Coal mining machine control system

Abstract

The invention discloses a coal mining machine control system which comprises an in-cavity control unit arranged in an electric cabinet of a coal mining machine and an out-cavity control unit arranged outside the electric cabinet of the coal mining machine. The intra-cavity control unit is in communication connection with the extra-cavity control unit; the intra-cavity control unit comprises a control module used for achieving basic control operation and opening and closing actions of the coal mining machine, a control host used for receiving state signals of all parts of the coal mining machine and issuing execution instructions, and an intelligent control host used for achieving the intelligent control function of the coal mining machine. The built-in switch is used for realizing signal transmission between the control host and the intelligent control host, and the control host is respectively connected with the control module, an execution operation assembly used for executing operation of the coal mining machine and a first acquisition assembly used for acquiring state signals of all parts of the coal mining machine through a CAN bus; and the control host is in Ethernet communication connection with the intelligent control host through the built-in switch.

Description

Technical Field

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

[0002] Coal mining machines are key equipment in coal mining, and automated control is crucial to their efficiency and safety. However, after use, it was found that the control systems in current coal mining machines have the following defects: 1. Insufficient automation: Traditional control systems rely on manual experience to adjust parameters such as cutting speed and traction speed, which makes it difficult to adapt to complex coal seam conditions (such as interbedded gangue and faults), resulting in large fluctuations in cutting load and increased equipment wear.

[0003] 2. Weak multi-parameter collaborative control capabilities: In traditional control systems, parameters such as motor current, motor temperature, drum height, and system oil pressure are monitored independently. There is a lack of multi-dimensional data fusion analysis, making it difficult to achieve dynamic optimal control strategies.

[0004] 3. Advanced functions cannot be realized: The traditional control system is not equipped with rocker arm tilt sensor, pitch angle sensor, and absolute encoder. It is unable to detect the coal mining machine posture and the relative position of the coal mining machine on the working face, and cannot realize the memory cutting function and planned mining function.

[0005] 4. High remote control delay: The remote monitoring function in traditional control systems has a high redundancy in the communication protocol, resulting in a control command delay of more than 200ms, which poses a safety hazard when mining in high-risk scenarios such as steeply inclined coal seams. Summary of the Invention

[0006] The object of the present invention is to provide a coal mining machine control system with a simple structure and avoiding signal interference in order to solve the above problems.

[0007] In order to achieve the above object, the technical solution of the present invention is: A coal mining machine control system includes an intracavity control unit arranged in an electrical control box of the coal mining machine and an extracavity control unit arranged outside the electrical control box of the coal mining machine; the intracavity control unit is communicatively connected to the extracavity control unit; the intracavity control unit includes a control module for realizing basic control operations and opening and closing actions of the coal mining machine, a control host for receiving status signals of various components of the coal mining machine and issuing execution instructions, an intelligent control host for realizing intelligent control functions of the coal mining machine, and a built-in switch for realizing signal transmission between the control host and the intelligent control host. The control host is connected to the control module and the execution operation component for performing coal mining machine execution operations and the first acquisition component for collecting status signals of various components of the coal mining machine through a CAN bus respectively; the control host realizes Ethernet communication connection with the intelligent control host via the built-in switch.

[0008] Furthermore, the execution operation component includes a remote control receiver for receiving remote control control signals, a left end station and a right end station for controlling the start and stop of the equipment. The remote control receiver, the left end station and the right end station are connected to the CAN communication interface of the control host through the first isolation barrier.

[0009] Furthermore, the first acquisition component includes a left traction inverter for reading the working status of the left traction motor, a right traction inverter for reading the working status of the right traction motor, a mixed quantity acquisition module for receiving feedback signals and sensor signals, a pump motor current transformer for detecting the three-phase current of the pump motor, a left cutting current transformer for detecting the three-phase current of the left cutting motor, a right cutting current transformer for detecting the three-phase current of the right cutting motor, a crusher current transformer for detecting the three-phase current of the crushing motor, and an absolute value encoder for detecting the position of the coal mining machine relative to the working face; the left traction inverter, the right traction inverter, the mixed quantity acquisition module, the pump motor current transformer, the left cutting current transformer, the right cutting current transformer, the crusher current transformer, and the absolute value encoder are all connected to the control host through the CAN bus; the absolute value encoder is fixedly connected to the traction three-axis of the coal mining machine walking part.

[0010] Furthermore, the mixed quantity acquisition module is provided with a switch input interface and receives feedback signals of the pump motor AC contactor, the left cutting motor AC contactor, the right cutting motor AC contactor, and the crushing motor AC contactor, as well as leakage detection signals of the pump motor, the left cutting motor, the right cutting motor, and the crushing motor through the switch input interface; the mixed quantity acquisition module is provided with a voltage type analog input interface and receives voltage signals of the pitch angle sensor, the left rocker arm inclination sensor, the right rocker arm inclination sensor, and the system three-phase voltage transmitter through the voltage type analog input interface; the mixed quantity acquisition module is provided with a temperature detection interface and receives temperature sensor monitoring signals on the pump motor, the left cutting motor, the right cutting motor, the crushing motor, the left traction gearbox, the right traction gearbox, the left rocker arm gearbox, and the right rocker arm gearbox through the temperature detection interface.

[0011] Furthermore, the control module is provided with a switch input interface and is connected to the pump motor start button, crushing motor start button, left cutting motor start button, right cutting motor start button, left traction button, right traction button, left rocker arm raise button, left rocker arm lower button, right rocker arm raise button, right rocker arm lower button, guard plate raise button, guard plate lower button, crushing raise button, crushing lower button, far and near control selection button, and fault reset button through the switch input interface; the control module is provided with a switch output interface and outputs the pump motor start, crushing motor start, left cutting motor start, right cutting motor start, pump motor leakage detection, crushing motor leakage detection, left cutting leakage detection, right cutting leakage detection, inverter start, inverter left traction, inverter right traction, left rocker arm raise, left rocker arm lower, right rocker arm raise, right rocker arm lower, guard plate raise, guard plate lower, crushing raise, crushing lower, and brake instructions through the switch output interface; the control module is provided with a voltage type analog output interface and outputs a 0~10V DC signal through the voltage type analog output interface.

[0012] Furthermore, the intracavity control unit also includes a display for displaying the operating status of the coal mining machine and a gyroscope for detecting the inclination angle of the coal mining machine; the display is connected to the intelligent control host through a DVI interface, and the gyroscope is connected to the built-in switch through Ethernet.

[0013] Furthermore, the extracavity control unit includes a second acquisition component for detecting the working environment of the coal mining machine, a camera acquisition component installed on the coal mining machine for observing the coal cutting condition of the coal mining machine drum, and a height display component for displaying the height information of the coal mining machine drum; the second acquisition component is connected to the control host through the CAN bus, the camera acquisition component is connected to the built-in switch through Ethernet, and the height display component is connected to the control host through the RS485 communication interface.

[0014] Furthermore, the second acquisition component includes a voice speaker for alarm prompts, a methane concentration sensor for detecting the methane concentration in the surrounding environment, a dust concentration sensor for detecting the dust concentration in the surrounding environment, a hybrid acquisition module for detecting oil temperature signals and oil circuit pressure signals, and a voice module for voice broadcasting; the hybrid acquisition module, the voice module, the methane concentration sensor, and the dust concentration sensor are connected to the CAN communication interface of the control host via a second isolation fence; the voice speaker is connected to the voice module; the voice speaker, the methane concentration sensor, and the dust concentration sensor are all fixedly connected to the outside of the coal mining machine.

[0015] Furthermore, the camera acquisition component includes a left drum camera and a right drum camera for observing the coal cutting conditions of the coal mining machine drum. The left drum camera and the right drum camera are connected to the built-in switch through a network cable. The left drum camera is fixedly connected to the left rocker arm of the coal mining machine, and the right drum camera is fixedly connected to the right rocker arm of the coal mining machine; the height display component includes a left height display for displaying the height and traction information of the left drum of the coal mining machine, and a right height display for displaying the height and traction information of the right drum of the coal mining machine; the left height display and the right height display are both connected to the control host through the RS485 communication interface; the left height display and the right height display are both fixedly connected to the outside of the coal mining machine.

[0016] Furthermore, the coal mining machine control system also includes a remote control side unit, which includes an underground control center for collecting underground operation data and a ground control center for monitoring the operating status of underground equipment and issuing execution instructions. The underground control center is connected to the built-in switch through a core switch, and the underground control center is connected to the ground control center through a network cable.

[0017] Compared with the prior art, the present invention has the following advantages and positive effects: 1. The present invention adds an intelligent control host and communicates with the control host. It can adjust parameters such as coal cutting speed and traction speed in real time according to the data collected by the sensor, predict the degree of gear wear based on the gearbox oil analysis, and perform life analysis of major accessories to avoid large fluctuations in the cutting load of the coal mining machine and increased equipment wear.

[0018] 2. In the present invention, through the coordinated control of the control host and the intelligent control host, a fusion analysis can be performed based on the motor current, motor temperature, drum height, system oil pressure and other parameters of the coal mining machine to formulate a dynamic optimal control strategy for the coal mining machine; at the same time, it can analyze and judge based on the motor current, motor temperature, system oil temperature and oil pressure, ambient gas concentration and dust concentration and other parameters of the coal mining machine to realize the fault warning and shutdown functions of the coal mining machine and improve the operating safety of the coal mining machine.

[0019] 3. In the present invention, the detection signals of the rocker arm inclination sensor, pitch angle sensor, and absolute value encoder are installed and collected through the mixed quantity acquisition module. The posture of the coal mining machine and the relative position parameters of the coal mining machine on the working face can be determined based on the detection signals. Combined with the intelligent control host, it can realize the memory cutting and planned mining functions of the coal mining machine.

[0020] 4. The remote monitoring function of the control system in the present invention uses optical fiber to transmit the control instructions of the coal mining machine, which minimizes the control delay of the coal mining machine; and, in the connection structure, it separates the control equipment and the data reading equipment to avoid the failure of the data reading equipment affecting the control function of the equipment; at the same time, it separates non-safety equipment from intrinsically safe equipment to avoid signal interference, thereby further improving the transmission effect of control instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 The framework structure of the present invention Figure 1 ; Figure 2 The framework structure of the present invention Figure 2 . DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts, any modifications, equivalent replacements, improvements, etc., shall be included in the scope of protection of the present invention.

[0024] This embodiment discloses a coal mining machine control system, the architecture of which is as follows: Figure 1 As shown, the whole is divided into a remote control side part and a fuselage side part; the communication between the remote control side part and the fuselage side part is carried out using optical fiber, and the communication distance can reach 200 meters.

[0025] The equipment on the remote control side mainly includes the core switch, the underground control center and the ground control center. The underground control center is connected to the built-in switch through the core switch, and the underground control center is connected to the ground control center through the network cable; the equipment on the remote control and measurement side can complete remote control and monitoring functions.

[0026] The side part of the fuselage is mainly the coal mining machine control system, which is divided into two parts: the intra-cavity control unit and the extra-cavity control unit according to the equipment installed inside and outside the coal mining machine electrical control box.

[0027] The intracavity control unit is centered around the control host, intelligent control host, and built-in switch.

[0028] The control host adopts a vehicle-mounted controller and is based on the CAN bus system architecture. The control host has four CAN communication interfaces, an RS485 interface and an Ethernet communication interface, namely CAN1, CAN2, CAN3, CAN4, RS485 and RJ45.

[0029] The CAN1 interface connects to the control module via the CAN bus. The control module has 16 digital inputs, 24 digital outputs, and four voltage-type analog outputs. The digital inputs connect to the buttons and knobs on the shearer's electrical control panel. These control buttons primarily control 16 functions: pump motor start, crusher motor start, left and right cutting motor start, left and right traction, left rocker arm raise, left and right rocker arm lower, right rocker arm raise, right rocker arm lower, guard plate raise, guard plate lower, crusher raise, crusher lower, remote and local control, and fault reset. The digital output interface primarily controls the shearer's operations, including 20 functions: pump motor start, crusher motor start, left and right cutting motor start, pump motor leakage detection, crusher motor leakage detection, left and right cutting motor leakage detection, inverter start, inverter left traction, inverter right traction, left rocker arm raise, left rocker arm lower, right rocker arm raise, right rocker arm lower, guard plate raise, guard plate lower, crusher raise, crusher lower, and brake. The voltage-type analog output interface outputs a 0-10V DC signal, which serves as the inverter speed setpoint. The CAN1 interface is connected only to the control module. This is because the control module is the primary control unit of the system and its communication cannot be interfered with by other devices.

[0030] The CAN2 interface is connected to barrier 1 via the CAN bus. Barrier 1 is connected to a remote control receiver, a left-end station, and a right-end station. These three devices are intrinsically safe and participate in the control of the shearer. Signal exchange with the control host requires isolation through the barrier.

[0031] The functions of the remote control receiver are: 1. Receive the operation signals of the remote control, including pump motor start / stop, crushing motor start / stop, left cutting motor start / stop, right cutting motor start / stop, left traction, right traction, left rocker arm up, left rocker arm down, right rocker arm up, right rocker arm down, guard plate up, guard plate down, crushing up, crushing down and fault reset and other coal mining machine control signals. In addition, the remote control receiver also receives the remote control interface control signals, including: page up and down, interface line selection and parameter setting; 2. Send the basic operation information and fault information of the coal mining machine to the remote control.

[0032] The functions of the left and right end stations are the same, including coal mining machine control signals such as pump motor start / stop, crushing motor start / stop, left cutting motor start / stop, right cutting motor start / stop, left traction, right traction, left rocker arm raise, left rocker arm lower, right rocker arm raise, right rocker arm lower, guard plate raise, guard plate lower, crushing raise, crushing lower and fault reset.

[0033] The CAN3 interface connects to the left traction inverter, right traction inverter, mixed quantity acquisition module, pump motor current transformer, left cutting current transformer, right cutting current transformer, crusher current transformer, and absolute value encoder via the CAN bus. These devices are non-safety signal acquisition devices and do not participate in control.

[0034] The left and right traction inverters read signals such as the traction motor's running direction, motor current, and motor frequency. The two inverters are connected via optical fiber and operate in a master-slave control mode, with the master inverter in speed control mode and the slave inverter in torque control mode. The master inverter receives start / stop signals, direction signals, and speed signals from the control module, while the slave inverter performs speed tracking in torque control mode.

[0035] The mixed quantity acquisition module has 16 digital inputs, 8 voltage-type analog inputs, and 10 two-wire PT100 temperature sensing interfaces. The digital input interfaces connect to eight external functions: feedback signals from the pump motor AC contactor, the left and right cutting motor AC contactors, and the crushing motor AC contactors, as well as leakage detection signals from the pump, left and right cutting motors, and crushing motors. The voltage-type analog input interfaces connect to voltage signals from two pitch angle sensors, one left rocker arm tilt sensor, one right rocker arm tilt sensor, and three system three-phase voltage transmitters. The signal type is 0-10V DC. The temperature sensing interface connects to eight external temperature sensors: the pump motor, the left and right cutting motors, the crushing motor, the left and right traction gearboxes, the left rocker arm gearbox, and the right rocker arm gearbox.

[0036] The pump motor current transformer detects the three-phase current of the pump motor; the left cutting current transformer detects the three-phase current of the left cutting motor; the right cutting current transformer detects the three-phase current of the right cutting motor; the crusher current transformer detects the three-phase current of the crushing motor.

[0037] The absolute encoder is installed on the traction axis of the shearer's traveling part to detect the relative position of the shearer on the working surface.

[0038] The CAN4 interface is connected to isolation barrier 2 via the CAN bus. Externally connected to isolation barrier 2 are a hybrid acquisition module, a voice module, a methane sensor, and a dust sensor. These four devices are intrinsically safe, and signal exchange with the control host requires isolation through the isolation barrier. The hybrid acquisition module collects intrinsically safe switching signals, analog current signals, and voltage signals, including fuel tank level, fuel tank temperature, and oil system pressure. The voice module is connected to an external speaker to announce motor start and warning signals. The methane concentration sensor detects the methane concentration in the environment surrounding the coal mining system. The dust concentration sensor detects the dust concentration in the environment surrounding the coal mining system.

[0039] The RS485 interface is externally connected to a left height display and a right height display belonging to the extracavity control unit.

[0040] The RJ45 port is connected to the built-in switch via a network cable, receiving control signals from the intelligent control host and transmitting operating information of the shearer to the intelligent control host. If Ethernet communication is interrupted, the shearer's local control functions are not affected.

[0041] The intelligent control host has two Ethernet ports, one DVI port, two 485 ports, and three CAN bus ports. The intelligent control host connects to the built-in switch via the Ethernet port. It reads shearer operating data from the control host, obtains shearer position data from the inertial navigation system, and receives remote control commands from the remote control hosts (underground and surface). The intelligent control host sends processed data to the display, where it is displayed; sends control commands to the control host, which executes them; and sends operating data to the remote control hosts (underground and surface), where it is displayed on the remote control interface. The intelligent control host connects to the display via the DVI port, where the operating data is displayed. The 485 and CAN bus ports are redundant.

[0042] The monitor has an HD interface, a DVI interface and a VGA interface, and is connected to the intelligent control host via the DVI interface. Its function is to display the parameters of the coal mining machine.

[0043] The gyroscope has a CAN bus interface and an RJ45 interface, which is connected to the built-in switch via RJ45 to transmit the detected position data to the intelligent control host.

[0044] The built-in switch has seven RJ45 ports and one fiber optic communication port. RJ45-1 is connected to the control host, RJ45-2 to the intelligent control host, RJ45-3 to the left drum camera, RJ45-4 to the right drum camera, RJ45-5 to the gyroscope, and the fiber optic port to the core switch on the work surface.

[0045] The extracavity control unit includes a left roller camera, a right roller camera, a left height display, a right height display, a methane concentration sensor, a dust concentration sensor, a voice speaker, an absolute encoder and other sensors, all of which are intrinsically safe devices.

[0046] The left drum camera is a fixed-point camera with a self-cleaning function. It has an RJ45 interface connected to the built-in switch and is installed on the left rocker arm of the coal mining machine to observe the coal cutting condition of the coal mining machine drum.

[0047] The right drum camera is a fixed-point camera with a self-cleaning function. It has an RJ45 interface connected to the built-in switch and is installed on the right rocker arm of the coal mining machine to observe the coal cutting condition of the coal mining machine drum.

[0048] The left height display shows the left drum upper and lower edge heights, traction direction, traction speed, left traction inverter current and other information, and the information is displayed in a loop.

[0049] The right height display shows the height of the upper and lower edges of the right drum, traction direction, traction speed, right traction inverter current and other information, and the information is displayed in a loop.

[0050] The methane concentration sensor is installed on the shearer body and connected to the cavity isolation barrier 2 via the CAN bus. It detects the methane concentration in the surrounding environment of the shearer system. The shearer's travel speed is linked to the methane concentration, which is generally divided into three ranges. When the methane concentration is in range 1, the shearer's travel speed is not restricted. When the methane concentration is in range 2, a warning signal is emitted by the voice speaker, forcing the shearer to operate at the current speed or at a reduced speed. The shearer can only accelerate after the warning signal is lifted. When the methane concentration is in range 3, an alarm signal is emitted by the voice speaker, shutting down the shearer. The shearer can only restart after the alarm signal is lifted.

[0051] The dust concentration sensor is installed on the shearer and connected to the cavity isolation barrier 2 via the CAN bus. It detects the dust concentration in the surrounding environment of the shearer system. The shearer's travel speed is linked to the dust concentration, which is generally divided into three ranges. When the dust concentration is in range 1, the shearer's travel speed is not restricted. When the dust concentration is in range 2, the voice speaker will issue a warning signal, and the shearer can only operate at the current speed or reduce speed. The shearer can only accelerate after the warning signal is lifted. When the dust concentration is in range 3, the voice speaker will issue an alarm signal, shutting down the shearer. The shearer can only restart after the alarm signal is lifted.

[0052] The oil level sensor connected to the hybrid data acquisition module detects the oil level in the tank. When the oil level falls below the minimum limit, a voice speaker sounds an alarm signal, indicating that the oil in the tank is insufficient and the shearer cannot be started. If the shearer is running, it will stop immediately. After refueling, the alarm signal is cleared and the equipment can be started.

[0053] The oil tank temperature sensor connected to the hybrid data acquisition module detects the oil tank temperature. When the oil temperature exceeds the set value, the voice speaker sounds an alarm signal, indicating that the oil tank temperature is too high and the coal mining machine cannot be started. If the coal mining machine is running, it will stop immediately. When the oil tank temperature falls below the set value, the alarm signal is released and the equipment can be started.

[0054] On the other hand, some connection structures in the present invention can be appropriately modified, such as Figure 2 As shown, the CAN bus connection between the control host and other modules is replaced by a 485 bus connection or the CAN bus and the 485 bus are mixed; the DVI high-definition connector between the display and the intelligent control host is replaced by an HDMI cable; the gyroscope installed in the cavity is installed outside the cavity; the number of absolute encoders is increased to two or more; the above changes are routine changes in the control system, and different system connection structures can be formed through these changes, which also have the technical effects of the present technical solution and are also within the scope of protection of the present technical solution.

[0055] The present invention has the following beneficial effects: 1. In terms of the functional division of the control host and the intelligent control host, the control host completes the basic control functions, including the start and stop of motor equipment, motion control and common sensor signal acquisition; the intelligent control host completes the intelligent control functions, including memory cutting and planned mining functions; the basic functions and advanced functions of the control system are completed by different control units respectively, each performing its own duties without mutual influence or obstruction, thereby improving the intelligent operation level of the control system.

[0056] 2. In terms of controlling the external devices of the host, first separate the control devices and data reading devices, so that the device control and data reading use different communication links without interfering with each other, and avoid the data reading device failure affecting the device control function; secondly, separate non-safety devices from intrinsically safe devices to avoid signal interference.

[0057] 3. Associate the detection signals of the methane concentration sensor and the dust concentration sensor with the operating status of the coal mining machine to prevent unsafe factors and improve the operating safety of the coal mining machine. At the same time, the operating status of the coal mining machine is controlled through the detection results of the dust concentration sensor to ensure the physical and mental health of front-line employees.

[0058] 4. The oil level and oil temperature of the coal mining machine system are linked to the operating status of the equipment to avoid equipment damage (burning of the oil pump motor), reduce the maintenance cost of the coal mining machine, and improve the use effect of the coal mining machine.

Claims

1. A coal mining machine control system, characterized in that: The coal mining machine control system includes an intracavity control unit arranged in the coal mining machine electrical control box and an extracavity control unit arranged outside the coal mining machine electrical control box; the intracavity control unit is communicatively connected to the extracavity control unit; the intracavity control unit includes a control module for realizing basic control operations and opening and closing actions of the coal mining machine, a control host for receiving status signals of various components of the coal mining machine and issuing execution instructions, an intelligent control host for realizing intelligent control functions of the coal mining machine, and a built-in switch for realizing signal transmission between the control host and the intelligent control host. The control host is connected to the control module and the execution operation component for performing coal mining machine execution operations and the first acquisition component for collecting status signals of various components of the coal mining machine through the CAN bus; the control host realizes Ethernet communication connection with the intelligent control host via the built-in switch.

2. The coal mining machine control system according to claim 1, characterized in that: The execution operation component includes a remote control receiver for receiving remote control control signals, a left end station and a right end station for controlling the start and stop of the equipment. The remote control receiver, the left end station and the right end station are connected to the CAN communication interface of the control host through the first isolation fence.

3. The coal mining machine control system according to claim 2, characterized in that: The first acquisition component includes a left traction inverter for reading the working status of the left traction motor, a right traction inverter for reading the working status of the right traction motor, a mixed quantity acquisition module for receiving feedback signals and sensor signals, a pump motor current transformer for detecting the three-phase current of the pump motor, a left cutting current transformer for detecting the three-phase current of the left cutting motor, a right cutting current transformer for detecting the three-phase current of the right cutting motor, a crusher current transformer for detecting the three-phase current of the crushing motor, and an absolute value encoder for detecting the position of the coal mining machine relative to the working face; the left traction inverter, the right traction inverter, the mixed quantity acquisition module, the pump motor current transformer, the left cutting current transformer, the right cutting current transformer, the crusher current transformer, and the absolute value encoder are all connected to the control host through the CAN bus; the absolute value encoder is fixedly connected to the traction three-axis of the coal mining machine walking part.

4. The coal mining machine control system according to claim 3, characterized in that: The mixed quantity acquisition module is provided with a switch input interface and receives feedback signals of the pump motor AC contactor, the left cutting motor AC contactor, the right cutting motor AC contactor, and the crushing motor AC contactor, as well as leakage detection signals of the pump motor, the left cutting motor, the right cutting motor, and the crushing motor through the switch input interface; the mixed quantity acquisition module is provided with a voltage type analog input interface and receives voltage signals of the pitch angle sensor, the left rocker arm inclination sensor, the right rocker arm inclination sensor, and the system three-phase voltage transmitter through the voltage type analog input interface; the mixed quantity acquisition module is provided with a temperature detection interface and receives temperature sensor monitoring signals on the pump motor, the left cutting motor, the right cutting motor, the crushing motor, the left traction gearbox, the right traction gearbox, the left rocker arm gearbox, and the right rocker arm gearbox through the temperature detection interface.

5. The coal mining machine control system according to claim 4, characterized in that: The control module is provided with a switch input interface and is connected to a pump motor start button, a crushing motor start button, a left cutting motor start button, a right cutting motor start button, a left traction button, a right traction button, a left rocker arm raising button, a left rocker arm lowering button, a right rocker arm raising button, a right rocker arm lowering button, a guard plate raising button, a guard plate lowering button, a crushing raising button, a crushing lowering button, a far-near control selection button, and a fault reset button through the switch input interface; the control module is provided with a switch output interface and outputs pump motor start, crushing motor start, left cutting motor start, right cutting motor start, pump motor leakage detection, crushing motor leakage detection, left cutting leakage detection, right cutting leakage detection, inverter start, inverter left traction, inverter right traction, left rocker arm raising, left rocker arm lowering, right rocker arm raising, right rocker arm lowering, guard plate raising, guard plate lowering, crushing raising, crushing lowering, and brake instructions through the switch output interface; the control module is provided with a voltage type analog output interface and outputs a 0~10V DC signal through the voltage type analog output interface.

6. The coal mining machine control system according to claim 5, characterized in that: The intracavity control unit also includes a display for displaying the operating status of the coal mining machine and a gyroscope for detecting the inclination angle of the coal mining machine; the display is connected to the intelligent control host through a DVI interface, and the gyroscope is connected to the built-in switch through Ethernet.

7. The coal mining machine control system according to claim 6, characterized in that: The extracavity control unit includes a second acquisition component for detecting the working environment of the coal mining machine, a camera acquisition component for being installed on the coal mining machine to observe the coal cutting condition of the coal mining machine drum, and a height display component for displaying the height information of the coal mining machine drum; the second acquisition component is connected to the control host through the CAN bus, the camera acquisition component is connected to the built-in switch through Ethernet, and the height display component is connected to the control host through the RS485 communication interface.

8. The coal mining machine control system according to claim 7, characterized in that: The second acquisition component includes a voice speaker for alarm prompts, a methane concentration sensor for detecting the methane concentration in the surrounding environment, a dust concentration sensor for detecting the dust concentration in the surrounding environment, a hybrid acquisition module for detecting oil temperature signals and oil circuit pressure signals, and a voice module for voice broadcasting; the hybrid acquisition module, the voice module, the methane concentration sensor, and the dust concentration sensor are connected to the CAN communication interface of the control host via a second isolation fence; the voice speaker is connected to the voice module; the voice speaker, the methane concentration sensor, and the dust concentration sensor are all fixedly connected to the outside of the coal mining machine.

9. The coal mining machine control system according to claim 8, characterized in that: The camera acquisition component includes a left drum camera and a right drum camera for observing the coal cutting status of the coal mining machine drum. The left drum camera and the right drum camera are connected to the built-in switch through a network cable. The left drum camera is fixedly connected to the left rocker arm of the coal mining machine, and the right drum camera is fixedly connected to the right rocker arm of the coal mining machine; the height display component includes a left height display for displaying the height and traction information of the left drum of the coal mining machine, and a right height display for displaying the height and traction information of the right drum of the coal mining machine; the left height display and the right height display are both connected to the control host through the RS485 communication interface; the left height display and the right height display are both fixedly connected to the outside of the coal mining machine.

10. The coal mining machine control system according to claim 9, characterized in that: The coal mining machine control system also includes a remote control side unit, which includes an underground control center for collecting underground operation data and a ground control center for monitoring the operating status of underground equipment and issuing execution instructions. The underground control center is connected to the built-in switch through a core switch, and the underground control center is connected to the ground control center through a network cable.

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