Fully mechanized caving face top coal caving intelligent control method, device and equipment and storage medium

Abstract

The invention provides an intelligent control method, device and equipment for top coal caving of a fully mechanized caving face and a storage medium. The method comprises the following steps: acquiring gangue content information in a caved coal flow; comparing the gangue content information with a preset gangue content over-limit threshold value, and when the gangue content information exceeds the gangue content over-limit threshold value for the first time, allowing coal caving operation to be continued in a gangue inclusion time coefficient; if the monitored gangue content information in the gangue inclusion time coefficient exceeds the gangue content over-limit threshold value again, the coal caving window is closed, the gangue inclusion time coefficient is introduced, refined control over the automatic coal caving process of the fully mechanized caving face is achieved, the problem that under-caving is caused by gangue inclusion in the coal caving process is effectively solved, and the coal caving efficiency is improved. The recovery rate is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fully mechanized top coal caving mining, and particularly to an intelligent control method, device, equipment and storage medium for top coal caving in a fully mechanized caving face. Background Art

[0002] When manual coal caving is used, the current coal caving timing and coal caving cycle are determined by the experience of on-site operators. Therefore, the overall quality requirements for workers are relatively high, and the coal output rate and gangue mixing rate during coal caving are greatly affected by the quality of workers. At the same time, the underground environment in coal mines is relatively harsh and complex, the coal caving operation is cumbersome, the manual labor intensity is relatively large, and the coal caving efficiency is relatively low. In view of the various drawbacks of the current manual coal caving in fully mechanized caving faces, the research and development of automated coal caving technology for fully mechanized caving faces is of great significance for reducing the labor intensity of coal caving workers, reducing the gangue mixing rate, and increasing the top coal recovery rate and mining efficiency. In related technologies, the automated top coal caving control methods for fully mechanized caving faces can be basically divided into three categories, namely, automatic coal caving control based on coal and gangue identification, predictive automatic coal caving control, and automated coal caving control based on a geological model. The automatic coal caving control based on coal and gangue identification uses a coal and gangue sensing device to monitor the discharged coal flow, and closes the coal caving window when the coal and gangue mixing degree exceeds the limit; the predictive automatic coal caving control collects the manual coal caving data of the support to generate coal caving parameters, and uses the coal caving parameters to perform coal caving operations during subsequent coal caving; the automated coal caving control based on a three-dimensional geological model calculates the theoretical discharged amount of top coal through the three-dimensional geological model data, determines the actual coal caving amount by using a coal amount scanning device, and determines the closing time of the optimal coal caving port. These methods all close the coal caving window when the coal and gangue mixing degree exceeds the limit, and cannot identify the coal seam parting during the top coal caving process, resulting in under-discharging problems and low recovery rates. Summary of the Invention

[0003] The present invention provides an intelligent control method, device, equipment and storage medium for top coal caving in a fully mechanized caving face, so as to solve the defect that the traditional top coal caving control method closes the coal caving window when the coal and gangue mixing degree exceeds the limit, cannot identify the coal seam parting during the top coal caving process, resulting in under-discharging problems and low recovery rates.

[0004] The present invention provides an intelligent control method for top coal caving in a fully mechanized caving face, including: Obtaining the gangue content information in the discharged coal flow; Comparing the gangue content information with a preset gangue content overrun threshold, and allowing continuous coal caving operations within a parting time coefficient when the gangue content information first exceeds the gangue content overrun threshold; If the gangue content information monitored within the parting time coefficient exceeds the gangue content overrun threshold again, close the coal caving window.

[0005] According to the intelligent caving control method for fully mechanized caving face provided by the present invention, the gangue time coefficient is determined according to the gangue time of adjacent supports of the current support and the historical gangue time of the current support.

[0006] According to the intelligent caving control method for fully mechanized caving face provided by the present invention, when continuing the coal caving operation within the gangue time coefficient, it further includes: Correcting the coal caving control parameters according to a preset coal caving compensation coefficient, where the coal caving control parameters include the size of the coal caving window; When the gangue time coefficient is lower than the first threshold, delaying the closing time of the coal caving window, and when the gangue time coefficient is higher than the second threshold, closing the coal caving window in advance; Wherein, the first threshold is less than the second threshold, and the second threshold is less than the gangue content overrun threshold.

[0007] According to the intelligent caving control method for fully mechanized caving face provided by the present invention, the coal caving compensation coefficient is determined according to the historical maximum coal caving time of the current support and the current coal caving time of the current support.

[0008] According to the intelligent caving control method for fully mechanized caving face provided by the present invention, when multiple supports are arranged in the fully mechanized caving face, group coal caving scheduling is performed on the multiple supports. The specific scheduling method includes: Dividing the following - machine process into two major stages according to the coal miner operation area. Each major stage is divided into several small stages, and the coal caving control parameters are configured according to the specific coal caving requirements for each small stage; Editing a face following - machine process table according to the coal caving control parameters configured for each small stage, and sequentially controlling the corresponding supports to perform coal caving actions according to the support operation sequence in the face following - machine process table.

[0009] According to the intelligent caving control method for fully mechanized caving face provided by the present invention, the group coal caving scheduling for multiple supports further includes: After the coal caving task of the current small stage is completed, obtaining the current stage status information; When switching to the next small stage for coal caving operation, continuing to complete the coal caving task based on the current stage status information; When the coal caving task planned for one major stage is completed, continuing the coal caving task of the next major stage based on the current major stage status information until the coal caving tasks of all supports in the entire face are completed.

[0010] The present invention also provides an intelligent caving control device for fully mechanized caving face, including: A support execution perception module and a single - support coal caving decision - making module; The support execution perception module includes a terminal execution unit and a coal - gangue identification perception unit; The terminal execution unit provides an upward coal caving action control interface, a coal caving action reporting interface, and a parameter management interface for controlling the support to perform coal caving operations according to the established control parameters; The coal and gangue identification unit is used to obtain sensing information through one or more sensing devices and identify the gangue content rate in the discharged coal flow based on the sensing information; The single support coal caving decision-making module is used to compare the gangue content rate information with a preset gangue content rate overrun threshold. When the gangue content rate information first exceeds the gangue content rate overrun threshold, it allows the coal caving operation to continue within the gangue inclusion time coefficient; if the gangue content rate information monitored within the gangue inclusion time coefficient exceeds the gangue content rate overrun threshold again, the coal caving window is closed.

[0011] The fully-mechanized caving face top coal intelligent control device provided by the present invention further includes: a group coal caving scheduling module; The group coal caving scheduling module is used to edit the face following machine process table according to the coal caving control parameters configured for each small stage, and sequentially control the corresponding supports to perform coal caving actions according to the support operation sequence in the face following machine process table. Also, when the stage is switched, based on the current stage status information, the coal caving task is continued to be completed.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the fully-mechanized caving face top coal intelligent control method described in any one of the above.

[0013] 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, it implements the fully-mechanized caving face top coal intelligent control method described in any one of the above.

[0014] The fully-mechanized caving face top coal intelligent control method, device, equipment, and storage medium provided by the present invention obtain the gangue content rate information in the discharged coal flow; compare the gangue content rate information with a preset gangue content rate overrun threshold. When the gangue content rate information first exceeds the gangue content rate overrun threshold, it allows the coal caving operation to continue within the gangue inclusion time coefficient; if the gangue content rate information monitored within the gangue inclusion time coefficient exceeds the gangue content rate overrun threshold again, the coal caving window is closed. By introducing the gangue inclusion time coefficient, the present invention realizes the refined management and control of the automated coal caving process in the fully-mechanized caving face, effectively solves the problem of under-discharging caused by gangue inclusion during the coal caving process, and improves the recovery rate. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0016] Figure 1 is one of the schematic flowcharts of the intelligent top-coal caving control method for fully mechanized caving faces provided by the embodiments of the present invention; Figure 2 is the second of the schematic flowcharts of the intelligent top-coal caving control method for fully mechanized caving faces provided by the embodiments of the present invention; Figure 3 is one of the schematic functional structures of the intelligent top-coal caving control device for fully mechanized caving faces provided by the embodiments of the present invention; Figure 4 is the second of the schematic functional structures of the intelligent top-coal caving control device for fully mechanized caving faces provided by the embodiments of the present invention; Figure 5 is the schematic functional structure of the electronic device provided by the embodiments of the present invention. Detailed implementation manners

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention fall within the protection scope of the present invention.

[0018] Figure 1 is the flowchart of the intelligent top-coal caving control method for fully mechanized caving faces provided by the embodiments of the present invention. As Figure 1 shown, the intelligent top-coal caving control method for fully mechanized caving faces provided by the embodiments of the present invention includes: Step 101: Obtain the gangue content information in the discharged coal flow; In the embodiments of the present invention, the gangue content, that is, the gangue content rate, can be identified by one or more sensing devices during the current coal caving operation, and the gangue content information of the discharged coal flow can be obtained in real-time monitoring.

[0019] Step 102: Compare the gangue content information with a preset gangue content rate overrun threshold, and allow continuous coal caving operation within the gangue interlayer time coefficient when the gangue content information first exceeds the gangue content rate overrun threshold; Step 103: If the gangue content information monitored within the gangue interlayer time coefficient exceeds the gangue content rate overrun threshold again, close the coal caving window.

[0020] In the embodiment of the present invention, the gangue - inclusion time coefficient is determined according to the gangue - inclusion time of adjacent supports of the current support and the historical gangue - inclusion time of the current support.

[0021] In the embodiment of the present invention, the coal - caving control module determines whether it is necessary to close the coal - caving window in advance according to the signal of excessive gangue content rate. By introducing the gangue - inclusion time coefficient, when receiving the signal of excessive gangue content rate for the first time, it allows continuous coal caving within the gangue - inclusion time coefficient, solves the problem of gangue inclusion during the coal - caving process, and maximally improves the recovery rate. According to the mining theory that the occurrence of coal seams does not mutate within a certain range, the gangue - inclusion time coefficient T = Tx * 0.5+Ty * 0.5 + To is obtained; where Tx is the average gangue - inclusion time of the left and right 5 supports adjacent to the current support, Ty is the average gangue - inclusion time of the current support in the previous 3 times, and To is the configurable time coefficient.

[0022] Traditional automatic top - coal caving control methods in fully - mechanized caving faces immediately close the coal - caving window when the coal - gangue mixture ratio exceeds the limit, and cannot identify the coal seam gangue inclusion during the top - coal caving process, resulting in the problem of under - caving and low recovery rate.

[0023] The intelligent control method for top - coal caving in a fully - mechanized caving face provided by the embodiment of the present invention obtains the gangue content rate information in the discharged coal flow; compares the gangue content rate information with a preset excessive gangue content rate threshold, and allows continuous coal - caving operation within the gangue - inclusion time coefficient when the gangue content rate information first exceeds the excessive gangue content rate threshold; if the gangue content rate information monitored within the gangue - inclusion time coefficient exceeds the excessive gangue content rate threshold again, then close the coal - caving window. By introducing the gangue - inclusion time coefficient, the present invention realizes refined control of the automatic coal - caving process in a fully - mechanized caving face, effectively solves the problem of under - caving caused by gangue inclusion during the coal - caving process, and improves the recovery rate.

[0024] Based on any of the above - mentioned embodiments, according to the intelligent control method for top - coal caving in a fully - mechanized caving face provided by the present invention, when continuously performing coal - caving operation within the gangue - inclusion time coefficient, it further includes: Step 201, correct the coal - caving control parameters according to a preset coal - caving compensation coefficient, and the coal - caving control parameters include the size of the coal - caving window; In the embodiment of the present invention, for the situation where the gangue content rate does not exceed the limit during the coal - caving process, it is necessary to correct the coal - caving control parameters, and introduce the coal - caving compensation coefficient T = , where is the maximum coal - caving time of the left and right 5 supports adjacent to the current support minus the coal - caving time of the current support, is the configurable compensation time coefficient.

[0025] Step 202, when the gangue - inclusion time coefficient is lower than the first threshold, delay the closing time of the coal - caving window, and when the gangue - inclusion time coefficient is higher than the second threshold, close the coal - caving window in advance; Wherein, the first threshold is less than the second threshold, and the second threshold is less than the overlimit threshold of the gangue content.

[0026] In an embodiment of the present invention, the coal caving compensation coefficient is determined according to the historical maximum coal caving time of the current support and the current coal caving time of the current support.

[0027] In some embodiments of the present invention, a support action analysis model is established based on the status, actions, time and other data reported by the hydraulic support controller. Local or remote intervention data is collected. By collecting the data reported on the automatic actions of the support and the manual local / remote intervention actions, the automatic coal caving control parameters are obtained. After one cut is completed, it is updated to the terminal control unit, and the coal caving action is executed according to the coal caving control parameters in the next cut. By correcting the coal caving control parameters of the support and fusing and making decisions with the coal and gangue identification unit, the best closing time of the coal caving port is determined, the amount of gangue discharged is minimized to the greatest extent, and the problems of under-discharging and over-discharging caused by intercalated gangue during the coal caving process are effectively solved.

[0028] Based on any of the above embodiments, when multiple supports are set in the fully mechanized caving face, group coal caving scheduling is performed on the multiple supports. The specific scheduling method includes: Step 301: Divide the following-machine process into two major stages according to the working area of the coal shearer. Each major stage is divided into several small stages, and the coal caving control parameters are configured according to the specific coal caving requirements in each small stage; Step 302: Edit the working face following-machine process table according to the coal caving control parameters configured in each small stage, and sequentially control the corresponding supports to execute the coal caving action according to the support operation sequence in the working face following-machine process table.

[0029] In an embodiment of the present invention, based on the automatic following-machine process of the entire working face, an automatic sequential coal caving mechanism with weak association with the coal shearer position is constructed according to the actual requirements of the rear coal caving sequence, rounds and scope of action. That is, instead of controlling the coal caving sequence of the support according to the traditional physical position relationship, the corresponding supports are sequentially controlled to execute the coal caving action according to the support operation sequence in the working face following-machine process table. On the premise of ensuring safety, the automatic coal caving can operate sequentially according to the setting, without being interfered by abnormal conditions of the coal shearer working conditions, and the automatic execution completion rate is greatly improved. The planned coal caving configuration module is the process design unit of the system, and online editing and friendly interaction of the process are realized through a set of planned coal caving design languages. It supports graphical editing of various dimensions of information such as the coal caving and rear AFC pulling action sequences, rounds, relationship with the coal shearer operation, and relationship with the following-machine stage, supports the setting of the coal caving window target, and can take effect immediately to ensure the automated operation in real time.

[0030] The single support coal caving operation control process is as Figure 2As shown, during the coal caving operation of a certain support, the coal caving control unit receives the gangue content information in real time and compares it with the gangue content overrun threshold. If the gangue content exceeds the limit for the first time, coal caving operation is allowed to continue within the gangue inclusion time coefficient. If the gangue content is lower than the overrun threshold within the gangue inclusion time coefficient, it is considered as gangue inclusion and the coal caving operation continues until the gangue content exceeds the limit for the second time, then the coal caving window is closed. If the gangue content continuously exceeds the limit within the gangue inclusion time coefficient, the coal caving window is closed; if the gangue content does not exceed the limit during the coal caving process, the control unit automatically closes the window according to the coal caving control parameters. At this time, a coal caving compensation coefficient needs to be added to correct the coal caving control parameters.

[0031] In the embodiment of the present invention, the group coal caving scheduling for multiple supports further includes: After the coal caving task of the current small stage is completed, obtain the current stage status information; When switching to the next small stage for coal caving operation, based on the current small stage status information, continue to complete the coal caving task; When the coal caving task planned for a large stage is completed, based on the current large stage status information, continue the coal caving task of the next large stage until the coal caving tasks of all supports in the entire working face are completed.

[0032] In the embodiment of the present invention, the up and down movement of the shearer is divided into two large stages, and the coal caving state of the supports on the working face is globally unique under each large stage. Under each large stage, several small stages are divided according to the shearer-following process to meet the shearer-following process requirements in different areas. Flexible switching will be carried out within the small stage, the coal caving state is saved unchanged, and the original coal caving task continues to be executed instead of starting over, ensuring the uniqueness of the global coal caving state and solving the problem of frequent parameter changes due to the variable shearer-following process. After the coal caving tasks planned for the large stage (up and down movement) are completed, the planned coal caving scheduling unit sends an update signal of the coal caving control parameters for the next large stage to the coal caving control unit, and the coal caving control unit updates the differential coal caving control parameters of each support in the entire working face.

[0033] The intelligent coal caving control method for fully mechanized top coal caving face provided by the embodiment of the present invention integrates multi-source information such as historical coal caving data, manual coal caving data, and coal and gangue identification perception, and combines key coal caving strategies to carry out refined management and control on the coal caving process of hydraulic supports; collects manual coal caving, local or remote intervention coal caving action data, and outputs the optimal coal caving control parameters of hydraulic supports by using the gangue inclusion control and adjacent support correction strategies, providing a basis for realizing intelligent and unmanned mining of fully mechanized top coal caving faces.

[0034] Next, the intelligent coal caving control device for fully mechanized top coal caving face provided by the present invention will be described. The intelligent coal caving control device for fully mechanized top coal caving face described below can be mutually corresponding and referred to with the intelligent coal caving control method described above.

[0035] Figure 3The structural schematic diagram of the intelligent top coal caving control device for fully mechanized caving face provided by the embodiment of the present invention is as follows: Figure 3 As shown, the intelligent top coal caving control device for fully mechanized caving face provided by the embodiment of the present invention includes: A support execution perception module 301 and a single-frame coal caving decision-making module 302; The support execution perception module 301 includes a terminal execution unit and a coal gangue identification perception unit; The terminal execution unit provides a coal caving action control interface, a coal caving action reporting interface and a parameter management interface upwards, and is used to control the support to perform coal caving operations according to the established control parameters; The coal gangue identification unit is used to obtain perception information through one or more perception devices, and identify the gangue content rate in the discharged coal flow based on the perception information; The single-frame coal caving decision-making module 302 is used to compare the gangue content rate information with a preset gangue content rate overrun threshold, and allow continuous coal caving operations within the gangue inclusion time coefficient when the gangue content rate information first exceeds the gangue content rate overrun threshold; if the gangue content rate information monitored within the gangue inclusion time coefficient exceeds the gangue content rate overrun threshold again, the coal caving window is closed.

[0036] In the embodiment of the present invention, the terminal execution unit has the functions of single-frame, group and machine-following, and can communicate bidirectionally with the upper computer software. The controller in the terminal execution unit provides an action interface for the upper computer, and can receive and parse the action instructions or scheduling instructions sent by the upper computer software to implement corresponding actions or remote planning and scheduling. The coal caving action information is reported to the coal caving control unit through the action reporting module, and the parameter management module can receive the coal caving control parameters issued by the coal caving control unit and has the ability to perform coal caving operations according to the coal caving control parameters.

[0037] The intelligent top coal caving control device for fully mechanized caving face provided by the embodiment of the present invention obtains the gangue content rate information in the discharged coal flow; compares the gangue content rate information with a preset gangue content rate overrun threshold, and allows continuous coal caving operations within the gangue inclusion time coefficient when the gangue content rate information first exceeds the gangue content rate overrun threshold; if the gangue content rate information monitored within the gangue inclusion time coefficient exceeds the gangue content rate overrun threshold again, the coal caving window is closed. By introducing the gangue inclusion time coefficient, the present invention realizes the refined management and control of the automatic coal caving process in the fully mechanized caving face, effectively solves the problem of under-caving caused by gangue inclusion during the coal caving process, and improves the recovery rate.

[0038] Based on any of the above embodiments, the intelligent top coal caving control device for fully mechanized caving face further includes: a group coal caving scheduling module; The group coal caving scheduling module is used to edit the face following machine process table according to the coal caving control parameters configured for each small stage, and sequentially control the corresponding supports to perform coal caving actions according to the support operation sequence in the face following machine process table. In addition, when the stage is switched, based on the current stage status information, the coal caving task is continued to be completed.

[0039] In the embodiment of the present invention, the action analysis model receives the automatic / intervention action information reported by the control unit, generates the coal caving control parameters of each support and stores them in the coal caving control parameter database. When receiving the parameter update signal from the planning and scheduling unit, the parameter management module updates the coal caving control parameters to each support of the working face. When a certain support is planned to be executed by the coal caving scheduling, the coal caving operation is performed according to the coal caving control parameters.

[0040] As Figure 4 shown, the support execution perception module is divided into a terminal execution unit and a coal and gangue identification perception unit. The terminal execution unit provides upward a coal caving action control interface, a coal caving action reporting interface and a parameter management interface, and is used to control the support to perform the coal caving operation according to the established control parameters. The coal and gangue identification unit includes two parts: a perception device and a coal and gangue identification algorithm. The perception device is not limited to media such as images, sounds and vibrations, and the placement positions are different according to the collection requirements of different media. The coal and gangue identification algorithm is used to analyze the coal and gangue identification mixture degree, that is, the gangue content rate, during the current coal caving operation, and is used to monitor the gangue content rate of the discharged coal flow in real time.

[0041] The single support coal caving decision module is responsible for the control of the coal caving process of a single support. A support action analysis model is constructed, and the automatic coal caving control parameters are obtained by collecting the reported data of the automatic action of the support, the manual in-situ / remote intervention action. After a cut is completed, it is updated to the terminal control unit, and the coal caving action is performed according to the coal caving control parameters in the next cut. The coal caving control module judges whether it is necessary to close the coal caving window in advance according to the gangue content rate overrun signal, introduces a gangue inclusion time coefficient, and allows continuous coal caving within the gangue inclusion time coefficient when the gangue content rate overrun signal is received for the first time, so as to solve the problem of gangue inclusion during the coal caving process and maximize the recovery rate.

[0042] The group coal caving scheduling module is responsible for controlling the coal caving tasks of all hydraulic supports in the working face. Based on the automatic coal cutting process of the whole working face, an automatic sequential coal caving mechanism with weak association with the coal shearer position is constructed according to the actual requirements of the rear coal caving sequence, rounds and scope of action. On the premise of ensuring safety, the automatic coal caving can operate sequentially according to the setting, without being interfered by abnormal conditions of the coal shearer, greatly improving the automatic execution completion rate. The planned coal caving configuration module is the process design unit of the system, which realizes the online editing and friendly interaction of the process through a set of planned coal caving design languages. It supports the graphical editing of various dimensions of information such as the action sequence, rounds, relationship with the operation of the coal shearer, and relationship with the coal cutting stage of coal caving and pulling the rear scraper conveyor, supports the target setting of the coal caving window, and can take effect immediately to ensure the automated operation in real time.

[0043] Using the planned coal caving configuration module, edit the coal cutting process of the working face according to the characteristics of the working face, including the planned coal caving stage, stage trigger point setting, and coal caving and pulling the rear scraper conveyor task configuration. Configure parameters such as coal caving distance, window size configuration, and action range. The up and down movement of the coal shearer is divided into two major stages, and the global state of the coal caving of the working face supports is unique under each major stage. Under each major stage, it is divided into several small stages according to the coal cutting process to meet the coal cutting process requirements of the coal shearer in different areas. Flexible switching will be carried out within the small stage, and the state of the coal shearer and the coal caving state remain unchanged, and the original coal caving task will continue to be executed instead of starting over, ensuring the uniqueness of the global coal caving state and solving the problem of frequent parameter changes due to the variable coal cutting process. After the planned coal caving task of the major stage (up and down movement) is completed, the planned coal caving scheduling unit sends a signal to update the coal caving control parameters of the next major stage to the coal caving control unit, and the coal caving control unit updates the differential coal caving control parameters of each individual support in the whole working face.

[0044] The embodiment of the present invention realizes the fully automated coal caving of all hydraulic supports in the whole working face, integrates coal gangue identification and historical coal caving parameters, precisely controls the coal caving port, and maximizes the recovery rate.

[0045] Figure 5 Illustrates a schematic physical structure diagram of an electronic device, such as Figure 5As shown in the figure, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communications interface 520, and the memory 530 complete mutual communication through the communication bus 540. The memory 530 includes computer programs, an operating system, and acquired data. The processor 510 can call the logical instructions in the memory 530 to execute the intelligent control method for top coal caving in the fully mechanized caving face. The method includes: acquiring the gangue content rate information in the discharged coal flow; comparing the gangue content rate information with a preset gangue content rate overrun threshold, and allowing continuous coal caving operation within the gangue interlayer time coefficient when the gangue content rate information first exceeds the gangue content rate overrun threshold; if the gangue content rate information monitored within the gangue interlayer time coefficient exceeds the gangue content rate overrun threshold again, then close the coal caving window.

[0046] In addition, when the logical instructions in the above-mentioned memory 530 are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the related technology, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0047] On the other hand, 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, it is used to execute the intelligent control method for top coal caving provided by the above-mentioned various methods. The method includes: acquiring the gangue content rate information in the discharged coal flow; comparing the gangue content rate information with a preset gangue content rate overrun threshold, and allowing continuous coal caving operation within the gangue interlayer time coefficient when the gangue content rate information first exceeds the gangue content rate overrun threshold; if the gangue content rate information monitored within the gangue interlayer time coefficient exceeds the gangue content rate overrun threshold again, then close the coal caving window.

[0048] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0049] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the related technology can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0050] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control method for top coal caving in a fully-mechanized caving working face, characterized in that: include: Obtain information on the gangue content in the discharged coal flow; Comparing the gangue content information with a preset gangue content exceeding limit threshold, and allowing the coal caving operation to continue within the gangue-intervening time coefficient when the gangue content information exceeds the gangue content exceeding limit threshold for the first time; If the monitored gangue content information within the gangue-intervening time coefficient exceeds the gangue content over-limit threshold again, the coal discharge window is closed.

2. The intelligent control method for top coal caving in a fully mechanized caving working face according to claim 1 is characterized in that: The rock-binding time coefficient is determined according to the rock-binding time of the adjacent supports of the current support and the historical rock-binding time of the current support.

3. The intelligent control method for top coal caving in a fully mechanized caving working face according to claim 1 is characterized in that: When the coal placing operation is continued within the gangue time coefficient, it also includes: Correcting coal placing control parameters according to a preset coal placing compensation coefficient, wherein the coal placing control parameters include the size of the coal placing window; When the gangue-intervening time coefficient is lower than a first threshold, the closing time of the coal placing window is delayed, and when the gangue-intervening time coefficient is higher than a second threshold, the coal placing window is closed in advance; Among them, the first threshold is smaller than the second threshold, and the second threshold is smaller than the gangue content exceeding limit threshold.

4. The intelligent control method for top coal caving in a fully-mechanized caving working face according to claim 1 is characterized in that: The coal placing compensation coefficient is determined according to the maximum coal placing time in the history of the current support and the coal placing time of the current support.

5. The intelligent control method for top coal caving in a fully mechanized caving working face according to claim 2 is characterized in that: When multiple supports are set up in the fully mechanized caving working face, multiple supports are dispatched for group caving. The specific dispatching methods include: The following process is divided into two major stages according to the coal machine operation area. Each major stage is divided into several small stages. Each small stage is configured with coal release control parameters according to specific coal release requirements. The working face following machine process table is edited according to the coal releasing control parameters configured in each small stage, and the corresponding supports are controlled in sequence to perform coal releasing actions according to the support operation sequence in the working face following machine process table.

6. The intelligent control method for top coal caving in a fully-mechanized caving working face according to claim 5 is characterized in that: The group coal placing scheduling of multiple supports also includes: After the current small stage coal placement task is completed, the current stage status information is obtained; When switching to the next small stage for coal placing operation, the coal placing task is continued to be completed based on the state information of the current small stage; When a large-stage planned coal-laying task is completed, the next large-stage coal-laying task is continued based on the current large-stage status information until all supports in the entire working face complete the coal-laying task.

7. An intelligent control device for top coal caving in a fully mechanized caving working face, characterized in that: include: Support execution perception module and single-rack coal placement decision module; The support execution perception module includes a terminal execution unit and a coal gangue identification perception unit; The terminal execution unit provides a coal placing action control interface, a coal placing action reporting interface and a parameter management interface to the upper side, which are used to control the support to perform the coal placing operation according to the established control parameters; The gangue identification unit is used to obtain sensing information through one or more sensing devices, and to identify the gangue content in the discharged coal flow based on the sensing information; The single-rack coal caving decision module is used to compare the gangue content information with a preset gangue content exceeding limit threshold, and when the gangue content information exceeds the gangue content exceeding limit threshold for the first time, the coal caving operation is allowed to continue within the gangue-intervening time coefficient; If the monitored gangue content information within the gangue-intervening time coefficient exceeds the gangue content over-limit threshold again, the coal discharge window is closed.

8. The intelligent control device for top coal caving in a fully mechanized caving working face according to claim 7 is characterized in that: Also includes: Group coal discharge scheduling module; The group coal release scheduling module is used to edit the working face following machine process table according to the coal release control parameters configured in each small stage, control the corresponding supports to perform coal release actions in sequence according to the support operation sequence in the working face following machine process table, and, when switching stages, continue to complete the coal release task based on the current stage status information.

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 intelligent control method for top coal caving in a fully-mechanized caving working face as described in any one of claims 1 to 6 is implemented.

10. A non-transitory readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the intelligent control method for top coal caving in a fully-mechanized caving working face as described in any one of claims 1 to 6 is implemented.

Images