A coal mine spray dust reduction self-adaptive control method based on multi-source intelligent sensing

Abstract

The application discloses a coal mine spray dust reduction self-adaptive control method based on multi-source intelligent sensing, relates to the technical field of intelligent dust reduction control, and achieves the transformation of spray control from the whole extensive type to the segmented refinement by spatially segmenting the spray coverage range of the underground operation face and integrally associating dust sensing, personnel detection and spray execution, thereby effectively improving the pertinence and controllability of dust treatment in the complex underground environment; through continuous recording and correlation analysis of the spray duration of each spray segment and the dust reduction effect, spray resources can be preferentially distributed to the areas with higher dust reduction efficiency and more urgent treatment demand, the overall dust reduction efficiency is significantly improved, and invalid spraying is reduced; according to a pre-execution control and execution state joint determination mechanism, blind spraying and false triggering under abnormal working conditions are avoided, and the safety and stability of system operation are enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent dust control, and particularly relates to a coal mine spray dust self-adaptive control method based on multi-source intelligent sensing. BACKGROUND

[0002] During the underground operation of a coal mine, a large amount of coal dust and rock dust is continuously generated in the processes of mining, reloading and transportation, and the dust is easily diffused with the ventilation airflow in the confined space, which not only seriously threatens the occupational health of the operating personnel, but also may cause major safety hazards such as dust explosion. Therefore, as the most common and direct dust control method in the underground coal mine, the spray dust control has been widely used in fully mechanized mining faces, tunneling roadways and other scenes. With the improvement of sensor technology, automatic control technology and the intelligent level of underground, the existing spray dust control system is gradually developed from manual start and stop and fixed parameter control to automatic spray control based on dust concentration sensing, so as to reduce water consumption and interference with the operation process while ensuring the dust control effect.

[0003] However, the spatial structure of the underground operation face is complex, the dust generation intensity, personnel distribution and operation rhythm are significantly different in different areas, and the dust spatio-temporal distribution has obvious non-uniformity and dynamics. Under this background, how to realize the fine division of the spray area, the continuous evaluation of the spray effect and the dynamic scheduling of the spray behavior is still a key problem that needs to be solved in the current spray dust control technology.

[0004] CN120867818A discloses a coal mine dust concentration overrun spray dust control device and a control system thereof, which monitors the dust diffusion path by arranging a dust sensing array at the dust generation source and in the direction of the airflow in the roadway, and combines a wind speed sensing unit, and controls the partition spray actuator by using a dynamic threshold and a prediction interception mechanism, so as to relieve the problems of response lag and excessive spray of the traditional fixed threshold system. To some extent, the real-time and pertinence of the spray control are improved. However, the spray control logic mainly focuses on "whether the dust concentration is overrun" and "diffusion trend prediction", and the control of the partition spray unit mainly depends on the real-time sensing result, and lacks the continuous record and quantitative evaluation of the historical spray effect of different spray areas. In other words, the correlation model between the spray duration, the spray intensity and the dust reduction effect is not established, it is difficult to learn and compare the actual dust reduction efficiency of each spray area for a long time, so that the scheduling priority mechanism based on the spray efficiency difference cannot be formed, and the overall utilization efficiency of the spray resource still has further improvement space.

[0005] CN118128585A discloses a coal mining machine dust source tracking intelligent dust reduction method and system, which takes minimizing the water consumption of spraying as the optimization target, dynamically adjusts the opening number, spraying range and pressure parameters of the sprayer in the whole coal cutting process of the coal mining machine through the reinforcement learning algorithm, and realizes the self-adaptive change of the spraying amount with the dust concentration. The scheme introduces an intelligent optimization mechanism at the algorithm level, which helps to reduce the dust reduction cost and reduce the subsequent impact of high coal moisture content. However, this technical solution highly depends on the continuity of the coal mining machine operation process and the centralized decision of the algorithm model, and the optimization object mainly focuses on a single operation equipment and its attached sprayer, without fully considering the actual working conditions of the parallel existence of multiple spraying areas under the overall spatial structure of the underground operation face. At the same time, it focuses on the real-time optimization of spraying parameters, and does not involve the segmented recording of spraying effects in different spraying areas, the closed-loop verification of spraying execution results, and the spraying scheduling update mechanism based on execution feedback, so it is difficult to realize the segmented coordination and priority control of spraying behavior in complex operation face environment.

[0006] In summary, the existing coal mine underground spraying dust reduction technology generally has problems such as lack of continuity of spraying effect evaluation and difficulty in dynamic evolution of spraying scheduling strategy with execution results, resulting in insufficient spraying resource allocation efficiency, and difficulty in balancing dust reduction effect and operation economy. The present application proposes a segmented spraying perception and scheduling control method based on the spatial structure of the operation face, which realizes the dynamic optimization and fine scheduling of spraying behavior by establishing the spraying segmentation, spraying efficiency recording and execution feedback update mechanism. SUMMARY

[0007] This section is intended to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the present application to avoid obscuring the purpose of this section, the abstract and the title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0008] In view of the above existing problems, the present application is proposed.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution: S1: Based on the spatial structure of the downhole working face, the spray coverage area is divided into several working spray segments, and each working spray segment is associated with a corresponding dust concentration sensor, personnel detection sensor, and spray execution component to form a segmented sensing association set; S2: Within each working spray segment, the dust concentration change during the spray execution process is continuously recorded, and the spray duration is associated with the corresponding dust reduction effect and stored to form a segmented spray efficiency record; Based on the segmented spray efficiency record, a spray adjustment mechanism is established for each working spray segment. Priority order; S3: Based on the spray scheduling priority order and the current dust concentration status of the spray segment, generate pre-execution spray control instructions for each spray segment, and limit the spray segment range, spray duration and spray intensity level; S4: After the spray execution component returns the execution status information corresponding to the pre-execution spray control instructions, determine whether the corresponding spray segment meets the spray conditions based on the execution status information, and issue formal spray control instructions when the conditions are met, and write the spray execution results back to the segment spray efficiency record for updating the subsequent spray scheduling priority.

[0010] As a preferred embodiment of the present invention, the division of the spray operation segments includes: linearly projecting the underground working face along the center direction of the underground roadway according to the roadway axis to obtain a projection axis; and equidistantly segmenting the projection axis according to the maximum effective coverage length of the spray nozzle to form several continuous axial spatial segments; taking each axial spatial segment as the center, laterally expanding to both sides of the roadway according to the actual atomization coverage width of the spray nozzle to form a three-dimensional spray action space, and using the three-dimensional spray action space as a candidate spray segment; and assigning the spatial overlap area between adjacent candidate spray segments to the candidate spray segment with a larger coverage ratio of the spray path according to the installation position and spray direction of the spray nozzle.

[0011] As a preferred embodiment of the present invention, the formation of the segmented spray efficiency record includes: within each of the operation spray segments, using the sampling period of the dust concentration sensor as the time reference, continuously collecting dust concentration values ​​before spraying, during spraying, and after spraying, to form a dust concentration change sequence for the operation spray segment; for the dust concentration change sequence, determining the effective spraying period between the spraying start time and the spraying end time, calculating the difference in dust concentration within the effective spraying period, and binding the difference to the effective spraying period to form a single spray effect record; within the same operation spray segment, accumulating and organizing multiple single spray effect records in chronological order to form a segmented spray efficiency record for the operation spray segment.

[0012] As a preferred embodiment of the present invention, the step of establishing a spray scheduling priority order for each operation spray segment includes: comparing and sorting the dust reduction magnitude of different operation spray segments under the same spray duration condition based on the segment spray efficiency record corresponding to each operation spray segment, and generating a spray scheduling priority order according to the comparison and sorting results.

[0013] In a preferred embodiment of the present invention, the generation of the pre-executed spray control command includes: sequentially reading real-time data collected by the associated dust concentration sensor for each spray segment according to the spray scheduling priority order, using this data as the current dust concentration status, and simultaneously acquiring the coal mining machine operating speed status or tunneling progress status corresponding to the spray segment, forming a list of spray segments to be controlled; for each spray segment in the list of spray segments to be controlled, correcting the spray duration level and spray intensity level to ensure that the spray parameters maintain a stable response as the working conditions change; combining the corrected spray duration level, spray intensity level, and corresponding spray segment identifier and spray segment range to generate a pre-executed spray control command, and adding a command sequence number to each pre-executed spray control command to reflect its position in the spray scheduling priority order.

[0014] As a preferred embodiment of the present invention, the modification of the spray duration level and spray intensity level includes: for each operational spray segment in the list of spray segments to be controlled, obtaining the change in coal mining machine operating speed or tunneling progress within the current control cycle, and comparing it with the corresponding change in the previous control cycle to determine the direction of change in the operational condition; when it is determined that the operational condition is changing in an accelerating direction, while keeping the spray segment range unchanged, increasing the spray duration of the operational spray segment by a fixed adjustment step based on the previous control cycle, or increasing the spray intensity level by an adjacent level; when it is determined that the operational condition is changing in a decelerating direction, while keeping the spray segment range unchanged, decreasing the spray duration of the operational spray segment by a fixed adjustment step based on the previous control cycle, or decreasing the spray intensity level by an adjacent level; after completing the adjustment of the spray duration or spray intensity level, comparing the adjustment result with the current dust concentration state of the operational spray segment, and keeping the current adjustment result from being added again if the dust concentration does not show a decreasing trend.

[0015] As a preferred embodiment of the present invention, step S4 includes: for each pre-execution spray control command, receiving execution status information returned by the corresponding spray execution component, and binding the execution status information with the operation spray segment identifier and control cycle identifier corresponding to the pre-execution spray control command; based on the execution status information, jointly determining the water supply status, spray device availability status, and spray segment space occupancy status of the corresponding operation spray segment, and allowing entry into the formal spray control process when the determination result meets the spray conditions; when the corresponding operation spray segment meets the spray conditions, issuing a formal spray control command corresponding one-to-one with the pre-execution spray control command to the operation spray segment, and recording the spray start time and spray end time within the control cycle; after the spray ends, generating a spray execution result record based on the dust concentration change corresponding to the spray start time and spray end time, and writing the spray execution result record and control cycle identifier back to the segment spray efficiency record of the corresponding operation spray segment.

[0016] As a preferred embodiment of the present invention, the joint determination includes: based on the execution status information, confirming that the spray execution component of the corresponding operation spray segment is in an available state, and that the water supply status and control response status are both within the normal range; when any state is abnormal, determining that the spraying conditions are not met; if any of the following conditions are met, determining that spraying is necessary: ​​the dust concentration change trend recorded by the operation spray segment in the previous control cycle shows an upward trend; the dust concentration data collected from the end of the previous control cycle to the current decision time has not reached the preset control target range; comparing the execution status information with the spray execution results of the operation spray segment in the previous control cycle, determining whether the spray duration, spray intensity level, and spray response delay are in a continuous and stable state; when there are no sudden changes or abnormal fluctuations, determining that the operation spray segment meets the spray stability conditions; when all three determinations are met, determining that the corresponding operation spray segment meets the spraying conditions, and allowing entry into the formal spray control process.

[0017] The beneficial effects of this invention are as follows: By spatially segmenting the spray coverage area of ​​the downhole working face and integrating dust sensing, personnel detection, and spray execution, this invention achieves a shift from "overall extensive" to "segmented refined" spray control, effectively improving the targeting and controllability of dust control in complex downhole environments. Through continuous recording and correlation analysis of the spray duration and dust reduction effect of each spray segment, a spray scheduling priority is established, allowing spray resources to be preferentially allocated to areas with higher dust reduction efficiency and more urgent control needs, significantly improving overall dust reduction efficiency and reducing ineffective spraying. Based on a pre-execution control and execution status joint judgment mechanism, this invention comprehensively verifies equipment status, operating conditions, and dust change trends before formal spraying, avoiding blind spraying and false triggering under abnormal conditions, thus enhancing the safety and stability of system operation.

[0018] Meanwhile, by writing back the spray execution results in a closed loop and dynamically updating the priority, the spray strategy can be adaptively evolved, taking into account the dust reduction effect, water resource utilization efficiency and the continuity of downhole operations, which has significant engineering application value. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0020] Figure 1 This is a flowchart illustrating an adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing, as shown in this invention.

[0021] Figure 2 This is a logical schematic diagram of an adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing, as shown in this invention. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort should fall within the scope of protection of this invention.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] According to an embodiment of the present invention, in combination Figure 1 and Figure 2 The flowchart shown illustrates an adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing, comprising:

[0026] S1: Based on the spatial structure of the downhole working face, the spray coverage area is divided into several working spray segments, and each working spray segment is associated with a corresponding dust concentration sensor, personnel detection sensor and spray execution component to form a segmented sensing association set.

[0027] In underground coal mine dust suppression spraying operations, the spraying effect is closely related to the spatial structure of the working face. Underground working faces typically exhibit irregular cross-sectional shapes, varying roadway widths during excavation, and dynamic adjustments to equipment layout, leading to significant spatial differences in dust generation locations, diffusion paths, and spray coverage effects. Without precise spatial division of the spraying area, targeted spraying scheduling becomes difficult, easily resulting in problems such as localized overspraying, ineffective spraying, or insufficient coverage of key dust-generating areas.

[0028] In existing technologies, coarse-grained area division based on roadway mileage or equipment location is often used, typically dividing the working face into segments only according to fixed distances or manual experience. This method ignores the actual effective coverage capacity of the spray nozzles and the three-dimensional characteristics of the roadway space, resulting in a mismatch between the spatial division results and the actual spray range, thus affecting the accuracy and stability of subsequent spray control. To address these issues, this invention maps irregular downhole spaces into regularized axial segments and reconstructs the three-dimensional space by combining the coverage capacity of the spray nozzles, thereby forming a basic spatial unit that can be directly used for spray control and scheduling. Specifically:

[0029] S1.1: Along the center direction of the underground roadway, the underground working face is linearly projected according to the roadway axis to obtain the projection axis. The projection axis is then equidistantly segmented according to the maximum effective coverage length of the spray nozzle to form several continuous axial spatial segments.

[0030] Specifically, projection is not simply the extraction of geometric center lines. Instead, it is based on tunnel structure data or construction design data, and selects an axis that can reflect the main extension direction of the working face as a projection reference, thereby mapping the complex three-dimensional working space onto a continuous projection axis.

[0031] After obtaining the projection axis, the maximum effective coverage length of the spray nozzle is used as the axial division basis. The projection axis is then equidistantly segmented to form several spatial segments that are connected end-to-end along the axial direction. The length of each axial spatial segment does not exceed the effective distance that a single spray nozzle can stably cover under ideal spray conditions, thus ensuring that any position within the segment is within the spray's effective range.

[0032] In this way, the originally complex and difficult-to-quantify downhole working face is transformed into a set of regular spatial segments arranged continuously in the axial direction, providing a unified spatial benchmark for the subsequent construction of spray space.

[0033] S1.2: Taking each axial spatial segment as the center, extend laterally to both sides of the roadway according to the actual atomization coverage width of the spray nozzle to form a three-dimensional spray action space, and use the three-dimensional spray action space as a candidate spray segment.

[0034] It should be noted that the above-mentioned extended width is not the result of theoretical injection angle calculation, but is determined based on the actual coverage width when the spray nozzle forms a stable fog field in the downhole environment, thus ensuring the engineering feasibility of the extended range.

[0035] Building upon the lateral expansion, the vertical range of the spray field is further defined by incorporating the tunnel cross-sectional height, resulting in a complete three-dimensional spray action space enclosed by the axial section, the lateral expansion range, and the vertical coverage height. This three-dimensional space characterizes the actual spatial range within which the spray nozzle can effectively act on dust at that location.

[0036] As can be seen, by constructing a three-dimensional spray action space, this invention avoids simplifying the spray action into a two-dimensional or linear region, enabling the spray segmentation to truly reflect the actual distribution of the spray mist field in the downhole space.

[0037] S1.3: Based on the installation position and spray direction of the spray nozzles, the spatial overlap between adjacent candidate spray segments is assigned to the candidate spray segment with a larger coverage ratio of the spray path, thereby eliminating spatial overlap between spray segments. This assignment method does not rely on manually set rules, but is based on the actual proportion of the spray path in space, ensuring that each spatial location belongs to only one spray segment and eliminating ambiguity in spatial control.

[0038] Through the above spatial attribution processing, the present invention ensures the spatial exclusivity of each spray segment, so that subsequent spray control commands can be clearly applied to a unique spatial unit, avoiding control overlap and resource waste.

[0039] After spatial assignment is completed, each spray segment is associated with the dust concentration sensor, personnel detection sensor and spray execution device arranged inside, and a unique segment identifier is generated for each spray segment. The spray segment and segment identifier serve as the basic spatial unit for subsequent spray control and scheduling.

[0040] S2: Within each spray segment, continuously record the changes in dust concentration during spraying, and associate the spraying duration with the corresponding dust reduction effect to form a segmented spraying efficiency record; based on the segmented spraying efficiency record, establish a spraying scheduling priority order for each spray segment.

[0041] S2.1: Within each of the aforementioned spraying segments, the dust concentration values ​​before spraying begins, during spraying, and after spraying ends are continuously collected, using the sampling period of the dust concentration sensor as the time reference, to form a dust concentration change sequence for the aforementioned spraying segment.

[0042] This change sequence not only includes data during the spraying process, but also preserves the background concentration state before spraying and the recovery trend after spraying.

[0043] It should be noted that after the spraying ends, a fixed settling waiting time is allowed before the dust concentration of the corresponding spray segment is collected. This settling waiting time is used to eliminate the influence of spray airflow disturbance on the instantaneous readings of the dust sensor. The settling waiting time should be consistent throughout the system and can be set as a fixed percentage within a control cycle, for example, 10% to 30% of the control cycle. The purpose is to improve the reliability of the dust concentration comparison before and after spraying and to avoid misjudgments caused by incomplete water mist diffusion.

[0044] The dust concentration change sequence formed by the above method can fully reflect the influence of spraying on the dust state within the spraying segment of the operation.

[0045] S2.2: For the dust concentration change sequence, determine the effective spraying period between the start time and the end time of spraying, calculate the difference in dust concentration within the effective spraying period, and bind the difference to the effective spraying period to form a single spraying effect record.

[0046] S2.3: Within the same spraying segment, the records of multiple single spraying effects are accumulated and organized in chronological order to form the segmented spraying efficiency record of the spraying segment.

[0047] The segmented spray efficiency record contains a set of relationships between spray duration and dust reduction rate, which is used to reflect the actual dust reduction performance of the spray segment under different spray conditions.

[0048] S2.4: Based on the segment spray efficiency records corresponding to each operation spray segment, compare and rank the dust reduction rate of different operation spray segments under the same spray duration conditions, and generate a spray scheduling priority order according to the comparison and ranking results.

[0049] The condition of the same spray duration can be expressed as follows: taking control period k-1 and control period k as comparison objects; if, within the two control periods, the spray duration parameter values ​​of the corresponding spray segments are exactly the same; and this parameter is not triggered for correction within control period k; then the current control period is determined to be under the "same spray duration condition". Here, k is a constant.

[0050] S3: Based on the spray scheduling priority order and the current dust concentration status of the operation spray segment, generate pre-execution spray control instructions for each operation spray segment, and limit the spray segment range, spray duration and spray intensity level.

[0051] It should be noted that in actual coal mine operations, changes in the operating speed of the coal mining machine or the progress of tunneling directly affect the dust generation rate and spatial diffusion characteristics. If the spray control parameters remain fixed or rely solely on static rules, problems such as spray response lag or a mismatch between spray intensity and actual dust load are likely to occur.

[0052] In existing technologies, some solutions adjust spray parameters by preset operating condition levels or by looking up tables, but these rely on manually set boundaries and are difficult to adapt to continuously changing operating conditions. This invention proposes a gradual correction mechanism for spray parameters based on control cycle comparison, enabling the spray duration and spray intensity level to exhibit a stable and controllable response to changes in operating conditions. Specifically:

[0053] S3.1: According to the spray scheduling priority order, read the real-time data collected by the associated dust concentration sensor for each operation spray segment in sequence as the current dust concentration status, and simultaneously obtain the coal mining machine running speed status or tunneling progress status corresponding to the operation spray segment to form a list of spray segments to be controlled.

[0054] S3.2: For each spray segment in the list of spray segments to be controlled, the spray duration level and spray intensity level are corrected to ensure that the spray parameters maintain a stable response as the operating conditions change.

[0055] It should be noted that in downhole operating environments, changes in operating conditions are typically continuous rather than abrupt. If spray parameters change drastically with varying operating conditions, it can easily lead to excessive or insufficient spraying, while also increasing the stability risks associated with frequent equipment adjustments. Therefore, this invention does not employ a one-time mapping or graded jump method, but instead uses the judgment of the direction of operating condition changes in adjacent control cycles to make small, controllable, and gradual corrections to the spray parameters.

[0056] S3.2.1: For each spray segment in the list of spray segments to be controlled, obtain the change in the coal mining machine's operating speed or the change in tunneling progress within the current control cycle, and compare it with the corresponding change in the previous control cycle to determine the direction of change in the operating condition. This judgment does not involve absolute thresholds, but only reflects the trend direction of the operating condition change.

[0057] S3.2.2: When it is determined that the working condition is changing rapidly, while keeping the spray segment range unchanged, the spray duration of the working spray segment is increased by a fixed adjustment step based on the previous control cycle, or the spray intensity level is increased by an adjacent level.

[0058] The fixed adjustment step size is based on the spray duration of the corresponding spray segment in the previous control cycle, and is increased or decreased once according to a preset ratio. For example, it is set to an increment between 5% and 15% of the previous spray duration, and only one step size adjustment is allowed per control cycle. For example, if the spray duration in the previous cycle was 40 seconds, the fixed adjustment step size can be set to 4 seconds; the adjusted spray duration will be 44 seconds or 36 seconds.

[0059] The fixed adjustment step size is the smallest adjustment unit that remains unchanged during system operation. It is used to limit the range of changes in spray parameters within a single control cycle, thereby preventing instability caused by excessively fast spray response.

[0060] S3.2.3: When it is determined that the working condition is changing in a slowing direction, while keeping the spray segment range unchanged, the spray duration of the working spray segment is reduced by a fixed adjustment step based on the previous control cycle, or the spray intensity level is reduced by an adjacent level.

[0061] S3.2.4: After adjusting the spray duration or spray intensity level, compare the adjustment result with the current dust concentration of the spray segment, and keep the current adjustment result from being added again if the dust concentration does not show a downward trend.

[0062] It should be noted that "no downward trend" means that after the settling waiting period ends after the spraying, the dust concentration value collected in the current control cycle is compared with the dust concentration value obtained in the previous control cycle under the same collection time conditions. If the difference between the two does not show a continuous decrease, or the decrease is less than the set change tolerance ratio, it is determined that no downward trend has occurred.

[0063] The comparison time points were all sampling points after the "end of spraying + settling waiting time".

[0064] The tolerance ratio for changes can be set to 3% to 10% of the dust concentration value of the previous cycle.

[0065] If it is determined that the dust concentration has not shown a downward trend, the current spray duration and spray intensity level shall be maintained unchanged, and no further adjustments shall be made in subsequent control cycles until a clear downward trend in the dust concentration is detected.

[0066] S3.3: Combine the revised spray duration level, spray intensity level, and corresponding spray segment identifier and spray segment range to generate pre-executed spray control instructions. Each pre-executed spray control instruction is assigned an instruction sequence number to reflect its position in the spray scheduling priority order. These pre-executed spray control instructions serve only as candidate control schemes and do not directly trigger spray actions.

[0067] Finally, the generated pre-execution spray control commands are queued according to the order of their instruction numbers.

[0068] S4: After the spray execution component returns the execution status information corresponding to the pre-executed spray control command, it determines whether the corresponding operation spray segment meets the spray conditions based on the execution status information, and issues a formal spray control command when the conditions are met. At the same time, the spray execution result is written back to the segment spray efficiency record for updating the subsequent spray scheduling priority.

[0069] S4.1: For each pre-execution spray control command, receive the execution status information returned by the corresponding spray execution component, and bind the execution status information with the operation spray segment identifier and control cycle identifier corresponding to the pre-execution spray control command, so that each execution status information can be clearly traced to the specific spatial segment and time cycle.

[0070] S4.2: Based on the execution status information, jointly determine the water supply status, spray device availability status, and spray segment space occupancy status of the corresponding operation spray segment. When the determination result meets the spray conditions, the formal spray control process is allowed to begin.

[0071] S4.2.1: Based on the execution status information, confirm that the spray execution component of the corresponding operation spray segment is in an available state, and that the water supply status and control response status are both within the normal range; if any status is abnormal, determine that the spraying conditions are not met.

[0072] The aim is to eliminate equipment malfunctions before spray control, thereby avoiding the issuance of invalid commands and the waste of system resources.

[0073] S4.2.2: Based on the dust concentration change trend recorded by the operation spray segment in the previous control cycle, and the dust concentration data collected from the end of the previous control cycle to the current decision time, determine whether the current state requires spray intervention (such as dust concentration rising or not reaching the preset control target range); if any of the above conditions are met, it is determined that spraying is necessary.

[0074] The goal is to make spray decisions more closely aligned with the actual evolution of dust by judging trends rather than instantaneous values.

[0075] S4.2.3: Compare the execution status information with the spray execution results of the spray segment in the previous control cycle to determine whether the spray duration, spray intensity level, and spray response delay are in a continuous and stable state. When there are no sudden changes or abnormal fluctuations, the spray segment is determined to meet the spray stability condition. The purpose is to prevent unconstrained accumulation or violent oscillation of spray parameters in continuous cycles, thereby improving the system's operational stability. The determination of being in a continuous and stable state includes: if the spray duration in the current control cycle does not exceed a preset duration threshold (which can be set to 1.5 to 2.5 times the fixed adjustment step size) compared to the previous control cycle, and the spray intensity level has not changed, and the change in spray response delay does not exceed a preset delay tolerance (which can be set to an empirical value based on the average response time of system communication and actuators, for example, 1 to 3 seconds).

[0076] When all three conditions are met, the corresponding spray segment is determined to meet the spraying conditions, and the formal spray control process is allowed to begin.

[0077] S4.3: When it is determined that the corresponding operation spray segment meets the spraying conditions, a formal spray control command corresponding to the pre-executed spray control command is issued to the operation spray segment, and the spray start time and spray end time within the control cycle are recorded.

[0078] The formal spray control command inherits the spray segment range, spray duration, and spray intensity level defined by the pre-executed spray control command.

[0079] S4.4: After the spraying is completed, based on the changes in dust concentration corresponding to the start and end times of the spraying, a spraying execution result record is generated (the record reflects the actual impact of the spraying on the dust concentration), and the spraying execution result record and the control cycle identifier are written back to the segmented spraying efficiency record of the corresponding operation spraying segment.

[0080] After writing back the spray execution results, the spray duration and spray intensity level within the control cycle are stored as parameters of the previous control cycle for gradual adjustment and determination of spray parameters in the next control cycle.

[0081] The method also includes one or more processors and memory.

[0082] The memory is used to store operable instructions that, when executed by the one or more processors, cause the one or more processors to perform operations, including the flow of a coal mine spray dust suppression adaptive control method based on multi-source intelligent sensing according to the foregoing embodiments, especially... Figure 1 The flowchart of the method is shown.

[0083] Other aspects disclosed in the embodiments of the present invention also propose a computer-readable medium for storing software including instructions executable by one or more computers, which, upon execution, cause the one or more computers to perform operations including the flow of a coal mine spray dust suppression adaptive control method based on multi-source intelligent sensing as described in the foregoing embodiments, particularly... Figure 1 The flowchart of the method is shown.

[0084] It should be recognized that embodiments of the present invention may be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable storage medium.

[0085] The method can be implemented using standard programming techniques, including a non-transitory computer-readable storage medium configured with a computer program in the computer program, wherein the storage medium is configured such that the computer operates in a specific and predefined manner.

[0086] Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system; however, if required, the program can be implemented in assembly or machine language.

[0087] In any case, the language can be either compiled or interpreted.

[0088] Furthermore, for this purpose, the program can run on programmed application-specific integrated circuits.

[0089] The processes described herein (or variations and / or combinations thereof) can be executed under the control of one or more computer systems configured with executable instructions, and can be implemented by hardware or a combination thereof as code (e.g., executable instructions, one or more computer programs, or one or more applications) that commonly executes on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.

[0090] Furthermore, the method can be implemented in any suitable computing platform, including but not limited to personal computers, minicomputers, mainframes, workstations, networked or distributed computing environments, standalone or integrated computer platforms, or in communication with charged particle tools or other imaging devices.

[0091] Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether portable or integrated into a computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the processes described herein.

[0092] Furthermore, machine-readable code, or parts thereof, can be transmitted via wired or wireless networks.

[0093] When such media includes instructions or programs that combine with a microprocessor or other data processor to implement the steps described above, the invention described herein includes these and other different types of non-transitory computer-readable storage media.

[0094] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing, characterized in that: include: S1: Based on the spatial structure of the downhole working face, the spray coverage area is divided into several working spray segments, and each working spray segment is associated with a corresponding dust concentration sensor, personnel detection sensor and spray execution component to form a segmented sensing association set; S2: Within each spraying segment, continuously record the changes in dust concentration during the spraying process, and associate the spraying duration with the corresponding dust reduction effect to form a segmented spraying efficiency record; based on the segmented spraying efficiency record, establish a spraying scheduling priority order for each spraying segment. S3: Based on the spray scheduling priority order and the current dust concentration status of the operation spray segment, generate pre-executed spray control instructions for each operation spray segment, and limit the spray segment range, spray duration and spray intensity level; S4: After the spray execution component returns the execution status information corresponding to the pre-executed spray control command, it determines whether the corresponding operation spray segment meets the spray conditions based on the execution status information, and issues a formal spray control command when the conditions are met. At the same time, the spray execution result is written back to the segment spray efficiency record for updating the subsequent spray scheduling priority. The formation of the segmented spray efficiency record includes: within each of the operation spray segments, using the sampling period of the dust concentration sensor as the time reference, continuously collecting dust concentration values ​​before spraying, during spraying, and after spraying, forming a dust concentration change sequence for the operation spray segment; for the dust concentration change sequence, determining the effective spraying period between the spraying start time and the spraying end time, calculating the difference in dust concentration within the effective spraying period, and binding the difference to the effective spraying period to form a single spray effect record; within the same operation spray segment, accumulating and organizing multiple single spray effect records in chronological order to form a segmented spray efficiency record for the operation spray segment; The establishment of a spray scheduling priority order for each operation spray segment includes: comparing and ranking the dust reduction magnitude of different operation spray segments under the same spray duration condition based on the segment spray efficiency record corresponding to each operation spray segment, and generating a spray scheduling priority order according to the comparison and ranking results; The generation of the pre-executed spray control command includes: reading real-time data collected by the associated dust concentration sensor for each spray segment according to the spray scheduling priority order, using this data as the current dust concentration status, and simultaneously acquiring the coal mining machine operating speed status or tunneling progress status corresponding to the spray segment to form a list of spray segments to be controlled; for each spray segment in the list of spray segments to be controlled, correcting the spray duration level and spray intensity level to ensure that the spray parameters maintain a stable response as the working conditions change; combining the corrected spray duration level, spray intensity level, and corresponding spray segment identifier and spray segment range to generate a pre-executed spray control command, and adding a command sequence number to each pre-executed spray control command to reflect its position in the spray scheduling priority order; The correction of the spray duration and intensity levels includes: for each operational spray segment in the list of spray segments to be controlled, obtaining the change in the coal mining machine's operating speed or the change in tunneling progress within the current control cycle, and comparing it with the corresponding change in the previous control cycle to determine the direction of change in the operational condition; when it is determined that the operational condition is changing in an accelerating direction, while keeping the spray segment range unchanged, increasing the spray duration of the operational spray segment by a fixed adjustment step based on the previous control cycle, or increasing the spray intensity level by an adjacent level; when it is determined that the operational condition is changing in a decelerating direction, while keeping the spray segment range unchanged, decreasing the spray duration of the operational spray segment by a fixed adjustment step based on the previous control cycle, or decreasing the spray intensity level by an adjacent level; after completing the adjustment of the spray duration or spray intensity level, comparing the adjustment result with the current dust concentration state of the operational spray segment, and keeping the current adjustment result from being added again if the dust concentration does not show a decreasing trend.

2. The adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing as described in claim 1, characterized in that: The division of the spraying operation into segments includes: Along the center direction of the underground roadway, the underground working face is linearly projected according to the roadway axis to obtain the projection axis. The projection axis is then equidistantly segmented according to the maximum effective coverage length of the spray nozzle to form several continuous axial spatial segments. Taking each axial spatial segment as the center, the spray nozzles are laterally expanded to both sides of the roadway according to their actual atomization coverage width, forming a three-dimensional spray action space, and the three-dimensional spray action space is used as a candidate spray segment. Based on the installation location and spray direction of the spray nozzles, the spatial overlap area between adjacent candidate spray segments is assigned to the candidate spray segment with a larger coverage ratio of the spray path.

3. The adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing as described in claim 2, characterized in that: S4 includes: For each pre-execution spray control command, the execution status information returned by the corresponding spray execution component is received, and the execution status information is bound to the operation spray segment identifier and control cycle identifier corresponding to the pre-execution spray control command; Based on the execution status information, the water supply status, spray device availability status, and spray segment space occupancy status of the corresponding spray segment are jointly determined. When the determination result meets the spraying conditions, the formal spray control process is allowed to begin. When it is determined that the corresponding spray segment meets the spraying conditions, a formal spraying control command corresponding to the pre-executed spraying control command is issued to the spray segment, and the spraying start time and spraying end time within the control cycle are recorded. After the spraying is completed, a spraying execution result record is generated based on the dust concentration changes corresponding to the start and end times of the spraying. The spraying execution result record and the control cycle identifier are then written back to the segmented spraying efficiency record of the corresponding spraying segment.

4. The adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing as described in claim 3, characterized in that: The joint determination includes: Based on the execution status information, it is confirmed that the spray execution component of the corresponding operation spray segment is in an available state, and the water supply status and control response status are both within the normal range; when either status is abnormal, it is determined that the spraying conditions are not met. If any of the following conditions are met, spraying is deemed necessary: ​​the dust concentration change trend recorded in the previous control cycle of the operation spray segment is upward; the dust concentration data collected from the end of the previous control cycle to the current decision time has not reached the preset control target range. The execution status information is compared with the spray execution results of the operation spray segment in the previous control cycle to determine whether the spray duration, spray intensity level and spray response delay are in a continuous and stable state; when there are no sudden changes or abnormal fluctuations, the operation spray segment is determined to meet the spray stability condition. When all three conditions are met, the corresponding spray segment is determined to meet the spraying conditions, and the formal spray control process is allowed to begin.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing as described in any one of claims 1 to 4.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the adaptive control method for coal mine spray dust suppression based on multi-source intelligent sensing as described in any one of claims 1 to 4.

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