Ultrathin coal seam reversing valve adjusting method and system based on electro-hydraulic control

Abstract

The invention relates to the technical field of artificial intelligence, in particular to an ultra-thin coal seam reversing valve adjusting method and system based on electro-hydraulic control. The method comprises the steps that when a tail plate hydraulic device is in a tail plate opening state, conveyor belt area proportion recognition operation is conducted on a conveyor belt coal image, and the conveyor belt occupation ratio is obtained; according to the conveyor belt occupancy ratio and a preset standard transmission occupancy ratio interval, adjusting the tailboard inclination angle information to obtain tailboard inclination angle control information; the bracket controller is used for converting the tail plate inclination angle control information into a tail plate control electric signal, and an electro-hydraulic directional valve is used for enabling the tail plate inclination angle information to be in the standard transmission proportion interval; carrying out gravel identification on the conveyor belt coal image to obtain a stone-carbon ratio, and judging whether the stone-carbon ratio is greater than a preset carbon falling stopping threshold value or not; and when the stone-carbon proportion is greater than the carbon falling stopping threshold value, enabling the top coal caving collection equipment to advance by utilizing a bracket controller. According to the invention, the coal mining accuracy of the ultrathin coal seam can be improved.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to an ultra-thin coal seam reversing valve adjustment method and system based on electro-hydraulic control. Background Art

[0002] Caving is a method of mining underground coal seams. First, the caving equipment is positioned at the appropriate depth within the coal seam. Then, a collection device at the front of the caving equipment is used to excavate a hole. The caving equipment enters the hole, supporting the upper end of the hole with its upper end. As the caving equipment continues to advance, the hole above and behind the caving equipment loses support, causing it to collapse, allowing the coal to be mined. The caving equipment's tail boom has a hydraulically controlled tailgate. The tilt of the tailgate determines whether the collapsed coal is transported out. When the tailgate is not tilted, the collapsed coal falls behind the caving equipment. When the tailgate is tilted, the collapsed coal falls directly onto the conveyor belt within the caving equipment, allowing it to be transported out.

[0003] Currently, the forward speed and tailgate angle of top coal collection equipment are fixed. Technicians adjust the tailgate angle by observing the gravel content of the collected coal to reduce gravel collection. However, underground coal seams are complex, especially in extremely thin seams (less than 1.5m thick). Relying on technicians for control not only results in significant delays and low coal extraction, but the fixed forward speed also prevents a large amount of coal from being transported, reducing the overall underground coal mine's extraction rate. Summary of the Invention

[0004] The present invention provides an extremely thin coal seam reversing valve adjustment method based on electro-hydraulic control, the main purpose of which is to improve the coal mining accuracy of extremely thin coal seams.

[0005] To achieve the above-mentioned purpose, the present invention provides a method for adjusting a reversing valve in an ultra-thin coal seam based on electro-hydraulic control, comprising:

[0006] Obtaining a top coal caving collection device, wherein the top coal caving collection device includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device;

[0007] Using the inclination sensor, the tailgate inclination information is acquired, and using the pre-built camera, the coal image on the conveyor belt is acquired;

[0008] When the tail lift hydraulic device is in the tail lift open state, a conveyor belt area ratio recognition operation is performed on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and the tail lift inclination angle information is adjusted according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tail lift inclination angle control information;

[0009] The support controller converts the tailgate tilt angle control information into a tailgate control electrical signal, and the electro-hydraulic reversing valve generates tailgate control hydraulic pressure information according to the tailgate control electrical signal, and controls the tailgate hydraulic device using the tailgate control hydraulic pressure information so that the tailgate tilt angle information is within the standard transmission ratio range.

[0010] Performing gravel recognition on the conveyor belt coal image to obtain a gravel-to-coal ratio, and determining whether the gravel-to-coal ratio is greater than a preset threshold for stopping coal drop;

[0011] When the rock-to-coal ratio is less than the stopping coal drop threshold, returning to the above operation of performing gravel recognition on the conveyor belt coal image to obtain the rock-to-coal ratio;

[0012] When the rock-coal ratio is greater than the coal-dropping stopping threshold, the support controller is used to control the tailgate hydraulic device to perform tailgate closing operation, and the mobile hydraulic device and top coal collection equipment are controlled according to preset forward configuration information.

[0013] Optionally, performing a conveyor belt area ratio recognition operation on the conveyor belt coal image to obtain a conveyor belt occupancy ratio includes:

[0014] Performing conveyor belt width ratio recognition on the conveyor belt coal image to obtain the conveyor belt width ratio;

[0015] performing coal height measurement and recognition on the conveyor belt coal image to obtain coal height information;

[0016] According to the preset isosceles triangle area formula, the conveyor belt width ratio and the coal height information, the cross-sectional ratio of the coal on the conveyor belt in the conveyor belt coal image is calculated to obtain the conveyor belt occupancy ratio.

[0017] Optionally, adjusting the tailgate inclination information according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain the tailgate inclination control information includes:

[0018] Determining whether the conveyor belt occupancy ratio is within a preset standard transmission ratio range;

[0019] When the conveyor belt occupancy ratio is not within a preset standard transmission ratio interval, the minimum difference between the conveyor belt occupancy ratio and the standard transmission ratio interval is calculated to obtain an occupancy ratio difference, and the occupancy ratio difference is multiplied by a preset tailgate adjustable angle range to obtain an adjustment angle;

[0020] If the conveyor belt occupancy ratio is greater than the standard transmission ratio interval, generating a pre-built tailgate tilt angle reduction instruction according to the adjustment angle;

[0021] If the conveyor belt occupancy ratio is less than the standard transmission ratio interval, generating a pre-built tailgate tilt angle increase instruction according to the adjustment angle;

[0022] The tailgate angle reduction instruction or the tailgate angle increase instruction is output to obtain tailgate angle control information.

[0023] Optionally, performing gravel identification on the conveyor belt coal image to obtain a gravel-to-coal ratio includes:

[0024] Using a pre-built Gaussian filtering algorithm, the conveyor belt coal image is subjected to fuzzy noise reduction processing to obtain a dust-free coal image;

[0025] performing contrast enhancement processing on the dust-removed coal image to obtain a stone-coal distinction enhanced image;

[0026] Performing an HSV color space conversion operation on the enhanced image of the stone-carbon distinction to obtain an HSV stone-carbon image, and performing a clustering segmentation operation on the HSV stone-carbon image to obtain a gravel area range and a coal area range;

[0027] By comparing the gravel area range and the coal area range, the gravel-coal ratio is obtained.

[0028] Optionally, after controlling the tailgate hydraulic device to perform a tailgate closing operation, the method further includes:

[0029] According to the tailgate closing operation, obtaining the petroleum-carbon ratio during the time when the tailgate hydraulic device is in the tailgate opening state, and obtaining a petroleum-carbon ratio sequence;

[0030] The top coal seam thickness is predicted based on the preset conveyor belt speed, the rock-coal ratio sequence and the standard transmission ratio interval.

[0031] Optionally, controlling the mobile hydraulic device and top coal caving and collecting equipment according to preset forward configuration information includes:

[0032] According to the forward configuration information, excavation is performed using a pre-built front excavator in the top coal caving and collection equipment to obtain an updated hole;

[0033] Using the mobile hydraulic device to move the top coal caving and collecting equipment into the renewal hole;

[0034] When the top coal caving and collecting equipment is completely moved into the renewal hole, the tail plate hydraulic device is put into the tail plate opening state.

[0035] Optionally, after controlling the mobile hydraulic device and the top coal caving and collecting equipment according to the preset forward configuration information, the method further includes:

[0036] Obtaining the thickness of the top coal seam when the top coal caving and collecting equipment performs the tailgate closing operation each time, and obtaining a top coal seam thickness variation sequence;

[0037] performing a coal seam thickness feature recognition operation on the top coal seam thickness change sequence to obtain a coal seam thickness change rate, and performing an inversely proportional weighted calculation on the advance distance information pre-constructed in the advance configuration information based on the coal seam thickness change rate to obtain an updated advance distance;

[0038] The forward configuration information is updated using the updated forward distance.

[0039] Optionally, after obtaining the tailgate inclination information using the inclination sensor, the method further includes:

[0040] obtaining a pressure sensor, using the pressure sensor to obtain pressure information of a top beam pre-built on the top coal collecting device, obtaining top beam pressure information, and feeding the top beam pressure information back to the support controller, and using the support controller to convert the top beam pressure information into a top beam control electrical signal;

[0041] Obtain a temperature sensor and a vibration sensor, use the temperature sensor to obtain the hydraulic temperature, and use the vibration sensor to obtain the hydraulic vibration frequency;

[0042] According to a pre-built adaptive PID algorithm, the hydraulic temperature and the hydraulic vibration frequency are used to perform interference compensation calculation on the top beam control electrical signal to obtain an anti-interference top beam control electrical signal;

[0043] The electro-hydraulic reversing valve is used to convert the anti-interference top beam control electrical signal into top beam control hydraulic pressure information, and the top beam control hydraulic pressure information is used to control the pre-built top beam hydraulic device.

[0044] To achieve the above objectives, the present invention further provides an ultra-thin coal seam reversing valve regulating system based on electro-hydraulic control, comprising:

[0045] An equipment acquisition module is used to acquire top coal caving collection equipment, wherein the top coal caving collection equipment includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device;

[0046] An information monitoring module is used to obtain tailgate inclination information using the inclination sensor and to obtain coal images on the conveyor belt using a pre-built camera;

[0047] a tail lift control module, configured to, when the tail lift hydraulic actuator is in a tail lift open state, perform a conveyor belt area ratio recognition operation on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and adjust the tail lift inclination angle information according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tail lift inclination angle control information, and utilize the support controller to convert the tail lift inclination angle control information into a tail lift control electrical signal, utilize the electro-hydraulic reversing valve to generate tail lift control hydraulic pressure information according to the tail lift control electrical signal, and utilize the tail lift control hydraulic pressure information to control the tail lift hydraulic actuator so that the tail lift inclination angle information is within the standard transmission ratio interval;

[0048] The mobile control module is used to perform gravel identification on the coal image of the conveyor belt to obtain a rock-to-coal ratio, determine whether the rock-to-coal ratio is greater than a preset coal-dropping stopping threshold, and when the rock-to-coal ratio is less than the coal-dropping stopping threshold, return to the above-mentioned operation of performing gravel identification on the coal image of the conveyor belt to obtain the rock-to-coal ratio; and when the rock-to-coal ratio is greater than the coal-dropping stopping threshold, use the support controller to control the tailgate hydraulic device to perform a tailgate closing operation, and control the mobile hydraulic device and the top coal collection equipment according to the preset forward configuration information.

[0049] Optionally, controlling the mobile hydraulic device and top coal caving and collecting equipment according to preset forward configuration information includes:

[0050] According to the forward configuration information, excavation is performed using a pre-built front excavator in the top coal caving and collection equipment to obtain an updated hole;

[0051] Using the mobile hydraulic device to move the top coal caving and collecting equipment into the renewal hole;

[0052] When the top coal caving and collecting equipment is completely moved into the renewal hole, the tail plate hydraulic device is put into the tail plate opening state.

[0053] In order to solve the above problem, the present invention further provides an electronic device, comprising:

[0054] a memory storing at least one instruction;

[0055] The processor executes the instructions stored in the memory to implement the above-mentioned ultra-thin coal seam reversing valve adjustment method based on electro-hydraulic control.

[0056] In order to solve the above problems, the present invention also provides a computer-readable storage medium, which stores at least one instruction, and the at least one instruction is executed by a processor in an electronic device to implement the above-mentioned ultra-thin coal seam reversing valve adjustment method based on electro-hydraulic control.

[0057] The present invention aims to solve the problems described in the background technology. First, the present invention installs a bracket controller and an electro-hydraulic commutator on the top coal collection equipment to replace the traditional machine converter, thereby improving the response speed of each hydraulic device in the top coal collection equipment. This solution monitors the tail plate inclination information through an inclination sensor and monitors the conveyor belt coal image through a camera. Monitoring the conveyor belt coal image can understand the coal falling speed and the rock-coal ratio in the coal falling in the top coal collection equipment, thereby adjusting the tail plate hydraulic pressure to increase or decrease the coal falling speed so that the coal falling speed matches the speed of the conveyor belt transportation. In addition, monitoring the rock-coal ratio can also understand whether the coal falling has ended. When the rock-coal ratio is higher than the preset stopping coal falling threshold, the coal falling process can be stopped, and the top coal collection equipment can be driven to move to another area for re-coal falling. Therefore, the present invention can improve the coal mining accuracy of extremely thin coal seams. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A flow chart of a method for adjusting a directional valve in an ultra-thin coal seam based on electro-hydraulic control according to an embodiment of the present invention;

[0059] Figure 2 This is a functional module diagram of an ultra-thin coal seam reversing valve regulating system based on electro-hydraulic control provided by one embodiment of the present invention;

[0060] Figure 3 A schematic structural diagram of an electronic device for implementing the ultra-thin coal seam reversing valve adjustment method based on electro-hydraulic control provided in one embodiment of the present invention.

[0061] Description of reference numerals:

[0062] 1. Electronic device; 10. Processor; 11. Memory; 12. Bus.

[0063] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0064] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0065] The present embodiment provides a method for regulating a reversing valve in an ultra-thin coal seam based on electro-hydraulic control. The method can be executed by at least one of electronic devices, such as a server or terminal, that can be configured to execute the method provided in the present embodiment. In other words, the method can be executed by software or hardware installed on a terminal or server device, where the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0066] Reference Figure 1 FIG. 1 is a flow chart of an electro-hydraulic controlled ultra-thin coal seam directional control valve adjustment method according to an embodiment of the present invention. In this embodiment, the electro-hydraulic controlled ultra-thin coal seam directional control valve adjustment method includes:

[0067] S1. Obtaining a top coal caving collection device, wherein the top coal caving collection device includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device.

[0068] The top coal collection equipment is a coal mining equipment that digs a hole in an underground coal seam and then allows the coal above the hole to fall due to gravity to complete the collection.

[0069] Among them, the hydraulic equipment cluster refers to a collection of hydraulic equipment that controls the movement of various parts in the top coal caving and collection equipment. For example, the hydraulic device that controls the tail plate is the tail plate hydraulic device, the hydraulic device that controls the top beam is the top beam hydraulic device, and the hydraulic device that controls the movement of the top coal caving and collection equipment is the mobile hydraulic device.

[0070] The bracket monitor is a device that converts intelligent signals or manual intervention signals into electrical signals. The intelligent signal is a signal automatically generated by the processor based on information acquired by the sensor. The manual intervention signal is a signal actively input by ground personnel, such as a signal from ground personnel controlling the movement of the equipment.

[0071] The electro-hydraulic reversing valve refers to a device that converts the electrical signal generated by the bracket monitor into a hydraulic signal (pressure and direction) that drives the hydraulic machine.

[0072] The tilt sensor is a device that determines the angle between the tailgate and the horizontal plane based on gravity.

[0073] The camera refers to a device installed on the top coal collection device through a pan-tilt head, which is used to obtain images of the process of coal falling on the conveyor belt.

[0074] Specifically, in this embodiment of the present invention, a top coal caving collection device is first obtained. The device comprises a top beam, a tail plate, and a hydraulic system. A support controller and an electro-hydraulic directional valve are then installed. A solenoid valve driver connects the support controller and the valve to control the hydraulic system. A camera is then installed using a pan / tilt device to monitor the position of the conveyor belt below the top coal caving collection device.

[0075] Specifically, the present invention uses a hydraulic support controller with a working voltage of DC12V and a working current of 130mA, and controls an electro-hydraulic control commutator with a working voltage of DC12V, a starting current of 150mA, and a working current of 50mA through a mining-type solenoid valve driver, thereby controlling each hydraulic device in the top coal collection equipment.

[0076] Specifically, the present invention uses a mining computer with a dual-channel DC12V working power supply, a power of 30W, and a two-channel RS485\TCP / IP communication interface to perform sensor data processing and signal generation, and uses an infrared ball-type pan-tilt camera with a working voltage of DC12V and a working current of 0.8A for installation.

[0077] S2. Using the inclination sensor, obtain tailgate inclination information, and using a pre-built camera, obtain an image of the coal on the conveyor belt.

[0078] The tailgate inclination angle information refers to the angle between the tailgate on the top coal collecting equipment and the horizontal plane.

[0079] The conveyor belt coal image refers to the image of the coal on the conveyor belt area.

[0080] Specifically, in an embodiment of the present invention, the tailgate inclination information is obtained through an inclination sensor, and the conveyor belt coal image is obtained through a camera, and finally the tailgate inclination information and the conveyor belt coal image are sent to the mining computer through a pre-built mining network switch.

[0081] S3. When the tailgate hydraulic device is in the tailgate open state, a conveyor belt area ratio recognition operation is performed on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and the tailgate inclination angle information is adjusted according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tailgate inclination angle control information.

[0082] The tailgate open state refers to a state where the tailgate is below a horizontal plane and forms an angle greater than 10° with the horizontal plane.

[0083] The conveyor belt area ratio recognition operation refers to analyzing the ratio (in terms of width and height) of the fallen coal on the conveyor belt through image recognition technology. The conveyor belt occupancy ratio refers to the recognition result of the conveyor belt area ratio recognition operation.

[0084] Among them, the standard transmission ratio interval is configured as 0.4 to 0.5.

[0085] The adjustment of the tailgate angle information refers to the process of changing the tailgate angle through the tailgate hydraulic device. The tailgate angle control information refers to the purpose of adjusting the tailgate angle information, which can only be applied to the support controller and cannot directly control the tailgate hydraulic device.

[0086] In detail, in an embodiment of the present invention, performing a conveyor belt area ratio recognition operation on the conveyor belt coal image to obtain a conveyor belt occupancy ratio includes:

[0087] Performing conveyor belt width ratio recognition on the conveyor belt coal image to obtain the conveyor belt width ratio;

[0088] performing coal height measurement and recognition on the conveyor belt coal image to obtain coal height information;

[0089] According to the preset isosceles triangle area formula, the conveyor belt width ratio and the coal height information, the cross-sectional ratio of the coal on the conveyor belt in the conveyor belt coal image is calculated to obtain the conveyor belt occupancy ratio.

[0090] The conveyor belt width ratio recognition refers to a method of analyzing the occupied width ratio of the conveyor belt by image recognition technology. The conveyor belt width ratio refers to the recognition result of the conveyor belt width ratio recognition.

[0091] The coal height measurement and recognition refers to the process of predicting the height of the highest point of the coal piled on the conveyor belt through an image ranging algorithm. The coal height information refers to the recognition result based on the coal height measurement and recognition.

[0092] Among them, the isosceles triangle area formula refers to the algorithm of multiplying the conveyor belt width ratio (base) by the coal height information (height) by half.

[0093] The cross-sectional ratio refers to the area ratio between the space occupied by the coal and the space of the conveyor belt on the cross-section perpendicular to the transmission direction of the conveyor belt.

[0094] Specifically, in an embodiment of the present invention, an operation of identifying the width ratio of the conveyor belt is performed through image recognition technology to identify the width of the conveyor belt and the width of the coal on the conveyor belt, thereby ratioing the width of the conveyor belt and the width of the coal on the conveyor belt to obtain the conveyor belt width ratio, for example, 80%.

[0095] Specifically, in the embodiment of the present invention, the coal height can be identified by using image ranging technology, and the coal height information can be directly obtained.

[0096] Specifically, in the embodiment of the present invention, it is assumed that the coal piled on the conveyor belt is in the form of an isosceles triangle. Therefore, according to the area formula of the isosceles triangle, the area of ​​the coal on the cross section perpendicular to the transmission direction of the conveyor belt is calculated. The present invention assumes that the height of the conveyor belt space is equal to the coal height information, and the conveyor belt forms a conveyor belt space of the conveyor belt width (base) multiplied by the coal height information (height). Finally, the present invention compares the coal area and the conveyor belt space to obtain the conveyor belt occupancy ratio. It should be known that the coal area is at most half of the conveyor belt space, otherwise the fallen coal will roll to the outside of the conveyor belt. Therefore, the standard transmission ratio is configured to be 0.4 to 0.5.

[0097] In detail, in an embodiment of the present invention, adjusting the tailgate inclination information according to the conveyor belt occupancy ratio and the preset standard transmission ratio interval to obtain the tailgate inclination control information includes:

[0098] Determining whether the conveyor belt occupancy ratio is within a preset standard transmission ratio range;

[0099] When the conveyor belt occupancy ratio is not within a preset standard transmission ratio interval, the minimum difference between the conveyor belt occupancy ratio and the standard transmission ratio interval is calculated to obtain an occupancy ratio difference, and the occupancy ratio difference is multiplied by a preset tailgate adjustable angle range to obtain an adjustment angle;

[0100] If the conveyor belt occupancy ratio is greater than the standard transmission ratio interval, generating a pre-built tailgate tilt angle reduction instruction according to the adjustment angle;

[0101] If the conveyor belt occupancy ratio is less than the standard transmission ratio interval, generating a pre-built tailgate tilt angle increase instruction according to the adjustment angle;

[0102] The tailgate angle reduction instruction or the tailgate angle increase instruction is output to obtain tailgate angle control information.

[0103] The calculated minimum difference refers to the minimum difference between the conveyor belt occupancy ratio and the standard transmission ratio range. For example, if the standard transmission ratio range is 0.4-0.5, when the conveyor belt occupancy ratio is less than 0.4, the conveyor belt occupancy ratio is subtracted from 0.4. When the conveyor belt occupancy ratio is greater than 0.5, the conveyor belt occupancy ratio is subtracted from 0.5 for calculation. The floor space difference refers to the calculated minimum difference, for example, 0.1.

[0104] The adjustable angle range of the tailgate is configured to be 90°.

[0105] The multiplication of the footprint difference and the preset tailgate adjustable angle range is used to map the footprint difference from a numerical space to an angle space to obtain an adjustment angle, for example, 90°×0.1=9°. The adjustment angle represents the result of the multiplication process.

[0106] The tailgate tilt angle reduction instruction refers to an instruction for reducing the tilt angle by the adjustment angle, and the tailgate tilt angle increase instruction refers to an instruction for increasing the tilt angle by the adjustment angle.

[0107] Specifically, in an embodiment of the present invention, it is first determined whether the conveyor belt occupancy ratio is within a preset standard transmission ratio range. When the conveyor belt occupancy ratio is not within the preset standard transmission ratio range, it indicates that the coal falling speed is too slow to meet the conveyor belt transportation efficiency, or the coal falls too fast, causing the coal to roll to the outside of the conveyor belt and cause waste.

[0108] Specifically, in an embodiment of the present invention, the adjustment angle needs to be modified proportionally based on the conveyor belt occupancy ratio. First, the minimum difference between the conveyor belt occupancy ratio and the standard conveyor belt occupancy ratio range is calculated to obtain the occupancy ratio difference. This occupancy ratio difference is then multiplied by the tailgate's adjustable angle range of 90° to obtain the adjustment angle. The angle is then reduced or increased based on whether the conveyor belt occupancy ratio is greater than or less than the standard conveyor belt occupancy ratio range, resulting in a tailgate angle reduction or increase instruction. Finally, this tailgate angle reduction or increase instruction is output to obtain tailgate angle control information.

[0109] S4. Utilizing the support controller, converting the tailgate tilt angle control information into a tailgate control electrical signal, utilizing the electro-hydraulic reversing valve to generate tailgate control hydraulic pressure information based on the tailgate control electrical signal, and utilizing the tailgate control hydraulic pressure information to control the tailgate hydraulic device so that the tailgate tilt angle information is within the standard transmission ratio range.

[0110] Specifically, in an embodiment of the present invention, the bracket controller converts tailgate tilt control information into a synchronous serial signal to generate a tailgate control electrical signal. A solenoid valve driver then connects to the controller using serial communication technology and employs intelligent control technology to automatically identify various control signals from the controller and control the opening or closing of the corresponding solenoid pilot valve, allowing the tailgate control electrical signal to be rapidly transmitted to the electro-hydraulic reversing valve.

[0111] Specifically, in an embodiment of the present invention, the electro-hydraulic directional valve utilizes an integrated cartridge structure, comprising a main valve filter, a feed and return check valve, a solenoid pilot valve, large and small valve core assemblies, and a main valve body, and is capable of controlling the direction of multiple fluid flows. The present invention generates tailgate control hydraulic information based on the tailgate control electrical signal, thereby controlling the jacking action of the tailgate hydraulic actuator to ensure that the tailgate inclination angle information remains within the standard transmission ratio range.

[0112] S5. Perform gravel recognition on the conveyor belt coal image to obtain a gravel-to-coal ratio, and determine whether the gravel-to-coal ratio is greater than a preset threshold for stopping coke drop.

[0113] The gravel identification refers to the process of identifying the proportion of gravel to the total coal on the conveyor belt. The gravel-to-coal ratio refers to the identification result of the gravel identification.

[0114] Among them, the carbon drop stopping threshold is configured to be 0.6.

[0115] Specifically, in an embodiment of the present invention, performing gravel recognition on the conveyor belt coal image to obtain the gravel-to-coal ratio includes:

[0116] Using a pre-built Gaussian filtering algorithm, the conveyor belt coal image is subjected to fuzzy noise reduction processing to obtain a dust-free coal image;

[0117] performing contrast enhancement processing on the dust-removed coal image to obtain a stone-coal distinction enhanced image;

[0118] Performing an HSV color space conversion operation on the enhanced image of the stone-carbon distinction to obtain an HSV stone-carbon image, and performing a clustering segmentation operation on the HSV stone-carbon image to obtain a gravel area range and a coal area range;

[0119] By comparing the gravel area range and the coal area range, the gravel-coal ratio is obtained.

[0120] The Gaussian filter algorithm uses a Gaussian kernel to smooth continuous dust layers, reducing the interference of coal dust in conveyor belt coal images and improving the accuracy of subsequent gravel ground identification. Fuzzy noise reduction refers to the execution of the Gaussian filter algorithm. The dust-free coal image refers to the conveyor belt coal image that has undergone fuzzy noise reduction.

[0121] The contrast enhancement process expands the grayscale distribution of the dust-removed coal image to the full range (0-255) to improve overall contrast. This is applicable to localized dark or bright areas caused by dust, improving the bright-dark boundary between the coal and the conveyor belt, and improving the bright-dark boundary between gravel and coal. The rock-coal distinction-enhanced image refers to the dust-removed coal image after contrast enhancement.

[0122] The HSV color space conversion operation refers to converting the enhanced image of the charcoal distinction into the HSV format. The HSV format is a model that better aligns with human color perception. It consists of three components: hue, saturation, and lightness, and is commonly used in image processing tasks such as color segmentation and recognition. The HSV charcoal image refers to an enhanced image of the charcoal distinction that has undergone the HSV color space conversion operation.

[0123] The cluster segmentation operation refers to an algorithm that performs stone-coal differentiation based on a K-means clustering algorithm and then performs image segmentation. The gravel area range and coal area range refer to the operation results of the cluster segmentation operation.

[0124] Specifically, in an embodiment of the present invention, considering that the continuous dust generated during the coal dropping process may affect the image recognition of the conveyor belt coal image, a pre-built Gaussian filtering algorithm (Gaussian kernel, such as 5×5, with a step size of 1.5) is used to perform fuzzy noise reduction processing on the conveyor belt coal image to obtain a dust-free coal image. Then, to compensate for the interference of continuous dust on image contrast, the present invention performs contrast enhancement processing on the dust-free coal image to obtain a gravel-coal distinction-enhanced image. Since the labels for gravel-coal identification are manually annotated by technicians, it is necessary to perform an HSV color space conversion operation on the gravel-coal distinction-enhanced image to obtain an HSV gravel-coal image, thereby improving the accuracy of subsequent clustering and segmentation operations.

[0125] Specifically, in the embodiment of the present invention, a K-means clustering algorithm is used to perform a petroleum-carbonaceous separation, followed by a cluster segmentation operation for image segmentation. The HSV petroleum-carbonaceous image is subjected to petroleum-carbonaceous separation to obtain the extent of the gravel region and the extent of the coal region. Finally, the petroleum-carbonaceous ratio is determined by comparing the extent of the gravel region and the extent of the coal region.

[0126] When the rock-coal ratio is less than the stopping coal-dropping threshold, the process returns to the above operation of performing gravel recognition on the conveyor belt coal image to obtain the rock-coal ratio.

[0127] Specifically, in an embodiment of the present invention, when the rock-coal ratio is less than the stopping coal dropping threshold of 0.6, it indicates that there is still a lot of coal that has not fallen from the top. The tailgate hydraulic device can be kept in the tailgate open state, the coal can continue to be dropped, and the rock-coal ratio can be monitored.

[0128] When the rock-coal ratio is greater than the coal-dropping stopping threshold, S6, using the support controller, controls the tailgate hydraulic device to perform tailgate closing operation, and controls the mobile hydraulic device and top coal collection equipment according to the preset forward configuration information.

[0129] The tailgate closing operation refers to the process of controlling the tailgate of the top coal collecting equipment to close by using a tailgate hydraulic device.

[0130] The forward configuration information refers to a set of instructions for coordinating various processes during the forward movement of the top coal caving and collection equipment, such as forward digging of the drill bit, retraction of the drill bit, expansion of the front plate, and forward movement of the equipment.

[0131] The controlling of the mobile hydraulic press to start refers to a control process in which the coal excavation at the current position has been completed and the mobile hydraulic press needs to move forward to excavate the coal in front.

[0132] Specifically, in an embodiment of the present invention, when the rock-coal ratio is greater than the threshold value for stopping coal dropping, it indicates that the gravel content in the coal is high and the amount of coal remaining above is small, and the coal dropping process can be stopped and the vehicle can continue to move forward. Therefore, when the rock-coal ratio is greater than the threshold value for stopping coal dropping, the present invention can utilize the bracket controller to control the tailgate hydraulic device to perform the tailgate closing operation, and control the mobile hydraulic device to start according to the preset forward configuration information, so that the top coal collection equipment moves forward.

[0133] Specifically, in an embodiment of the present invention, after controlling the tailgate hydraulic device to perform a tailgate closing operation, the method further includes:

[0134] According to the tailgate closing operation, obtaining the petroleum-carbon ratio during the time when the tailgate hydraulic device is in the tailgate opening state, and obtaining a petroleum-carbon ratio sequence;

[0135] The top coal seam thickness is predicted based on the preset conveyor belt speed, the rock-coal ratio sequence and the standard transmission ratio interval.

[0136] The rock-coal ratio sequence refers to the rock-coal ratio sequence at each time point in the time interval from the start of coal dropping to the end of coal dropping after the top coal collecting equipment stops moving forward.

[0137] Specifically, in this embodiment of the present invention, the oil-to-coal ratio between the time the tailgate hydraulic actuator is in the tailgate opening state and the time the tailgate is closed is first obtained to generate an oil-to-coal ratio sequence. The conveyor belt speed, the oil-to-coal ratio sequence, and the standard transmission ratio interval are then multiplied to obtain the amount of pure coal collected per unit time. The total amount of coal collected during this coal drop is then calculated by integrating each amount of pure coal over the corresponding time in the oil-to-coal ratio sequence. This total amount of coal collected is then output as the top coal seam thickness.

[0138] In detail, in an embodiment of the present invention, controlling the mobile hydraulic device and the top coal caving and collecting equipment according to the preset forward configuration information includes:

[0139] According to the forward configuration information, excavation is performed using a pre-built front excavator in the top coal caving and collection equipment to obtain an updated hole;

[0140] Using the mobile hydraulic device to move the top coal caving and collecting equipment into the renewal hole;

[0141] When the top coal caving and collecting equipment is completely moved into the renewal hole, the tail plate hydraulic device is put into the tail plate opening state.

[0142] The front excavator refers to a device in the top coal caving and collecting equipment that excavates the front in the horizontal direction. The updated hole refers to a hole excavated by the front excavator according to the forward configuration information.

[0143] Specifically, in this embodiment of the present invention, the forward excavation distance of the front excavator and the movement distance of the top coal collection device are both pre-configured by the forward configuration information. Therefore, based on the forward configuration information, the electro-hydraulic reversing valve can be directly controlled, and then the electro-hydraulic reversing valve is used to control the movement hydraulics to move the top coal collection device into the updated hole. Furthermore, in this embodiment of the present invention, once the top coal collection device has fully moved into the updated hole, the tailgate can be opened to proceed with the next coal drop.

[0144] In detail, in an embodiment of the present invention, after controlling the mobile hydraulic device and the top coal caving and collecting equipment according to the preset forward configuration information, the method further includes:

[0145] Obtaining the thickness of the top coal seam when the top coal caving and collecting equipment performs the tailgate closing operation each time, and obtaining a top coal seam thickness variation sequence;

[0146] performing a coal seam thickness feature recognition operation on the top coal seam thickness change sequence to obtain a coal seam thickness change rate, and performing an inversely proportional weighted calculation on the advance distance information pre-constructed in the advance configuration information based on the coal seam thickness change rate to obtain an updated advance distance;

[0147] The forward configuration information is updated using the updated forward distance.

[0148] The top coal seam thickness variation sequence refers to the ranking result of the top coal seam thickness during multiple coal dropping processes.

[0149] The coal seam thickness feature recognition operation refers to the process of extracting the coal seam thickness variation pattern through a neural network. The coal seam thickness variation rate refers to the result of the coal seam thickness feature recognition at the current location.

[0150] The forward distance information is configured as 10m.

[0151] The updated advancement distance refers to advancement distance information obtained through inverse proportional weighted calculation, for example, a calculation result obtained by dividing the advancement distance information by the rate of change of coal seam thickness.

[0152] Specifically, in an embodiment of the present invention, when the coal seam thickness change rate increases, for example, to 1.3, the advance distance information pre-constructed in the advance configuration information is inversely weighted according to the coal seam thickness change rate, i.e., 10m ÷ 1.3 = 7.7m, and the updated advance distance configuration is 7.7m, and the advance configuration information is also updated accordingly.

[0153] In detail, in an embodiment of the present invention, after obtaining the tailgate inclination information using the inclination sensor, the method further includes:

[0154] obtaining a pressure sensor, using the pressure sensor to obtain pressure information of a top beam pre-built on the top coal collecting device, obtaining top beam pressure information, and feeding the top beam pressure information back to the support controller, and using the support controller to convert the top beam pressure information into a top beam control electrical signal;

[0155] Obtain a temperature sensor and a vibration sensor, use the temperature sensor to obtain the hydraulic temperature, and use the vibration sensor to obtain the hydraulic vibration frequency;

[0156] According to a pre-built adaptive PID algorithm, the hydraulic temperature and the hydraulic vibration frequency are used to perform interference compensation calculation on the top beam control electrical signal to obtain an anti-interference top beam control electrical signal;

[0157] The electro-hydraulic reversing valve is used to convert the anti-interference top beam control electrical signal into top beam control hydraulic pressure information, and the top beam control hydraulic pressure information is used to control the pre-built top beam hydraulic device.

[0158] The pressure sensor refers to a device installed on the top beam to obtain the pressure between the coal and the top beam.

[0159] The roof beam refers to a structure that ensures that the top coal collection equipment can support the mine. The roof beam pressure information refers to the output result of the pressure sensor.

[0160] The top beam control electrical signal refers to the conversion result of the support controller based on the top beam pressure information. The larger the value of the top beam pressure information, the stronger the top beam control electrical signal.

[0161] The temperature sensor is a device for obtaining the hydraulic oil temperature. The vibration sensor is a device for obtaining the hydraulic vibration frequency. The hydraulic temperature is the output of the temperature sensor. The hydraulic vibration frequency is the output of the vibration sensor.

[0162] The adaptive PID algorithm is an algorithm designed to compensate for the difference between the expected hydraulic performance of the top beam control electrical signal and the actual hydraulic performance affected by temperature and vibration. The anti-interference top beam control electrical signal is the top beam control electrical signal calculated by the adaptive PID algorithm.

[0163] The top beam control hydraulic information refers to the anti-interference top beam control electrical signal passing through the electro-hydraulic reversing valve.

[0164] The top beam hydraulic press refers to a device for controlling the angle of the top beam.

[0165] Specifically, in the embodiment of the present invention, as the top coal caving and collecting equipment moves, the top beam pressure information on the top beam will change accordingly, so real-time regulation of the hydraulic pressure in the top beam hydraulic device helps to maintain the stability of the top beam.

[0166] Specifically, in an embodiment of the present invention, a compensation curve is constructed by actually measuring the actual hydraulic control effect of the control electrical signal under different temperature and vibration environments, and thus the compensation curve is embedded in the automation service to obtain an automatically planned adaptive PID algorithm. According to the hydraulic temperature obtained by the temperature sensor and the hydraulic vibration frequency obtained by the vibration sensor, interference compensation calculation is performed on the top beam control electrical signal to obtain an anti-interference top beam control electrical signal, which is then transmitted to the electro-hydraulic reversing valve to form a corresponding hydraulic value to control the top beam hydraulic actuator.

[0167] The present invention aims to solve the problems described in the background technology. First, the present invention installs a bracket controller and an electro-hydraulic commutator on the top coal collection equipment to replace the traditional machine converter, thereby improving the response speed of each hydraulic device in the top coal collection equipment. This solution monitors the tail plate inclination information through an inclination sensor and monitors the conveyor belt coal image through a camera. Monitoring the conveyor belt coal image can understand the coal falling speed and the rock-coal ratio in the coal falling in the top coal collection equipment, thereby adjusting the tail plate hydraulic pressure to increase or decrease the coal falling speed so that the coal falling speed matches the speed of the conveyor belt transportation. In addition, monitoring the rock-coal ratio can also understand whether the coal falling has ended. When the rock-coal ratio is higher than the preset stopping coal falling threshold, the coal falling process can be stopped, and the top coal collection equipment can be driven to move to another area for re-coal falling. Therefore, the present invention can improve the coal mining accuracy of extremely thin coal seams.

[0168] like Figure 2 1 is a functional module diagram of an ultra-thin coal seam reversing valve regulating system based on electro-hydraulic control provided by an embodiment of the present invention.

[0169] The electro-hydraulic controlled ultra-thin coal seam reversing valve regulating system 100 described in the present invention can be installed in an electronic device. Depending on the functionality to be implemented, the electro-hydraulic controlled ultra-thin coal seam reversing valve regulating system 100 may include a device acquisition module 101, an information monitoring module 102, a tailgate control module 103, and a movement control module 104. A module, also referred to as a unit, is a series of computer program segments that can be executed by an electronic device processor and perform a fixed function. These modules are stored in the electronic device's memory.

[0170] The equipment acquisition module 101 is used to acquire top coal caving collection equipment, wherein the top coal caving collection equipment includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device;

[0171] The information monitoring module 102 is used to obtain tailgate inclination information using the inclination sensor and obtain coal images on the conveyor belt using a pre-built camera;

[0172] The tail lift control module 103 is configured to, when the tail lift hydraulic actuator is in the tail lift open state, perform a conveyor belt area ratio recognition operation on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and adjust the tail lift inclination angle information according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tail lift inclination angle control information, and utilize the support controller to convert the tail lift inclination angle control information into a tail lift control electrical signal, utilize the electro-hydraulic reversing valve to generate tail lift control hydraulic pressure information according to the tail lift control electrical signal, and utilize the tail lift control hydraulic pressure information to control the tail lift hydraulic actuator so that the tail lift inclination angle information is within the standard transmission ratio interval;

[0173] The mobile control module 104 is used to perform gravel identification on the conveyor belt coal image to obtain a rock-to-coal ratio, determine whether the rock-to-coal ratio is greater than a preset coal drop-off stopping threshold, and when the rock-to-coal ratio is less than the coal drop-off stopping threshold, return to the above-mentioned operation of performing gravel identification on the conveyor belt coal image to obtain the rock-to-coal ratio, and when the rock-to-coal ratio is greater than the coal drop-off stopping threshold, use the support controller to control the tailgate hydraulic device to perform a tailgate closing operation, and control the mobile hydraulic device and the top coal collection equipment according to the preset forward configuration information.

[0174] In detail, the modules in the ultra-thin coal seam reversing valve regulating system 100 based on electro-hydraulic control according to the embodiment of the present invention are used in the same manner as above. Figure 1 The same technical means are used as the method for adjusting the ultra-thin coal seam reversing valve based on electro-hydraulic control described in , and can produce the same technical effects, so they will not be repeated here.

[0175] like Figure 3 1 is a schematic structural diagram of an electronic device for implementing an ultra-thin coal seam reversing valve adjustment method based on electro-hydraulic control provided by an embodiment of the present invention.

[0176] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as an ultra-thin coal seam reversing valve regulating method program based on electro-hydraulic control.

[0177] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as a mobile hard disk of the electronic device 1. In other embodiments, the memory 11 can also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 1. Furthermore, the memory 11 also includes an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the program of the ultra-thin coal seam reversing valve adjustment method based on electro-hydraulic control, but can also be used to temporarily store data that has been output or is to be output.

[0178] In some embodiments, the processor 10 may be composed of an integrated circuit, such as a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor 10 is the control core (Control Unit) of the electronic device, connecting the various components of the entire electronic device using various interfaces and lines. It executes or runs programs or modules stored in the memory 11 (such as a program for regulating an ultra-thin coal seam reversing valve based on electro-hydraulic control, etc.), and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0179] The bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to enable communication between the memory 11 and at least one processor 10.

[0180] Figure 3 Only the electronic device with components is shown, and it can be understood by those skilled in the art that Figure 3 The structure shown does not constitute a limitation on the electronic device 1 , and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0181] For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for powering the various components. Preferably, the power source may be logically connected to the at least one processor 10 via a power management device, thereby implementing functions such as charging management, discharging management, and power consumption management through the power management device. The power source may further include any components such as one or more DC or AC power sources, a recharging device, a power failure detection circuit, a power converter or inverter, a power status indicator, etc. The electronic device 1 may further include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0182] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0183] Optionally, the electronic device 1 may further include a user interface, which may be a display or an input unit (such as a keyboard). Optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0184] The program of the method for regulating the ultra-thin coal seam reversing valve based on electro-hydraulic control stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve the following:

[0185] Obtaining a top coal caving collection device, wherein the top coal caving collection device includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device;

[0186] Using the inclination sensor, the tailgate inclination information is acquired, and using the pre-built camera, the coal image on the conveyor belt is acquired;

[0187] When the tail lift hydraulic device is in the tail lift open state, a conveyor belt area ratio recognition operation is performed on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and the tail lift inclination angle information is adjusted according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tail lift inclination angle control information;

[0188] The support controller converts the tailgate tilt angle control information into a tailgate control electrical signal, and the electro-hydraulic reversing valve generates tailgate control hydraulic pressure information according to the tailgate control electrical signal, and controls the tailgate hydraulic device using the tailgate control hydraulic pressure information so that the tailgate tilt angle information is within the standard transmission ratio range.

[0189] Performing gravel recognition on the conveyor belt coal image to obtain a gravel-to-coal ratio, and determining whether the gravel-to-coal ratio is greater than a preset threshold for stopping coal drop;

[0190] When the rock-to-coal ratio is less than the stopping coal drop threshold, returning to the above operation of performing gravel recognition on the conveyor belt coal image to obtain the rock-to-coal ratio;

[0191] When the rock-coal ratio is greater than the coal-dropping stopping threshold, the support controller is used to control the tailgate hydraulic device to perform tailgate closing operation, and the mobile hydraulic device and top coal collection equipment are controlled according to preset forward configuration information.

[0192] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0193] Furthermore, if the modules / units integrated into the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0194] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor of an electronic device, the computer program can implement:

[0195] Obtaining a top coal caving collection device, wherein the top coal caving collection device includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device;

[0196] Using the inclination sensor, the tailgate inclination information is acquired, and using the pre-built camera, the coal image on the conveyor belt is acquired;

[0197] When the tail lift hydraulic device is in the tail lift open state, a conveyor belt area ratio recognition operation is performed on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and the tail lift inclination angle information is adjusted according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tail lift inclination angle control information;

[0198] The support controller converts the tailgate tilt angle control information into a tailgate control electrical signal, and the electro-hydraulic reversing valve generates tailgate control hydraulic pressure information according to the tailgate control electrical signal, and controls the tailgate hydraulic device using the tailgate control hydraulic pressure information so that the tailgate tilt angle information is within the standard transmission ratio range.

[0199] Performing gravel recognition on the conveyor belt coal image to obtain a gravel-to-coal ratio, and determining whether the gravel-to-coal ratio is greater than a preset threshold for stopping coal drop;

[0200] When the rock-to-coal ratio is less than the stopping coal drop threshold, returning to the above operation of performing gravel recognition on the conveyor belt coal image to obtain the rock-to-coal ratio;

[0201] When the rock-coal ratio is greater than the coal-dropping stopping threshold, the support controller is used to control the tailgate hydraulic device to perform tailgate closing operation, and the mobile hydraulic device and top coal collection equipment are controlled according to preset forward configuration information.

[0202] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only exemplary, and actual implementations may have other division methods.

[0203] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0204] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional modules.

[0205] 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.

[0206] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for regulating a reversing valve in an ultra-thin coal seam based on electro-hydraulic control, characterized in that: The method comprises: Obtaining a top coal caving collection device, wherein the top coal caving collection device includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device; Using the inclination sensor, the tailgate inclination information is acquired, and using the pre-built camera, the coal image on the conveyor belt is acquired; When the tail lift hydraulic device is in the tail lift open state, a conveyor belt area ratio recognition operation is performed on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and the tail lift inclination angle information is adjusted according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tail lift inclination angle control information; The support controller converts the tailgate tilt angle control information into a tailgate control electrical signal, and the electro-hydraulic reversing valve generates tailgate control hydraulic pressure information according to the tailgate control electrical signal, and controls the tailgate hydraulic device using the tailgate control hydraulic pressure information so that the tailgate tilt angle information is within the standard transmission ratio range. Performing gravel recognition on the conveyor belt coal image to obtain a gravel-to-coal ratio, and determining whether the gravel-to-coal ratio is greater than a preset threshold for stopping coal drop; When the rock-to-coal ratio is less than the stopping coal drop threshold, returning to the above operation of performing gravel recognition on the conveyor belt coal image to obtain the rock-to-coal ratio; When the rock-coal ratio is greater than the coal-dropping stopping threshold, the support controller is used to control the tailgate hydraulic device to perform tailgate closing operation, and the mobile hydraulic device and top coal collection equipment are controlled according to preset forward configuration information.

2. The method for adjusting the ultra-thin coal seam reversing valve based on electro-hydraulic control according to claim 1, characterized in that: The performing a conveyor belt area ratio recognition operation on the conveyor belt coal image to obtain a conveyor belt occupancy ratio includes: Performing conveyor belt width ratio recognition on the conveyor belt coal image to obtain the conveyor belt width ratio; performing coal height measurement and recognition on the conveyor belt coal image to obtain coal height information; According to the preset isosceles triangle area formula, the conveyor belt width ratio and the coal height information, the cross-sectional ratio of the coal on the conveyor belt in the conveyor belt coal image is calculated to obtain the conveyor belt occupancy ratio.

3. The method for adjusting the ultra-thin coal seam reversing valve based on electro-hydraulic control according to claim 2, characterized in that: The step of adjusting the tailgate inclination angle information according to the conveyor belt occupancy ratio and the preset standard transmission ratio interval to obtain the tailgate inclination angle control information includes: Determining whether the conveyor belt occupancy ratio is within a preset standard transmission ratio range; When the conveyor belt occupancy ratio is not within a preset standard transmission ratio interval, the minimum difference between the conveyor belt occupancy ratio and the standard transmission ratio interval is calculated to obtain an occupancy ratio difference, and the occupancy ratio difference is multiplied by a preset tailgate adjustable angle range to obtain an adjustment angle; If the conveyor belt occupancy ratio is greater than the standard transmission ratio interval, generating a pre-built tailgate tilt angle reduction instruction according to the adjustment angle; If the conveyor belt occupancy ratio is less than the standard transmission ratio interval, generating a pre-built tailgate tilt angle increase instruction according to the adjustment angle; The tailgate angle reduction instruction or the tailgate angle increase instruction is output to obtain tailgate angle control information.

4. The method for adjusting a reversing valve in an ultra-thin coal seam based on electro-hydraulic control according to claim 3, characterized in that: The step of performing gravel identification on the conveyor belt coal image to obtain a gravel-to-coal ratio includes: Using a pre-built Gaussian filtering algorithm, the conveyor belt coal image is subjected to fuzzy noise reduction processing to obtain a dust-free coal image; performing contrast enhancement processing on the dust-removed coal image to obtain a stone-coal distinction enhanced image; Performing an HSV color space conversion operation on the enhanced image of the stone-carbon distinction to obtain an HSV stone-carbon image, and performing a clustering segmentation operation on the HSV stone-carbon image to obtain a gravel area range and a coal area range; By comparing the gravel area range and the coal area range, the gravel-coal ratio is obtained.

5. The method for adjusting the ultra-thin coal seam reversing valve based on electro-hydraulic control according to claim 4, characterized in that: After controlling the tailgate hydraulic device to perform the tailgate closing operation, the method further includes: According to the tailgate closing operation, obtaining the petroleum-carbon ratio during the time when the tailgate hydraulic device is in the tailgate opening state, and obtaining a petroleum-carbon ratio sequence; The top coal seam thickness is predicted based on the preset conveyor belt speed, the rock-coal ratio sequence and the standard transmission ratio interval.

6. The method for adjusting a reversing valve in an ultra-thin coal seam based on electro-hydraulic control according to claim 5, characterized in that: The controlling of the mobile hydraulic device and the top coal caving and collecting equipment according to the preset forward configuration information includes: According to the forward configuration information, excavation is performed using a pre-built front excavator in the top coal caving and collection equipment to obtain an updated hole; Using the mobile hydraulic device to move the top coal caving and collecting equipment into the renewal hole; When the top coal caving and collecting equipment is completely moved into the renewal hole, the tail plate hydraulic device is put into the tail plate opening state.

7. The method for adjusting a reversing valve in an ultra-thin coal seam based on electro-hydraulic control according to claim 6, characterized in that: After controlling the mobile hydraulic device and the top coal caving and collecting equipment according to the preset forward configuration information, the method further includes: Obtaining the thickness of the top coal seam when the top coal caving and collecting equipment performs the tailgate closing operation each time, and obtaining a top coal seam thickness variation sequence; performing a coal seam thickness feature recognition operation on the top coal seam thickness change sequence to obtain a coal seam thickness change rate, and performing an inversely proportional weighted calculation on the advance distance information pre-constructed in the advance configuration information based on the coal seam thickness change rate to obtain an updated advance distance; The forward configuration information is updated using the updated forward distance.

8. The method for adjusting a reversing valve in an ultra-thin coal seam based on electro-hydraulic control according to claim 7, characterized in that: After obtaining the tailgate inclination information by using the inclination sensor, the method further includes: obtaining a pressure sensor, using the pressure sensor to obtain pressure information of a top beam pre-built on the top coal collecting device, obtaining top beam pressure information, and feeding the top beam pressure information back to the support controller, and using the support controller to convert the top beam pressure information into a top beam control electrical signal; Obtain a temperature sensor and a vibration sensor, use the temperature sensor to obtain the hydraulic temperature, and use the vibration sensor to obtain the hydraulic vibration frequency; According to a pre-built adaptive PID algorithm, the hydraulic temperature and the hydraulic vibration frequency are used to perform interference compensation calculation on the top beam control electrical signal to obtain an anti-interference top beam control electrical signal; The electro-hydraulic reversing valve is used to convert the anti-interference top beam control electrical signal into top beam control hydraulic pressure information, and the top beam control hydraulic pressure information is used to control the pre-built top beam hydraulic device.

9. An ultra-thin coal seam reversing valve regulating system based on electro-hydraulic control, characterized in that: The system comprises: An equipment acquisition module is used to acquire top coal caving collection equipment, wherein the top coal caving collection equipment includes a hydraulic equipment cluster, a support controller, an electro-hydraulic reversing valve, a tilt sensor, and a camera, wherein the hydraulic equipment cluster includes a tailgate hydraulic device and a mobile hydraulic device; An information monitoring module is used to obtain tailgate inclination information using the inclination sensor and to obtain coal images on the conveyor belt using a pre-built camera; a tail lift control module, configured to, when the tail lift hydraulic actuator is in a tail lift open state, perform a conveyor belt area ratio recognition operation on the conveyor belt coal image to obtain a conveyor belt occupancy ratio, and adjust the tail lift inclination angle information according to the conveyor belt occupancy ratio and a preset standard transmission ratio interval to obtain tail lift inclination angle control information, and utilize the support controller to convert the tail lift inclination angle control information into a tail lift control electrical signal, utilize the electro-hydraulic reversing valve to generate tail lift control hydraulic pressure information according to the tail lift control electrical signal, and utilize the tail lift control hydraulic pressure information to control the tail lift hydraulic actuator so that the tail lift inclination angle information is within the standard transmission ratio interval; The mobile control module is used to perform gravel identification on the coal image of the conveyor belt to obtain a rock-to-coal ratio, determine whether the rock-to-coal ratio is greater than a preset coal-dropping stopping threshold, and when the rock-to-coal ratio is less than the coal-dropping stopping threshold, return to the above-mentioned operation of performing gravel identification on the coal image of the conveyor belt to obtain the rock-to-coal ratio; and when the rock-to-coal ratio is greater than the coal-dropping stopping threshold, use the support controller to control the tailgate hydraulic device to perform a tailgate closing operation, and control the mobile hydraulic device and the top coal collection equipment according to the preset forward configuration information.

10. The ultra-thin coal seam reversing valve regulating system based on electro-hydraulic control according to claim 9, characterized in that: The controlling of the mobile hydraulic device and the top coal caving and collecting equipment according to the preset forward configuration information includes: According to the forward configuration information, excavation is performed using a pre-built front excavator in the top coal caving and collection equipment to obtain an updated hole; Using the mobile hydraulic device to move the top coal caving and collecting equipment into the renewal hole; When the top coal caving and collecting equipment is completely moved into the renewal hole, the tail plate hydraulic device is put into the tail plate opening state.

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