Load self-adaptive cooperative control method for coal crushing and screening equipment

Abstract

The invention discloses a coal crushing and screening equipment load adaptive cooperative control method, and relates to the field of coal processing, and the method comprises the steps: forming a coal database based on historical crushing data; the target coal type, the actual crushing coefficient and the actual quality are obtained; identifying to obtain a first crushing coefficient of the first sample state and a second crushing coefficient of the second sample state; constructing a crushing action function based on the test data; generating target power during actual crushing; and verifying the target power, and when the target power has the risk of insufficient crushing, correcting the target power of coal crushing to obtain a target corrected power. According to the method, the coal database is formed, the coal is identified, the crushing action function is constructed, the target power during actual crushing is generated, the target power is verified, the power during coal crushing is specifically set, and the power is corrected, so that the crushed coal particles can meet the production requirements.

Description

Technical Field

[0001] This invention relates to the field of coal processing, specifically to a method for adaptive and coordinated load control of coal crushing and screening equipment. Background Technology

[0002] Coal crushing and screening refers to the process of processing raw coal into finished coal of different particle sizes using crushing machinery and screening equipment to meet the specific particle size requirements of coking plants, power plants, and coal chemical plants. Screening is mainly accomplished through the combination of vibration and screens, and its load variation does not produce significant changes. The main load control is concentrated in the coal crushing process. Industrial processing has preset time limits for crushing. Due to the different hardness of different types of coal and the different initial crushing conditions, the time required to reach the required degree of crushing also varies. Therefore, targeted power control is required, but current technology lacks specific solutions for this. Summary of the Invention

[0003] To solve the above-mentioned technical problems, a load adaptive collaborative control method for coal crushing and screening equipment is provided. This technical solution solves the problems mentioned in the background technology.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A load adaptive and coordinated control method for coal crushing and screening equipment includes: Based on historical crushing data, a coal database is formed. The coal database includes a first sample state at the start of crushing of at least one type of coal, a second sample state at the end of crushing of at least one type of coal, a sample time taken for a coal type to be crushed from the first sample state to the second sample state, and a sample power used for crushing a coal type. The mass of the coal types crushed in the coal database is a reference mass, which is the upper limit of the amount of coal entering the crusher in a single operation. A reference surface is formed in the crusher, and a reference line segment corresponding to the reference surface is formed in the crusher; The coal in the crusher is obtained, the coal is identified, and the target coal type, actual crushing coefficient and actual mass are obtained. The first fragmentation coefficient of the first sample state and the second fragmentation coefficient of the second sample state are identified; The sample power of the target coal type is obtained as the target sample power. The first sample state of the target coal type is used as the first target sample image, and the second sample state of the target coal type is used as the second target sample image. Construct a crushing action function based on test data; Generate the target power during actual crushing; The target power is verified. If there is a risk of insufficient crushing at the target power, the target power for coal crushing is corrected to obtain the target corrected power. The coal in the crusher is then crushed according to the target corrected power.

[0005] Preferably, forming the reference surface of the crusher, and forming a reference line segment corresponding to the reference surface in the crusher, includes the following steps: Obtain the center of the crusher, and take any vertical plane passing through the center of the crusher as the reference plane of the crusher; The line segment intersecting the reference plane of the crusher and the crusher is taken as the reference line segment.

[0006] Preferably, the process of identifying the coal and obtaining the target coal type, actual crushing coefficient, and actual quality includes the following steps: The actual length of the baseline segment is used as the actual length of the crusher. The top view and side view images of the target coal type are obtained in the crusher. The length of the baseline segment in the top view image of the target coal type is used as the first image length, and the length of the baseline segment in the side view image of the target coal type is used as the second image length. Infrared spectral sample images of different coal types are acquired in advance, and then the actual infrared spectral images of the coal in the crusher are obtained. If the actual infrared spectral image matches the infrared spectral sample image, then the coal type corresponding to the infrared spectral sample image will be used as the target coal type. The coal in the crusher is evenly divided into at least one local block, and the movement trajectory of the local block is obtained within a preset time after the coal crushing starts. The preset time is set based on experience. Merge adjacent local blocks with the same motion trajectory to obtain at least one coal synchronization block; Obtain the image area of ​​the coal synchronization block in the top view image, and obtain the image thickness of the coal synchronization block in the side view image; The actual mass of the coal synchronous block is calculated using the proportional formula. The actual crushing coefficient of the target coal type is obtained by taking the average of the actual quality of at least one coal synchronous block. The actual mass of the target coal type is obtained by summing the actual mass of the coal synchronization blocks. The proportion formula is as follows: , Where a is the actual mass of the coal synchronization block, S is the image area of ​​the coal synchronization block, b is the actual length of the crusher, c is the first image length, H is the image thickness of the coal synchronization block, e is the second image length, and f is the density of the target coal type.

[0007] Preferably, the identification of the first fragmentation coefficient of the first sample state and the second fragmentation coefficient of the second sample state includes the following steps: The number of coal fragments in the first sample state is counted and used as the first value. The benchmark mass is divided by the first value to obtain the first breakage coefficient. In the second sample state, at least one coal particle is randomly selected, and the coal particle is weighed to obtain its mass. The average mass of the coal particles is then taken to obtain the second breakage coefficient.

[0008] Preferably, constructing the crushing action function based on test data includes the following steps: Randomly select one of at least one coal type as the characteristic coal type; Obtain the range of values ​​for the actual crushing coefficient, and take the minimum value of the actual crushing coefficient range as the crushing reference value; The range of actual breakage coefficient values ​​is divided into equal intervals to obtain at least one identification point; At least one crushing test condition is established, wherein the initial crushing coefficient is equal to the crushing reference value, and the crushing coefficient after crushing is equal to the value at the identification point. Under crushing test conditions, the time taken for a reference mass of characteristic coal type to be crushed at a reference power is taken as the test time. By pairing and fitting the identification points with the test time, the crushing action function is obtained, and the characteristic coal type is paired with the crushing action function.

[0009] Preferably, generating the target power during actual crushing includes the following steps: Get the total amount of coal waiting to be crushed, and get the maximum total time limit for coal crushing; The maximum allowable mass of a single particle after coal is crushed in the crusher is taken as the target crushing coefficient. The actual mass of the target coal type is divided by the total amount of coal waiting to be crushed to obtain the mass percentage. The mass percentage is then multiplied by the upper limit of the total time to obtain the allowable crushing time. Substitute the first crushing coefficient of the target coal type into the crushing action function to obtain the first time; substitute the second crushing coefficient of the target coal type into the crushing action function to obtain the second time; and subtract the first time from the second time to obtain the third time. The conversion factor is obtained by dividing the sample time taken to crush the target coal type from the first sample state to the second sample state by the third time. Substitute the actual crushing coefficient of the target coal type into the crushing action function to obtain the initial time; substitute the target crushing coefficient of the target coal type into the crushing action function to obtain the final time; and subtract the initial time from the final time to obtain the characteristic time. The actual quality of the target coal type is divided by the reference quality to obtain the quality coefficient. The characteristic time, conversion factor, and quality coefficient are multiplied together to obtain the reference time. The power coefficient is obtained by dividing the allowable crushing time by the reference time. The target power is obtained by multiplying the power coefficient by the reference power.

[0010] Preferably, the verification of the target power includes the following steps: Formation coefficients determine critical values; The real-time number of particles crushed using the target power is obtained, and the real-time crushing coefficient is obtained by dividing the actual mass of the target coal type by the real-time number of particles. The current time is used as the real-time time. The crushing change rate is obtained by subtracting the actual crushing coefficient from the real-time crushing coefficient and then dividing by the real-time time. The estimated crushing coefficient is obtained by multiplying the crushing change rate by the allowable crushing time and then adding it to the actual crushing coefficient. The crushing coefficient is superimposed with the critical value of the coefficient judgment to obtain the crushing judgment value; If the estimated crushing coefficient is greater than the crushing judgment value, there is a risk of insufficient crushing at the target power; otherwise, there is no risk of insufficient crushing at the target power.

[0011] Preferably, the step of correcting the target power for coal crushing to obtain the target corrected power includes the following steps: The target crushing coefficient is subtracted from the real-time crushing coefficient to obtain the differential crushing coefficient, and the allowable crushing time is subtracted from the real-time time to obtain the remaining time. Dividing the differential crushing coefficient by the remaining time yields the crushing correction rate, and dividing the crushing correction rate by the crushing rate yields the power correction ratio. The target power is multiplied by the power correction ratio to obtain the target corrected power.

[0012] Preferably, the formation coefficient determination threshold includes the following steps: Obtain at least one historical qualified crushing process, obtain the historical crushing coefficient at the end of the historical qualified crushing process, and obtain the crushing target coefficient of the historical qualified crushing process; The error term is obtained by subtracting the historical crushing coefficient from the crushing target coefficient and taking the absolute value. The maximum value of at least one error term is used as the critical value for coefficient judgment.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: By establishing a coal database, identifying coal types, constructing a crushing action function, generating a target power for actual crushing, and verifying the target power, the power for coal crushing can be specifically set according to the type of coal and the degree of crushing of the coal entering the crusher. This ensures that the crushing task is completed within the production time limit. At the same time, in order to further ensure that the crushing meets the requirements, a second verification is performed and the power is corrected to ensure that the crushed coal particles meet the production requirements. Attached Figure Description

[0014] Figure 1 This is a schematic flowchart of the load adaptive collaborative control method for coal crushing and screening equipment of the present invention. Figure 2 This is a schematic diagram illustrating the process of forming a reference plane in a crusher, corresponding to the reference plane, in the crusher according to the present invention. Figure 3 This invention provides a flowchart for identifying coal and obtaining the target coal type, actual crushing coefficient, and actual quality. Figure 4 This is a schematic diagram of the process of identifying the first fragmentation coefficient of the first sample state and the second fragmentation coefficient of the second sample state according to the present invention; Figure 5 This is a schematic diagram of the process for constructing a crushing action function based on test data according to the present invention; Figure 6 This is a schematic diagram of the process for generating the target power during actual crushing according to the present invention; Figure 7 This is a schematic diagram of the process for verifying the target power according to the present invention; Figure 8 This is a schematic diagram illustrating the process of correcting the target power for coal crushing according to the present invention to obtain the target corrected power. Figure 9 This is a schematic diagram of the process for determining the critical value of the formation coefficient according to the present invention. Detailed Implementation

[0015] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0016] Reference Figure 1 As shown, a load adaptive collaborative control method for coal crushing and screening equipment includes: Based on historical crushing data, a coal database is formed. The coal database includes a first sample state at the start of crushing of at least one type of coal, a second sample state at the end of crushing of at least one type of coal, a sample time taken for a coal type to be crushed from the first sample state to the second sample state, and a sample power used for crushing a coal type. The mass of the coal types crushed in the coal database is a reference mass, which is the upper limit of the amount of coal entering the crusher in a single operation. A reference surface is formed in the crusher, and a reference line segment corresponding to the reference surface is formed in the crusher; The coal in the crusher is obtained, the coal is identified, and the target coal type, actual crushing coefficient and actual mass are obtained. The first fragmentation coefficient of the first sample state and the second fragmentation coefficient of the second sample state are identified; The sample power of the target coal type is obtained as the target sample power. The first sample state of the target coal type is used as the first target sample image, and the second sample state of the target coal type is used as the second target sample image. Construct a crushing action function based on test data; Generate the target power during actual crushing; The target power is verified. If there is a risk of insufficient crushing at the target power, the target power for coal crushing is corrected to obtain the target corrected power. The coal in the crusher is then crushed according to the target corrected power.

[0017] In this scheme, the power is controlled during coal crushing and screening. It is easy to know that screening is accomplished through the combination of vibration and screen mesh, and the action of gravity. The power adjustment is not significant, so the overall control does not focus on this aspect. However, for crushing, the hardness of the coal and the initial degree of crushing will result in different times for crushing to the same degree. Since industrial production has time constraints, the power needs to be adjusted to avoid exceeding the time limit. In addition, since different uses of coal have different crushing requirements, the power also needs to be adjusted according to the final crushing requirements. At the same time, since the whole process is predictive, the results are not entirely reliable. Therefore, verification is required, and timely adjustments are made based on the verification results. To this end, a series of steps are set up to handle this. The degree of fragmentation here is characterized by the average mass of a single coal block. This setting is reasonable because when the average mass of a coal block is larger, it means that there are fewer blocks and therefore a lower degree of fragmentation. Conversely, the degree of fragmentation is higher. In subsequent cases, different algorithms are used to calculate the degree of fragmentation. The choice of algorithm is adapted to different situations, mainly to facilitate the acquisition of the degree of fragmentation.

[0018] Reference Figure 2As shown, forming a reference plane for the crusher, and forming a reference line segment corresponding to the reference plane in the crusher includes the following steps: Obtain the center of the crusher, and take any vertical plane passing through the center of the crusher as the reference plane of the crusher; The line segment intersecting the reference plane of the crusher and the crusher is taken as the reference line segment.

[0019] The baseline segment is formed as a reference because image recognition is required later. However, the size of the baseline segment in the image is unknown. Therefore, by using the relationship between the size of the baseline segment in the image and the actual size, the actual size of the coal block in the image can be determined, and thus the mass of the coal block can be calculated.

[0020] Reference Figure 3 As shown, the process of identifying coal and obtaining the target coal type, actual crushing coefficient, and actual quality includes the following steps: The actual length of the baseline segment is used as the actual length of the crusher. The top view and side view images of the target coal type are obtained in the crusher. The length of the baseline segment in the top view image of the target coal type is used as the first image length, and the length of the baseline segment in the side view image of the target coal type is used as the second image length. Infrared spectral sample images of different coal types are acquired in advance, and then the actual infrared spectral images of the coal in the crusher are obtained. If the actual infrared spectral image matches the infrared spectral sample image, then the coal type corresponding to the infrared spectral sample image will be used as the target coal type. The coal in the crusher is evenly divided into at least one local block, and the movement trajectory of the local block is obtained within a preset time after the coal crushing starts. The preset time is set based on experience. Merge adjacent local blocks with the same motion trajectory to obtain at least one coal synchronization block; Obtain the image area of ​​the coal synchronization block in the top view image, and obtain the image thickness of the coal synchronization block in the side view image; The actual mass of the coal synchronous block is calculated using the proportional formula. The actual crushing coefficient of the target coal type is obtained by taking the average of the actual quality of at least one coal synchronous block. The actual mass of the target coal type is obtained by summing the actual mass of the coal synchronization blocks. The proportion formula is as follows: , Where a is the actual mass of the coal synchronization block, S is the image area of ​​the coal synchronization block, b is the actual length of the crusher, c is the first image length, H is the image thickness of the coal synchronization block, e is the second image length, and f is the density of the target coal type.

[0021] Different types of coal have different hardness, requiring different treatment during crushing. However, the color difference between coals is not significant, resulting in large errors when using image recognition. Therefore, infrared spectroscopy is needed for identification. Different types of coal have significantly different infrared spectra, which can accurately identify the target coal type. In addition, it is necessary to determine the actual crushing coefficient, i.e. the average mass of the coal synchronization block. For this purpose, it is necessary to determine the coal synchronization blocks connected as one unit. The basis for this is that the movement state of different positions of the coal synchronization blocks connected as one unit is consistent, while the movement state of the coal synchronization blocks that are not connected as one unit is inconsistent. Therefore, local blocks can be merged based on this to obtain at least one coal synchronization block. The proportional formula estimates the actual size of the coal synchronization block based on the image size, thereby calculating its approximate volume, and then obtains the actual mass of the coal synchronization block based on its density. It should be noted that there are two ways to calculate the average mass. The first way is to calculate the average of the actual mass of each coal synchronization block. The second way is to count the number of coal synchronization blocks and divide the total mass by the number of coal synchronization blocks. The second method will be used for calculation later, but they are essentially the same. In the first method, the sum of the actual masses of the coal synchronization blocks is the total mass, and the denominator when taking the average is the number of coal synchronization blocks.

[0022] Reference Figure 4 As shown, identifying the first fragmentation coefficient of the first sample state and the second fragmentation coefficient of the second sample state includes the following steps: The number of coal fragments in the first sample state is counted and used as the first value. The benchmark mass is divided by the first value to obtain the first breakage coefficient. In the second sample state, at least one coal particle is randomly selected, and the coal particle is weighed to obtain its mass. The average mass of the coal particles is then taken to obtain the second breakage coefficient.

[0023] The first sample state uses the first method for calculation. It is a sample, and the number of particles can be counted manually. Since it has not been crushed, the particles are large and the number of particles is small, making it easy to count. However, in actual crushing, since crushing is continuous, once the counting is stopped, the crushing speed will be greatly slowed down. Therefore, it can only be done through image recognition. Since the second sample state is the finished crushing state, its particle size is roughly similar. And since there are many crushed particles, counting them one by one would be a lot of work. Therefore, the second crushing coefficient is obtained by sampling and taking the average value. The second crushing coefficient is used to approximate the crushing situation of the second sample state.

[0024] Reference Figure 5 As shown, constructing the crushing action function based on test data includes the following steps: Randomly select one of at least one coal type as the characteristic coal type; Obtain the range of values ​​for the actual crushing coefficient, and take the minimum value of the actual crushing coefficient range as the crushing reference value; The range of actual breakage coefficient values ​​is divided into equal intervals to obtain at least one identification point; At least one crushing test condition is established, wherein the initial crushing coefficient is equal to the crushing reference value, and the crushing coefficient after crushing is equal to the value at the identification point. Under crushing test conditions, the time taken for a reference mass of characteristic coal type to be crushed at a reference power is taken as the test time. By pairing and fitting the identification points with the test time, the crushing action function is obtained, and the characteristic coal type is paired with the crushing action function.

[0025] When forming the crushing action function, only one type of coal is considered, so the amount of work required to form the crushing action function is relatively small. Subsequently, the result of the crushing action function is transformed through proportional relationships to obtain the target power for the target coal type.

[0026] Reference Figure 6 As shown, generating the target power during actual crushing includes the following steps: Get the total amount of coal waiting to be crushed, and get the maximum total time limit for coal crushing; The maximum allowable mass of a single particle after coal is crushed in the crusher is taken as the target crushing coefficient. The actual mass of the target coal type is divided by the total amount of coal waiting to be crushed to obtain the mass percentage. The mass percentage is then multiplied by the upper limit of the total time to obtain the allowable crushing time. Substitute the first crushing coefficient of the target coal type into the crushing action function to obtain the first time; substitute the second crushing coefficient of the target coal type into the crushing action function to obtain the second time; and subtract the first time from the second time to obtain the third time. The conversion factor is obtained by dividing the sample time taken to crush the target coal type from the first sample state to the second sample state by the third time. Substitute the actual crushing coefficient of the target coal type into the crushing action function to obtain the initial time; substitute the target crushing coefficient of the target coal type into the crushing action function to obtain the final time; and subtract the initial time from the final time to obtain the characteristic time. The actual quality of the target coal type is divided by the reference quality to obtain the quality coefficient. The characteristic time, conversion factor, and quality coefficient are multiplied together to obtain the reference time. The power coefficient is obtained by dividing the allowable crushing time by the reference time. The target power is obtained by multiplying the power coefficient by the reference power.

[0027] The first time is the time taken to pulverize a characteristic coal type with a crushing degree equal to the crushing reference value to the first crushing coefficient. The second time is the time taken to pulverize the same type of coal to the second crushing coefficient. The difference between the second and first times yields the third time, which is the time taken to pulverize the same type of coal to the second crushing coefficient. Since there is a hardness difference between the characteristic coal type and the target coal type, a conversion factor is used to characterize this hardness difference. The characteristic time calculated subsequently using the crushing action function corresponds to the characteristic coal type and requires conversion. The coefficient is converted into the target coal type. In addition, the mass needs to be considered during the conversion. The crushing action function is obtained under the condition of the baseline mass. Therefore, the time also needs to be transformed according to the different masses. Thus, the characteristic time, conversion coefficient and mass coefficient are multiplied to obtain the baseline time. The baseline time corresponds to the baseline power. If the baseline time is greater than the allowable crushing time, it means that the power is too small and needs to be increased. If the baseline time is less than the allowable crushing time, it means that the power is too large and will cause energy waste and needs to be reduced. Therefore, the baseline power is adjusted according to the ratio obtained by dividing the allowable crushing time by the baseline time to obtain the target power.

[0028] The allowable crushing time is allocated according to the mass of the target coal type in the crusher; the greater the mass, the more time is allocated from the total time limit.

[0029] Reference Figure 7 As shown, verifying the target power includes the following steps: Formation coefficients determine critical values; The real-time number of particles crushed using the target power is obtained, and the real-time crushing coefficient is obtained by dividing the actual mass of the target coal type by the real-time number of particles. The current time is used as the real-time time. The crushing change rate is obtained by subtracting the actual crushing coefficient from the real-time crushing coefficient and then dividing by the real-time time. The estimated crushing coefficient is obtained by multiplying the crushing change rate by the allowable crushing time and then adding it to the actual crushing coefficient. The crushing coefficient is superimposed with the critical value of the coefficient judgment to obtain the crushing judgment value; If the estimated crushing coefficient is greater than the crushing judgment value, there is a risk of insufficient crushing at the target power; otherwise, there is no risk of insufficient crushing at the target power.

[0030] The crushing change rate is negative here because the larger the crushing coefficient, the lower the degree of crushing. Based on the crushing change rate under the target power operation, it predicts the final crushing situation after the allowable crushing time, thereby determining whether the crushing degree meets the requirements. When the requirements are not met, i.e., the crushing is insufficient, the power at the current moment is corrected to ensure sufficient crushing in the future. It needs to crush the coal from the real-time crushing coefficient to the target crushing coefficient within the remaining time. Therefore, the crushing correction change rate can be calculated. Since the crushing correction change rate is proportional to the power, the power correction ratio can be obtained by dividing the crushing correction change rate by the crushing change rate. Since both are negative, the power correction ratio is positive. Thus, the target power is multiplied by the power correction ratio to obtain the target corrected power. Using the target corrected power can improve the crushing efficiency, thereby achieving the required level.

[0031] Reference Figure 8 As shown, the process of correcting the target power for coal crushing to obtain the corrected target power includes the following steps: The target crushing coefficient is subtracted from the real-time crushing coefficient to obtain the differential crushing coefficient, and the allowable crushing time is subtracted from the real-time time to obtain the remaining time. Dividing the differential crushing coefficient by the remaining time yields the crushing correction rate, and dividing the crushing correction rate by the crushing rate yields the power correction ratio. The target power is multiplied by the power correction ratio to obtain the target corrected power.

[0032] Reference Figure 9 As shown, the steps to determine the critical value of the coefficient are as follows: Obtain at least one historical qualified crushing process, obtain the historical crushing coefficient at the end of the historical qualified crushing process, and obtain the crushing target coefficient of the historical qualified crushing process; The error term is obtained by subtracting the historical crushing coefficient from the crushing target coefficient and taking the absolute value. The maximum value of at least one error term is used as the critical value for coefficient judgment.

[0033] Furthermore, this solution also proposes a storage medium on which a computer-readable program is stored. When the computer-readable program is invoked, the aforementioned adaptive and coordinated load control method for coal crushing and screening equipment is executed.

[0034] It is understandable that the storage medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid-state drive (SSD).

[0035] In summary, the advantages of this invention are as follows: by forming a coal database, identifying coal, constructing a crushing action function, generating a target power for actual crushing, and verifying the target power, the power for coal crushing can be specifically set according to the type of coal and the degree of crushing of the coal entering the crusher, thereby ensuring that the crushing task is completed within the production time limit. At the same time, in order to further ensure that the crushing meets the requirements, a secondary verification is performed and the power is corrected, thereby ensuring that the crushed coal particles can meet the production requirements.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A load adaptive and coordinated control method for coal crushing and screening equipment, characterized in that, include: Based on historical crushing data, a coal database is formed. The coal database includes a first sample state at the start of crushing of at least one type of coal, a second sample state at the end of crushing of at least one type of coal, a sample time taken for a coal type to be crushed from the first sample state to the second sample state, and a sample power used for crushing a coal type. The mass of the coal types crushed in the coal database is a reference mass, which is the upper limit of the amount of coal entering the crusher in a single operation. A reference surface is formed in the crusher, and a reference line segment corresponding to the reference surface is formed in the crusher; The coal in the crusher is obtained, the coal is identified, and the target coal type, actual crushing coefficient and actual mass are obtained. The first fragmentation coefficient of the first sample state and the second fragmentation coefficient of the second sample state are identified; The sample power of the target coal type is obtained as the target sample power. The first sample state of the target coal type is used as the first target sample image, and the second sample state of the target coal type is used as the second target sample image. Construct a crushing action function based on test data; Generate the target power during actual crushing; The target power is verified. If there is a risk of insufficient crushing at the target power, the target power for coal crushing is corrected to obtain the target corrected power. The coal in the crusher is then crushed according to the target corrected power.

2. The method for adaptive and coordinated load control of coal crushing and screening equipment according to claim 1, characterized in that, The process of forming a reference surface for the crusher, and forming a reference line segment corresponding to the reference surface within the crusher, includes the following steps: Obtain the center of the crusher, and take any vertical plane passing through the center of the crusher as the reference plane of the crusher; The line segment intersecting the reference plane of the crusher and the crusher is taken as the reference line segment.

3. The method for adaptive and coordinated load control of coal crushing and screening equipment according to claim 2, characterized in that, The process of identifying coal and obtaining the target coal type, actual crushing coefficient, and actual quality includes the following steps: The actual length of the baseline segment is used as the actual length of the crusher. The top view and side view images of the target coal type are obtained in the crusher. The length of the baseline segment in the top view image of the target coal type is used as the first image length, and the length of the baseline segment in the side view image of the target coal type is used as the second image length. Infrared spectral sample images of different coal types are acquired in advance, and then the actual infrared spectral images of the coal in the crusher are obtained. If the actual infrared spectral image matches the infrared spectral sample image, then the coal type corresponding to the infrared spectral sample image will be used as the target coal type. The coal in the crusher is evenly divided into at least one local block, and the movement trajectory of the local block is obtained within a preset time after the coal crushing starts. The preset time is set based on experience. Merge adjacent local blocks with the same motion trajectory to obtain at least one coal synchronization block; Obtain the image area of ​​the coal synchronization block in the top view image, and obtain the image thickness of the coal synchronization block in the side view image; The actual mass of the coal synchronous block is calculated using the proportional formula. The actual crushing coefficient of the target coal type is obtained by taking the average of the actual quality of at least one coal synchronous block. The actual mass of the target coal type is obtained by summing the actual mass of the coal synchronization blocks. The proportion formula is as follows: ， Where a is the actual mass of the coal synchronization block, S is the image area of ​​the coal synchronization block, b is the actual length of the crusher, c is the first image length, H is the image thickness of the coal synchronization block, e is the second image length, and f is the density of the target coal type.

4. The load adaptive and coordinated control method for coal crushing and screening equipment according to claim 3, characterized in that, The process of identifying the first fragmentation coefficient of the first sample state and the second fragmentation coefficient of the second sample state includes the following steps: The number of coal fragments in the first sample state is counted and used as the first value. The benchmark mass is divided by the first value to obtain the first breakage coefficient. In the second sample state, at least one coal particle is randomly selected, and the coal particle is weighed to obtain its mass. The average mass of the coal particles is then taken to obtain the second breakage coefficient.

5. The method for adaptive and coordinated load control of coal crushing and screening equipment according to claim 4, characterized in that, The process of constructing the crushing action function based on test data includes the following steps: Randomly select one of at least one coal type as the characteristic coal type; Obtain the range of values ​​for the actual crushing coefficient, and take the minimum value of the actual crushing coefficient range as the crushing reference value; The range of actual breakage coefficient values ​​is divided into equal intervals to obtain at least one identification point; At least one crushing test condition is established, wherein the initial crushing coefficient is equal to the crushing reference value, and the crushing coefficient after crushing is equal to the value at the identification point. Under crushing test conditions, the time taken for a reference mass of characteristic coal type to be crushed at a reference power is taken as the test time. By pairing and fitting the identification points with the test time, the crushing action function is obtained, and the characteristic coal type is paired with the crushing action function.

6. The method for adaptive and coordinated load control of coal crushing and screening equipment according to claim 5, characterized in that, The process of generating the target power during actual crushing includes the following steps: Get the total amount of coal waiting to be crushed, and get the maximum total time limit for coal crushing; The maximum allowable mass of a single particle after coal is crushed in the crusher is taken as the target crushing coefficient. The actual mass of the target coal type is divided by the total amount of coal waiting to be crushed to obtain the mass percentage. The mass percentage is then multiplied by the upper limit of the total time to obtain the allowable crushing time. Substitute the first crushing coefficient of the target coal type into the crushing action function to obtain the first time; substitute the second crushing coefficient of the target coal type into the crushing action function to obtain the second time; and subtract the first time from the second time to obtain the third time. The conversion factor is obtained by dividing the sample time taken to crush the target coal type from the first sample state to the second sample state by the third time. Substitute the actual crushing coefficient of the target coal type into the crushing action function to obtain the initial time; substitute the target crushing coefficient of the target coal type into the crushing action function to obtain the final time; and subtract the initial time from the final time to obtain the characteristic time. The actual quality of the target coal type is divided by the reference quality to obtain the quality coefficient. The characteristic time, conversion factor, and quality coefficient are multiplied together to obtain the reference time. The power coefficient is obtained by dividing the allowable crushing time by the reference time. The target power is obtained by multiplying the power coefficient by the reference power.

7. The method for adaptive and coordinated load control of coal crushing and screening equipment according to claim 6, characterized in that, The verification of the target power includes the following steps: Formation coefficients determine critical values; The real-time number of particles crushed using the target power is obtained, and the real-time crushing coefficient is obtained by dividing the actual mass of the target coal type by the real-time number of particles. The current time is used as the real-time time. The crushing change rate is obtained by subtracting the actual crushing coefficient from the real-time crushing coefficient and then dividing by the real-time time. The estimated crushing coefficient is obtained by multiplying the crushing change rate by the allowable crushing time and then adding it to the actual crushing coefficient. The crushing coefficient is superimposed with the critical value of the coefficient judgment to obtain the crushing judgment value; If the estimated crushing coefficient is greater than the crushing judgment value, there is a risk of insufficient crushing at the target power; otherwise, there is no risk of insufficient crushing at the target power.

8. The method for adaptive and coordinated load control of coal crushing and screening equipment according to claim 7, characterized in that, The process of correcting the target power for coal crushing to obtain the corrected target power includes the following steps: The target crushing coefficient is subtracted from the real-time crushing coefficient to obtain the differential crushing coefficient, and the allowable crushing time is subtracted from the real-time time to obtain the remaining time. Dividing the differential crushing coefficient by the remaining time yields the crushing correction rate, and dividing the crushing correction rate by the crushing rate yields the power correction ratio. The target power is multiplied by the power correction ratio to obtain the target corrected power.

9. The load adaptive and coordinated control method for coal crushing and screening equipment according to claim 8, characterized in that, The determination of the formation coefficient critical value includes the following steps: Obtain at least one historical qualified crushing process, obtain the historical crushing coefficient at the end of the historical qualified crushing process, and obtain the crushing target coefficient of the historical qualified crushing process; The error term is obtained by subtracting the historical crushing coefficient from the crushing target coefficient and taking the absolute value. The maximum value of at least one error term is used as the critical value for coefficient judgment.

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