Control method of coal mine unmanned production system

Abstract

The invention is suitable for the technical field of coal mine unmanned production, and provides a control method of a coal mine unmanned production system, which comprises the following steps: S1, acquiring planning guide data of coal mine work; s2, acquiring production state data, receiving planning guide data and feedback data, generating adjustment data, and further regenerating a hierarchical control instruction; s3, receiving planning guide data, adjustment data and feedback data, generating an auxiliary control instruction, and transmitting the auxiliary control instruction; s4, receiving the hierarchical control instruction and the auxiliary control instruction, and controlling the operation of the equipment according to the hierarchical control instruction and the auxiliary control instruction, through the control method, the operation of the coal mine unmanned production system can be realized, meanwhile, through data analysis and application, the diversity, accuracy and response speed of early warning can be improved, the early warning effect is improved, and the early warning efficiency is improved. Therefore, production efficiency and safety are improved, personnel intervention is reduced, and labor intensity and safety risks are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned production in coal mines, and more particularly to a control method for an unmanned production system in coal mines. Background Art

[0002] Safety in the coal mining industry has always been a key concern. In recent years, with the advancement of technology, unmanned production has become a trend in modern coal mining enterprise management. The application of automated equipment and technologies not only reduces labor costs and improves efficiency, but more importantly, significantly reduces the risks faced by miners working underground and prevents accidents caused by human error.

[0003] At present, the unmanned production system of coal mines uses sensors to monitor various data during the mining process and transmits this data to the control system in real time. The control system analyzes and judges the received data, and then issues corresponding control instructions. The mining equipment operates autonomously under the guidance of these instructions, thus realizing unmanned control of coal mine production.

[0004] However, the existing unmanned coal mine production has limited monitoring coverage of coal mining, and the connectivity of key data is low, which leads to poor early warning effect for emergency situations in unmanned production. In addition, most of these systems rely on manual follow-up processing, and the response speed and accuracy cannot meet the rapidly changing on-site needs. This paper proposes a control method for unmanned coal mine production system to improve the existing problems. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a control method for an unmanned production system in a coal mine.

[0006] To achieve the above object, the present invention provides the following technical solution: a control method for an unmanned coal mine production system, comprising the following steps:

[0007] S1. Obtain planning guidance data for coal mine work;

[0008] S2. Acquire production status data, receive the planning guidance data and feedback data, generate adjustment data based on the production status data, and finally generate hierarchical control instructions based on the adjustment data, planning guidance, and feedback data;

[0009] S3. Receive the planning guidance data, adjustment data, and feedback data, generate auxiliary control instructions, and transmit the auxiliary control instructions;

[0010] S4. Receive the hierarchical control instructions and the auxiliary control instructions, control the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generate feedback data according to the device operation result, and then transmit the feedback data.

[0011] The present invention is further configured as follows: S1, obtaining planning guidance data for coal mine work, specifically comprising the following steps:

[0012] S11. Obtaining the location and movement information of workers, including abnormal entry of workers into the mining area and abnormal movement trajectory of workers during production, and generating positioning planning guidance data;

[0013] S12. Generate coal mining planning guidance data based on the coal seam geological exploration data and mining distance data of the fully mechanized mining face, and also monitor abnormal mining conditions to generate coal mining space planning guidance data;

[0014] S13, respectively monitor and issue early warnings on the data of the fully mechanized mining equipment, hydraulic supports, and fully mechanized mining working face, and generate early warning planning guidance data based on the monitoring and early warning data;

[0015] S14. Based on the production scheduling plan, analyze the production delay data and generate control planning guidance data;

[0016] Among them, planning guidance data includes positioning planning guidance data, coal mining planning guidance data, coal mining space planning guidance data, early warning planning guidance data, and control planning guidance data.

[0017] The present invention is further configured as follows: S2, obtaining production status data, receiving the planning guidance data and feedback data, generating adjustment data according to the production status data, and finally generating hierarchical control instructions according to the adjustment data, planning guidance and feedback data, specifically comprising the following steps:

[0018] S21. Generate first adjustment data based on production status data of the fully mechanized mining face under mine monitoring, and transmit the first adjustment data;

[0019] S22. Generate second adjustment data based on the production status data of the fully mechanized mining working face under ground sub-control, and transmit the second adjustment data;

[0020] S23, receiving the planning guidance data, the first adjustment data, and the feedback data to generate a first control instruction, and then transmitting the first control instruction;

[0021] S24, receiving the planning guidance data, the first adjustment data, the second adjustment data, and the feedback data to generate a second control instruction, and then transmitting the second control instruction and the risk avoidance control instruction;

[0022] The hierarchical control instructions include a first control instruction and a second control instruction, and the second control instruction has a higher priority than the first control instruction;

[0023] The adjustment data includes first adjustment data and second adjustment data.

[0024] The present invention is further configured as follows: S3, receiving the planning guidance data, adjustment data and feedback data, generating auxiliary control instructions, and transmitting the auxiliary control instructions, specifically including the following steps:

[0025] S31, receiving the planning guidance data, adjustment data and feedback data;

[0026] S32, analyzing the planning guidance data, adjustment data, and feedback data;

[0027] S33, generating auxiliary control instructions according to the analysis results;

[0028] S34: Transmit auxiliary control instructions.

[0029] The present invention is further configured as follows: S4, receiving the hierarchical control instructions and the auxiliary control instructions, controlling the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generating feedback data according to the device operation results, and then transmitting the feedback data, specifically comprising the following steps:

[0030] S41, receiving hierarchical control instructions and auxiliary control instructions;

[0031] S42, controlling the device to perform corresponding actions according to the hierarchical control instructions and the auxiliary control instructions;

[0032] S43. Generate feedback data based on the device execution result;

[0033] S44. Transmit feedback data.

[0034] The present invention is further configured to include a planning guidance unit, a control unit, a system analysis unit, and an execution feedback unit, wherein:

[0035] The planning and guidance unit is used to obtain planning and guidance data for coal mine work;

[0036] The control unit is used to obtain production status data, receive the planning guidance data and feedback data, generate adjustment data according to the production status data, and finally generate hierarchical control instructions according to the adjustment data, planning guidance and feedback data;

[0037] The system analysis unit is used to receive the planning guidance data, adjustment data and feedback data, generate auxiliary control instructions, and transmit the auxiliary control instructions;

[0038] The execution feedback unit is used to receive the hierarchical control instructions and the auxiliary control instructions, control the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generate feedback data according to the device operation results, and then transmit the feedback data.

[0039] The present invention is further configured as follows: the planning and guidance unit includes a positioning module, a model building module, an early warning module and a scheduling module, wherein:

[0040] The positioning module is used to obtain the position movement information of the staff, including the information of abnormal entry of personnel into the mining area and abnormal movement trajectory of personnel during production, and generate positioning planning guidance data;

[0041] The model construction module is used to generate coal mining planning guidance data based on the coal seam geological exploration data and mining distance data of the fully-mechanized mining face, and also monitors abnormal mining conditions to generate coal mining space planning guidance data;

[0042] The early warning module includes an equipment early warning module, a pressure early warning module, and an identification early warning module. The early warning module is used to monitor and warn the data of the fully mechanized mining equipment, hydraulic supports, and fully mechanized mining working face respectively, and generate early warning planning guidance data based on the monitoring and early warning data;

[0043] The scheduling module is used to analyze production delay data based on the production scheduling plan and generate control planning guidance data.

[0044] By adopting the above technical solution and setting up a planning guidance unit, not only can the data information of coal mining be obtained in real time, but also timely early warning of coal mine production conditions can be issued based on this information, thereby reducing the probability of abnormal conditions in coal mining. In the actual operation of the unmanned coal mine system, various monitoring points can also cooperate with each other to improve the early warning response speed and solve problems in a timely manner. In addition, a pre-processing system can be set up in advance based on the data content of long-term monitoring to reduce the spread of subsequent impacts.

[0045] The present invention is further configured as follows: the control unit includes a mine monitoring module, a ground sub-control module, a mine centralized control module and a ground centralized control module, wherein:

[0046] The mine monitoring module is used to generate first adjustment data according to the production status data of the fully mechanized mining working face under mine monitoring, and transmit the first adjustment data;

[0047] The ground sub-control module is used to generate second adjustment data according to the production status data of the fully mechanized mining working face under the ground sub-control, and transmit the second adjustment data;

[0048] The mine centralized control module is used to receive the planning guidance data, the first adjustment data and the feedback data to generate a first control instruction, and then transmit the first control instruction;

[0049] The ground centralized control module is used to receive the planning guidance data, the first adjustment data, the second adjustment data and the feedback data to generate a second control instruction, and then transmit the second control instruction.

[0050] By adopting the above technical solution, setting up a control unit to generate control instructions provides operators with a way to directly intervene in the production process. In the event of an emergency or the need to temporarily adjust the production strategy, humans can quickly intervene and issue targeted instructions. This is an important line of defense to ensure production safety and flexibility.

[0051] The present invention is further configured as follows: the system analysis unit includes a data receiving module, a data analysis module, an instruction generation module and an instruction transmission module, wherein:

[0052] The data receiving module is used to receive the planning guidance data, adjustment data and feedback data;

[0053] The data analysis module is used to analyze the planning guidance data, adjustment data and feedback data;

[0054] The instruction generation module is used to generate auxiliary control instructions according to the analysis results of the data analysis module;

[0055] The instruction transmission module is used to transmit auxiliary control instructions.

[0056] By adopting the above technical solution, the reliability of control can be improved by setting hierarchical control instructions and auxiliary control instructions. Different generation methods start from different angles, and the two complement each other. Even if one of them fails or deviates, the other can still maintain the basic operation of the system, which greatly improves the reliability of control and reduces the risk of production interruption or accident due to failure of a single instruction generation method. In addition, manual instructions may deviate due to operator fatigue, negligence or misjudgment of complex situations. Auxiliary control instructions are based on set algorithms and a large amount of data, and are more accurate and objective. By comparing the instructions generated by the two, production control can be cross-verified. If there is a difference, the system can issue an alarm in time to prompt the staff to further verify and avoid adverse consequences caused by the execution of erroneous instructions.

[0057] The present invention is further configured as follows: the planning guidance unit includes an instruction receiving module, an instruction execution module, a feedback data generation module, and a feedback data transmission module, wherein:

[0058] The instruction receiving module is used to receive hierarchical control instructions and auxiliary control instructions;

[0059] The instruction execution module is used to control the device to perform corresponding actions according to the hierarchical control instructions and the auxiliary control instructions;

[0060] The feedback data generating module is used to generate feedback data according to the device execution result;

[0061] The feedback data transmission module is used to transmit feedback data.

[0062] By adopting the above technical solution and setting up a feedback data generation module, the feedback data generation module can generate feedback data according to the execution results. The feedback data can better reflect the differences between the hierarchical control instructions and the auxiliary control instructions, and provide data support for the subsequent system upgrade. In addition, the feedback data is transmitted to the production system to achieve a closed-loop control effect for unmanned production. The above control method can realize the operation of the unmanned production system of the coal mine, improve production efficiency and safety, reduce personnel intervention, and reduce labor intensity and safety risks.

[0063] In summary, this application includes at least one of the following beneficial technical effects:

[0064] The present invention sets up an unmanned production system, obtains planning guidance data for coal mine work, obtains adjustment data based on the planning guidance data, and generates control instructions based on the adjustment data and the planning guidance data. Under the action of the control instructions, the coal mining equipment executes the instructions, and feedback data can be generated according to the execution results. The generated feedback data is transmitted to the production system to achieve a closed-loop control effect of unmanned production. The above control method can realize the operation of the unmanned production system of the coal mine. At the same time, through data analysis and application, the diversity, accuracy and response speed of the early warning can be improved, the early warning effect can be improved, and then the production efficiency and safety can be improved, personnel intervention can be reduced, and labor intensity and safety risks can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 The figure is a flow chart of a control method for an unmanned coal mine production system in the present invention.

[0066] Figure 2 This is a structural block diagram of the unmanned coal mine production system in the present invention.

[0067] Figure 3 This is a flow chart of the unmanned coal mine production system of the present invention.

[0068] Figure 4 This is a flow chart of the planning guidance unit in the present invention.

[0069] Figure 5 This is a structural block diagram of the planning and guidance unit in the present invention.

[0070] Figure 6 It is a flow chart of the control unit in the present invention.

[0071] Figure 7 This is a structural block diagram of the control unit in the present invention.

[0072] Figure 8 This is a flow chart of the system analysis unit in the present invention.

[0073] Figure 9 This is a structural block diagram of the system analysis unit in the present invention.

[0074] Figure 10 This is a flow chart of executing the feedback unit in the present invention.

[0075] Figure 11 Flowchart of the implementation of the feedback unit in the present invention. DETAILED DESCRIPTION

[0076] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0077] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0078] See also Figure 1-11 , the present invention provides the following technical solutions:

[0079] In the first embodiment, the monitoring coverage of coal mining in existing unmanned production in coal mines is limited, and the connectivity of various key data is low, which leads to poor early warning effects for emergency situations in unmanned production. In addition, most of these systems rely on manual follow-up processing, and the response speed and accuracy cannot meet the rapidly changing on-site needs.

[0080] In order to solve the above problems, the present invention sets up an unmanned production system, obtains planning guidance data for coal mine work, obtains adjustment data based on the planning guidance data, and generates control instructions based on the adjustment data and planning guidance data. Under the action of the control instructions, the coal mining equipment executes the instructions, and feedback data can be generated according to the execution results. The generated feedback data is transmitted to the production system to achieve a closed-loop control effect of unmanned production. The above control method can realize the operation of the unmanned production system of coal mines. At the same time, through data analysis and application, the diversity, accuracy and response speed of early warning can be improved, the early warning effect can be improved, and then the production efficiency and safety can be improved, personnel intervention can be reduced, and labor intensity and safety risks can be reduced.

[0081] Specifically, see Figure 1 and Figure 4 A control method for an unmanned coal mine production system comprises the following steps:

[0082] S1. Obtain planning guidance data for coal mine work.

[0083] S11. Obtaining the location and movement information of workers, including abnormal entry of workers into the mining area and abnormal movement trajectory of workers during production, and generating positioning planning guidance data;

[0084] S12. Generate coal mining planning guidance data based on the coal seam geological exploration data and mining distance data of the fully mechanized mining face, and also monitor abnormal mining conditions to generate coal mining space planning guidance data;

[0085] S13, respectively monitor and issue early warnings on the data of the fully mechanized mining equipment, hydraulic supports, and fully mechanized mining working face, and generate early warning planning guidance data based on the monitoring and early warning data;

[0086] S14. Based on the production scheduling plan, analyze the production lag data and generate control planning guidance data.

[0087] The above steps can be used to obtain planning guidance data. During the specific acquisition process, the planning guidance data is classified according to the different monitoring locations. The planning guidance data includes positioning planning guidance data, coal mining planning guidance data, coal mining space planning guidance data, early warning planning guidance data, and control planning guidance data.

[0088] Positioning planning guidance data is obtained during the movement of workers. Its data information includes information on abnormal entry of personnel into the mining area during production and abnormal information on personnel movement trajectories, providing data support for ensuring personnel safety and production order. On the one hand, the movement of workers can be observed at any time to obtain data information. On the other hand, positioning data can also provide data support for subsequent coal mining work. For example, when an emergency occurs in the coal mining process, personnel can be mobilized in time to assist based on the positioning information, which improves the response speed of personnel and can cope with the ever-changing coal mining environment.

[0089] Coal mining planning guidance data is generated based on the coal seam geological exploration data and mining distance data of the fully-mechanized mining face. The coal mining planning guidance data provides geological information support for coal mining operations, facilitating advance planning and adjustment of mining strategies.

[0090] Coal mining space planning guidance data is generated by analyzing the three-dimensional laser point cloud model of the mining space. Coal mining space decision data can be used to timely detect spatial anomalies and ensure operational safety.

[0091] The early warning planning guidance data includes the monitoring data of the fully-mechanized mining equipment, the monitoring data of the hydraulic support and the data obtained from the fully-mechanized mining working face. By obtaining the corresponding data, the mining situation can be warned and the early warning planning guidance data can be generated.

[0092] Among them, based on the working condition data of the comprehensive mining equipment, early warning planning guidance data for the comprehensive mining equipment is generated to discover potential problems of the equipment in advance and reduce downtime due to failures; based on the column pressure data during the advancement of the hydraulic support, periodic pressure early warning information is generated to make preparations in advance to prevent roof accidents; based on the video and audio data of the comprehensive mining working face, production abnormality information is generated to promptly discover abnormal situations in the production process so that timely measures can be taken.

[0093] Control planning guidance data is used to generate control decision opinions based on production scheduling plans and production delays, optimize production processes and improve production efficiency.

[0094] By acquiring the above data, not only can we obtain coal mining data information in real time, but we can also issue early warnings on coal mine production conditions in a timely manner based on this information, thereby reducing the probability of abnormal situations in coal mining.

[0095] During the actual operation of the unmanned coal mine system, the various monitoring points can also cooperate with each other to improve the early warning response speed and solve problems in a timely manner. In addition, the pre-processing system can be set up in advance based on the data content of long-term monitoring to reduce the spread of subsequent impacts.

[0096] On the basis of obtaining the planning guidance data, the planning guidance data is further transmitted and processed. The implementation steps are as follows:

[0097] See Figure 1 and Figure 6 , S2, obtain production status data, receive the planning guidance data and feedback data, generate adjustment data according to the production status data, and finally generate hierarchical control instructions according to the adjustment data, planning guidance and feedback data, wherein the hierarchical control instructions include a first control instruction and a second control instruction; the adjustment data include a first adjustment data and a second adjustment data.

[0098] S2 specifically includes the following steps:

[0099] S21. Generate first adjustment data based on production status data of the fully mechanized mining face under mine monitoring, and transmit the first adjustment data;

[0100] S22. Generate second adjustment data based on the production status data of the fully mechanized mining working face under ground sub-control, and transmit the second adjustment data;

[0101] S23, receiving the planning guidance data, the first adjustment data, and the feedback data to generate a first control instruction, and then transmitting the first control instruction;

[0102] S24 , receiving the planning guidance data, the first adjustment data, the second adjustment data and the feedback data to generate a second control instruction, and then transmitting the second control instruction and the risk avoidance control instruction.

[0103] Depending on the different control operation positions, the production status data of underground mines and ground sub-control centers are mainly monitored. The underground and ground parts basically cover the status data of coal mine production, and the data monitoring is comprehensive. At the same time, the control instructions generated at the two places are based on the control instructions generated on the ground, that is, the second control instruction has a higher priority than the first control instruction.

[0104] By setting control instructions, operators are provided with a way to directly intervene in the production process. In the event of an emergency or the need to temporarily adjust the production strategy, humans can quickly intervene and issue targeted instructions. This is an important line of defense to ensure production safety and flexibility.

[0105] On the basis of control, it is necessary to further process the planning guidance data, adjustment data and feedback data to form auxiliary control instructions and improve the shortcomings of manual operation.

[0106] The steps for generating auxiliary control instructions are as follows:

[0107] See Figure 1 and Figure 8 S3, receiving the planning guidance data, adjustment data and feedback data, generating auxiliary control instructions, and transmitting the auxiliary control instructions, specifically comprising the following steps:

[0108] S31, receiving the planning guidance data, adjustment data and feedback data;

[0109] S32, analyzing the planning guidance data, adjustment data, and feedback data;

[0110] S33, generating auxiliary control instructions according to the analysis results;

[0111] S34: Transmit auxiliary control instructions.

[0112] The generation method of auxiliary control instructions is as follows:

[0113] First, data standardization is performed to standardize the collected data and convert data of different ranges and units into a unified standard scale for subsequent calculation and analysis.

[0114] The data types collected in this method are set to three categories: A, B, and C, and are explained in terms of Type A, Type B, and Type C.

[0115] Standardized methods:

[0116]

[0117] Among them, A 标 is the standard value of type A, A manx is the maximum value of type A, A min is the minimum value of type A, A is the monitoring data value of type A; B is the standard value of type B, B manx is the maximum value of type B, B min is the minimum value of type B, B is the monitoring data value of type B; C 标 is the standard value of type C, C manx is the maximum value of type C, C min is the minimum value of type C, and C is the monitoring data value of type C.

[0118] Secondly, a risk assessment model is established based on the standardized data. Among them, type A, type B, and type C have different degrees of impact on coal mine production, and they are assigned weights respectively. Type A corresponds to weight w1, type B corresponds to weight w2, and type C corresponds to weight w3.

[0119] w1+w2+w3=1

[0120] The risk value R can be calculated by the following formula:

[0121] R=w1×A 标 +w2×B 标 +w2×C 标

[0122] Finally, auxiliary control instructions are generated.

[0123] The adjustment strategy for Type A is as follows:

[0124] An auxiliary control instruction of type A is generated according to the risk value R.

[0125] If type A belongs to speed control type.

[0126] When R>Rthreshold, the speed of type A needs to be reduced. The following formula can be used to calculate the running speed of type A, Anew:

[0127] A 新 =A×(1-k(RR 阈 ))

[0128] Among them, k is an adjustment coefficient used to control the amplitude of speed adjustment, R 阈 Indicates the standard value of risk value.

[0129] When R≤Rthreshold, it indicates that the current working condition is within a safe range. Type A can maintain the current speed or make fine adjustments based on other production requirements.

[0130] The adjustment strategy for Type B is as follows:

[0131] Type B is the performance of the device itself. For example, Type B is the device temperature. When the device temperature is too high, it may be necessary to start or adjust the operating parameters of the cooling system according to the relationship formula between temperature and cooling system to ensure the normal operation of the device.

[0132] The cooling power P of the cooling system and the equipment temperature B satisfy the following relationship:

[0133] P=a×(BB 安全 )

[0134] Where a is a coefficient related to the cooling system performance, and Bsafe is the safe temperature upper limit of the equipment.

[0135] At that time, B>B safely started the cooling system and adjusted the cooling power according to the formula.

[0136] The adjustment strategy for type C is as follows:

[0137] In addition to the temperature of the equipment itself, if type C is the gas concentration, if the gas concentration exceeds the safe value, the fan speed needs to be adjusted based on the relationship between the gas concentration and the ventilation system.

[0138] The fan speed n and type C satisfy the following relationship:

[0139] n=b×(CC 安全 )

[0140] Where b is a coefficient related to the ventilation system, and Csafe is the safe value of gas concentration. When C > Csafe, increase the fan speed to reduce the gas concentration.

[0141] The relevant data can be processed in the above manner and then auxiliary control instructions can be generated. The present invention only explains speed, temperature and gas concentration. When other data are involved, the same method can be used for processing to generate corresponding auxiliary control instructions.

[0142] The reliability of control can be improved by setting hierarchical control instructions and auxiliary control instructions. Different generation methods start from different angles, and the two complement each other. Even if one of them fails or deviates, the other can still maintain the basic operation of the system, which greatly improves the reliability of control and reduces the risk of production interruption or accidents due to the failure of a single instruction generation method.

[0143] In addition, manually issued instructions may deviate due to operator fatigue, negligence or misjudgment of complex situations. Auxiliary control instructions are based on set algorithms and large amounts of data, and are more accurate and objective. By comparing the instructions generated by the two, production control can be cross-verified. If there are differences, the system can issue an alarm in time to prompt staff to further verify and avoid adverse consequences caused by the execution of erroneous instructions.

[0144] After generating the hierarchical control instructions, the control instructions need to be further executed.

[0145] The execution steps are as follows:

[0146] See Figure 1 and Figure 10 S4, receiving the hierarchical control instructions and the auxiliary control instructions, controlling the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generating feedback data according to the device operation results, and then transmitting the feedback data, specifically comprising the following steps:

[0147] S41, receiving hierarchical control instructions and auxiliary control instructions;

[0148] S42, controlling the device to perform corresponding actions according to the hierarchical control instructions and the auxiliary control instructions;

[0149] S43. Generate feedback data based on the device execution result;

[0150] S44. Transmit feedback data.

[0151] By generating feedback data based on the execution results, the feedback data can better reflect the differences between hierarchical control instructions and auxiliary control instructions, providing data support for subsequent system upgrades.

[0152] In addition, the feedback data is transmitted to the production system to achieve closed-loop control of unmanned production. The above control method can realize the operation of unmanned production system in coal mines, improve production efficiency and safety, reduce personnel intervention, and reduce labor intensity and safety risks.

[0153] Example 2, see Figure 2 and Figure 3 , a coal mine unmanned production system, including a planning and guidance unit, a control unit, a system analysis unit, and an execution feedback unit, wherein:

[0154] The planning and guidance unit is used to obtain planning and guidance data for coal mine work;

[0155] The control unit is used to obtain production status data, receive the planning guidance data and feedback data, generate adjustment data according to the production status data, and finally generate hierarchical control instructions according to the adjustment data, planning guidance and feedback data;

[0156] The system analysis unit is used to receive the planning guidance data, adjustment data and feedback data, generate auxiliary control instructions, and transmit the auxiliary control instructions;

[0157] The execution feedback unit is used to receive the hierarchical control instructions and the auxiliary control instructions, control the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generate feedback data according to the device operation results, and then transmit the feedback data.

[0158] See Figure 5 Furthermore, the planning guidance unit includes a positioning module, a model building module, an early warning module and a scheduling module, wherein:

[0159] The positioning module is used to obtain the location and movement information of workers, including information on abnormal entry of personnel into the mining area during production and abnormal movement trajectory of personnel, and generate positioning planning guidance data;

[0160] The model construction module is used to generate coal mining planning guidance data based on the coal seam geological exploration data and mining distance data of the fully mechanized mining face. It also monitors abnormal mining conditions and generates coal mining space planning guidance data.

[0161] The early warning module includes an equipment early warning module, a pressure early warning module, and an identification early warning module. The early warning module is used to monitor and warn the data of the fully mechanized mining equipment, hydraulic supports, and fully mechanized mining working face, and generate early warning planning guidance data based on the monitoring and warning data;

[0162] The scheduling module is used to analyze production delay data based on the production scheduling plan and generate control planning guidance data.

[0163] By setting up a planning guidance unit, not only can real-time data information on coal mining be obtained, but also timely early warning of coal mine production conditions can be issued based on this information, reducing the probability of abnormal situations in coal mining. In the actual operation of the unmanned coal mine system, various monitoring points can also cooperate with each other to improve the early warning response speed and solve problems in a timely manner. In addition, based on the data content of long-term monitoring, a pre-processing system can be set up in advance to reduce the spread of subsequent impacts.

[0164] See Figure 7 Furthermore, the control unit includes a mine monitoring module, a ground sub-control module, a mine centralized control module and a ground centralized control module, wherein:

[0165] The mine monitoring module is used to generate first adjustment data according to the production status data of the fully mechanized mining working face under mine monitoring, and transmit the first adjustment data;

[0166] The ground sub-control module is used to generate second adjustment data according to the production status data of the fully mechanized mining working face under the ground sub-control, and transmit the second adjustment data;

[0167] The mine centralized control module is used to receive the planning guidance data, the first adjustment data and the feedback data to generate a first control instruction, and then transmit the first control instruction;

[0168] The ground centralized control module is used to receive the planning guidance data, the first adjustment data, the second adjustment data and the feedback data to generate a second control instruction, and then transmit the second control instruction.

[0169] By setting up a control unit to generate control instructions, operators are provided with a way to directly intervene in the production process. In the event of an emergency or the need to temporarily adjust the production strategy, humans can quickly intervene and issue targeted instructions. This is an important line of defense to ensure production safety and flexibility.

[0170] See Figure 9 , further, the system analysis unit includes a data receiving module, a data analysis module, an instruction generation module and an instruction transmission module, wherein:

[0171] The data receiving module is used to receive the planning guidance data, adjustment data and feedback data;

[0172] The data analysis module is used to analyze the planning guidance data, adjustment data and feedback data;

[0173] The instruction generation module is used to generate auxiliary control instructions according to the analysis results of the data analysis module;

[0174] The instruction transmission module is used to transmit auxiliary control instructions.

[0175] See Figure 11 The planning guidance unit includes an instruction receiving module, an instruction execution module, a feedback data production module, and a feedback data transmission module, wherein:

[0176] The instruction receiving module is used to receive hierarchical control instructions and auxiliary control instructions;

[0177] The instruction execution module is used to control the device to perform corresponding actions according to the hierarchical control instructions and auxiliary control instructions;

[0178] The feedback data generation module is used to generate feedback data according to the device execution results;

[0179] The feedback data transmission module is used to transmit feedback data.

[0180] By setting up a feedback data generation module, the feedback data generation module can generate feedback data according to the execution results. The feedback data can better reflect the differences between hierarchical control instructions and auxiliary control instructions, and provide data support for subsequent system upgrades. In addition, the feedback data is transmitted to the production system to achieve a closed-loop control effect for unmanned production. The above control method can realize the operation of the unmanned production system of the coal mine, improve production efficiency and safety, reduce personnel intervention, and reduce labor intensity and safety risks.

[0181] Obviously, the embodiments described above 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 should fall within the scope of protection of the present invention.

Claims

1. A control method for an unmanned coal mine production system, characterized by: The following steps are involved: S1. Obtain planning guidance data for coal mine work; S2. Acquire production status data, receive the planning guidance data and feedback data, generate adjustment data based on the production status data, and finally generate hierarchical control instructions based on the adjustment data, planning guidance, and feedback data; S3. Receive the planning guidance data, adjustment data, and feedback data, generate auxiliary control instructions, and transmit the auxiliary control instructions; S4. Receive the hierarchical control instructions and the auxiliary control instructions, control the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generate feedback data according to the device operation result, and then transmit the feedback data.

2. The control method of a coal mine unmanned production system according to claim 1, characterized in that: S1. Obtaining planning guidance data for coal mine work, specifically including the following steps: S11. Obtaining the location and movement information of workers, including abnormal entry of workers into the mining area and abnormal movement trajectory of workers during production, and generating positioning planning guidance data; S12. Generate coal mining planning guidance data based on the coal seam geological exploration data and mining distance data of the fully mechanized mining face, and also monitor abnormal mining conditions to generate coal mining space planning guidance data; S13, respectively monitor and issue early warnings on the data of the fully mechanized mining equipment, hydraulic supports, and fully mechanized mining working face, and generate early warning planning guidance data based on the monitoring and early warning data; S14. Based on the production scheduling plan, analyze the production delay data and generate control planning guidance data; Among them, planning guidance data includes positioning planning guidance data, coal mining planning guidance data, coal mining space planning guidance data, early warning planning guidance data, and control planning guidance data.

3. The control method of the unmanned coal mine production system according to claim 1, characterized in that: S2, acquiring production status data, receiving the planning guidance data and feedback data, generating adjustment data based on the production status data, and finally generating hierarchical control instructions based on the adjustment data, planning guidance, and feedback data, specifically comprising the following steps: S21. Generate first adjustment data based on production status data of the fully mechanized mining face under mine monitoring, and transmit the first adjustment data; S22. Generate second adjustment data based on the production status data of the fully mechanized mining working face under ground sub-control, and transmit the second adjustment data; S23, receiving the planning guidance data, the first adjustment data, and the feedback data to generate a first control instruction, and then transmitting the first control instruction; S24, receiving the planning guidance data, the first adjustment data, the second adjustment data, and the feedback data to generate a second control instruction, and then transmitting the second control instruction and the risk avoidance control instruction; The hierarchical control instructions include a first control instruction and a second control instruction, and the second control instruction has a higher priority than the first control instruction; The adjustment data includes first adjustment data and second adjustment data.

4. The control method of a coal mine unmanned production system according to claim 1, characterized in that: S3, receiving the planning guidance data, adjustment data and feedback data, generating auxiliary control instructions, and transmitting the auxiliary control instructions, specifically comprising the following steps: S31, receiving the planning guidance data, adjustment data and feedback data; S32, analyzing the planning guidance data, adjustment data, and feedback data; S33, generating auxiliary control instructions according to the analysis results; S34: Transmit auxiliary control instructions.

5. The control method of a coal mine unmanned production system according to claim 1, characterized in that: S4, receiving the hierarchical control instructions and the auxiliary control instructions, controlling the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generating feedback data according to the device operation results, and then transmitting the feedback data, specifically comprising the following steps: S41, receiving hierarchical control instructions and auxiliary control instructions; S42, controlling the device to perform corresponding actions according to the hierarchical control instructions and the auxiliary control instructions; S43. Generate feedback data based on the device execution result; S44. Transmit feedback data.

6. The control method of the unmanned coal mine production system according to claim 1, characterized in that: It includes a planning guidance unit, a control unit, a system analysis unit, and an execution feedback unit, among which: The planning and guidance unit is used to obtain planning and guidance data for coal mine work; The control unit is used to obtain production status data, receive the planning guidance data and feedback data, generate adjustment data according to the production status data, and finally generate hierarchical control instructions according to the adjustment data, planning guidance and feedback data; The system analysis unit is used to receive the planning guidance data, adjustment data and feedback data, generate auxiliary control instructions, and transmit the auxiliary control instructions; The execution feedback unit is used to receive the hierarchical control instructions and the auxiliary control instructions, control the operation of the device according to the hierarchical control instructions and the auxiliary control instructions, generate feedback data according to the device operation results, and then transmit the feedback data.

7. The control method of the unmanned coal mine production system according to claim 6, characterized in that: The planning and guidance unit includes a positioning module, a model building module, an early warning module, and a scheduling module, wherein: The positioning module is used to obtain the position movement information of the staff, including the information of abnormal entry of personnel into the mining area and abnormal movement trajectory of personnel during production, and generate positioning planning guidance data; The model construction module is used to generate coal mining planning guidance data based on the coal seam geological exploration data and mining distance data of the fully-mechanized mining face, and also monitors abnormal mining conditions to generate coal mining space planning guidance data; The early warning module includes an equipment early warning module, a pressure early warning module, and an identification early warning module. The early warning module is used to monitor and warn the data of the fully mechanized mining equipment, hydraulic supports, and fully mechanized mining working face respectively, and generate early warning planning guidance data based on the monitoring and early warning data; The scheduling module is used to analyze production delay data based on the production scheduling plan and generate control planning guidance data.

8. The control method of the unmanned coal mine production system according to claim 6, characterized in that: The control unit includes a mine monitoring module, a ground sub-control module, a mine centralized control module and a ground centralized control module, wherein: The mine monitoring module is used to generate first adjustment data according to the production status data of the fully mechanized mining working face under mine monitoring, and transmit the first adjustment data; The ground sub-control module is used to generate second adjustment data according to the production status data of the fully mechanized mining working face under the ground sub-control, and transmit the second adjustment data; The mine centralized control module is used to receive the planning guidance data, the first adjustment data and the feedback data to generate a first control instruction, and then transmit the first control instruction; The ground centralized control module is used to receive the planning guidance data, the first adjustment data, the second adjustment data and the feedback data to generate the second control instruction, and then transmit the second control instruction and the risk avoidance control instruction.

9. The control method of the unmanned coal mine production system according to claim 6, characterized in that: The system analysis unit includes a data receiving module, a data analysis module, an instruction generation module and an instruction transmission module, wherein: The data receiving module is used to receive the planning guidance data, adjustment data and feedback data; The data analysis module is used to analyze the planning guidance data, adjustment data and feedback data; The instruction generation module is used to generate auxiliary control instructions according to the analysis results of the data analysis module; The instruction transmission module is used to transmit auxiliary control instructions.

10. The control method of an unmanned coal mine production system according to claim 6, characterized in that: The planning guidance unit includes an instruction receiving module, an instruction execution module, a feedback data generation module, and a feedback data transmission module, wherein: The instruction receiving module is used to receive hierarchical control instructions and auxiliary control instructions; The instruction execution module is used to control the device to perform corresponding actions according to the hierarchical control instructions and the auxiliary control instructions; The feedback data generating module is used to generate feedback data according to the device execution result; The feedback data transmission module is used to transmit feedback data.

Images