Coal caving control method, device, equipment and medium

Abstract

The invention provides a coal caving control method, device, equipment and medium which are applied to a top coal caving working face, and the top coal caving working face comprises a non-coal-caving area and a coal-caving area. The non-coal-caving area and the coal-caving area are correspondingly provided with hydraulic supports, the coal-caving area is divided into a prohibited area and a quasi-caving area, and the method comprises the steps that the prohibited area in the coal-caving area is determined based on the position point of a coal cutter in the coal cutting process; based on the coal caving area and the prohibited area, determining a quasi-caving area; and the hydraulic supports in the accurate caving area are controlled to execute coal caving operation. According to the method, the prohibited area and the accurate caving area are changed through the position change of the coal mining machine in the coal cutting process, the hydraulic supports in the accurate caving area are controlled to execute the coal caving operation until all the hydraulic supports complete the coal caving operation, combination of coal caving and coal mining is achieved, accurate coal caving is achieved, and safe production is kept.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine fully mechanized mining, and in particular to a coal discharge control method, device, equipment and medium. Background Art

[0002] For the abundant coal resources, comprehensive mechanized top coal caving mining (abbreviated as fully mechanized top coal caving mining) has become the main mining method for thick and extra-thick coal seams because of its significant advantages such as high mining efficiency and strong adaptability.

[0003] Comprehensive mechanized top coal caving mining method, referred to as fully mechanized caving mining, is a mining method for thick and extra-thick coal seams. Its definition can be summarized as: in extra-thick coal seams, the coal mining working face is arranged along the coal seam floor (or a certain height range in the coal seam), and the comprehensive mechanized coal mining process is used for mining. At the same time, the top coal above the working face is broken into loose bodies by the effect of mine pressure or by artificial loosening, and is released and recovered in front or behind as the working face advances.

[0004] When coal is not being released, the hydraulic support for top coal release extends the tail beam jack and the flapper jack to protect the rear scraper conveyor under the tail beam and the flapper, thus preventing coal from being released. When coal needs to be released, the hydraulic support retracts the tail beam jack and the flapper jack to release the rear scraper conveyor, and the top coal is released from the rear coal release port onto the rear scraper conveyor.

[0005] When faced with complex and changeable coal seam occurrence conditions and production environments, the flexibility of current coal placement methods may be limited. When coal seam occurrence conditions change, errors may occur, resulting in inaccurate coal placement. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a coal discharge control method, device, equipment and medium.

[0007] The present invention provides a coal caving control method, which is applied to a top coal caving working face, wherein the top coal caving working face includes a non-coal caving area and a coal caving area; the non-coal caving area and the coal caving area correspond to hydraulic supports, and the coal caving area is divided into a prohibited caving area and a permitted caving area, and the method includes: Determining a prohibited area in the permitted coal placement area based on the position of the coal mining machine during the coal cutting process; Based on the coal caving area and the prohibited caving area, determining the permitted caving area; Control the hydraulic support in the quasi-coal release area to perform coal release operations.

[0008] According to a coal caving control method provided by the present invention, based on the position point of the coal mining machine during the coal cutting process, a prohibited caving area in the coal caving area is determined, comprising: Based on the position of the coal mining machine during the coal cutting process, the length of the coal mining machine and the coal mining process requirement information, a first no-no zone in front of the coal mining machine in the coal cutting direction, a second no-no zone behind the coal mining machine and a third no-no zone occupied by the coal mining machine are determined, and the first no-no zone, the second no-no zone and the third no-no zone are merged into the no-no zone in the coal-laying area.

[0009] According to a coal caving control method provided by the present invention, the method of controlling a hydraulic support in a quasi-caving area to perform a coal caving operation comprises: Based on the pre-configured coal caving strategy, the hydraulic supports in the quasi-caving area are controlled to perform coal caving operations; Alternatively, the real-time distribution status of the quasi-caving area in the coal-caving area is obtained, a coal caving strategy is determined based on the real-time distribution status, and the hydraulic support in the quasi-caving area is controlled to perform coal caving operations based on the determined coal caving strategy.

[0010] According to a coal caving control method provided by the present invention, the non-coal caving area includes a head non-coal caving area and a tail non-coal caving area distributed at both ends of the top coal caving working face. Accordingly, the method further includes: Based on the coal cutting direction, the interval area formed by the forbidden area and the non-coal placing area at the tail of the machine is obtained in real time, or the interval area formed by the forbidden area and the non-coal placing area at the head of the machine is obtained in real time, and the interval area is a part of the quasi-placement area; When the number of hydraulic supports in the interval area reaches a preset number, the hydraulic supports in the interval area are controlled to perform coal placing operation.

[0011] According to a coal caving control method provided by the present invention, the method further comprises: Monitor the real-time coal discharge volume of the hydraulic supports in the quasi-discharging area during the coal discharge operation; Based on the real-time coal discharge volume and the conveying force of the rear scraper conveyor, the current coal discharge strategy is adjusted, and based on the adjusted coal discharge strategy, the hydraulic support in the quasi-discharging area is controlled to perform the coal discharge operation.

[0012] According to a coal caving control method provided by the present invention, when the coal mining machine enters the empty knife return process after coal cutting is completed, the method further includes: Configuring the coal-laying area as a quasi-laying area; The status of each hydraulic support in the quasi-coal placement area is obtained, and the coal placement operation is performed in sequence on the hydraulic supports in the state of being ready to place coal.

[0013] According to a coal caving control method provided by the present invention, the method further comprises: During the coal cutting process, a feedback area in the quasi-release area is obtained in real time, and the hydraulic support in the feedback area is a support that cannot release coal temporarily as reported by the on-site underground mine; The hydraulic supports in the remaining area of ​​the quasi-coaling area excluding the feedback area are controlled to perform coal-coaling operations.

[0014] The present invention also provides a coal caving control device, which is applied to a top coal caving working face, wherein the top coal caving working face includes a non-coal caving area and a coal caving area; the non-coal caving area and the coal caving area correspond to hydraulic supports, and the coal caving area is divided into a prohibited caving area and a permitted caving area, and the device includes: A first determination module is used to determine a prohibited area in the permitted coal placement area based on a position point of the coal mining machine during the coal cutting process; A second determination module is used to determine a permitted caving area based on the caving permitted area and the caving prohibited area; The control module is used to control the hydraulic support in the quasi-coal placement area to perform coal placement operations.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the above-mentioned coal discharge control methods is implemented.

[0016] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned coal discharge control methods is implemented.

[0017] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned coal discharge control methods.

[0018] The present invention provides a coal caving control method, device, equipment and medium, which changes the position of the coal mining machine during the coal cutting process, so that the prohibited caving area and the permitted caving area change, and controls the hydraulic supports in the permitted caving area to perform the coal caving operation until all the hydraulic supports complete the coal caving operation, thereby realizing the combination of coal caving and coal mining, achieving precise coal caving, and maintaining safe production. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 The structure of the top coal caving working face provided by the present invention is schematically shown. Figure 1 .

[0021] Figure 2 The structure of the top coal caving working face provided by the present invention is schematically shown. Figure 2 .

[0022] Figure 3 It is a flow chart of the coal discharge control method provided by the present invention.

[0023] Figure 4 The schematic diagram of the one-way coal cutting process of the fully mechanized mining face provided by the present invention is Figure 1 .

[0024] Figure 5 The schematic diagram of the one-way coal cutting process of the fully mechanized mining face provided by the present invention is Figure 2 .

[0025] Figure 6 The schematic diagram of the one-way coal cutting process of the fully mechanized mining face provided by the present invention is Figure 3 .

[0026] Figure 7 The schematic diagram of the one-way coal cutting process of the fully mechanized mining face provided by the present invention is Figure 4 .

[0027] Figure 8 It is a structural schematic diagram of the coal discharge control device provided by the present invention.

[0028] Fig. 9 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0030] Combine the following Figure 1-Figure 9 The coal discharge control method, device, equipment and medium of the present invention are described.

[0031] The present invention provides a coal caving control method, which is applied to top coal caving working face. Figure 1 The top coal caving working face includes a top coal caving hydraulic support 11, a front scraper conveyor 12, and a rear scraper conveyor 13. The tail beam 111 and the insert plate 112 in the top coal caving hydraulic support are the main structural components for the coal caving operation. When no coal is caving, the top coal caving hydraulic support extends the tail beam jack and the insert plate jack to protect the rear scraper conveyor under the tail beam and the insert plate, thereby preventing coal from being caving. When coal caving is required, the hydraulic support retracts the tail beam jack and the insert plate jack to discharge the rear scraper conveyor, and the top coal is cavitated from the rear coal caving port onto the rear scraper conveyor (see Figure 2 ).

[0032] In the present invention, in order to realize the combination of coal caving and coal mining, accurate coal caving is achieved and safe production is maintained. The top coal caving working face is divided into a non-coal caving area and a coal caving area, that is, the top coal caving working face includes a non-coal caving area and a coal caving area. Since the top coal caving hydraulic support performs the coal caving operation, the top coal caving hydraulic support is a combined structure, which is composed of multiple single hydraulic supports. Therefore, there are actually hydraulic supports corresponding to the non-coal caving area and the coal caving area. In the actual working process, the coal caving area is divided into a forbidden caving area and a quasi-caving area. The forbidden caving area is a hydraulic support in the area that cannot be controlled to perform the coal caving operation temporarily during the actual working process. The quasi-caving area is a hydraulic support in the area that can be controlled to perform the coal caving operation during the actual working process. When there are multiple hydraulic supports in the quasi-caving area, in order not to affect safe production, for multiple hydraulic supports, the coal caving operation is performed sequentially on the hydraulic supports according to the preset coal caving strategy.

[0033] See also Figure 3 The flow chart of the above-mentioned coal discharge control method is shown, and the method comprises the following steps: Step 11: Based on the position of the coal mining machine during the coal cutting process, determine the prohibited area in the permitted coal placement area.

[0034] Step 12: Based on the permitted coal caving areas and prohibited coal caving areas, determine the permitted caving areas.

[0035] Step 13: Control the hydraulic support in the quasi-coal placement area to perform coal placement operations.

[0036] Regarding steps 11 to 13, it should be noted that the top coal caving hydraulic support is composed of multiple single hydraulic supports, and in the layout design, the hydraulic supports are evenly spaced. The single hydraulic support here, from the perspective of coal caving operation, can refer to the tail beam, the plug plate and their respective jacks.

[0037] In order to ensure that coal laying does not affect safe production, the coal mining machine moves to a position point during the coal cutting process so that each hydraulic support corresponding to the quasi-laying area and the forbidden-laying area is exactly the same size. For example, each hydraulic support controls the plug plate, and it can be understood that the edge of the plug plate is exactly within the edge of the quasi-laying area and the forbidden-laying area.

[0038] In the present invention, the no-release zone is determined based on the coal mining machine. When the coal mining machine moves from one position point to another position point, it can move forward one hydraulic support. This is equivalent to the no-release zone "covering" one hydraulic support in the front and "leaking" one hydraulic support in the back, which will also cause the front and back changes of the no-release zone and the quasi-release zone in the coal-releasing area. Here, the coal mining machine moves from one position point to the next position point after a preset step length. The preset step length can be configured according to the width of the plug plate corresponding to a hydraulic support.

[0039] In the present invention, after determining the forbidden area based on the position of the coal mining machine during the coal cutting process, the quasi-caving area is determined based on the coal caving area and the forbidden area. In fact, the remaining area after removing the forbidden area from the coal caving area is used as the quasi-caving area.

[0040] See also Figure 4 The one-way coal cutting process of the comprehensive mining working face is to cut coal normally in one direction and use a reverse cutter in the other direction. In this way, the coal mining machine cuts once for each round trip. After the coal mining machine cuts coal, the hydraulic support moves with the machine. Figure 4 The numbered structures represent hydraulic supports.

[0041] See also Figure 5 Based on the coal cutting direction, the two ends of the comprehensive mining face are divided into the head and the tail. That is, the end of the coal mining machine moving towards each other is the head, and the other end is the tail. When the coal mining machine on the working face cuts coal towards the head, for the sake of safe production, a no-release zone is configured in front and behind the coal mining machine body (called the first no-release zone and the second no-release zone for distinction). Correspondingly, the area occupied by the coal mining machine itself is also prohibited from placing top coal, which is regarded as the third no-release zone. The overall no-release zone includes the first no-release zone, the second no-release zone and the third no-release zone. Under the actual coal mining process requirements, the front of the coal mining machine is the pull-back slide area, and the rear of the coal mining machine is the follow-machine frame transfer area. For this reason, the pull-back slide area and the follow-machine frame transfer area can be used as the above-mentioned first no-release zone and second no-release zone respectively. Therefore, the setting rules of the no-release zone are X-frame hydraulic support in the coal mining machine body area, Y-frame hydraulic support in the pull-back slide area in the front of the body, and Z-frame hydraulic support in the follow-machine frame transfer area in the rear of the body. Therefore, based on the position of the coal shearer during coal cutting, the length of the coal shearer and the coal mining process requirements, the pull-back slide area in front of the coal shearer in the coal cutting direction, the follow-machine frame moving area behind the coal shearer and the area occupied by the coal shearer are determined.

[0042] The number of fixed racks at the head and tail of the machine is a non-coal-laying area due to hardware matching. This section of the area is a fixed area according to the matching conditions of the working face. Therefore, based on the coal cutting direction, the non-coal-laying area includes the head non-coal-laying area and the tail non-coal-laying area distributed at both ends of the top coal-laying working face. For example, the head non-coal-laying area is the A-frame hydraulic support, and the tail non-coal-laying area is the B-frame hydraulic support. Other areas of the working face are quasi-laying areas, and the forbidden areas change continuously according to the position of the coal mining machine. The front support gradually becomes the forbidden area, and the rear support gradually becomes the quasi-laying area.

[0043] See also Figure 5 The hydraulic supports corresponding to the quasi-release areas are "5-17" and "153-161".

[0044] See also Figure 6 The hydraulic support corresponding to the prohibited area is "17-151", and the hydraulic support corresponding to the permitted area after the change is "5-16" and "152-161".

[0045] In the present invention, no matter the coal mining machine moves or temporarily does not move, as long as the quasi-releasing area exists, the hydraulic support in the quasi-releasing area is controlled to perform the coal releasing operation.

[0046] The coal caving control method provided by the present invention changes the prohibited caving area and the permitted caving area through the position change of the coal mining machine during the coal cutting process, and controls the hydraulic supports in the permitted caving area to perform the coal caving operation until all the hydraulic supports complete the coal caving operation, thereby realizing the combination of coal caving and coal mining, achieving accurate coal caving, and maintaining safe production.

[0047] In a further method of the above method, the processing of controlling the hydraulic support in the quasi-coaling area to perform the coal caving operation is mainly explained, as follows: Based on the pre-configured coal caving strategy, the hydraulic supports in the quasi-caving area are controlled to perform coal caving operations; Alternatively, the real-time distribution status of the quasi-caving area in the coal-caving area is obtained, the coal caving strategy is determined based on the real-time distribution status, and the hydraulic support in the quasi-caving area is controlled to perform the coal caving operation based on the determined coal caving strategy.

[0048] It should be noted that a fixed coal caving strategy is implanted in the system, and based on the coal caving strategy, the hydraulic supports in the quasi-caving area are controlled to perform coal caving operations, such as one-end caving strategy, two-end caving strategy, multi-coal-port caving strategy, and so on.

[0049] The one-end coal-laying strategy is used to control the hydraulic supports in the quasi-laying area to perform coal-laying operations. The one-end coal-laying strategy here is based on the head and tail ends of the machine. Any one end is selected, starting from the first quasi-laying hydraulic support, and in sequence towards the other end, the hydraulic supports are controlled to perform coal-laying operations.

[0050] See also Figure 6 , determine that the first hydraulic support in the quasi-release area near the tail non-coal release area is 161, and then control the hydraulic supports in the quasi-release area to perform the coal release operation in the order of 160, 159, 158..., and after the hydraulic support completes the coal release operation, record the hydraulic support status from waiting to release to complete the coal release. When the forbidden release area is connected with the non-coal release area of ​​the head, the hydraulic supports 5, 6, 7...15 (assuming the reached value) under the forbidden release area have not performed the coal release operation. At this time, the coal mining machine is in the empty knife return stage, and the entire coal release area is the quasi-release area, but the hydraulic supports 16, 17,..., 161 have completed the coal release operation. At this time, after the coal mining machine leaks hydraulic support 15, it controls hydraulic supports 15, 14,..., 5 in order again.

[0051] In the present invention, the two-end coal-laying strategy can also be used to control the hydraulic supports in the quasi-laying area to perform coal-laying operations. The two-end coal-laying strategy here takes the head and tail ends as references, starts from the first quasi-laying hydraulic supports at both ends, and sequentially controls the hydraulic supports to perform coal-laying operations in the direction of the other end.

[0052] See also Figure 6 , determine that the first hydraulic supports in the quasi-placement area close to the non-coal-placement area at the head and the non-coal-placement area at the tail are 5 and 161 respectively, and then control the hydraulic supports in the quasi-placement area to perform the coal-placement operation in the order of 160, 159, 158, etc., and control the hydraulic supports in the quasi-placement area to perform the coal-placement operation in the order of 6, 7, 8, etc. After the hydraulic supports complete the coal-placement operation, the state of the hydraulic supports is updated from waiting to place coal to completing the coal-placement operation.

[0053] See also Figure 7 When the forbidden coal-releasing area is connected with the non-coal-releasing area of ​​the machine head, and the coal mining machine returns to the empty-cut stage, the entire coal-releasing area is the quasi-releasing area, but the hydraulic supports 20, 21, ..., 145 have not completed the coal-releasing operation. At this time, after the coal mining machine leaks out of the hydraulic support 20, the hydraulic supports 20, 21, ... are controlled in sequence again. When the coal mining machine leaks out of the hydraulic support 145, the hydraulic supports 145, 144, 143... are controlled in sequence again until the two-way propulsion enables all hydraulic supports to complete the coal-releasing operation.

[0054] From the perspective of the one-end coal releasing strategy and the two-end coal releasing strategy, when the first hydraulic support starts the coal releasing operation, it is called opening a "coal port". Therefore, for the multi-coal port coal releasing strategy, it can be understood that multiple hydraulic supports are opened at intervals in the quasi-releasing area to perform coal releasing operations.

[0055] In a further method of the above method, for the sake of safe production of coal mining, as the coal mining machine moves, one hydraulic support can be controlled to perform coal discharge operation without freeing up a hydraulic support. To this end, when the coal mining machine performs coal cutting operation from the tail to the head of the machine, at this time, along the coal cutting direction, the forbidden zone where the coal mining machine is located will gradually pull away from the non-coal discharge zone at the tail of the machine, and it is regarded that the forbidden zone and the non-coal discharge zone at the tail of the machine form a certain interval zone, and the interval zone is a part of the quasi-discharge zone. When the number of hydraulic supports in the interval zone reaches a preset number, the hydraulic supports in the interval zone are controlled to perform coal discharge operation. Correspondingly, when the coal mining machine performs coal cutting operation from the head to the tail of the machine, at this time, along the coal cutting direction, the forbidden zone where the coal mining machine is located will gradually pull away from the non-coal discharge zone at the head of the machine, and it is regarded that the forbidden zone and the non-coal discharge zone at the head of the machine form a certain interval zone, and the interval zone is a part of the quasi-discharge zone. When the number of hydraulic supports in the interval zone reaches a preset number, the hydraulic supports in the interval zone are controlled to perform coal discharge operation. See. Figure 6The number of hydraulic supports in the quasi-coal-releasing area formed by the forbidden coal-releasing area and the non-coal-releasing area at the tail of the machine is 10 (i.e. 152-161), and the preset number is 10. At this time, the corresponding hydraulic supports 161, 160, 159... are controlled in sequence to perform coal-releasing operations.

[0056] In addition, as the coal mining machine moves, the hydraulic supports that were originally planned to perform coal releasing operations may be temporarily relegated to a waiting state for coal releasing. This will cause changes in the amount of coal released, such as a decrease in the amount of coal released, but the conveying force of the rear scraper conveyor has not changed. At this time, in order to speed up the efficiency of coal releasing, it is necessary to adjust the current coal releasing strategy, and then control the hydraulic supports in the quasi-releasing area to perform coal releasing operations based on the adjusted coal releasing strategy.

[0057] See also Figure 6 , when the forbidden area is connected with the non-coaling area of ​​the machine head, the hydraulic supports 5, 6, 7...15 (assuming the reached value) under the forbidden area do not perform the coaling operation. At this time, the hydraulic supports under the quasi-coaling area are 16, 17,..., 120, and the hydraulic support 120 is being controlled to perform the coaling operation. At this time, the hydraulic support 100 can be controlled to start the coaling operation, which is equivalent to reopening a coaling port.

[0058] When the coal mining machine enters the empty knife process after completing coal cutting, Figure 7 As shown, all the areas where coal can be placed are ready to be placed, but some hydraulic supports have completed the coal placement operation (areas where the coal placement operation has been completed are considered to have been placed). At this time, the status of each hydraulic support in the ready to be placed area is obtained, and the coal placement operation is performed in sequence for the hydraulic supports in the state of waiting to be placed. The strategy of sequential execution here can be the above-mentioned one-end coal placement strategy and the two-end coal placement strategy.

[0059] It should also be noted that the entire coal placing process in the coal cutting stage and the return to empty knife stage can be single-round coal placing or multi-round coal placing, and the specific coal placing rounds and coal placing sequence can be flexibly set according to the actual situation on site. Single-round coal placing means placing one hydraulic support once, and then placing all hydraulic supports once, and multi-round coal placing means placing some on one hydraulic support first, and then placing all hydraulic supports in sequence, and then placing them once and then again.

[0060] In addition, within the permitted coal release zone, the coal release status of the supports within the permitted coal release zone can be flexibly set according to the on-site conditions. For example, if the on-site underground feedback indicates that coal cannot be released in a certain area within the permitted coal release zone, the coal release status of this area can be set (released / forbidden) to complete the non-coal release setting for this area, and the hydraulic supports in the remaining areas of the permitted coal release zone excluding the feedback area (i.e. the feedback area) can be controlled to perform coal release operations.

[0061] The coal placing control device provided by the present invention is described below. The coal placing control device described below and the coal placing control method described above can be referred to each other.

[0062] Figure 8 A schematic diagram of the structure of a coal discharge control device provided by the present invention is shown in FIG. Figure 8 The device is applied to a top coal caving working face, which includes a top coal caving hydraulic support, a front scraper conveyor, and a rear scraper conveyor. The top coal caving working face includes a non-coal caving area and a coal caving area; the non-coal caving area and the coal caving area have hydraulic supports corresponding to them, and the coal caving area is divided into a prohibited caving area and a permitted caving area. The device includes a first determining module 81, a second determining module 82, and a control module 83, wherein: The first determination module is used to determine the prohibited area in the permitted coal placement area based on the position point of the coal mining machine during the coal cutting process; The second determination module is used to determine the permitted caving area based on the caving permitted area and the caving prohibited area; The control module is used to control the hydraulic support in the quasi-coal placement area to perform coal placement operations.

[0063] Since the principle of the device of the embodiment of the present invention is the same as that of the method of the above embodiment, a more detailed explanation is omitted here.

[0064] It should be noted that, in the embodiments of the present invention, relevant functional modules may be implemented by a hardware processor.

[0065] The coal placing control device provided by the present invention changes the prohibited coal placing area and the permitted coal placing area through the position change of the coal mining machine during the coal cutting process, and controls the hydraulic supports in the permitted coal placing area to perform the coal placing operation until all the hydraulic supports complete the coal placing operation, thereby realizing the combination of coal placing and coal mining, achieving accurate coal placing, and maintaining safe production.

[0066] Fig. 9 An example of a physical structure diagram of an electronic device is shown in FIG. Fig. 9 As shown, the electronic device may include: a processor 91 (processor), a communication interface 92 (Communications Interface), a memory 93 (memory) and a communication bus 94, wherein the processor 91, the communication interface 92, and the memory 93 communicate with each other through the communication bus 94. The processor 91 may call the logic instructions in the memory 93 to execute the coal caving control method, which includes: determining the forbidden caving area in the coal caving area based on the position point of the coal mining machine during the coal cutting process; determining the quasi-caving area based on the coal caving area and the forbidden caving area; and a control module for controlling the hydraulic support in the quasi-caving area to perform the coal caving operation.

[0067] In addition, the logic instructions in the above-mentioned memory 93 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0068] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the coal caving control method provided by the above-mentioned methods, which includes: determining a prohibited caving area in the coal caving area based on the position point of the coal mining machine during the coal cutting process; determining a quasi-caving area based on the coal caving area and the prohibited caving area; and a control module for controlling the hydraulic support in the quasi-caving area to perform a coal caving operation.

[0069] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the camera device adjustment method in the comprehensive mining video splicing scenario provided by the above-mentioned methods. The method includes: determining the prohibited area in the coal-laying area based on the position point of the coal mining machine during the coal cutting process; determining the quasi-laying area based on the coal-laying area and the prohibited area; and a control module for controlling the hydraulic support in the quasi-laying area to perform coal laying operations.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling coal discharge, characterized in that: Applied to a top coal caving working face, the top coal caving working face includes a non-coal caving area and a coal caving area; the non-coal caving area and the coal caving area correspond to hydraulic supports, and the coal caving area is divided into a prohibited caving area and a permitted caving area, and the method includes: Determining a prohibited area in the permitted coal placement area based on the position of the coal mining machine during the coal cutting process; Based on the coal caving area and the prohibited caving area, determining the permitted caving area; Control the hydraulic support in the quasi-coal release area to perform coal release operations.

2. The coal discharge control method according to claim 1, characterized in that: Based on the position of the coal mining machine during the coal cutting process, determining the prohibited area in the permitted coal caving area includes: Based on the position of the coal mining machine during the coal cutting process, the length of the coal mining machine and the coal mining process requirement information, a first no-no zone in front of the coal mining machine in the coal cutting direction, a second no-no zone behind the coal mining machine and a third no-no zone occupied by the coal mining machine are determined, and the first no-no zone, the second no-no zone and the third no-no zone are merged into the no-no zone in the coal-laying area.

3. The coal discharge control method according to claim 1 or 2, characterized in that: The controlling of the hydraulic support in the quasi-coal caving area to perform the coal caving operation comprises: Based on the pre-configured coal caving strategy, the hydraulic supports in the quasi-caving area are controlled to perform coal caving operations; Alternatively, the real-time distribution status of the quasi-caving area in the coal-caving area is obtained, a coal caving strategy is determined based on the real-time distribution status, and the hydraulic support in the quasi-caving area is controlled to perform coal caving operations based on the determined coal caving strategy.

4. The coal discharge control method according to claim 3, characterized in that: The non-coal caving area includes a head non-coal caving area and a tail non-coal caving area distributed at both ends of the top coal caving working face. Accordingly, the method further includes: Based on the coal cutting direction, the interval area formed by the forbidden area and the non-coal placing area at the tail of the machine is obtained in real time, or the interval area formed by the forbidden area and the non-coal placing area at the head of the machine is obtained in real time, and the interval area is a part of the quasi-placement area; When the number of hydraulic supports in the interval area reaches a preset number, the hydraulic supports in the interval area are controlled to perform coal placing operation.

5. The coal discharge control method according to claim 4, characterized in that: The method further comprises: Monitor the real-time coal discharge volume of the hydraulic supports in the quasi-discharging area during the coal discharge operation; Based on the real-time coal discharge volume and the conveying force of the rear scraper conveyor, the current coal discharge strategy is adjusted, and based on the adjusted coal discharge strategy, the hydraulic support in the quasi-discharging area is controlled to perform the coal discharge operation.

6. The coal discharge control method according to claim 5, characterized in that: When the coal mining machine enters the process of returning the empty cutter after the coal cutting is completed, the method further comprises: Configuring the coal-laying area as a quasi-laying area; The status of each hydraulic support in the quasi-coal placement area is obtained, and the coal placement operation is performed in sequence on the hydraulic supports in the state of being ready to place coal.

7. The coal discharge control method according to claim 1, characterized in that: The method further comprises: During the coal cutting process, a feedback area in the quasi-release area is obtained in real time, and the hydraulic support in the feedback area is a support that cannot release coal temporarily as reported by the on-site underground mine; The hydraulic supports in the remaining area of ​​the quasi-coaling area excluding the feedback area are controlled to perform coal-coaling operations.

8. A coal discharge control device, characterized in that: Applicable to top coal caving working face, the top coal caving working face includes a non-coal caving area and a coal caving area; the non-coal caving area and the coal caving area correspond to hydraulic supports, and the coal caving area is divided into a prohibited caving area and a permitted caving area, and the device includes: A first determination module is used to determine a prohibited area in the permitted coal placement area based on a position point of the coal mining machine during the coal cutting process; A second determination module is used to determine a permitted caving area based on the permitted caving area and the prohibited caving area; The control module is used to control the hydraulic support in the quasi-coal placement area to perform coal placement operations.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the coal discharge control method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the coal discharge control method according to any one of claims 1 to 7 is implemented.

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