set range, can be discovered in time, so that timely measures can be taken to ensure the safe production of coal mines.

[0083] In the embodiment of the present invention, a remote controller, a ground mouse keyboard or a ground operation panel is used to issue a footage recording enable command, and after receiving the command, the PLC controller executes a footage accumulation recording program, and sends the footage, cutting parameters and time information data calculated by the PLC controller to the ground server for storage and calculation according to a 10ms cycle, including:

[0084] The command to start recording footage is issued through the remote control, ground mouse keyboard or buttons or interface options on the ground operation panel. This command serves as a signal indicating that the drilling and anchoring machine is about to start or continue its footage operation and record relevant data during the process;

[0085] The PLC controller monitors the command signal from the remote control, ground mouse keyboard or ground operation panel in real time through its input interface or communication module. If it receives the footage recording enable command, the PLC controller confirms the validity of the command and executes the corresponding footage accumulation recording program;

[0086] The PLC controller works inside to collect key data of the drilling and anchoring machine in real time, including drilling depth, cutting speed, and cutting force parameters;

[0087] The PLC controller packages the footage data, cutting parameters and current time information it has calculated in a 10ms cycle;

[0088] The packaged data is sent to the ground server through the communication module built into the PLC controller according to the preset communication protocol;

[0089] After receiving the data packet from the PLC controller, the server on the ground parses and verifies the data. The verified data is stored in the server's database. The server on the ground calculates the footage distance and analyzes the cutting efficiency in real time based on the received data.

[0090] In an embodiment of the present invention, by using a remote control, a ground mouse and keyboard, or a ground operation panel, the operator can flexibly select the operation mode that best suits the current working environment and needs, and issue a footage recording enable instruction. This diversified operation mode not only improves the convenience of operation, but also ensures that the footage recording program can be effectively started in different scenarios. The PLC controller collects and sends data at a cycle of 10ms, ensuring the real-time and high-precision of the data. This high-frequency data update enables the ground server to obtain the latest working status of the integrated mining and anchoring machine in almost real time, so as to accurately calculate the footage and analyze the cutting efficiency. All key data, including footage depth, cutting speed, cutting force, etc., are fully recorded and sent to the server. This not only provides a rich data foundation for the subsequent footage compensation optimization algorithm, but also ensures the traceability of the production process, which is convenient for problem troubleshooting and responsibility definition. The ground server calculates the footage distance and analyzes the cutting efficiency based on the received real-time data, providing intelligent decision support for coal mine managers. This data-based analysis helps to timely discover production bottlenecks, optimize operating processes, and improve production efficiency. The process is highly integrated with the existing coal mine management system, and seamless data transmission is achieved through a preset communication protocol. This good compatibility ensures the stable operation and efficient collaboration of the entire coal mine management system.

[0091] In the embodiment of the present invention, the server on the ground sends the footage distance finally calculated and compensated to the ground display and the local display to display the current footage, and sends the daily footage and monthly footage data after statistical analysis to the ground display for display, including:

[0092] After receiving the original footage data sent by the PLC controller, the server on the ground processes the original footage data. After the data is processed by the compensation algorithm, the server on the ground obtains a corrected footage distance value.

[0093] The server on the ground sends the corrected footage distance value to the ground display and the local display through the network connection; after the display receives the data, it updates the displayed footage distance in real time;

[0094] The server on the ground regularly performs statistical analysis on the received footage data, including calculating the total footage distance and average footage speed per day or month. After the statistical analysis is completed, the server on the ground sends the daily and monthly footage statistics to the ground display;

[0095] The ground display counts the daily and monthly footage and displays them in charts.

[0096] In an embodiment of the present invention, the server on the ground processes the original footage data sent by the PLC controller and uses a compensation algorithm to correct the footage distance value. This processing method effectively reduces errors, improves the accuracy of footage data, and provides more reliable data support for coal mine production. The corrected footage distance value is sent to the ground display and the local display in real time, so that operators and managers can instantly understand the latest footage of the integrated drilling and anchoring machine. This real-time monitoring helps to find problems in time, adjust operation strategies, and ensure the smooth progress of production. The server on the ground regularly performs statistical analysis on the received footage data and automatically generates reports such as total footage distance and average footage speed on a daily or monthly basis. This automated data processing method greatly improves work efficiency and reduces the tediousness and errors of manual statistics. The ground display displays daily and monthly footage statistics in the form of charts, so that managers can intuitively understand production trends and efficiency changes. This visual display provides strong support for management decisions and helps optimize production plans and resource allocation. By displaying and statistically analyzing footage data in real time, the transparency of coal mine production is improved, and managers can more clearly understand the production status. At the same time, accurate data support also helps to improve the scientificity and efficiency of management decisions.

[0097] In the embodiment of the present invention, the footage record correction includes:

[0098] When encountering the following situations, the drilling and anchoring machine stops recording footage, that is, the cutting enable signal is turned off. At this time, the footage recording function is suspended, and the original recorded data remains unchanged, including:

[0099] The trenching and anchoring machine is extended when cutting the joint tunnel or the angled non-linear footage;

[0100] When the trench digging and anchoring machine touches the coal pile instead of the coal wall.

[0101] In an embodiment of the present invention, when the integrated miner and anchor machine performs non-linear footage or hits coal piles instead of coal walls, the accuracy of footage recording may be affected. By stopping footage recording, inaccurate data can be avoided from being recorded in these special cases, thereby ensuring that the recorded footage data is true and reliable. If inaccurate data continues to be recorded, it may mislead production management and decision-making. By stopping recording in time, unreasonable decisions based on erroneous data can be prevented, and the stability and safety of coal mine production can be protected. The footage recording correction function demonstrates the intelligence of the system, which can automatically stop recording under certain circumstances, reducing the need for manual intervention. At the same time, this also provides operators with greater flexibility and allows them to respond more calmly in complex and changing working environments. In abnormal operating conditions, such as cutting joint lanes or non-linear footage at bevels, continuing to record may cause unnecessary burden or damage to the equipment. Stopping footage recording can protect the safe operation of the equipment to a certain extent. Although the footage recording is stopped in these specific circumstances, the original recorded data remains unchanged, which ensures the integrity and traceability of the data.

[0102] In an embodiment of the present invention, after the PLC controller calculates the current footage distance value, the server on the ground performs data analysis according to the data recorded in a 10ms period, compares it with the current footage distance recorded by the PLC controller, and performs calculation optimization of the compensated footage according to the footage compensation optimization algorithm, including:

[0103] The PLC controller calculates the current advance distance value in real time based on the internal sensor data. The current advance distance value represents the actual advance distance of the anchor and digger in the most recent period of time.

[0104] The server on the ground continuously collects data from the PLC controller. The data is sent in a 10ms cycle and contains information about the excavation process.

[0105] The server on the ground performs filtering on the collected 10ms periodic data;

[0106] The server compares the filtered data with the current footage distance recorded by the PLC controller, analyzes the differences and trends between them, and obtains the comparison results;

[0107] According to the comparison results, the server on the ground calls the preset footage compensation optimization algorithm. The footage compensation optimization algorithm corrects the footage distance according to the historical data and the current status to obtain the compensated footage value.

[0108] The server on the ground uses the output data of the compensation optimization algorithm as the optimized footage distance value.

[0109] In an embodiment of the present invention, the ground server filters the 10ms periodic data, effectively eliminating noise and outliers, and improving the accuracy of the data. This improvement in accuracy helps to more accurately reflect the actual footage of the anchor-digger. The filtered data is compared with the current footage distance recorded by the PLC controller, forming a double verification and error correction mechanism. This mechanism can promptly discover and correct possible errors, further improving the reliability of the footage data. According to the comparison results, the ground server calls the preset footage compensation optimization algorithm to dynamically compensate and optimize the footage distance. This optimization method not only takes into account historical data, but also combines the current state, so that the compensated footage value is closer to reality, effectively improving the accuracy of the footage calculation. The footage compensation optimization algorithm is adaptive and robust, and can be automatically adjusted according to different working conditions and performance changes of the anchor-digger. This feature enables the system to maintain high calculation accuracy and stability when facing a complex and changeable coal mine environment.

[0110] In the embodiment of the present invention, the footage compensation optimization algorithm includes the footage distance value validity judgment and the footage distance compensation operation; wherein, the footage distance value validity judgment is judged by the following method:

[0111] Find the first time when the footage recording enable signal changes from FALSE to TRUE, add n to this time multiplied by the time interval T F Then the current time point is obtained, where n represents the index value of the time interval TF;

[0112] Find the moment S0 when the last groove depth is 0 and the moment S0 when the next groove depth is full range before the current time point L ; Determine whether the action of S0 at the previous moment is cutting up, and whether the cutting height meets the process requirements; determine whether the action of SL at the next moment is cutting down, and whether the cutting height meets the process requirements. If both requirements are met at the same time, the footage recording distance Fn is considered to be a valid value, otherwise it is an invalid value. The time interval here is 10ms.

[0113] In the embodiment of the present invention, by finding the moment when the footage recording enable signal changes from FALSE to TRUE for the first time, and combining the index value n of the time interval TF, the current time point can be accurately located. This precise time positioning provides a reliable basis for subsequent data analysis and judgment. nWhen evaluating the effectiveness of the algorithm, the algorithm not only considers the change in the depth of the groove (from 0 to full scale), but also combines the cutting action (up or down) and whether the cutting height meets the process requirements. This comprehensive judgment of multiple conditions ensures that only footage records that meet specific process requirements will be considered valid values. Through the effectiveness judgment, invalid footage records caused by misoperation, equipment failure or other reasons can be eliminated. In this way, the retained data is of higher quality and can more truly reflect the actual working status of the integrated miner and anchor machine. During a long operation process, if invalid footage records are not identified and eliminated in time, they may gradually accumulate into large errors. The effectiveness judgment of this algorithm can verify the footage records at each time point, so as to correct the errors in time and prevent them from accumulating.

[0114] In the embodiment of the present invention, the footage distance compensation calculation adopts the following method for compensation, specifically including:

[0115] According to the time point data recorded in the database, confirm the footage recording distance F n At the time point S, the server obtains the footage recording distance F′ accumulated according to 10ms. n , the footage recorded by the PLC controller is recorded as distance F n The footage recorded by the server is F', which is accumulated in 10ms. n For comparison, the recorded footage distance value F at the final time point S is calculated according to the following formula: S for:

[0116]

[0117] Among them, F′ n ' is F' n The footage distance value recorded by the server at the last moment, i.e. 10ms ago, F′ n The next moment, that is, the advancement distance value recorded by the server after 10ms; k1 is the weight value of the advancement distance of the server at the previous moment or the next moment, k2 is the weight value of the advancement distance recorded by the server at this moment, and k3 is the weight value of the advancement distance recorded by the PLC controller at this moment; where k1+k2+k3=1, k1<k2<k3.

[0118] In an embodiment of the present invention, the method uses a specific algorithm to perform weighted calculation by integrating the data recorded by the PLC controller and the server to obtain the final footage recording distance. This method can reduce the errors that may exist in a single data source and improve the accuracy of the data. Weight values ​​(k1, k2, k3) are introduced into the algorithm, and these weight values ​​can be dynamically adjusted according to actual conditions. This flexibility enables the algorithm to better adapt to different working environments and equipment states, thereby optimizing the calculation results of the footage distance. Since the algorithm takes into account the footage recording distance accumulated by the server according to 10ms, as well as the footage distance recorded by the PLC controller, this makes the algorithm very sensitive to time changes and can capture and reflect small changes in footage in a timely manner. In the process of data comparison and calculation, the algorithm can identify and process the differences between data, thereby tolerating errors or interference that may occur during data acquisition and transmission to a certain extent, and enhancing the robustness of the system.

[0119] An automatic recording system for the footage of a coal mining and anchoring machine, comprising a hardware system and a software system, wherein the hardware system comprises a displacement sensing system, a current sensing system, a remote controller, a PLC controller, a server, a local display and a ground display; the software system comprises a sensor information acquisition and analysis module, a footage accumulation recording module, a footage compensation optimization module and a human-computer interaction module for recording the footage of the coal mining and anchoring machine;

[0120] The displacement sensing system collects the cutting displacement data of the anchor-digger in real time, including the cutting lifting displacement sensor and the cutting slotting displacement sensor;

[0121] The current sensing system collects the cutting current data of the anchor-mining machine in real time. The cutting motor of the anchor-mining machine includes a left cutting motor and a right cutting motor. The current sensing system includes a left cutting motor current transformer and a right cutting motor current transformer.

[0122] The remote controller is the remote controller of the anchor-mining machine. It is used to operate the cutting and lifting action, the slotting and telescopic action, and to control the start and stop, compensation optimization and parameter setting of the footage recording system.

[0123] The PLC controller is the local controller of the anchor-mining machine, which is used to collect displacement and current sensor data, receive the setting parameters of the local display and the ground display and the server calculation parameters, calculate the footage record, control the cutting action, and send data to the local display, the ground display and the server;

[0124] The server is a computer used to implement the footage compensation recording algorithm, the filtering processing of footage data, the statistical processing of footage data, the classification processing of footage data, and the backup storage of footage historical data. The server is placed in the ground control center of the coal mine excavation working face and uses TCP / IP communication with the PLC controller to realize data interaction.

[0125] In the embodiment of the present invention, the working method of the hardware system is as follows:

[0126] The remote controller sends out parameter setting commands to set the local display interface parameters, and the ground display sets parameters through the mouse, keyboard or operation panel;

[0127] The local display transmits the setting parameters to the PLC controller as the initial conditions through ModbusTCP communication; the displacement sensing system transmits the displacement value to the PLC controller through 4-20mA analog signal, and the current sensing system transmits the current value to the PLC controller through CAN communication;

[0128] The PLC controller performs the footage recording calculation; the remote controller issues the cylinder action command and the footage recording command, which are transmitted to the PLC controller via CAN communication, and the PLC controller controls the cylinder action and footage recording.

[0129] The PLC controller transmits the footage record data to the ground server and ground display for display and calculation through the TCP / IP protocol.

[0130] In the embodiment of the present invention, the sensor information acquisition and analysis module in the software system includes a PLC controller of the anchoring machine to collect the cutting displacement sensor data, and the cutting displacement sensor data acquisition and analysis includes the cutting lifting displacement sensor data acquisition and the groove displacement sensor data acquisition. The cutting lifting displacement sensor data respectively includes the left cutting oil cylinder displacement sensor distance D L Distance D from the right cutting cylinder displacement sensor R , calculate the real-time distance value D0 of the cutting lifting displacement, as shown in the following formula:

[0131] D0=MAX(D L ,D R );

[0132] The distance D1 of the slot displacement sensor is recorded in real time, and sampling and recording are performed according to the operation cycle of the PLC controller;

[0133] Current sensor data acquisition and analysis includes left cut current I L and right cutoff current I R , the current data acquisition adopts the average method, the left cut current I L The specific implementation process of the collection is as follows:

[0134] Set the sampling period to T, the operation period to T0, and calculate the sampling times C num for:

[0135]

[0136] Finally, the left cutoff current I' is calculated L The values ​​are:

[0137]

[0138] Among them, I Li is the left cutoff current at the i-th moment; select the current cutoff current value I0, and the specific calculation formula is as follows:

[0139] I0=MAX(I' L ,I' R ).

[0140] The footage accumulation recording module is the core software algorithm of the present invention, which is implemented in the PLC controller. The implementation process is as follows: First, the following parameters need to be set on the local display or ground display:

[0141] Coal contact current range I min -I max :I min I is the minimum cutting current value after the slotting cylinder contacts the coal wall or rock. max It is the maximum cutting current value after the slotting cylinder contacts the coal wall or rock. This value varies according to the coal roadway conditions and the parameters of the whole machine.

[0142] Driving footage recording time interval T F: Refers to the time interval T after starting to record footage. F The distance of the trench is recorded once every 24 hours. The recording time interval is T F Generally, it is set to be greater than 1s;

[0143] Then the controller determines whether to start recording the footage. The following three conditions must be met. The three conditions are in a logical AND relationship:

[0144] (1) The slotting and stretching action lasts for more than 1 second, which is achieved by detecting whether the solenoid valve has output control current;

[0145] (2) The cutting current value I0 is within the coal contact current range I min -I max The coal contact current range is set via the local display or the ground display;

[0146] (3) Press the footage recording enable button and operate via the ground mouse and keyboard, ground panel or remote control.

[0147] After the first footage is enabled and recording begins, the current slot displacement value L0 is recorded first, and the first footage recording time interval T F After the timing is completed, the displacement value L1 of the slotting is recorded, and the distance of the footage is L1-L 0； The second time interval TF After the timing is completed, the displacement value L2 of the slotting is recorded. At this time, the footage distance value is (L2-L1)+(L1-L0); the footage enables the nth time interval T F The distance after the timing is completed is F n (n≥1):

[0148] F n =(L n -L n-1 )+(L n-1 -L n-2 )+...+(L1-L0) (5)

[0149] It should be noted that the displacement value L at any moment is n Less than the maximum range of the groove.

[0150] The driver or operator can turn off the footage recording function at any time to perform manual compensation and correction of the footage.

[0151] The footage compensation optimization module is an algorithm that compensates and optimizes the current recorded footage error. After the server calculates the compensation value, it is transmitted to the PLC controller to automatically complete the compensation correction. The footage compensation optimization module includes two parts: one is the establishment of the footage database, and the other is the footage compensation optimization algorithm. The footage database is the server that records, stores and organizes the data after the PLC controller transmits the data to the server on the ground. The specific process is to record the data at each time point according to the program operation cycle, which is generally 10ms. The data types include: current time (specific to year, month, day, hour, minute, and second), cutting rise speed, cutting fall speed, groove extension speed, groove retraction speed, cutting height, groove depth, cutting current, footage distance, and footage recording enable signal. The server records the footage every 10ms according to the above-mentioned footage record accumulation algorithm. When recording the groove distance, the groove displacement value is filtered according to the following rules:

[0152] (1) The displacement distance of the groove is greater than the maximum range;

[0153] (2) The difference in displacement of the groove before and after the groove extension action is less than 5 mm;

[0154] (3) Data when the slot expansion and contraction static time exceeds 1 minute.

[0155] The footage compensation optimization algorithm includes the validity judgment of the footage distance value and the footage distance compensation calculation. The validity of the footage distance is judged by the following method: the cutting process of the anchor-digger in a certain mine is fixed. For example, the anchor-digger completes a cutting cycle according to the process of cutting up-grooving extension-cutting down-grooving contraction. By judging the process parameters before and after the groove extension, it is judged whether the groove extension is effective cutting. According to the time point data recorded in the database, first confirm the footage recording distance F n The specific method is to first find the time when the footage recording enable signal changes from FALSE to TRUE for the first time, and then add n*T to this time. F Then the current time point is obtained; then the previous time S0 when the groove depth is 0 and the next time S0 when the groove depth is full range are found. L . Determine whether the action at the last moment of S0 is cutting height, and whether the cutting height meets the process requirements, and determine whether S L Whether the action at the next moment is cutting and lowering, and whether the cutting height meets the process requirements. If both requirements are met at the same time, the footage recording distance F is considered n is a valid value, otherwise it is an invalid value. The time interval here is 10ms. The implementation flow chart is as follows Figure 2 shown.

[0156] The footage distance compensation calculation adopts the following method to compensate: according to the time point data recorded in the database, first confirm the footage recording distance F n The time point (year month day hour minute second) S, the server obtains the footage recording distance F accumulated according to 10ms n ', record the footage distance F recorded by the PLC controller n The footage recorded by the server is calculated by adding 10ms. n 'Compare and calculate the recorded distance value F at the final time point S according to the following formula S for:

[0157]

[0158] In the formula, F n "F n 'The footage distance value recorded by the server at the last moment, i.e. 10ms ago, F n o F n 'The footage distance value recorded by the server at the next moment, that is, 10ms later. k1 is the weight value of the footage distance recorded by the server at the previous moment or the next moment, k2 is the weight value of the footage distance recorded by the server at this moment, and k3 is the weight value of the footage distance recorded by the PLC controller at this moment. Among them, k1+k2+k3=1, k1 <k2<k3。

[0159] The human-computer interaction module for recording the footage of the integrated mining and anchoring machine includes a human-computer interaction module for the local display and a human-computer interaction module for the ground display. The human-computer interaction module for the local display includes a parameter setting module and a footage display module. The parameter setting includes the coal contact current range I min -I max (Unit A), footage recording time interval T F (unit: ms), footage recording manual compensation value (unit: m); the footage display module is the current footage distance F recorded by the PLC controller n . Parameter setting is completed through the remote control key combination operation.

[0160] The ground display human-computer interaction module includes parameter setting module, 3D mapping display module and footage record database module. In addition to the local display setting parameters, the parameter setting module adds the setting values ​​of weight values ​​k1, k2 and k3; the 3D mapping display module displays the footage record distance value F obtained by the final compensation. S In addition, it is also necessary to realize the three-dimensional mapping of footage at the vertical level, showing the advancement of footage, the length of distance and integrating the ups and downs of the coal wall; in addition to recording the current time (specifically to year, month, day, hour, minute and second), cutting speed, cutting speed, slot extension speed, slot retraction speed, cutting height, slot depth, cutting current, footage distance, and footage recording enable signal at different time points, the database module also needs to further perform daily and monthly footage statistics and record cumulative data. The interface diagram is as follows Figure 3 shown.

[0161] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0162] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0163] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

Claims

1. A method for automatically recording the footage of a coal mine anchoring machine, characterized in that: include: Step S100, setting the parameters of the footage recording system on the local display, including the coal contact current range Imin-Imax, the footage recording time interval TF, and the footage recording manual compensation value, and sending the parameters to the PLC controller of the anchor and digging machine through the ModbusTCP protocol; setting the parameters of the footage recording system on the ground display, including the coal contact current range Imin-Imax reference value of 80-200A, the footage recording time interval TF reference value of 3000ms, and the weighted values ​​k1, k2, and k3 of each footage distance reference value of 0.2, 0.3, and 0.

5. After the parameters are set, the parameters are sent to the PLC controller of the anchor and digging machine through the TCP / IP protocol; Step S200, a remote control, ground mouse keyboard or ground operation panel is used to issue a footage recording enable command, and the PLC controller executes the footage accumulation recording program after receiving it, and sends the footage, cutting parameters and time information data calculated by the PLC controller to the ground server for storage and calculation according to a 10ms cycle. The ground server sends the footage distance obtained by the final calculation and compensation to the ground display and the local display to display the current footage, and sends the daily footage and monthly footage data after statistical analysis to the ground display for display; Step S300, footage record correction; Step S400, after the PLC controller calculates the current footage distance value, the server on the ground performs data analysis according to the data recorded in a 10ms period, compares it with the current footage distance recorded by the PLC controller, and performs calculation optimization of the footage after compensation according to the footage compensation optimization algorithm; In step S500, the server on the ground accumulates the footage distance value obtained by the final compensation, performs statistical analysis of the daily footage and monthly footage according to the PC system time, and finally displays the footage change rate in a graphical visualization form.

2. The method for automatically recording the footage of a coal mine anchoring machine according to claim 1, characterized in that: The remote control, ground mouse and keyboard or ground operation panel is used to issue the footage recording enable command. After receiving it, the PLC controller executes the footage accumulation recording program and sends the footage, cutting parameters and time information data calculated by the PLC controller to the ground server for storage and calculation according to a 10ms cycle, including: The command to start recording footage is issued through the remote control, ground mouse keyboard or buttons or interface options on the ground operation panel. This command serves as a signal indicating that the drilling and anchoring machine is about to start or continue its footage operation and record relevant data during the process; The PLC controller monitors the command signal from the remote control, ground mouse keyboard or ground operation panel in real time through its input interface or communication module. If it receives the footage recording enable command, the PLC controller confirms the validity of the command and executes the corresponding footage accumulation recording program; The PLC controller works inside to collect key data of the drilling and anchoring machine in real time, including drilling depth, cutting speed, and cutting force parameters; The PLC controller packages the footage data, cutting parameters and current time information it has calculated in a 10ms cycle; The packaged data is sent to the ground server through the communication module built into the PLC controller according to the preset communication protocol; After receiving the data packet from the PLC controller, the server on the ground parses and verifies the data. The verified data is stored in the server's database. The server on the ground calculates the footage distance and analyzes the cutting efficiency in real time based on the received data.

3. The method for automatically recording the footage of a coal mine anchoring machine according to claim 2, characterized in that: The server on the ground sends the final calculated and compensated footage distance to the ground display and the local display to display the current footage, and sends the statistically analyzed daily and monthly footage data to the ground display for display, including: After receiving the original footage data sent by the PLC controller, the server on the ground processes the original footage data. After the data is processed by the compensation algorithm, the server on the ground obtains a corrected footage distance value. The server on the ground sends the corrected footage distance value to the ground display and the local display through the network connection; after the display receives the data, it updates the displayed footage distance in real time; The server on the ground regularly performs statistical analysis on the received footage data, including calculating the total footage distance and average footage speed per day or month. After the statistical analysis is completed, the server on the ground sends the daily and monthly footage statistics to the ground display; The ground display counts the daily and monthly footage and displays them in charts.

4. The method for automatically recording the footage of a coal mine anchoring machine according to claim 3, characterized in that: Correction of footage records, including: When encountering the following situations, the drilling and anchoring machine stops recording footage, that is, the cutting enable signal is turned off. At this time, the footage recording function is suspended, and the original recorded data remains unchanged, including: The trenching and anchoring machine is extended when cutting the joint tunnel or the angled non-linear footage; When the trench digging and anchoring machine touches the coal pile instead of the coal wall.

5. The automatic recording system for the footage of the integrated drilling and anchoring machine for coal mines according to claim 4 is characterized in that: After the PLC controller calculates the current footage distance value, the server on the ground performs data analysis based on the data recorded in a 10ms cycle, compares it with the current footage distance recorded by the PLC controller, and calculates and optimizes the footage after compensation based on the footage compensation optimization algorithm, including: The PLC controller calculates the current advance distance value in real time based on the internal sensor data. The current advance distance value represents the actual advance distance of the anchor and digger in the most recent period of time. The server on the ground continuously collects data from the PLC controller. The data is sent in a 10ms cycle and contains information about the excavation process. The server on the ground performs filtering on the collected 10ms periodic data; The server compares the filtered data with the current footage distance recorded by the PLC controller, analyzes the differences and trends between them, and obtains the comparison results; According to the comparison results, the server on the ground calls the preset footage compensation optimization algorithm. The footage compensation optimization algorithm corrects the footage distance according to the historical data and the current status to obtain the compensated footage value. The server on the ground uses the output data of the compensation optimization algorithm as the optimized footage distance value.

6. The method for automatically recording the footage of a coal mine anchoring machine according to claim 5, characterized in that: The footage compensation optimization algorithm includes the validity judgment of the footage distance value and the footage distance compensation calculation; among which, the validity judgment of the footage distance value is judged by the following method: Find the first time when the footage recording enable signal changes from FALSE to TRUE, add n to this time multiplied by the time interval T F Then the current time point is obtained, where n represents the index value of the time interval TF; Find the moment S0 when the last groove depth is 0 and the moment S0 when the next groove depth is full range before the current time point L ; Determine whether the action of S0 at the previous moment is cutting up, and whether the cutting height meets the process requirements; determine whether the action of SL at the next moment is cutting down, and whether the cutting height meets the process requirements. If both requirements are met at the same time, the footage recording distance Fn is considered to be a valid value, otherwise it is an invalid value. The time interval here is 10ms.

7. The method for automatically recording the footage of a coal mine anchoring machine according to claim 6, characterized in that: The footage distance compensation calculation adopts the following methods for compensation, including: According to the time point data recorded in the database, confirm the footage recording distance F n At the time point S, the server obtains the footage recording distance F′ accumulated according to 10ms. n , the footage recorded by the PLC controller is recorded as distance F n The footage recorded by the server is F', which is accumulated in 10ms. n For comparison, the recorded footage distance value F at the final time point S is calculated according to the following formula: S for: Among them, F n F′ n The footage distance value recorded by the server at the last moment, i.e. 10ms ago, F′ n The next moment, that is, the advancement distance value recorded by the server after 10ms; k1 is the weight value of the advancement distance of the server at the previous moment or the next moment, k2 is the weight value of the advancement distance recorded by the server at this moment, and k3 is the weight value of the advancement distance recorded by the PLC controller at this moment; where k1+k2+k3=1, k1<k2<k3.

8. An automatic recording system for the footage of a coal mine anchoring machine, characterized in that: Applied in the method according to any one of claims 1 to 7, comprising a hardware system and a software system, wherein the hardware system comprises a displacement sensing system, a current sensing system, a remote controller, a PLC controller, a server, a local display and a ground display; the software system comprises a sensor information acquisition and analysis module, a footage accumulation recording module, a footage compensation optimization module and a drilling and anchoring machine footage recording human-computer interaction module; The displacement sensing system collects the cutting displacement data of the anchor-digger in real time, including the cutting lifting displacement sensor and the cutting slotting displacement sensor; The current sensing system collects the cutting current data of the anchor-mining machine in real time. The cutting motor of the anchor-mining machine includes a left cutting motor and a right cutting motor. The current sensing system includes a left cutting motor current transformer and a right cutting motor current transformer. The remote controller is the remote controller of the anchor-mining machine. It is used to operate the cutting and lifting action, the slotting and telescopic action, and to control the start and stop, compensation optimization and parameter setting of the footage recording system. The PLC controller is the local controller of the anchor-mining machine, which is used to collect displacement and current sensor data, receive the setting parameters of the local display and the ground display and the server calculation parameters, calculate the footage record, control the cutting action, and send data to the local display, the ground display and the server; The server is a computer used to implement the footage compensation recording algorithm, the filtering processing of footage data, the statistical processing of footage data, the classification processing of footage data, and the backup storage of footage historical data. The server is placed in the ground control center of the coal mine excavation working face and uses TCP / IP communication with the PLC controller to realize data interaction.

9. The automatic recording system for the footage of the integrated drilling and anchoring machine for coal mines according to claim 8 is characterized in that: The hardware system works as follows: The remote controller sends out parameter setting commands to set the local display interface parameters, and the ground display sets parameters through the mouse, keyboard or operation panel; The local display transmits the setting parameters to the PLC controller as the initial conditions through ModbusTCP communication; the displacement sensing system transmits the displacement value to the PLC controller through 4-20mA analog signal, and the current sensing system transmits the current value to the PLC controller through CAN communication; The PLC controller performs the footage recording calculation; the remote controller issues the cylinder action command and the footage recording command, which are transmitted to the PLC controller via CAN communication, and the PLC controller controls the cylinder action and footage recording. The PLC controller transmits the footage record data to the ground server and ground display for display and calculation through the TCP / IP protocol.

10. The automatic recording system for the footage of the integrated digging and anchoring machine for coal mines according to claim 9, characterized in that: The sensor information acquisition and analysis module in the software system includes the PLC controller of the anchoring machine to collect the cutting displacement sensor data. The cutting displacement sensor data acquisition and analysis includes the cutting lifting displacement sensor data acquisition and the groove displacement sensor data acquisition. The cutting lifting displacement sensor data includes the left cutting oil cylinder displacement sensor distance D L Distance D from the right cutting cylinder displacement sensor R , calculate the real-time distance value D0 of the cutting lifting displacement, as shown in the following formula: D0=MAX(D L ,D R ); The distance D1 of the slot displacement sensor is recorded in real time, and sampling and recording are performed according to the operation cycle of the PLC controller; Current sensor data acquisition and analysis includes left cut current I L and right cutoff current I R , the current data acquisition adopts the average method, the left cut current I L The specific implementation process of the collection is as follows: Set the sampling period to T, the operation period to T0, and calculate the sampling times C num for: Finally, the left cutoff current I' is calculated L The values ​​are: Among them, I Li is the left cutoff current at the i-th moment; select the current cutoff current value I0, and the specific calculation formula is as follows: I0=MAX(I' L ,I' R )。

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