Crawler bidirectional harvesting type salt lake mining machine and control method

Abstract

The invention discloses a crawler belt two-way harvesting type salt lake mining machine and a control method, and relates to the field of salt lake chemical engineering, the crawler belt two-way harvesting type salt lake mining machine comprises a mining machine body, an electric control system, an automatic control system, a navigation system, a monitoring system, a video monitoring system and a remote data transmission system; by means of the electric control system, the automatic control system, the navigation system, the monitoring system, the video monitoring system and the remote data transmission system which are arranged on the mining machine body, accurate movement of the mining machine body can be automatically controlled, manual local control is not needed, unattended operation is achieved, post safety risks are reduced, and the working efficiency is improved. Meanwhile, video monitoring of key parts can be achieved through the video monitoring system, video information of the key parts can be transmitted remotely, and workers can be assisted in obtaining information of the current key parts so that whether maintenance needs to be carried out or not can be judged, and stable movement of the mining machine body can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of salt lake chemical industry, and in particular to a crawler bidirectional recovery type salt lake mining machine and a control method thereof. Background Art

[0002] In the field of salt lake chemical industry, the collection of salt lake raw materials is involved. Currently, two methods are mainly used in the collection stage of salt lake raw materials: dry collection and water collection.

[0003] Compared with dry mining, water mining has a lower overall cost and is therefore widely used. However, due to the special working conditions of salt lakes, conventional water mining machinery uses single-head operation and requires manual on-site control. In this case, water mining machinery needs to frequently turn around. At the same time, frequent U-turns will greatly increase the probability of interference between the machine body and the supporting floating pipe structure used to transport and collect salt mines. Therefore, conventional water mining machinery has problems such as low ergonomics and high job safety risks.

[0004] A water-based mining machine with bidirectional harvesting known to the applicant can solve the above-mentioned problem of needing to turn around, but it still requires manual on-site control and still has certain job safety risks.

[0005] Therefore, people are in urgent need of a crawler-type bidirectional mining salt lake mining machine and a control method that can achieve unmanned operation and reduce job safety risks. Summary of the Invention

[0006] The purpose of the present invention is to provide a crawler bidirectional mining salt lake mining machinery and a control method to solve the problems existing in the above-mentioned prior art. By utilizing an electronic control system, an automatic control system, a navigation system, a monitoring system, a video surveillance system and a remote data transmission system, no manual on-site control is required, and unmanned operation is achieved, thereby reducing job safety risks.

[0007] To achieve the above-mentioned object, the present invention provides the following solution: The present invention provides a crawler bidirectional mining salt lake mining machine, comprising:

[0008] Mining machinery body;

[0009] An electric control system and an automatic control system, wherein the electric control system and the automatic control system are installed on the mining machine body to automatically control the operation of the mining machine body;

[0010] a navigation system, the navigation system being installed on the mining machine body and navigating the movement of the mining machine body;

[0011] A monitoring system, which is installed on the mining machine body and monitors the equipment operation data of the mining machine body through sensors;

[0012] A video monitoring system is installed on the mining machine body to monitor the crawler, salt pump, cutting head, operating environment and power distribution room;

[0013] The remote data transmission system transmits the operating data of the mining machine body, the monitoring system data and the video monitoring system data to a remote terminal.

[0014] Preferably, the mining machinery body includes a machine body, a cutting head, a hydraulic station, a salt mining pump, a cab, a power distribution room, a transformer room, a crawler and a refrigeration station. The cutting head is arranged on both sides of the machine body. The salt mining pump is connected to the cutting and crushing area of ​​the cutting head through a slurry suction hose. The outlet end of the salt mining pump is connected to an external slurry conveying pipeline. The hydraulic station, the salt mining pump, the cab, the power distribution room, the transformer room, the crawler and the refrigeration station are all arranged on the machine body.

[0015] Preferably, two salt mining pumps are provided on the cutting heads on both sides of the machine body, and the two salt mining pumps are connected to the cutting and crushing areas of the cutting heads on both sides through the slurry suction hoses respectively. Both salt mining pumps are connected to the external slurry conveying pipeline, and automatic control valves are provided on the slurry suction hoses on both sides, and the automatic control valves are connected to the electronic control system.

[0016] Preferably, the video surveillance system includes a plurality of brackets and a plurality of cameras, the cameras are connected to the brackets, and the brackets are mounted on the body.

[0017] Preferably, the crawler is arranged on the machine body through a lifting mechanism.

[0018] Preferably, the cutting head includes an open box, a cutting spiral and a motion suspension unit, the cutting spiral is arranged in the open box, the cutting spiral is connected to the hydraulic motor, the motion suspension unit includes a first support member, a second support member and a telescopic cylinder, the two ends of the first support member are hinged to the machine body and the open box respectively, the two ends of the second support member are hinged to the machine body and the open box respectively, the first support member and the second support member are arranged up and down in the vertical direction, the telescopic cylinder is hinged at both horizontal ends of the open box, and the end of the telescopic cylinder away from the open box is hinged to the machine body.

[0019] Preferably, the cutting head further includes two rope sensors for detecting the telescopic length of the telescopic cylinders on both sides.

[0020] Preferably, the crawler bidirectional mining salt lake mining machinery also includes a fire warning system, and corresponding fire warning devices are set in the corresponding distribution room and transformer room.

[0021] The present invention also provides a control method for the above-mentioned crawler bidirectional mining salt lake mining machine, comprising:

[0022] Quantitative recovery control, which controls quantitative recovery by adjusting the recovery concentration and recovery flow rate;

[0023] Maximum recovery control, by adjusting the recovery concentration and recovery flow to output the maximum amount of ore;

[0024] Constant flow rate recovery control, which controls the recovery flow rate by controlling the salt pump of the mining machine body;

[0025] Bottom dragging, fixed depth and layered mining control are achieved by controlling the lifting and lowering of the cutting head of the mining machinery body.

[0026] Preferably, the control method further includes:

[0027] Communication protection interlock control, communication interlock between the terminal and the mining machine body. In case of communication error, the mining machine body cannot be remotely operated. At this time, the driving force of the mining machine body is reset to zero and the mining machine body stops moving. After the fault is eliminated, the error alarm is released and the mining machine body can resume remote control.

[0028] The hydraulic oil tank temperature and liquid level are interlocked and controlled. If the oil temperature of the mining machinery tank is lower than 15°C, the hydraulic station is prohibited from starting. If the oil temperature is higher than 70°C, the hydraulic station stops running. If the liquid level is lower than 25cm, the hydraulic station is prohibited from starting.

[0029] Compared with the prior art, the present invention mainly achieves the following technical effects:

[0030] By utilizing the electronic control system, automatic control system, navigation system, monitoring system, video surveillance system and remote data transmission system installed on the mining machinery body, the precise movement of the mining machinery body can be automatically controlled without manual on-site operation, thus realizing unmanned operation and reducing job safety risks. At the same time, the video surveillance system can realize video surveillance of key parts, and the video information of key parts can be transmitted remotely, which can assist staff in obtaining information on the current key parts to determine whether maintenance is needed to ensure the stable movement of the mining machinery body. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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. 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.

[0032] Figure 1 Schematic diagram of the structure of a crawler bidirectional mining salt lake mining machine according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic top view of the structure of a crawler bidirectional recovery salt lake mining machine according to an embodiment of the present invention (showing the slurry suction hose inside the machine body and the external slurry delivery pipeline);

[0034] Figure 3 for Figure 1 A magnified view of the structure at point A;

[0035] Figure 4 This is a flow chart of quantitative harvesting control in an embodiment of the present invention;

[0036] Figure 5 This is a flow chart of maximum acquisition control in an embodiment of the present invention;

[0037] Figure 6 This is a flow chart of quantitative harvesting control in an embodiment of the present invention;

[0038] Figure 7 This is a flow chart of the fixed-depth mining control in an embodiment of the present invention;

[0039] Figure 8 This is a flow chart of the cutting head lifting and balancing control in an embodiment of the present invention;

[0040] Figure 9 This is a flow chart of communication protection interlocking control in an embodiment of the present invention;

[0041] Figure 10 Flowchart of hydraulic oil tank temperature and liquid level interlocking control in an embodiment of the present invention;

[0042] Among them, 1. Machine body; 2. Cutting head; 3. Hydraulic station; 4. Salt pump; 5. Cockpit; 6. Power distribution room; 7. Transformer room; 8. Tracks; 9. Refrigeration station; 10. Slurry suction hose; 11. External slurry conveying pipeline; 12. Camera; 13. Lifting mechanism; 14. Open box; 15. First support member; 16. Second support member; 17. Telescopic cylinder; 18. Pull rope sensor; 19. Automatic valve. DETAILED DESCRIPTION

[0043] 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 are within the scope of protection of the present invention.

[0044] The purpose of the present invention is to provide a crawler bidirectional mining salt lake mining machinery and a control method to solve the problems existing in the prior art. By utilizing an electronic control system, an automatic control system, a navigation system, a monitoring system, a video surveillance system and a remote data transmission system, no manual on-site control is required, and unmanned operation is achieved, thereby reducing job safety risks.

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] Please refer to Figures 1 to 10 As shown, a crawler bidirectional mining salt lake mining machine is provided, comprising:

[0047] The mining machine body includes a machine body 1, a cutting head 2, a hydraulic station 3, a salt pump 4, a cab 5, a power distribution room 6, a transformer room 7, a crawler track 8, and a refrigeration station 9. The cutting head 2 is provided on both sides of the machine body 1. The salt pump 4 is connected to the cutting and crushing area of ​​the cutting head 2 through a slurry suction hose 10. The outlet end of the salt pump 4 is connected to the external slurry conveying pipeline 11. The hydraulic station 3, salt pump 4, cab 5, power distribution room 6, transformer room 7, crawler track 8, and refrigeration station 9 are all provided on the machine body 1.

[0048] The electric control system and the automatic control system are installed on the mining machine body to automatically control the operation of the mining machine body. The components controlled by the electric control system and the automatic control system include the cutting head 2, the hydraulic station 3, the salt pump 4, the power distribution room 6, the transformer room 7, the crawler 8 and the refrigeration station 9;

[0049] Navigation system: The navigation system is installed on the mining machine body to navigate the movement of the mining machine body and cooperate with the electronic control system and automatic control system to realize the path control of the mining machine body;

[0050] The monitoring system is installed on the mining machine body and monitors the equipment operation data of the mining machine body through sensors, such as the vibration of the salt pump 4, the temperature of the hydraulic station 3, and the overall displacement of the mining machine body;

[0051] Video monitoring system: The video monitoring system is installed on the mining machine body to monitor the crawler 8 (whether the posture is abnormal, whether there is a large area of ​​chain plate falling off or breaking), the salt pump 4 (whether there is leakage), the cutting head 2 (whether the posture is flat, whether there is ore accumulation at the suction port of the slurry suction hose 10), the operating environment (whether there is a large area of ​​oil leakage, ore leakage, whether the external slurry conveying pipeline 11 is abnormal), and the power distribution room 6 (whether the electrical equipment is abnormal);

[0052] The remote data transmission system transmits the operating data of the mining machinery, the monitoring system data and the video surveillance system data to the remote terminal for the remote operator to view. At the same time, the remote operator can also control the movement of the mining machinery through the remote data transmission system.

[0053] The fire warning system is equipped with corresponding fire warning devices such as smoke sensors and temperature sensors in locations such as the distribution room 6 and the transformer room 7, which can provide early warning of fire.

[0054] By utilizing the electronic control system, automatic control system, navigation system, monitoring system, video surveillance system and remote data transmission system installed on the mining machinery body, the precise movement of the mining machinery body can be automatically controlled without manual on-site operation, thus realizing unmanned operation and reducing job safety risks. At the same time, the video surveillance system can realize video surveillance of key parts and remote transmission of video information of key parts, which can assist staff in obtaining information on the current key parts to determine whether maintenance is needed to ensure the stable movement of the mining machinery body.

[0055] In the mining machinery body, the hydraulic station 3 mainly includes a high-efficiency oil filter unit, a hydraulic pump group (including a transfer case), a hydraulic oil tank and an oil replenishment pump unit; the salt mining pump 4 is controlled by a variable frequency motor; the cab 5 mainly provides the mechanical operation observation area and operation area required for on-site inspection and maintenance by personnel. An industrial computer is installed inside, which can display the mechanical operation data and has an on-site control function window; the distribution room 6 includes a PLC cabinet (including a conventional PLC control module and a navigation module), an MCC cabinet, a frequency conversion cabinet, a circuit breaker and a low-voltage soft start cabinet; two sets of transformers are installed in the transformer room 7 to provide 220VAC and 380VAC power supply; the track 8 consists of a track support tube and a track body; the refrigeration station 9 mainly serves as the refrigeration unit of the hydraulic circulation system.

[0056] In this embodiment, two salt mining pumps 4 are provided on the cutting heads 2 on both sides of the machine body 1. The two salt mining pumps 4 are connected to the cutting and crushing areas of the cutting heads 2 on both sides through the slurry suction hoses 10 respectively. The two salt mining pumps 4 are both connected to the external slurry conveying pipeline 11, so that the pipelines where the salt mining pumps 4 on both sides are located and the external slurry conveying pipeline 11 form a T-shaped path. Automatic control valves 19 are provided on the slurry suction hoses 10 on both sides. The automatic control valves 19 are connected to the electronic control system. When switching the mining direction, the corresponding automatic control valves 19 need to switch the switch state synchronously. The operating logic of the automatic control valves 19 is: when the cutting head 2 on one side is running, the automatic control valve 19 on the slurry suction hose 10 on that side is opened, and the automatic control valve 19 on the slurry suction hose 10 on the other side is closed.

[0057] In this embodiment, the video monitoring system includes multiple brackets and multiple cameras 12. The cameras 12 are connected to the brackets, and the brackets are installed on the body 1. Specifically, the brackets are set up at the positions corresponding to the tracks 8, salt pumps 4, cutting heads 2 and distribution room 6, and the cameras 12 are installed. For the operating environment, additional brackets and cameras 12 can be installed at appropriate positions on the body 1, or the cameras 12 at the positions corresponding to the tracks 8, salt pumps 4, cutting heads 2 and distribution room 6 can be used for wide-angle shooting to cover the current operating environment of the mining machinery body; the camera 12 can be an outdoor high-definition network camera or a high-definition night vision long-range industrial network camera, which can be selected according to needs.

[0058] In this embodiment, the crawler track 8 is set on the machine body 1 through the lifting mechanism 13, and the height of the crawler track 8 can be controlled by the lifting mechanism 13. The lifting mechanism 13 can be a hydraulic telescopic device, and the hydraulic power is provided by the hydraulic station 3. The lifting mechanism 13 is controlled by the electronic control system and the automatic control system.

[0059] In this embodiment, the specific structure of the cutting head 2 includes an open box 14, a cutting spiral and a motion suspension unit. The open end of the open box 14 is set toward the salt mine, and the open end is a flared structure for gathering the salt mine. A cutting spiral is set in the open box 14, and the cutting spiral is connected to the hydraulic motor. The motion suspension unit includes a first support member 15, a second support member 16 and a telescopic oil cylinder 17. The two ends of the first support member 15 are respectively hinged to the body 1 and the open box 14, and the second support member 16 is connected to the body 1 and the open box 14. The two ends of the member 16 are hinged to the body 1 and the open box 14 respectively. The first support member 15 and the second support member 16 are arranged vertically up and down. The horizontal ends of the open box 14 are hinged with a telescopic cylinder 17. The end of the telescopic cylinder 17 away from the open box 14 is hinged to the body 1. Through the telescopic function of the telescopic cylinder 17, the height of the open box 14 can be changed, thereby controlling different harvesting heights. The movement of the cutting spiral and the telescopic cylinder 17 is controlled by the electronic control system and the automatic control system.

[0060] The cutting head 2 also includes two rope sensors 18 for detecting the telescopic length of the telescopic cylinders 17 on both sides. The rope sensors 18 can be set on the body 1. The rope sensors 18 can accurately measure the telescopic length of the telescopic cylinders 17 on both sides, and then feed back to the electronic control system and the automatic control system. Then, the electronic control system and the automatic control system actively adjust the telescopic cylinders 17 on both sides to make their telescopic lengths consistent, ensure the horizontality of the open box 14, and avoid the problem of missed mining. The control process is: during the lifting process of the cutting head 2, when the system receives a balance locking instruction, the intelligent system will automatically compare the values ​​of the rope sensors 18 of the left and right cutting heads 2, and give priority to locking the telescopic cylinder 17 on the side with smaller data, and when the data of the side with larger data is consistent with the data of the other side, lock the remaining telescopic cylinder 17 to achieve the purpose of balanced control of the lifting of the cutting head 2.

[0061] The mining machinery needs to be equipped with a mine thickness monitoring device to monitor the thickness of the salt mine.

[0062] The present invention also provides a control method for the above-mentioned crawler bidirectional mining salt lake mining machine, comprising:

[0063] Quantitative recovery control, which controls the quantitative recovery by adjusting the recovery concentration and recovery flow rate. Specifically, the driving value of the mining machine is adjusted according to the ore thickness data to control the recovery concentration, and the recovery flow rate is controlled by adjusting the frequency value of the salt pump 4;

[0064] Maximum recovery control: By adjusting the recovery concentration and recovery flow rate to output the maximum amount of ore, when the ore supply is insufficient, the mining machinery needs to run at full capacity to supply the maximum amount of ore to ensure sufficient ore supply. When the flow rate is stable, the recovery speed of the mining machinery body is increased, and the concentration increases accordingly. However, when the concentration increases to a certain level, it will inevitably affect the flow rate. When the flow rate shows a downward trend, the speed and concentration are gradually reduced. The driving force is roughly adjusted to an approximate range according to the flow demand, and then the driving force is fine-tuned according to the change in concentration to achieve the best combination of flow rate and concentration for maximum recovery.

[0065] Constant flow recovery control, which controls the recovery flow by controlling the motor frequency of the salt pump 4 of the mining machine body. Since the flow is related to the recovery concentration, the real-time recovery concentration data should be detected during the constant flow process;

[0066] Bottom dragging, fixed depth and layered mining control are achieved by controlling the lifting and lowering of the cutting head 2 of the mining machine body. At the same time, when the crawler 8 is set on the machine body 1 through the lifting mechanism 13, the depth of the crawler 8 is also adjusted by cooperating to adjust the depth of the mining. The specific control method of the cutting head 2 and the crawler 8 is as follows: by giving the rod / cylinder cavity pressure of the telescopic oil cylinder 17, the telescopic length of the telescopic oil cylinder 17 is controlled to adjust the lifting and lowering of the cutting head 2. By giving the rod / cylinder cavity pressure of the lifting mechanism 13, the telescopic length of the lifting mechanism 13 is controlled to adjust the depth of the crawler 8.

[0067] Communication protection interlock control, communication interlock between the terminal and the mining machine body. In case of communication error, the mining machine body cannot be remotely operated. At this time, the driving force of the mining machine body is reset to zero and the mining machine body stops moving. After the fault is eliminated, the error alarm is released and the mining machine body can resume remote control.

[0068] The hydraulic oil tank temperature and liquid level interlocking control, in order to prevent the oil temperature from being too high or too low to damage the hydraulic station 3, if the oil temperature of the mining machine body's oil tank is lower than 15℃, the hydraulic station 3 is prohibited from starting, and if the oil temperature is higher than 70℃, the hydraulic station 3 stops running. At the same time, safety control can also be achieved by real-time detection of the oil tank liquid level. For example, when the liquid level is lower than 25cm, the hydraulic station 3 is prohibited from starting.

[0069] Adaptive changes based on actual needs are all within the scope of protection of the present invention.

[0070] It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0071] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A crawler bidirectional mining machine for salt lakes, characterized in that: include: Mining machinery body; An electric control system and an automatic control system, wherein the electric control system and the automatic control system are installed on the mining machine body to automatically control the operation of the mining machine body; a navigation system, the navigation system being installed on the mining machine body and navigating the movement of the mining machine body; A monitoring system, which is installed on the mining machine body and monitors the equipment operation data of the mining machine body through sensors; A video monitoring system is installed on the mining machine body to monitor the crawler, salt pump, cutting head, operating environment and power distribution room; The remote data transmission system transmits the operating data of the mining machine body, the monitoring system data and the video monitoring system data to a remote terminal.

2. The crawler bidirectional mining salt lake mining machine according to claim 1, characterized in that: The mining machinery body includes a machine body, a cutting head, a hydraulic station, a salt mining pump, a cab, a power distribution room, a transformer room, a crawler and a refrigeration station. The cutting head is arranged on both sides of the machine body. The salt mining pump is connected to the cutting and crushing area of ​​the cutting head through a slurry suction hose. The outlet end of the salt mining pump is connected to the external slurry conveying pipeline. The hydraulic station, the salt mining pump, the cab, the power distribution room, the transformer room, the crawler and the refrigeration station are all arranged on the machine body.

3. The crawler bidirectional mining type salt lake mining machine according to claim 2, characterized in that: Two salt extraction pumps are provided on the cutting heads on both sides of the machine body. The two salt extraction pumps are connected to the cutting and crushing areas of the cutting heads on both sides through the slurry suction hoses respectively. Both salt extraction pumps are connected to the external slurry conveying pipeline. Automatic control valves are provided on the slurry suction hoses on both sides, and the automatic control valves are connected to the electronic control system.

4. The crawler bidirectional mining machine for salt lakes according to claim 2, characterized in that: The video monitoring system includes a plurality of brackets and a plurality of cameras, wherein the cameras are connected to the brackets, and the brackets are installed on the body.

5. The crawler bidirectional mining type salt lake mining machine according to claim 2, characterized in that: The crawler belt is arranged on the machine body through a lifting mechanism.

6. The crawler bidirectional mining machine for salt lakes according to claim 2, characterized in that: The cutting head includes an open box, a cutting spiral and a motion suspension unit. The cutting spiral is arranged in the open box and is transmission-connected to the hydraulic motor. The motion suspension unit includes a first support member, a second support member and a telescopic cylinder. The two ends of the first support member are respectively hinged to the machine body and the open box, and the two ends of the second support member are respectively hinged to the machine body and the open box. The first support member and the second support member are arranged up and down in the vertical direction. The telescopic cylinder is hinged at both horizontal ends of the open box, and the end of the telescopic cylinder away from the open box is hinged to the machine body.

7. The crawler bidirectional mining machine for salt lakes according to claim 6, characterized in that: The cutting head also includes two rope sensors for detecting the telescopic length of the telescopic cylinders on both sides.

8. The crawler bidirectional mining machine for salt lakes according to claim 1, characterized in that: The crawler bidirectional mining salt lake mining machinery also includes a fire warning system, and corresponding fire warning devices are set in the corresponding distribution room and transformer room.

9. A control method, characterized in that: The crawler bidirectional mining salt lake mining machine according to any one of claims 1 to 8 comprises: Quantitative recovery control, which controls quantitative recovery by adjusting the recovery concentration and recovery flow rate; Maximum recovery control, by adjusting the recovery concentration and recovery flow to output the maximum amount of ore; Constant flow rate recovery control, which controls the recovery flow rate by controlling the salt pump of the mining machine body; Bottom dragging, fixed depth and layered mining control are achieved by controlling the lifting and lowering of the cutting head of the mining machinery body.

10. The control method according to claim 9, characterized in that: The control method also includes: Communication protection interlock control, communication interlock between the terminal and the mining machine body. In case of communication error, the mining machine body cannot be remotely operated. At this time, the driving force of the mining machine body is reset to zero and the mining machine body stops moving. After the fault is eliminated, the error alarm is released and the mining machine body can resume remote control. The hydraulic oil tank temperature and liquid level are interlocked and controlled. If the oil temperature of the mining machinery tank is lower than 15°C, the hydraulic station is prohibited from starting. If the oil temperature is higher than 70°C, the hydraulic station stops running. If the liquid level is lower than 25cm, the hydraulic station is prohibited from starting.

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