System with automatic machine tracking and frame pulling functions based on linkage of three coal mining machines and implementation method

Abstract

The invention discloses a system with an automatic machine chasing and frame pulling function based on linkage of three coal mining machines and an implementation method, and belongs to the technical field of coal mining machines. A middle section coal mining machine is arranged on the middle section of a working face scraper conveyor and used for carrying out main body cutting operation; the machine head coal mining machine and the machine tail coal mining machine are called as machine nest devices and are arranged on the machine head and the machine tail of the working face scraper conveyor respectively to complete triangular coal cutting. The wireless ad hoc network system is used for realizing data communication among the coal mining machine at the middle section, the machine nest device, the centralized control center server and the hydraulic support; wherein the coal mining machine at the middle section broadcasts real-time position information of the coal mining machine through a wireless ad hoc network system, and the machine nest device performs triangular coal cutting after receiving a position signal indicating that the coal mining machine at the middle section leaves the 30 hydraulic supports at the machine head or the machine tail. According to the invention, on the basis of realizing the beveling-free feeding process of the double-drum coal mining machine, the parallel operation of coal cutting and triangular coal cutting is realized, and the efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mining machine, and particularly relates to a system and implementation method of automatic machine tracking and support pulling function based on linkage of three coal mining machines. BACKGROUND

[0002] The core of fully mechanized coal mining equipment is a coal mining machine. An intelligent coal mining mode of a fully mechanized coal mining face with no or few people on duty is that, according to the position of the coal mining machine, the hydraulic support automatically performs coordinated action according to the coal mining process, that is, so-called machine tracking and support pulling, to realize automatic production of the working face with no people on duty, improve mining efficiency, ensure safety in production, and reduce labor intensity.

[0003] A fully mechanized coal mining face is generally 200-300 meters long, and there are 120-180 hydraulic supports. In addition to the hydraulic supports, there are also actions and operations of a crusher, a transshipment machine, a scraper conveyor and the like. Thus, the operation of the coal mining machine means the start of the coal mining work, and the support position and the walking direction of the coal mining machine determine the coal mining process section to which the coal mining work is performed, and also determine the operation mode of each equipment. According to the coal mining process flow, the coal mining process of the fully mechanized coal mining face includes an intermediate section, a curved section and a triangular coal cutting process.

[0004] When the coal is mined in the intermediate section, the coal mining machine runs in one direction. When the triangular coal is cut, the coal mining machine needs to be operated in several rounds, needs to be obliquely cut and needs to sweep the bottom coal, and the like. The coal mining machine reverses the drum, stops (reverses the drum), sends a command whether the coal can be cut in reverse, confirms the command, cuts the triangular coal in the head direction in reverse, and the like. Until the coal mining machine reaches the tail and cuts through the coal wall, the coal mining machine runs to the head to sweep the bottom coal, and the like. Since the coal mining machine is very heavy, such work at the head or the tail is not only complicated in operation, but also takes a lot of time for the coal mining machine to complete the actions, which greatly affects the production efficiency of the coal mining.

[0005] Therefore, it is urgent to provide a system of automatic machine tracking and support pulling function based on linkage of three coal mining machines. SUMMARY

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: A system of automatic machine tracking and support pulling function based on linkage of three coal mining machines, comprising: an intermediate section coal mining machine arranged in an intermediate section of a scraper conveyor of a working face and used for main body cutting operation; a head coal mining machine and a tail coal mining machine, referred to as a machine nest device, arranged at the head and the tail of the scraper conveyor of the working face respectively and used for triangular coal cutting; A wireless self-organizing network system is used to realize data communication between the intermediate section coal mining machine, the machine nest device, the central control server and the hydraulic support; The intermediate section coal mining machine broadcasts its real-time location information through the wireless self-organizing network system. After receiving the position signal of the intermediate section coal mining machine leaving the head or tail of the 30 hydraulic supports, the machine nesting device automatically performs triangular coal cutting.

[0007] Furthermore, the machine housing is equipped with an infrared transmitter for sending infrared signals to the hydraulic support; the infrared signals are sent to the hydraulic support via the central control server, and the hydraulic support, upon receiving the infrared signals, performs corresponding actions according to process requirements.

[0008] Furthermore, the 9th coal mining machine corresponding to the advanced hydraulic support begins to retract its side guards and telescopic beams; the 2nd coal mining machine corresponding to the advanced hydraulic support begins to extend its telescopic beams; and the 7th coal mining machine corresponding to the lagging hydraulic support begins to extend its side guards.

[0009] Furthermore, the intermediate section coal mining machine is a double-drum coal mining machine, and the machine nest device is a single-drum coal mining machine.

[0010] Furthermore, ultrasonic directional horns are installed on both sides of the double-drum coal mining machine.

[0011] Furthermore, the triangular coal cutting process at the machine head is the same as that at the machine tail, wherein the triangular coal cutting process at the machine head includes the following process segments: Process Section 1: The head coal mining machine, also known as the head coking device, cuts triangular coal to the head position on the right. The drum is adjusted from a high position to a low position and its position is transmitted via infrared signal through a wireless self-organizing network system. The hydraulic support performs corresponding actions according to process requirements. In the second process section, after the headstock and the housing device moves to the left to cut the bottom coal to the designated number of supports, traction stops, and its position is transmitted via infrared signal through a wireless self-organizing network system. The hydraulic support then performs corresponding actions according to the process requirements. In process section three, the headstock and trough device moves to the right to clear floating coal and returns to the headstock position, transmitting its position via infrared signal through a wireless self-organizing network system. The hydraulic support then performs corresponding actions according to process requirements. In the fourth process section, the machine head and machine socket device moves to the left to clear floating coal and transmits its position via infrared signal through a wireless self-organizing network system. The hydraulic support performs corresponding actions according to process requirements, completes the pushing and pulling operations, and finally returns to the initial position.

[0012] An implementation method for an automatic follow-up and support function based on the linkage of three coal mining machines, employing the system described above, characterized by comprising the following steps: S10, the intermediate section coal mining machine cuts in the middle section of the working face and continuously broadcasts its location information to the machine nest device, the central control server and the hydraulic support through the wireless self-organizing network system. S20, the machine nest device determines whether the machine has left the head or tail 30 frames based on the received position signal of the intermediate section coal mining machine; S30. If so, the corresponding machine hole device is started to carry out the triangular coal cutting process, and the support is linked with the hydraulic support through infrared signal to control the support to perform the operation of raising and lowering the side plate and telescopic beam, pulling the support and pushing the conveyor.

[0013] The beneficial effects of this invention are: This invention, based on the realization of the non-oblique cutting feed process of the double-drum coal mining machine, realizes the parallel operation of coal cutting and triangular coal cutting, thus improving efficiency; The present invention only requires the addition of two machine nesting devices at both ends of the working face, while other equipment remains basically unchanged; The end-end machine socket device of this invention can be easily dismantled after failure without affecting normal production on the working face.

[0014] The present invention enables the two end-head machine nesting device and the double-drum coal mining machine to share a scraper conveyor, thereby realizing the coordinated operation of the three cutting devices. Attached Figure Description

[0015] Fig. 1 This is a schematic diagram illustrating the process of cutting triangular coal according to the present invention; Fig. 2 This is a functional module diagram of the ultrasonic directional generation-detection-action of the present invention. Detailed Implementation

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] Example 1

[0018] refer to Figs. 1-2 A system based on the automatic tracking and support function of three coal mining machines in linkage includes: The intermediate section coal mining machine is set in the middle section of the scraper conveyor at the working face and is used for the main cutting operation; The head coal mining machine and the tail coal mining machine are called the machine nesting device. They are respectively installed at the head and tail of the scraper conveyor in the working face to complete the triangular coal cutting. The wireless self-organizing network system is used to realize data communication between the intermediate coal mining machine, the machine housing device, the central control server and the hydraulic support; The intermediate section coal mining machine broadcasts its real-time location information through a wireless self-organizing network system. After receiving the position signal of the intermediate section coal mining machine leaving the head or tail of the 30 hydraulic supports, the machine nesting device automatically performs triangular coal cutting.

[0019] In this embodiment, an infrared transmitter is installed on the machine housing to send infrared signals to the hydraulic support; the infrared signal is sent to the hydraulic support through the central control server, and the relevant hydraulic support performs corresponding actions according to the process requirements after receiving the infrared signal.

[0020] In this embodiment, the 9th coal mining machine corresponding to the hydraulic support leading the way begins to retract its side guards and telescopic beams; the 2nd coal mining machine corresponding to the hydraulic support leading the way begins to extend its telescopic beams; and the 7th coal mining machine corresponding to the hydraulic support lagging behind the way begins to extend its side guards.

[0021] In this embodiment, the intermediate section coal mining machine is a double-drum coal mining machine, and the machine nest device is a single-drum coal mining machine.

[0022] In practice, a single-drum coal mining machine is installed at each of the head and tail ends, called the machine nest device. The middle section is a double-drum coal mining machine. The three communicate with each other via a wireless self-organizing network. The double-drum coal mining machine in the middle section broadcasts its location, and the corresponding machine nest device will complete the cutting of the triangular coal in advance as needed.

[0023] In practice, before the arrival of the double-drum coal mining machine, the corresponding machine nest device has already cut the triangular coal. After that, the double-drum coal mining machine directly adjusts the front and rear drums to start the normal cutting process.

[0024] In this embodiment, ultrasonic directional speakers are installed on both sides of the double-drum coal mining machine to wake up the low-power CPU of the hydraulic support controller and start working.

[0025] In this embodiment, the triangular coal cutting process at the machine head is the same as that at the machine tail. The triangular coal cutting process at the machine head includes the following process segments: Process Section 1: The head coal mining machine, also known as the head coking device, cuts triangular coal to the head position on the right. The drum is adjusted from a high position to a low position and its position is transmitted via infrared signal through a wireless self-organizing network system. The hydraulic support performs corresponding actions according to process requirements. In the second process section, after the headstock and the housing device moves to the left to cut the bottom coal to the designated number of supports, traction stops, and its position is transmitted via infrared signal through a wireless self-organizing network system. The hydraulic support then performs corresponding actions according to the process requirements. In process section three, the headstock and trough device moves to the right to clear floating coal and returns to the headstock position, transmitting its position via infrared signal through a wireless self-organizing network system. The hydraulic support then performs corresponding actions according to process requirements. In the fourth process section, the machine head and machine socket device moves to the left to clear floating coal and transmits its position via infrared signal through a wireless self-organizing network system. The hydraulic support performs corresponding actions according to process requirements, completes the pushing and pulling operations, and finally returns to the initial position.

[0026] In this embodiment, three coal mining devices are installed on the scraper conveyor at the same time. Each device is equipped with an infrared transmitter and sends its own position signal through the network. This ensures that the machine hole device only starts the triangular coal cutting process when the double drum coal mining machine is far away from the head (or tail) of the machine. Moreover, the speed of the triangular coal cutting process can be slower, so that the liquid supply, conveying capacity, frame pulling and coal mining production efficiency will not be affected.

[0027] In this embodiment, ultrasonic directional speakers are installed on the left and right sides of the twin-drum coal mining machine. These speakers not only wake up the hydraulic support controller CPU, which is in a low-power sleep mode, and enable it to automatically track and pull the support according to the coal mining process, thus achieving automatic control of the coal mining process, but more importantly, they promptly transmit information about the approaching machine to the machine housing within a safe distance and provide real-time alarms to prevent collisions. This solves the problem of infrared transmission and reception, where infrared transmitters are installed on the coal mining machine, and each hydraulic support controller has a receiver. When a hydraulic support receives the infrared signal from the coal mining machine, it can be determined which hydraulic support is at which position. However, this method has high requirements for the distance and angle of infrared transmission, often resulting in misalignment and failure to obtain the coal mining machine's position. This not only prevents automatic coal mining but may also cause the twin-drum coal mining machine to collide with the machine housing, leading to serious safety accidents.

[0028] In this embodiment, the ultrasonic directional speaker controls the direction of sound propagation through a special sound-generating principle, allowing the sound to be emitted and propagated like a flashlight beam at night. Wherever it is pointed, the sound can be heard. The 20kHz high-frequency signal (ultrasound) has excellent directivity during transmission. By modulating the audio signal onto the ultrasonic carrier wave, the directional propagation characteristics of ultrasound and the nonlinear effect of air are utilized to create audible directional sound propagation. When the ultrasonic detection circuit and the action circuit receive the sound from the ultrasonic directional speaker, they emit an electrical signal. This signal acts as an external interrupt source, waking up the hydraulic support controller CPU and causing a CPU interrupt. The MSP430 CPU immediately enters AM state and enters the interrupt service routine. In this routine, the position signal of the dual-drum coal mining machine is first broadcast to the wireless network system in real time, followed by an audible and visual warning.

[0029] Example 2

[0030] This embodiment takes the position at the head of the machine (8 frames) and the position at the tail (139 frames) as an example. The length of different working surfaces is different, and only corresponding modifications need to be made.

[0031] In this embodiment, the machine nest device, i.e., the single-drum coal mining machine, after receiving the position signal of the double-drum coal mining machine, determines that it has moved 30 frames away from the head (or tail) of the machine. The corresponding machine nest device then begins to cut according to the triangular coal cutting process. The machine nest device is equipped with an infrared emitting device. When the relevant hydraulic support at the head (or tail) receives the infrared signal, it performs the corresponding action function.

[0032] In practice, the positions of the machine head and tail need to be determined based on the site conditions.

[0033] Process Section 1: The machine head moves to the right to cut triangular coal.

[0034] (1) Initial position, equipment status and actions

[0035] The head coal mining machine, also known as the head coking unit, is located at frame 31. The head coking unit's drum is adjusted to a high position and cuts to the right. Its position is then transmitted via infrared signal through a wireless self-organizing network system. The central control server then sends the signal to the hydraulic supports, which perform corresponding actions according to the process requirements.

[0036] Hydraulic supports: 4 to 21 support plates extended, 38 to 140 support plates extended.

[0037] (2) Intermediate process

[0038] The headstock and cofferdam device moves to the right to cut the triangular coal to frame 8, and then the headstock and cofferdam device stops traction.

[0039] The hydraulic supports with the leading head and machine head recess devices (starting from the 22nd device) begin to retract the side guards and telescopic beams; the hydraulic supports with the leading head and machine head recess devices (starting from the 29th device) begin to extend the telescopic beams; and the hydraulic supports with the lagging head and machine head recess devices (starting from the 38th device) begin to extend the side guards.

[0040] (3) End point state

[0041] Headstock and support unit: Up to 8 units, the drum is adjusted to the low position. The headstock and support unit sends a completion signal of the process section to the central control center, and transmits its position via infrared signal through the wireless self-organizing network system. The central control center server then sends the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to the process requirements.

[0042] Hydraulic supports: 4 to 10 supports extend the telescopic beams, 16 to 140 supports extend the side guards, and the hydraulic supports send a feedback signal to the central control center upon completion of the process section.

[0043] Process Section 2: The machine head moves to the left to cut the bottom coal.

[0044] (1) Initial position

[0045] Headstock and support device: Located at frame 8, with the drum in a low position, it cuts the bottom coal to the left and transmits its position via infrared signal through a wireless self-organizing network system. The central control server then transmits the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to the process requirements.

[0046] Hydraulic supports: 4 to 10 supports extend the telescopic beams; 16 to 140 supports extend the side guards.

[0047] (2) Intermediate process

[0048] The nose and housing device moves to the left to sweep the bottom of the 17th frame. The nose and housing device stops traction and transmits its position via infrared signal through the wireless self-organizing network system. The central control server then transmits the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to the process requirements.

[0049] The hydraulic supports begin to retract their side guards from the 9th (starting from the 17th) machine head and rearward machine head recess devices, and begin to extend their side guards from the 7th (starting from the 4th) machine head and rearward machine head recess devices.

[0050] (3) End point state

[0051] Headstock and socket device: After the 17th frame, the roller is still in a low position; the feedback process section 2 completes the signal and sends its position as an infrared signal through the wireless self-organizing network system. The central control server then sends it to the hydraulic support, and the relevant hydraulic support performs the corresponding action according to the process requirements.

[0052] Hydraulic supports: Side guard plates extend from supports 4 to 8, telescopic beams extend from supports 19 to 23, and side guard plates extend from supports 24 to 140. Feedback signals from process section two are sent to the central control center.

[0053] Process Section 3: The machine head moves to the right to remove floating coal.

[0054] (1) Initial state

[0055] Machine head and housing device: Located at frame 17, with the roller still in a low position, its position is transmitted via infrared signal through a wireless self-organizing network system. The central control server then transmits the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to process requirements.

[0056] Hydraulic supports: Side guard plates extend from supports 4 to 8, telescopic beams extend from supports 19 to 23, and side guard plates extend from supports 24 to 140.

[0057] (2) Intermediate process

[0058] The headstock and housing device moves to the right to clear loose coal to the 8th frame. The headstock and housing device then stops traction and transmits its position via infrared signal through a wireless self-organizing network system. The central control server then transmits the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to the process requirements.

[0059] The hydraulic supports begin to retract their side guards from the 9th (starting from the 8th) machine head and rearward machine head recess devices, and begin to extend their side guards from the 7th (starting from the 24th) machine head and rearward machine head recess devices.

[0060] (3) End point state

[0061] Headstock and cradle device: Located at frame 8, with the drum in a low position, moving to the right to clear floating coal, feeding back the completion signal of process section 3 to the central control center, and transmitting its position via infrared signal through the wireless self-organizing network system. The central control center server then sends the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to process requirements.

[0062] Hydraulic supports: 4 to 10 supports extend the telescopic beams; 16 to 140 supports extend the side plates, and feedback signals from the third process section are sent to the central control center.

[0063] Process Section 4: Leftward movement of the machine head to clear floating coal.

[0064] (1) Initial position

[0065] Headstock and socket device: Located at frame 8, with the drum in a low position, it moves to the left to clear floating coal and transmits its position via infrared signal through a wireless self-organizing network system. The central control server then sends the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to process requirements.

[0066] Hydraulic supports: 4 to 10 supports with extended telescopic beams; 16 to 140 supports with extended side plates.

[0067] (2) Intermediate process

[0068] The machine head and housing device moves to the left to sweep the bottom of the 31st frame and transmits its position via infrared signal through a wireless self-organizing network system. The central control server then transmits the signal to the hydraulic supports, and the relevant hydraulic supports perform corresponding actions according to the process requirements.

[0069] The hydraulic support advance head and machine socket device starts to retract the side guard plate from the 9th (starting from the 16th) and extends the telescopic beam from the 2nd (starting from the 10th) and pulls the frame from the 7th (starting from the 5th) and machine socket device from the lag head (first retract the telescopic beam, then pull the frame, then extend the telescopic beam and install the side guard).

[0070] When the number of aircraft heads and housings reaches 23, the hydraulic supports begin to be grouped (10 units) and pushed along. The range of the curved section formed by the pushing and sliding is 5 to 15 units. The end frame and transition frame (1 to 5 units) at the aircraft head are considered as 1 unit.

[0071] The curved section moves to the left along with the coal mining machine.

[0072] (3) End point state

[0073] Hydraulic supports: Supports 4 to 13 complete the pulling and pushing of the support beams and extend the side guards; support 24 completes the pulling; supports 13-23 push the support beams into a curved section (side guards extend for support); supports 25 to 33 extend the telescopic beams; supports 40 to 140 extend the side guards. The hydraulic supports return to process section four, indicating completion.

[0074] The headstock / recess device is located at frame 38. First, the roller is raised to cut to the left, then the roller is lowered to cut to the right. The headstock / recess device returns a completion signal to process section four and transmits its position and completion signal via a wireless self-organizing network system. The central control server then sends the signal to the hydraulic supports, which perform corresponding actions according to the process requirements.

[0075] The process of cutting triangular coal at the tail end of the machine is the same as above.

[0076] Example 3

[0077] This embodiment provides an implementation method for an automatic follow-up and support function based on the linkage of three coal mining machines. It adopts the system of embodiment 1 or embodiment 2 based on the automatic follow-up and support function of three coal mining machines, and includes the following steps: S10, the intermediate section coal mining machine cuts in the middle section of the working face and continuously broadcasts its location information to the machine nest device, the central control server and the hydraulic support through the wireless self-organizing network system. S20, the machine nest device determines whether the machine has left the head or tail 30 frames based on the received position signal of the intermediate section coal mining machine; S30. If so, the corresponding machine hole device is started to carry out the triangular coal cutting process, and the hydraulic support is linked with the infrared signal to control the hydraulic support to perform the operation of raising and lowering the side plate and telescopic beam, pulling the frame and pushing the conveyor.

Claims

1. A system based on the automatic tracking and support function of three coal mining machines working in tandem, characterized in that, include: The intermediate section coal mining machine is set in the middle section of the scraper conveyor at the working face and is used for the main cutting operation; The head coal mining machine and the tail coal mining machine are called the machine nesting device. They are respectively installed at the head and tail of the scraper conveyor in the working face to complete the triangular coal cutting. A wireless self-organizing network system is used to realize data communication between the intermediate section coal mining machine, the machine nest device, the central control server and the hydraulic support; The intermediate section coal mining machine broadcasts its real-time location information through the wireless self-organizing network system. After receiving the position signal of the intermediate section coal mining machine leaving the head or tail of the 30 hydraulic supports, the machine nesting device automatically performs triangular coal cutting.

2. The system for automatic tracking and support function based on the linkage of three coal mining machines according to claim 1, characterized in that, The machine housing is equipped with an infrared transmitter for sending infrared signals to the hydraulic support. The infrared signals are sent to the hydraulic support via the central control server, and the hydraulic support, upon receiving the infrared signals, performs corresponding actions according to process requirements.

3. The system for automatic tracking and support function based on the linkage of three coal mining machines according to claim 1, characterized in that, The 9th coal mining machine corresponding to the advanced hydraulic support begins to retract its side guards and telescopic beams; the 2nd coal mining machine corresponding to the advanced hydraulic support begins to extend its telescopic beams; the 7th coal mining machine corresponding to the lagging hydraulic support begins to extend its side guards.

4. The system for automatic tracking and support function based on the linkage of three coal mining machines according to claim 1, characterized in that, The intermediate section coal mining machine is a double-drum coal mining machine, and the machine nest device is a single-drum coal mining machine.

5. The system for automatic tracking and support function based on the linkage of three coal mining machines according to claim 4, characterized in that, The twin-drum coal mining machine is equipped with ultrasonic directional speakers on both sides.

6. The system for automatic tracking and support function based on the linkage of three coal mining machines according to claim 1, characterized in that, The triangular coal cutting process at the machine head is the same as that at the machine tail. The triangular coal cutting process at the machine head includes the following process segments: Process Section 1: The head coal mining machine, also known as the head coking device, cuts triangular coal to the head position on the right. The drum is adjusted from a high position to a low position and its position is transmitted via infrared signal through a wireless self-organizing network system. The hydraulic support performs corresponding actions according to process requirements. In the second process section, after the headstock and the housing device moves to the left to cut the bottom coal to the designated number of supports, traction stops, and its position is transmitted via infrared signal through a wireless self-organizing network system. The hydraulic support then performs corresponding actions according to the process requirements. In process section three, the headstock and trough device moves to the right to clear floating coal and returns to the headstock position, transmitting its position via infrared signal through a wireless self-organizing network system. The hydraulic support then performs corresponding actions according to process requirements. In the fourth process section, the machine head and machine socket device moves to the left to clear floating coal and transmits its position via infrared signal through a wireless self-organizing network system. The hydraulic support performs corresponding actions according to process requirements, completes the pushing and pulling operations, and finally returns to the initial position.

7. A method for implementing an automatic tracking and support function based on the linkage of three coal mining machines, employing the automatic tracking and support function based on the linkage of three coal mining machines as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S10, the intermediate section coal mining machine cuts in the middle section of the working face and continuously broadcasts its location information to the machine nest device, the central control server and the hydraulic support through the wireless self-organizing network system. S20, the machine nest device determines whether the machine has left the head or tail 30 frames based on the received position signal of the intermediate section coal mining machine; S30. If so, the corresponding machine hole device is started to carry out the triangular coal cutting process, and the support is linked with the hydraulic support through infrared signal to control the support to perform the operation of raising and lowering the side plate and telescopic beam, pulling the support and pushing the conveyor.

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