Intelligent coal mining system suitable for high-altitude environment and control method thereof

Abstract

The invention discloses an intelligent coal mining system suitable for a high altitude environment and a control method thereof, the system comprises a coal mining machine, a hydraulic support and a scraper conveyor, and is provided with a sensing positioning module, a support supporting and detecting module, a redundancy communication module and a working face coordination control module. The sensing positioning module collects poses through a UWB base station / label and an IMU; the control method is executed by the coordination control module, and comprises the steps of performing Kalman filtering fusion on UWB and IMU data, establishing working face digital twinning, performing circulating rehearsal simulation on a coal mining process, generating a pre-control instruction, and issuing the pre-control instruction to a coal mining machine electric control system and a support controller, so as to realize large-dip-angle collaborative skid resistance, support tracking and conveyor alignment deviation correction. The redundant communication module adopts an industrial Ethernet ring network main use and a 4G wireless standby use and is automatically switched; and meanwhile, hydraulic action delay is compensated based on air pressure and temperature, and the operation reliability under the high-altitude and low-temperature working conditions is improved.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to an intelligent coal mining system and its control method suitable for high-altitude environments. Background Technology

[0002] Longwall mining faces typically involve a complete set of equipment, including a coal mining machine, hydraulic support systems, and scraper conveyors, working together to complete coal cutting, support, and transportation operations. With the development of intelligent coal mine construction, longwall faces are gradually adopting technologies such as electro-hydraulic control, automatic follow-up, and automatic straightening to improve safety and production efficiency.

[0003] However, in high-altitude mining areas, the underground environment often features low air pressure, low temperature, and complex electromagnetic interference. On the one hand, low temperature leads to increased hydraulic oil viscosity, slower response of valve groups and actuators, and poorer timing consistency of support movement and conveyor pushing actions. On the other hand, communication links are more prone to increased latency, packet loss, or link breakage under complex operating conditions, affecting the continuity of control command issuance and status data feedback. Simultaneously, in steeply inclined working faces, the coal mining machine and scraper conveyor face the risk of sliding or surging along the dip direction. Improper control of the hydraulic support group's support status and conveyor pushing sequence can easily cause conveyor alignment deviation, difficulty in conveyor pushing, and even equipment interference and safety hazards.

[0004] In existing technologies, positioning sensing, support electro-hydraulic control, and automatic face straightening are often implemented as relatively independent subsystems. A unified and coordinated control mechanism for high-altitude and steep-angle working conditions is lacking. This makes it difficult to achieve stable closed-loop coordination between the coal mining machine's traction / braking, support and conveyor pushing, and conveyor straightening and correction under conditions of insufficient positioning and attitude information accuracy, communication link fluctuations, and hydraulic response lag. Therefore, there is an urgent need for an intelligent coal mining system and its control method that can adapt to high-altitude environments and ensure anti-slip stability at steep angles to improve the operational reliability and safety of the working face. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: A smart coal mining system suitable for high-altitude environments includes a coal mining machine, multiple hydraulic supports arranged along the working face, and a scraper conveyor arranged along the working face and cooperating with the hydraulic support pushing mechanism. The system further includes: an enhanced sensing and positioning module, equipped with UWB base stations arranged along the working face, and UWB tags and IMU modules installed on the coal mining machine and / or the hydraulic supports, for collecting positioning data and inertial / attitude data of the coal mining machine and the hydraulic supports; a hydraulic support support and attitude detection control module, including electro-hydraulic control valve groups on each hydraulic support, a support controller, and pressure detection devices, stroke detection devices, and attitude detection devices, for controlling the hydraulic supports to perform support, support shifting, and pushing actions and outputting support pressure, pushing stroke, and support attitude data; and a high-altitude redundant network communication module, including an industrial Ethernet ring network laid along the working face and a 4G wireless link covering the working face, for processing the positioning data, the... The system transmits inertial / attitude data, support pressure, pushing stroke, support attitude data, and control commands, and automatically switches to a backup link when the primary link fails. It also includes a working face coordination control module, comprising an industrial control computer and a communication interface, for receiving data uploaded by the enhanced sensing and positioning module and the hydraulic support support and attitude detection control module. This module performs Kalman filtering on the positioning data and the inertial / attitude data to output the three-dimensional coordinates and attitude angles of the coal mining machine and the hydraulic support. Based on the three-dimensional coordinates, attitude angles, and hydraulic support status data, it establishes a three-dimensional digital twin model of the working face and performs pre-simulation of a predetermined coal mining process cycle to generate a pre-control command sequence. Furthermore, it issues control commands to the coal mining machine's electrical control system and each support controller via the plateau redundant network communication module to achieve coordinated anti-slip control under steep inclination conditions and automatic straightening and anti-slip correction control of the scraper conveyor.

[0006] Furthermore, the working face coordination control module establishes a working face coordinate system and stores the coordinates of each UWB base station in the working face coordinate system, and the attitude angle includes at least the pitch angle and the roll angle.

[0007] Furthermore, the working face coordination control module performs static initialization of the IMU module to obtain gyroscope zero bias when the system starts up, and performs extended Kalman filter fusion in a way that combines IMU prediction update and UWB observation correction during operation.

[0008] Furthermore, the hydraulic support support and attitude detection control module also includes an infrared receiving device installed on the top beam or side protection mechanism of the hydraulic support, used to receive infrared signals from the coal mining machine for support section identification or positioning consistency verification.

[0009] Furthermore, the industrial Ethernet ring network is the primary link, and the 4G wireless link is the backup link; when an anomaly is detected in the primary link, the redundancy switching unit triggers link switching, and during the switching period, it restricts the pushing action and maintains the stability of the hydraulic support.

[0010] Furthermore, after the coal mining machine completes one cut of coal, the working face coordination control module calculates the linear deviation of the scraper conveyor based on the coal mining machine's travel trajectory and the pushing stroke of each hydraulic support, and generates and issues the target pushing stroke of each hydraulic support to achieve straightening of the scraper conveyor.

[0011] Furthermore, under steep inclination conditions, the working face coordination control module corrects the target pushing stroke based on the support posture and support pressure distribution, and first maintains the support stability of the predetermined support below the working face to form an anti-slip foundation at the beginning of the pushing phase, and then issues correction and pushing commands to the other supports.

[0012] Furthermore, the system also includes a highly adaptable underlying execution module, which includes low-temperature hydraulic oil for the hydraulic support and electric heating tape and insulation layer laid outside the oil tank and oil pipeline.

[0013] On the other hand, the present invention also provides an intelligent coal mining control method suitable for high-altitude environments, applied to the aforementioned intelligent coal mining system, executed by the working face coordination control module, including: collecting UWB positioning data and IMU inertial / attitude data of the coal mining machine and hydraulic supports, and collecting support pressure, pushing stroke and support attitude data of the hydraulic supports; performing Kalman filtering fusion on the UWB positioning data and the IMU data to output the three-dimensional coordinates and attitude angles of the coal mining machine and hydraulic supports, and establishing a three-dimensional digital twin model of the working face based on the three-dimensional coordinates, the attitude angles and the state data of the hydraulic supports; performing pre-simulation of a predetermined coal mining process cycle to generate a pre-control command sequence, and splitting the pre-control command sequence and sending it to the coal mining machine electrical control system and the support controllers of each hydraulic support to execute coordinated anti-slip control and support shifting and pushing control; after the coal mining machine completes one cut of coal, calculating the linear deviation of the scraper conveyor based on the coal mining machine's travel trajectory and the pushing stroke of each hydraulic support, and issuing the target pushing stroke to achieve straightening and correction.

[0014] Furthermore, the control method also includes a work surface coordination control module that monitors the status of the industrial Ethernet ring network link and the 4G wireless link, and automatically switches to the backup link when an anomaly is detected in the primary link.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: (1) The present invention acquires the position and posture data of the coal mining machine and hydraulic support through the enhanced perception and positioning module, and performs fusion calculation in the working face coordination control module. It can output high-precision three-dimensional coordinates and attitude angles, providing a reliable data basis for anti-slip control, machine following control and straightening correction under large inclination conditions, thereby reducing the risk of push deviation and coordination mismatch caused by inaccurate position and posture information.

[0016] (2) The present invention establishes a three-dimensional digital twin in the coordination control module and performs a pre-simulation of the process cycle to be executed. It can predict the downward trend, support gap change and potential interference risk under large inclination angle conditions before the command is issued, and generate a pre-control command sequence that meets safety constraints, so that the coal mining machine traction / braking and the support moving and pushing can be executed in coordination according to the pre-control sequence, thereby improving the stability and safety of the working face operation.

[0017] (3) The present invention adopts a redundant communication and automatic switching mechanism. When the main link communication is abnormal under high altitude conditions, the continuous transmission of detection data and control commands can still be maintained through the backup link. At the same time, combined with environmental adaptive compensation and low temperature hydraulic adaptation measures, the impact of low air pressure and low temperature on hydraulic action delay and control consistency can be reduced, thereby improving the reliability and continuous operation capability of the system in harsh environments. Attached Figure Description

[0018] Figure 1 This is a system structure block diagram of the intelligent coal mining system of the present invention. Detailed Implementation

[0019] The technologies in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0020] Reference Figure 1This invention provides an intelligent coal mining system suitable for high-altitude environments, applied to a fully mechanized mining face in a high-altitude, steep-angle mine. The face equipment includes a coal mining machine, multiple hydraulic supports arranged along the face, and a scraper conveyor arranged along the face and cooperating with the hydraulic support pushing mechanism. Addressing the problems of equipment slippage, support system instability, and increased control delay caused by low air pressure, low temperature, and steep angle at high altitudes, this invention constructs an enhanced sensing and positioning module, a hydraulic support support and attitude detection control module, a plateau redundant network communication module, and a face coordination control module based on the aforementioned face equipment. This enables the coal mining machine traction / braking, support group control and support, conveyor straightening, and anti-slip correction to operate collaboratively in the same closed loop.

[0021] In this invention, the enhanced sensing and positioning module consists of UWB tags and IMU modules installed on the coal mining machine and hydraulic supports, as well as UWB base stations arranged along the working face. UWB provides an absolute position reference, while the IMU acquires inertial information and calculates relative displacement and attitude changes. The UWB base stations are fixedly installed along the working face or roadway at predetermined intervals, forming a stable positioning reference coordinate system within the working face. UWB tags and IMU modules are installed on the coal mining machine body and each hydraulic support, enabling both the coal mining machine and the supports to acquire three-dimensional pose. To enhance section identification and positioning correction capabilities, infrared receiving devices are installed at the top beam or side protection mechanism of the hydraulic supports, and infrared transmitting devices or positioning beacons are installed on the coal mining machine. When the coal mining machine passes through a specific support section, the support side can receive infrared signals for section correction and positioning consistency verification.

[0022] In this invention, the hydraulic support and attitude detection control module consists of multiple hydraulic supports, an electro-hydraulic control valve group corresponding to each support, a support controller, and pressure / stroke / attitude detection devices. Each hydraulic support has a base, a top beam hinged to the base, a column located between the base and the top beam, a side protection mechanism, and a pushing jack that cooperates with the scraper conveyor. A support pressure detection device is installed in the lower cavity of the column, a stroke detection device is installed in the pushing jack, and a support attitude detection device is installed at the base or top beam. The support controller is used to collect the above-mentioned pressure, stroke, attitude, and infrared positioning information, and drive the electro-hydraulic control valve group to perform column extension and retraction, support movement, and pushing actions, thereby realizing single-support control, adjacent-support linkage, or group coordinated control.

[0023] In this invention, the plateau redundant network communication module adopts a hybrid redundancy architecture of industrial Ethernet ring network and 4G wireless. An industrial Ethernet ring network is laid along the working surface, with support controllers, positioning base stations, or nearby aggregation nodes connected to the ring network to meet the requirements of low latency and high bandwidth data upload and command issuance. Simultaneously, a 4G wireless link is covered on the working surface to serve as a backup communication channel in case of ring network anomalies or partial link failures. The redundancy switching unit continuously monitors the connectivity and latency status of the two links. When an anomaly is detected in the primary link, it automatically switches to the backup link, and continues data upload and command issuance after the switch is completed.

[0024] In this invention, the working face coordination control module includes an industrial control computer, a human-machine interface terminal, and an industrial communication interface for the working face. The industrial control computer receives UWB / IMU data from the enhanced sensing and positioning module, status data such as support pressure / pushing stroke / support posture from the hydraulic support module, and environmental parameter acquisition data (air pressure, temperature), and issues control commands to the coal mining machine's electrical control system and each support controller. The industrial control computer incorporates functions such as fusion calculation, digital twin mapping, pre-simulation and pre-control sequence generation, machine-following control, straightening and correction, anti-slip correction, environmental compensation, and redundancy switching safety degradation, enabling stable coordinated control of the working face even in steep inclines and high-altitude environments.

[0025] In the operation of this invention, the industrial control computer first fuses and calculates UWB and IMU data, outputting high-precision three-dimensional coordinates and attitude angles (at least including pitch and roll angles) of the coal mining machine and hydraulic supports. This is then time-aligned with data such as support pressure, pushing stroke, and support attitude to form a unified global state of the working face. Subsequently, the industrial control computer writes the global state into a three-dimensional digital twin model of the working face, mapping the spatial relationship between the coal mining machine, support group, and scraper conveyor in real time, and performing a pre-simulation based on the "next cycle follow-up process." The pre-simulation is used to predict the downward trend, support gap changes, and potential interference risks under large inclination angle conditions before execution, and accordingly generates a pre-control command sequence that meets collision-free constraints. This pre-control command sequence includes at least: coal mining machine traction speed control and braking control parameters, target support range and its moving / pushing timing parameters, and target pushing stroke parameters for straightening and anti-slip correction.

[0026] After the pre-control command is generated, it is issued and executed through the plateau redundant network communication module: For the coal mining machine side, the coordination control module issues the upper limit of traction speed and related parameters of braking control to the coal mining machine's electrical control system, so that the coal mining machine can appropriately increase the traction output when cutting upwards and enhance braking and limit speed fluctuations when cutting downwards, in order to suppress the downward trend under large inclination angles; For the support side, the coordination control module issues lifting, moving and pushing commands to the support controllers within the target support range, so as to realize automatic following with the coal mining machine. In order to form a stable anti-slip support system, the present invention preferably divides the hydraulic support into an upper support group and a lower support group according to the dip direction. The lower support group is set with a higher target support pressure, and the upper support group is set with a relatively lower target support pressure. The target pressure can be dynamically corrected according to the changes in mine pressure (pressure feedback trend), thereby forming a support-anti-slip mechanical system that resists the downward force.

[0027] After the coal mining machine completes one cut, the coordination control module enters the straightening and anti-slip correction control process: based on the coal mining machine's travel trajectory and the pushing stroke of each support, the actual contour deviation of the scraper conveyor is calculated, and the target pushing stroke of each support for the next cut is calculated and issued for execution, realizing automatic straightening of each cut through "measurement-calculation-straightening". To address the problem of the scraper conveyor easily sliding or surging upwards under steep inclination conditions, this invention preferably adopts an "anchoring + correction" pushing sequence: first, several supports located below the working face are selected as anchoring support groups, and small-step pushing or steady-state support actions are prioritized to establish anti-slip base points. Then, correction pushing is performed on the remaining supports according to the deviation distribution, so that the scraper conveyor simultaneously obtains anti-slip stability during the straightening process. An interlock protection logic is set up during the support pushing process: when the support pressure of a support is insufficient, its posture is abnormal, or the pushing resistance increases abnormally, priority is given to maintaining support stability and limiting the pushing action to avoid high-risk pushing that could lead to slippage or instability when support conditions are not met.

[0028] This invention also considers the impact of high-altitude environments on control accuracy. The coordinated control module compensates for and corrects parameters such as hydraulic action delay and execution cycle based on collected environmental parameters like air pressure and temperature, ensuring consistency between control commands and actual equipment actions under low temperature and low air pressure conditions. In terms of communication, the redundant network communication module automatically switches between the ring network and the wireless link. During switching, the coordinated control module employs a safety degradation strategy to maintain system controllability: for example, keeping the coal mining machine's traction / braking within conservative parameter ranges, limiting or suspending high-risk actions such as pushing the conveyor, and prioritizing the stability of the hydraulic support. Once the link stabilizes, the normal issuance and closed-loop correction of the pre-control sequence resume. Furthermore, to improve the reliability of hydraulic execution under low-temperature conditions, the system can also be configured with a highly adaptable lower-level execution module, equipping the hydraulic support with low-temperature hydraulic oil, and laying electric heating tape and insulation layers outside the oil tank and oil pipelines. The temperature control module automatically starts and stops heating according to the ambient temperature to reduce the impact of low temperature on response speed and action consistency.

[0029] The technical solution of the present invention will be further described below with reference to an embodiment applied to a fully mechanized mining face in a high-altitude mine. This working face is a steeply dipped coal seam, characterized by low air pressure and low temperature in the underground environment. Furthermore, the equipment exhibits a downward trend along the dip direction, hydraulic actuators respond more slowly at low temperatures, and communication links are more prone to fluctuations in complex electromagnetic environments. To achieve stable coordinated operation of the coal mining machine, hydraulic support group, and scraper conveyor under the above conditions, this embodiment constructs an intelligent coordinated control system based on conventional fully mechanized mining equipment and provides an implementable control process.

[0030] The working face equipment in this embodiment includes: an electrically driven double-drum coal mining machine (model MG650 / 1620-WD, including the coal mining machine's electrical control system), a hydraulic support group (model ZY10000 / 25 / 55D, the number of supports is configured according to the length of the working face, each support is equipped with a support controller and an electro-hydraulic control valve group) arranged along the working face, and a scraper conveyor (model SGZ1000 / 2×855) that cooperates with the hydraulic support pushing mechanism.

[0031] In this embodiment, UWB base stations are deployed along the working face. The base stations are fixed in stable positions on the roadway or the sidewall of the working face, and the coordinates of each base station in the working face coordinate system are measured and written to the control terminal. UWB tags and IMU modules are installed at the front and rear ends of the coal mining machine to acquire the three-dimensional position and attitude changes of the coal mining machine. UWB tags and IMU modules are installed on the hydraulic support side in a manner of "one set per support" or "representative supports configured in groups of supports" to acquire the spatial position and attitude changes of the supports. To improve the reliability of the correspondence between the coal mining machine and the support sections, this embodiment sets infrared receivers at the top beam or sidewall mechanism of the support, and sets infrared transmitters or positioning beacons on the coal mining machine. When the coal mining machine passes through a certain support section, the support side can receive infrared signals to correct the determination of "which support / group of supports the coal mining machine is located in".

[0032] In this embodiment, a fixed coordinate system is established on the working surface: the X-axis is along the working surface direction, the Y-axis is along the dip direction, and the Z-axis is vertically upward; the coordinates of the UWB base station are all measured and written into the working surface coordination and control module under this coordinate system. The UWB tag outputs three-dimensional position observation values ​​p. uwb =[x,y,z] T The IMU outputs triaxial angular velocity ω and triaxial acceleration α.

[0033] When the system starts up, the coal mining machine and hydraulic support remain stationary for 5 seconds. The fusion calculation unit calculates the mean of the IMU data to obtain the gyroscope zero bias b. gThe initial pitch and roll angles are determined using the average acceleration; the initial heading angle is determined by the motion direction obtained from the position difference between two consecutive UWB frames. Then, a fusion loop is entered: the IMU performs prediction updates using 100 Hz as the main prediction loop, and the UWB performs correction updates triggered at 10 Hz.

[0034] Within each IMU prediction cycle, the fusion unit integrates the angular velocity after removing the zero bias and updates the attitude; the acceleration is then rotated from the machine coordinate system to the working plane coordinate system after removing the zero bias and the gravity term is subtracted to obtain the linear acceleration, which is then integrated sequentially to obtain the predicted velocity and position values ​​p. pred When UWB location observations are received, the fusion solution unit uses an extended Kalman filter for correction: based on the observation equation z=p uwb =p+v update the state, calculate the residual r=p uwb -p pred The system simultaneously corrects the position, velocity, and IMU bias to ensure the predicted trajectory converges to the absolute position reference of the UWB while maintaining the high dynamic response of the IMU. The fusion calculation unit outputs the three-dimensional coordinates and attitude angles (pitch angle, roll angle) of the coal mining machine and hydraulic support according to the control cycle, and uses this output as input data for real-time digital twin mapping and collaborative control.

[0035] Each hydraulic support in this embodiment is equipped with an electro-hydraulic control valve assembly and a support controller. A pressure detection device is installed in the lower cavity of the support column to obtain the support pressure; a stroke detection device is installed inside the pushing jack to obtain the pushing stroke; and an attitude detection device is installed at the support base or top beam to obtain the support's pitch and lateral tilt status. The support controller is responsible for collecting and uploading pressure, stroke, attitude, and infrared segment information, and simultaneously driving the electro-hydraulic control valve assembly according to the upper control command to complete actions such as column pressure replenishment, support movement, and pushing. To facilitate group control, this embodiment divides the support into several groups according to the direction of inclination: upper, middle, and lower. The control terminal can set different target support strengths for different groups and dynamically adjust the target values ​​based on pressure feedback, so that the lower support provides stronger support for the sliding trend along the direction of inclination.

[0036] In this embodiment, an industrial Ethernet network is laid along the working face to form a closed-loop network, serving as the primary daily communication channel for uploading positioning data and support status data, and for sending control commands to the coal mining machine's electrical control system and each support controller. Simultaneously, this embodiment covers the working face with a 4G wireless communication link as a backup channel. The communication module continuously monitors the connectivity and communication quality of the primary link. When the primary Ethernet link experiences a disconnection, node failure, or a significant degradation in communication quality, the system automatically switches data and command transmission to the 4G wireless channel to maintain the continued operation of the control closed loop.

[0037] To avoid action mismatch introduced during link switching, this embodiment sets a control processing method during switching within the coordination control module: after the switching action is triggered, the traction and braking control of the coal mining machine switches to a more conservative parameter range, the support side prioritizes maintaining support stability, and temporarily suspends actions that have a greater impact on overall stability, such as pushing the conveyor; once the link is stable and the state is realigned, the normal command issuance and closed-loop correction process resumes.

[0038] In this embodiment, the working face coordination control module is located in the roadway centralized control area and includes an industrial control computer, a human-machine interface terminal, and an industrial communication interface for the working face. The industrial control computer receives the fused and calculated status data such as the coal mining machine / support posture, support pressure / stroke / attitude, etc., and establishes a three-dimensional digital twin model of the working face at the control terminal for real-time mapping of the coal mining machine position, the spatial configuration of the support group, and the linear status of the scraper conveyor.

[0039] Before control execution, the industrial control computer simulates the operation of the coal mining machine, the potential downward trend caused by support movement and conveyor pushing under steep inclination conditions, changes in support gaps, and potential interference risks between equipment. After the simulation, the control terminal generates a set of pre-control commands that can be directly issued, and breaks them down into coal mining machine-side control commands and support-side control commands, which are then issued and executed separately.

[0040] The commands from the coal mining machine side are mainly used to adjust the traction speed and braking method: when the coal mining machine is cutting upwards, the traction output is increased to ensure stable advancement; when the coal mining machine is cutting downwards, braking is strengthened and speed fluctuations are limited to suppress sliding along the dip direction. The commands from the support side are used to determine the target support range and issue pressure replenishment, support shifting, and conveyor pushing actions according to the process rhythm, enabling the supports to automatically follow the coal mining machine's advance. During the execution of support actions, the control end continuously receives pressure and attitude feedback, correcting the target support strength of the support groups to ensure that the lower support groups always provide stronger anti-slip support.

[0041] After the coal mining machine completes a single cut, the coordination control module reads the actual travel trajectory of that cutter and, combined with the pushing stroke of each hydraulic support, calculates the current alignment of the scraper conveyor. The control terminal compares this alignment with the target straight alignment to obtain the deviation distribution. Then, based on the deviation, it calculates the target pushing stroke that each support should achieve during the next push, and sends the corresponding push command to the corresponding support controller for execution, so that the alignment of the scraper conveyor gradually returns to the target straight state.

[0042] For situations where overall slippage or upward movement is prone to occur under large inclination angle conditions, this embodiment constrains the order of push-slide execution: at the beginning of push-slide, several supports located below the working face are selected to maintain high support stability, and a stable anti-slip support foundation is established using small push-slide movements; after the lower support group forms stable support, the push-slide stroke is allocated to other supports according to the linear deviation and correction is completed. Interlocking protection logic is set during the push-slide process. When the support status of a certain support is insufficient, its posture is abnormal, or the push-slide load performance is abnormal, the system prioritizes maintaining the support stability of that support and restricts its push-slide movement, thereby avoiding overall instability caused by forced push-slide when the support conditions are not met.

[0043] To mitigate the impact of high-altitude, low-temperature environments on the consistency of hydraulic actions and control cycle time, this embodiment collects air pressure and temperature parameters and compensates and corrects the timing parameters of hydraulic actions within the coordinated control module, ensuring consistency between issued commands and actual actions under low-temperature and low-pressure conditions. Furthermore, this embodiment utilizes low-temperature hydraulic oil for the hydraulic support and lays electric heating tape and insulation layers around the oil tank and oil pipelines. Temperature control ensures that the hydraulic oil maintains acceptable fluidity and response speed even in low-temperature seasons, thereby improving execution reliability and the stability of the control closed loop.

[0044] Through the specific structure and control process described above, this embodiment achieves coordinated control between the coal mining machine's traction / braking, support and push conveyor, and the scraper conveyor's straightening and correction, while maintaining control continuity and operational safety under communication link fluctuations and high-altitude low-temperature conditions.

Claims

1. A smart coal mining system suitable for high altitude environment, comprising a coal mining machine, a plurality of hydraulic supports arranged along a working face, and a scraper conveyor arranged along the working face and cooperating with a pushing mechanism of the hydraulic supports, characterized in that, The system further comprises: an enhanced perception and positioning module provided with UWB base stations arranged along the working face, UWB tags and IMU modules arranged on the coal mining machine and / or the hydraulic support, for collecting positioning data and inertial / attitude data of the coal mining machine and the hydraulic support; a hydraulic support support and attitude detection control module comprising electro-hydraulic control valve groups, support controllers, and pressure detection devices, travel detection devices and attitude detection devices on each hydraulic support, for controlling the hydraulic support to perform support, support movement and push movement, and outputting support pressure, push travel and support attitude data; a highland redundant network communication module comprising an industrial Ethernet ring network laid along the working face and a 4G wireless link covering the working face, for transmitting the positioning data, the inertial / attitude data, the support pressure, the push travel and the support attitude data, and control instructions, and automatically switching to a backup link when the main link is abnormal; and a working face coordination control module comprising an industrial control computer and a communication interface, for receiving data uploaded by the enhanced perception and positioning module and the hydraulic support support and attitude detection control module, Kalman filtering and fusing the positioning data and the inertial / attitude data to output three-dimensional coordinates and attitude angles of the coal mining machine and the hydraulic support, establishing a three-dimensional digital twin model of the working face based on the three-dimensional coordinates, the attitude angles and the hydraulic support state data, and pre-playing a simulation of a predetermined coal mining process cycle to generate a pre-control instruction sequence, and issuing control instructions to the coal mining machine electric control system and each support controller through the highland redundant network communication module, to realize collaborative anti-skid control in large inclination conditions and automatic straightening and anti-skid correction control of the scraper conveyor.

2. The intelligent coal mining system of claim 1, wherein, The working face coordination control module establishes a working face coordinate system and stores the coordinates of each UWB base station in the working face coordinate system, and the attitude angle at least includes a pitch angle and a roll angle.

3. The intelligent coal mining system of claim 1, wherein, The working face coordination control module performs static initialization of the IMU module to obtain gyro zero offset when the system starts, and performs extended Kalman filtering fusion in a combination of IMU prediction update and UWB observation correction during operation.

4. The intelligent coal mining system of claim 1, wherein, The hydraulic support support and attitude detection control module further comprises an infrared receiving device arranged on the top beam or the support mechanism of the hydraulic support, for receiving infrared signals from the coal mining machine to perform support section identification or positioning consistency verification.

5. The intelligent coal mining system of claim 1, wherein, The industrial Ethernet ring network is the main link, and the 4G wireless link is the backup link; when it is detected that the main link is abnormal, the redundant switching unit triggers link switching, and limits the push movement and keeps the hydraulic support stable during switching.

6. The intelligent coal mining system of claim 1, wherein, The working face coordination control module calculates the linear deviation of the scraper conveyor based on the travel trajectory of the coal mining machine and the push travel of each hydraulic support after the coal mining machine completes a cut, and generates and issues the target push travel of each hydraulic support accordingly to realize straightening of the scraper conveyor.

7. The intelligent coal mining system of claim 6, wherein, In the large inclination working condition, the working face coordination control module corrects the target advancing stroke according to the support posture and support pressure distribution, and keeps the support of the predetermined support under the working face stable to form an anti-sliding foundation at the beginning of the advancing stage, and then issues the deviation correction advancing instruction to the remaining supports.

8. The intelligent coal mining system of claim 1, wherein, The system also comprises a high adaptability bottom layer execution module, which comprises low-temperature hydraulic oil equipped for the hydraulic support, and an electric heating tape and a thermal insulation layer are arranged outside the oil tank and the oil pipeline.

9. A method of intelligent coal mining control suitable for high altitude environment, characterized in that, The control method is applied to the intelligent coal mining system of any one of claims 1-8, is executed by the working face coordination control module, and comprises the following steps: collecting UWB positioning data and IMU inertial / attitude data of the coal mining machine and the hydraulic support, and collecting support pressure, advancing stroke and support posture data of the hydraulic support; performing Kalman filtering fusion on the UWB positioning data and the IMU data to output three-dimensional coordinates and attitude angles of the coal mining machine and the hydraulic support, and establishing a working face three-dimensional digital twin model based on the three-dimensional coordinates, the attitude angles and the hydraulic support state data; performing pre-simulation on a predetermined coal mining process cycle to generate a pre-control instruction sequence, and splitting the pre-control instruction sequence and issuing it to the coal mining machine electric control system and the support controller of each hydraulic support to execute cooperative anti-skid control and support moving and advancing control; after the coal mining machine completes one cut, calculating the scraper conveyor line shape deviation based on the coal mining machine walking track and the advancing stroke of each hydraulic support, and issuing a target advancing stroke to realize straightening and deviation correction.

10. The intelligent coal mining control method suitable for high altitude environment as claimed in claim 9 wherein, The method also comprises the following steps: the working face coordination control module monitors the industrial Ethernet ring network link state and the 4G wireless link state, and automatically switches to the standby link when detecting that the main link is abnormal.

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