Cooperative control method based on data fusion

Abstract

The invention discloses a cooperative control method based on data fusion. The method comprises the following steps: S1, collecting multi-source data in real time; s2, fusing and analyzing the collected multi-source data; s3, performing starting and cooperative control on each device; s31, carrying out safety detection operation before the equipment is started; s32, controlling each device to start according to the sequence of the emulsifying pump, the atomizing pump, the crossheading belt, the crusher, the reversed loader, the conveyor, the hydraulic support and the coal mining machine in a grading manner; and S33, performing cooperative control on the started equipment. According to the invention, real-time monitoring, intelligent analysis, accurate control and state feedback of the coal mining machine, the conveyor and the hydraulic support under the coal mine are realized, cooperative and efficient operation of the whole coal mining working face equipment is ensured, autonomous mining unmanned operation of one-knife coal is really realized, the production efficiency of coal mine operation is improved, and safe operation of coal mining operation is ensured.

Description

Technical Field

[0001] This invention relates to the field of coal mining, and in particular to a collaborative control method based on data fusion. Background Technology

[0002] Traditional fully mechanized mining equipment control modes are mostly based on independent control of a single device or simple linkage, with a low degree of automatic coordination, and mainly suffer from the following prominent problems: 1. Limited data perception dimensions: Each device only collects its own mechanical operating parameters (e.g., coal mining machines only measure traction speed, hydraulic supports only monitor support resistance), without linking with related equipment status (e.g., coal mining machines do not obtain support status) and surrounding environmental data; 2. Insufficient information exchange between equipment: The sensing and operation data of equipment such as coal mining machines, hydraulic supports, and scraper conveyors are limited to their own independent controllers or monitoring systems. There is a lack of a unified cross-equipment information exchange channel and collaborative communication mechanism. Equipment data only flows in a closed loop within its own system. For example, the real-time position data of the coal mining machine cannot be synchronized to the hydraulic support controller in real time, and the load change information of the scraper conveyor is also difficult to be fed back to the coal mining machine in a timely manner. 3. Poor adaptability to working conditions: When faced with real-time changes in geological conditions such as coal seam thickness, dip angle, and hardness, the equipment cannot adaptively optimize core operating parameters such as cutting depth, support resistance, and conveying speed, which can easily lead to problems such as insufficient cutting by the coal mining machine, instability of hydraulic support, and overload or idling of the conveyor.

[0003] Therefore, there is an urgent need for a control method that can achieve ubiquitous sensing, information fusion, and autonomous decision-making, to intelligently reason about the behavior of fully mechanized mining equipment, and to realize intelligent collaborative control of fully mechanized mining equipment groups, so as to achieve safe, efficient, energy-saving, and low-wear fully mechanized mining operations. Summary of the Invention

[0004] The purpose of this invention is to address the above-mentioned problems by providing a data fusion-based collaborative control method for realizing the autonomous, intelligent, and collaborative operation of fully mechanized mining equipment.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A collaborative control method based on data fusion includes the following steps: S1. Real-time acquisition of multi-source data; S2. Integrate and analyze the collected multi-source data; S3. Perform startup and coordinated control on each device; S31. Perform safety checks before starting the equipment; S32. Control each piece of equipment to start in stages in the following order: emulsifying pump, spray pump, roadway belt conveyor, crusher, transfer conveyor, conveyor, hydraulic support, and coal mining machine. S33. Perform coordinated control on the equipment after startup.

[0006] Furthermore, step S1 specifically includes the following steps: S11. Collect the operating status data of each device; S12. Collect environmental perception data of the working face; S13. Collect working condition parameter data during mining operations at the working face.

[0007] Furthermore, step S2 specifically includes the following steps: S21. Use an industrial internet platform to filter, denoise, and complete the collected equipment operating status data, working face environmental perception data, and working face working condition parameter data. S22. Extract features from equipment operating status data, and use heterogeneous data fusion technology to organize and fuse the extracted features of equipment operating status data, working face environment perception data, and working face working condition parameter data to obtain fused data. S23. Based on the industrial internet platform, a cloud-based decision-making system is built that combines an AI algorithm library and an expert knowledge base. The cloud-based decision-making system analyzes the fused data and transmits the analysis results to the integrated management and control platform.

[0008] Furthermore, step S31 specifically includes the following steps: S311. The integrated control platform determines whether the gas concentration data, dust concentration data, and temperature data meet the standards. S312. The integrated control platform determines whether the transport aircraft load, hydraulic system oil volume, and transport aircraft tension meet the standards. S313. The integrated control platform confirms that there are no personnel in the working area through the UWB positioning system. If there are no personnel, the standard is met, and the entrance to the working area is locked. S314. After steps S311, S312, and S313 have all met the requirements, the equipment will be started.

[0009] Furthermore, step S33 specifically includes the following steps: S331. Adjust the operating parameters of each device according to the coal quantity data to achieve coordinated coal flow control; S332. Adjust the position of the hydraulic support according to the position data of the coal mining machine to achieve coordinated control of support and mining; S333. Control the working status of the spray pump according to the working status of the coal mining machine to achieve coordinated control of spraying and mining; S334. Based on the geological data of the working face and the real-time working condition data, the cutting path of the coal mining machine is planned to realize the planning and control of the cutting path of the coal mining machine. S335. Adjust the movement position of the hydraulic support, the working status of the spray pump, and the movement position of the conveyor according to the movement data of the coal mining machine to achieve the following control of the coal mining machine.

[0010] Furthermore, step S331 specifically includes the following steps: S3311. When the coal load of the conveyor exceeds 80% of the rated coal load, a speed reduction command is sent to the coal mining machine controller to reduce the traction speed of the coal mining machine. At the same time, a speed increase command is sent to the transfer machine controller to increase the speed of the transfer machine and reduce coal accumulation on the conveyor. S3312. When the coal volume of the conveyor belt in the roadway is less than 50% of the rated coal volume, a speed-up command is sent to the coal mining machine controller to increase the traction speed of the coal mining machine. At the same time, a speed-down command is sent to the conveyor controller and the transfer machine controller to reduce their operating speed and avoid the equipment running idle and wasting energy.

[0011] Furthermore, step S332 specifically includes the following steps: S3321. During the traction process of the coal mining machine, the position sensor transmits the position data of the coal mining machine to the integrated management and control platform in real time. The integrated management and control platform sends support instructions to the hydraulic support controller according to the position of the coal mining machine. S3322. When the cutting drum of the coal mining machine moves forward 1.5m, the integrated control platform sends a moving command to 3 to 5 hydraulic supports behind the coal mining machine. The hydraulic support controller controls the hydraulic supports to complete the actions of lowering the column, moving the support, and raising the column in sequence. The moving speed is matched with the traction speed of the coal mining machine. S3323 After the frame is moved, the hydraulic support pressure sensor monitors the working resistance of the hydraulic support in real time. If the working resistance is less than the set value, the hydraulic support controller automatically starts the pressure compensation program until the working resistance reaches the set value. S3324. When the coal mining machine is mining at the end, the integrated control platform sends a special support command to the hydraulic support at the end position. The hydraulic support at the end position extends its side guard plate to increase the support width and at the same time increase the working resistance of the hydraulic support to ensure the safety of the end area.

[0012] Furthermore, step S333 specifically includes the following steps: S3331. When the coal mining machine is in the cutting state, the integrated control platform sends a high-pressure spray command to the spray pump controller to increase the outlet pressure of the spray pump to 10-12MPa. At the same time, it controls all the spray nozzles on the outer periphery of the coal mining machine cutting drum to open, so as to achieve precise dust reduction in the cutting area. S3332. When the coal mining machine is in no-load traction mode, the integrated control platform sends a low-pressure spray command to the spray pump controller to reduce the outlet pressure of the spray pump to 5-8 MPa, leaving only the spray nozzles above the conveyor open to reduce water waste. S3333 When the gas concentration at the working face exceeds 0.8%, the integrated control platform sends an enhanced spray command to the spray pump controller, the outlet pressure of the spray pump is increased to 12-15MPa, all spray nozzles are opened, and at the same time a shutdown command is sent to the coal mining machine controller, the coal mining machine stops cutting, and restarts after the gas concentration drops below 0.5%.

[0013] Furthermore, step S334 specifically includes the following steps: S3341. The integrated control platform determines the mining height based on the coal seam thickness and the cutting depth based on the mining conditions. Starting from the working face transport roadway, the initial cutting path of the coal mining machine is planned as a serpentine cutting path. S3342. During the coal cutting process, the position of the roof and floor of the working face and the change data of coal seam hardness are detected in real time. The integrated control platform dynamically adjusts the initial cutting path of the coal cutting machine based on the detection data. When a sudden increase in coal seam thickness is detected, the integrated control platform sends a raising drum command to the coal mining machine controller to increase the height of the cutting drum, so that the mining height matches the actual coal seam thickness and avoids cutting into the bottom rock. When the increased hardness of the coal seam is detected, the integrated control platform sends a command to the coal mining machine controller to reduce the traction speed and adjust the cutting angle. This reduces the traction speed of the coal mining machine and adjusts the cutting angle of the cutting drum to reduce cutting resistance. When a fractured area is detected in the roof, the integrated control platform sends a command to the coal mining machine controller to shorten the cutting cycle length, reducing the cutting cycle length of the coal mining machine from the full length of the working face to 50m, while accelerating the following support speed to prevent the fractured roof from collapsing.

[0014] Furthermore, step S335 specifically includes the following steps: S3351. When the coal mining machine is being pulled, the position sensor monitors the position of the cutting drum of the coal mining machine in real time. When the cutting drum moves forward by 1 hydraulic support width, the integrated control platform determines the hydraulic support number that follows the machine to move the support and sends the moving command to the corresponding hydraulic support controller. After receiving the moving command, the hydraulic support controller first controls the hydraulic support to lower the column, then controls the pushing jack to push the hydraulic support forward by 1.5m, and finally controls the hydraulic support to raise the column so that the top beam of the hydraulic support contacts the top plate and the working resistance reaches the set value. During the relocation process, if the hydraulic support displacement sensor detects a relocation distance deviation > 50mm, the support controller adjusts the thrust of the pushing jack to correct the displacement deviation; if the hydraulic support pressure sensor detects that the top plate suddenly collapses after the column is lowered, the relocation is immediately stopped, and the hydraulic support is started for emergency column raising to ensure the safety of the working face. S3352. When the coal mining machine cutting drum moves, the integrated control platform sends instructions to the spray pump controller and the working face spray nozzle valve controller according to the position of the cutting drum. Low-pressure spraying is applied to the nozzles within the range of 1-2 hydraulic supports in front of the cutting drum to achieve advanced spraying, moisten the coal seam in advance, and reduce dust generation during cutting; high-pressure spraying is applied to the nozzles within the range of 3-4 hydraulic supports around the outer perimeter of the cutting drum to directly suppress the dust generated during cutting; low-pressure spraying is applied to the nozzles within the range of 2-3 hydraulic supports behind the cutting drum to perform secondary dust suppression on the dispersed dust. S3353. After the coal mining machine completes one cutting cycle, the integrated control platform sends a push conveyor instruction to all hydraulic supports on the working face. The hydraulic support controller controls the push jacks to push the conveyor towards the coal face. The push distance is consistent with the cutting depth. During the push, the conveyor deviation sensor monitors the position of the conveyor in real time. If the deviation is greater than 100mm, the integrated control platform adjusts the push speed of the adjacent hydraulic supports to correct the conveyor deviation.

[0015] Compared with the prior art, the advantages and positive effects of this invention are: This invention first acquires data from multiple sources, covering three categories: equipment operating status (core parameters), environmental perception (gas, dust, etc.), and working condition parameters (mining height, coal seam characteristics, etc.). Then, it uses a three-tiered mechanism of "preprocessing-fusion-analysis" to fuse and analyze the data. Finally, it controls the graded startup of each piece of equipment and performs coal flow balancing control, machine-assisted support coordination, precise spray control, dynamic cutting path planning, and machine-assisted movement control. Through the cyclical operation of these stages, it achieves real-time monitoring, intelligent analysis, precise control, and status feedback for underground coal mining machines, conveyors, and hydraulic supports. This ensures the coordinated and efficient operation of all equipment in the coal mining face, truly realizing autonomous, unmanned mining of "one cut of coal," improving the production efficiency of coal mine operations, and guaranteeing the safe operation of coal mining. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art to all other embodiments obtained without creative effort should be included within the protection scope of the present invention.

[0017] This invention discloses a collaborative control method based on data fusion. By integrating information from all equipment on the working face, combining real-time coal quantity, equipment load rate, torque, speed and other data, and drawing on the control ideas of complex human systems, it innovates a human-like intelligent collaborative control strategy to achieve autonomous operation of the working face equipment.

[0018] The collaborative control method mainly includes the following steps: I. Real-time acquisition of multi-source data; 1. Equipment operating status data: Focusing on monitoring the operating conditions of core equipment; Collect operating data of the coal mining machine, including real-time position, traction speed, and real-time data such as the current / temperature of the left and right drum cutting motors.

[0019] For key production equipment at the working face, core parameters that directly reflect the operating status are collected to ensure that the equipment's operating condition is perceptible and controllable. Hydraulic supports: support pressure, moving stroke, initial support force, support posture, support height, personnel positioning system; Coal mining machine: traction speed, cutting power, rocker arm posture, left and right drum cutting motor current / temperature, real-time position; Scraper conveyor: Head / tail drive motor current / power, chain speed, torque, and chain tension.

[0020] Belt conveyor: drive motor current / power, belt speed, torque, rotational speed, and coal bunker height at the head of the conveyor.

[0021] 2. Environmental perception data: Strengthening the safety monitoring defense line; By deploying multiple types of sensors, we can comprehensively capture changes in the working face environment and the stability of the surrounding rock, thus preventing safety risks. Gas environment: Gas concentration is collected using a gas sensor; Dust environment: Dust content is collected using dust sensors; Temperature and humidity environment: Temperature and humidity parameters of the tunnel are collected by temperature and humidity sensors; Surrounding rock safety: Surrounding rock stability data is collected through a surrounding rock stress monitoring device.

[0022] 3. Operating condition parameter data: Provides a basis for collaborative control adaptation; Collect key operating condition information reflecting the production conditions at the working face to provide a basis for the dynamic adjustment of equipment collaborative control strategies; Core mining parameters (directly related to the coordination between the coal mining machine and the support): real-time mining height, real-time advance speed, and real-time cutting depth; Coal seam and surrounding rock characteristic parameters (determine the equipment operating parameter adaptation threshold): basic characteristics of coal seam, adaptation characteristics of roof and floor, and structural parameters of coal seam; Transportation matching parameters (supporting the coordination of coal mining machine-scraper conveyor-belt conveyor): coal flow characteristics, transportation adaptation threshold; Support coordination parameters (coordination between support frame and coal mining machine / surrounding rock): basis for adapting to the safe production environment of the working face and the action of the support frame; Auxiliary production adaptation parameters (supplementing collaborative control scenario coverage): production organization parameters, safety management parameters.

[0023] II. Multi-source data fusion and governance; The data from the fully mechanized mining face is massive and noisy. Through a three-level processing mechanism of "preprocessing-fusion-analysis", the raw data is fused and managed, and transformed into effective information that can be used for intelligent decision-making. 1. Data Preprocessing: An industrial-grade edge computing gateway is installed in the working face roadway to filter, denoise, and fuse the collected multi-channel data, with data processing latency controlled within 50ms. Through denoising, completion, and standardization operations, abnormal data caused by sensor errors and environmental interference is eliminated, missing data values ​​are repaired, data formats are standardized, and data reliability is ensured. Simultaneously, when the network is interrupted or the cloud response is delayed, local control logic is automatically activated to ensure safe equipment operation (e.g., automatic speed reduction after the coal mining machine exceeds its load limit). 2. Multi-source data fusion: Heterogeneous data fusion technology is used to integrate three types of data: equipment, environment, and operating conditions. Feature extraction is performed on equipment operation data (such as the frequency of load fluctuation and the trend of support resistance change) to reduce the amount of data uploaded. 3. Intelligent Analysis: A cloud-based decision-making system is built based on an industrial internet platform, employing a dual-drive model of "AI algorithm library + expert knowledge base": (1) AI algorithm library: includes deep learning model (for cutting trajectory prediction and bracket follow-up action adjustment), reinforcement learning model (for equipment coordination strategy optimization), and machine learning model (for equipment fault early warning). The algorithm is implemented in real time through GPU cluster (8 NVIDIA A100s).

[0024] (2) Expert knowledge base: Integrate 300+ fully mechanized mining case studies, establish a database of equipment control parameters under different coal seam conditions, and improve and optimize the parameter database by combining the operation procedures and experience of experienced workers, so as to provide experience support for automatic control.

[0025] III. Collaborative Control Design (Core Algorithm); This method takes the complete cutting of coal in a production shift as an example.

[0026] 1. Safety checks before startup; Environmental monitoring: The integrated automation platform receives data from gas, dust, and temperature sensors. If the gas concentration is >0.8% or the dust concentration is >500mg / m³, the ventilation equipment and spray dust suppression system will be automatically started. Once the indicators meet the standards, the startup process will begin.

[0027] Equipment status detection: The edge computing layer performs pre-diagnosis on each piece of equipment, including whether the load of the main transport system is normal (must be <100t), the leakage of the hydraulic system of the hydraulic support (<5mL / min), and the tension of the scraper conveyor chain (droop <50mm). If the detection fails, the operator is prompted to handle it.

[0028] Personnel location detection: Confirm that there are no personnel in the work area using the UWB positioning system (the number of personnel within the positioning range is 0), and at the same time lock the entrance to the work area to prevent personnel from accidentally entering.

[0029] 2. Start the equipment in a graded sequence; The coal flow-following start-up method, which follows the sequence of "emulsifying pump → spray pump → conveyor belt → crusher → transfer conveyor → transport machine → hydraulic support → coal mining machine," avoids cascading failures caused by equipment startup shock. The specific process is as follows: ① The emulsifying pump starts automatically; The integrated automation platform first analyzes the acquired parameters such as oil level, oil temperature, and filter status in the emulsion tank.

[0030] If all parameters meet the start-up conditions (oil level within normal range, oil temperature <40℃, filter unclogging), a start-up command is sent to the emulsification pump controller.

[0031] After receiving the command, the emulsifying pump controller controls the emulsifying pump motor to soft-start, avoiding excessive starting current that could impact the power grid. During startup, the emulsifying pump outlet pressure is monitored in real time. Once the pressure reaches the set working pressure (usually 31.5 MPa) and remains stable for 30 seconds, the emulsifying pump startup is complete, and a "startup successful" signal is sent to the integrated automation platform.

[0032] ②The spray pump starts automatically; After receiving the "start successful" signal from the emulsification pump, the integrated automation platform begins to monitor the water level in the spray pump tank and the status of the water filter.

[0033] If the water level is ≥80% and the filter is not clogged, a start command is sent to the spray pump controller.

[0034] The spray pump controller controls the start of the spray pump motor. After start-up, it monitors the outlet pressure (usually 8-12MPa) and flow rate of the spray pump. When both pressure and flow rate reach the set value and remain stable for 20 seconds, the spray pump start-up is complete, and a signal is sent back to the centralized control software.

[0035] ③ Automatic start of the conveyor belt in the roadway; After receiving the "start successful" signal from the spray pump, the integrated automation platform uses a coal quantity sensor to detect whether there is coal accumulation on the conveyor belt in the roadway, and at the same time uses an infrared sensor to detect whether there are personnel or obstacles along the conveyor belt.

[0036] If there is no coal accumulation on the conveyor belt and no abnormalities along the line, a start command is sent to the conveyor belt controller in the roadway.

[0037] The conveyor belt in the roadway adopts a "soft start + low-speed preheating" mode, first running at 20% of the rated speed for 10 seconds, and then gradually increasing to the rated speed. During the start-up process, the belt tension and motor temperature are monitored. If both are normal, the conveyor belt start-up is complete, and a feedback signal is sent to the integrated automation platform.

[0038] ④ The crusher starts automatically; After receiving the "start successful" signal from the conveyor belt, the integrated automation platform uses a vibration sensor to detect whether there are any foreign objects blocking the inside of the crusher, and a temperature sensor to detect the temperature of the crusher bearings.

[0039] If there is no blockage and the bearing temperature is <60℃, send a start command to the crusher controller.

[0040] ⑤ The transfer machine starts automatically; After receiving the "start successful" signal from the crusher, the integrated automation platform monitors the chain tension and motor insulation status of the transfer conveyor.

[0041] If the chain tension is appropriate (droop < 50mm) and the motor insulation is qualified, a start command is sent to the transfer machine controller.

[0042] After the transfer machine motor starts, monitor the motor current (ensure it is within the rated current range). When the current stabilizes for 10 seconds, the transfer machine is considered to have started and a feedback signal is sent.

[0043] ⑥ The transport aircraft starts automatically; After receiving the "start successful" signal from the transfer machine, the integrated automation platform uses a coal quantity sensor to detect whether there is coal accumulation on the scraper of the conveyor and a deviation sensor to detect whether the conveyor is deviating from its designated path.

[0044] If there is no coal accumulation or deviation, a start command is sent to the conveyor controller.

[0045] The transport aircraft adopts a soft start method. After starting, the scraper speed and motor temperature are monitored. When the speed reaches the rated value and the temperature is normal, the transport aircraft starts up and sends a feedback signal.

[0046] ⑦ The bracket starts automatically; After receiving the "start successful" signal from the transport aircraft, the integrated automation platform detects the initial position of the support through displacement sensors and sends the displacement of each support measured by the inertial navigation system.

[0047] The bracket controller activates the bracket to follow the machine, the bracket startup preparation is complete, and a feedback signal is sent.

[0048] ⑧ The coal mining machine starts automatically; After receiving the "ready to complete" signal from the support, the integrated automation platform obtains the initial position of the coal mining machine through the position sensor and detects the temperature of the coal mining machine motor and gearbox through the temperature sensor.

[0049] If all temperatures are normal and the coal mining machine is at the beginning of the working face, a start command is sent to the coal mining machine controller.

[0050] The coal mining machine first starts the cutting motor (no-load start), then starts the traction motor, and the traction speed gradually increases from 0 to the set initial speed (usually 3-5m / min). Once the coal mining machine has started, it enters the normal mining stage.

[0051] 3. Automatic and coordinated control of equipment; (1) Coal flow coordinated control; Coal flow coordinated control takes "coal quantity balance" as its core. It monitors the coal quantity of the conveyor belt, conveyor and transfer machine in real time through coal quantity sensors, and the centralized control software adjusts the operating parameters of each equipment according to the coal quantity data. ① When the coal load of the conveyor exceeds 80% of the rated coal load, the integrated control platform sends a "speed reduction" command to the coal mining machine controller to reduce the traction speed of the coal mining machine (reducing by 0.5m / min each time, with a minimum of 1m / min), and at the same time sends a "speed increase" command to the transfer machine controller to increase the speed of the transfer machine (not exceeding 110% of the rated speed) to reduce coal accumulation on the conveyor. ② When the coal volume of the conveyor belt in the roadway is less than 50% of the rated coal volume, the integrated control platform sends an "increase speed" command to the coal mining machine controller to increase the traction speed of the coal mining machine (0.5m / min each time, not exceeding 8m / min at most), and at the same time sends an "decrease speed" command to the controllers of the conveyor and transfer machine to reduce their operating speed and avoid the equipment from idling and wasting energy.

[0052] (2) Coordinated control of support and mining; The coordinated control of the support and the coal mining machine is crucial to ensuring the safety of the working face. The "follow-the-machine support" mode is adopted, and the specific control logic is as follows: ① During the traction process of the coal mining machine, the position sensor transmits the position data of the coal mining machine to the integrated management and control platform in real time. The central control layer sends support instructions to the support controller based on the position of the coal mining machine (based on the position of the coal mining machine cutting drum). ② When the cutting drum of the coal mining machine moves forward 1.5m (the support width is usually 1.5m), the central control layer sends a "moving support" command to the 3-5 supports behind the coal mining machine. The support controller controls the support to complete the "lowering support → moving support → raising support" action. The moving support speed matches the traction speed of the coal mining machine (moving support time < the time required for the coal mining machine to traction 1.5m), ensuring that the support timely supports the roof and there is no empty roof area. ③ After the support is moved, the support pressure sensor monitors the support working resistance in real time. If the working resistance is less than the set value (usually 80% of the rated working resistance), the support controller will automatically start the "pressure compensation" program until the working resistance reaches the set value. ④ When the coal mining machine is mining at the end, the integrated control platform sends a "special support" command to the end support. The end support extends its side guard plate to increase the support width and at the same time increase the working resistance of the support (reaching 90% of the rated working resistance) to ensure the safety of the end area.

[0053] (3) Coordinated control of spraying and mining; The coordinated control of the spray pump and the coal mining machine aims at "precise dust suppression," adjusting the spray parameters according to the working status of the coal mining machine. ① When the coal mining machine is in the cutting state (cutting motor is running), the integrated control platform sends a "high pressure spray" command to the spray pump controller to increase the outlet pressure of the spray pump to 10-12MPa, and at the same time controls all the spray nozzles near the cutting drum of the coal mining machine to open, so as to achieve precise dust reduction in the cutting area. ② When the coal mining machine is in an unloaded traction state (no cutting, only the traction motor is running), the integrated control platform sends a "low-pressure spray" command to the spray pump controller to reduce the outlet pressure of the spray pump to 5-8MPa, close some nozzles near the cutting drum, and keep only the spray nozzles above the conveyor to reduce water waste; ③ When the gas concentration at the working face exceeds 0.8% (monitored by the gas sensor), the centralized control software sends a "strengthen spraying" command to the spray pump controller, the outlet pressure of the spray pump is increased to 12-15MPa, all spray nozzles are opened, and at the same time a "stop" command is sent to the coal mining machine controller, the coal mining machine stops cutting until the gas concentration drops below 0.5%.

[0054] (4) Automatic planning and cutting control of the coal mining machine; ① Basis for cutting path planning; The coal mining machine automatically plans the cutting path based on the geological data of the working face (coal seam thickness, dip angle, roof and floor lithology) and mining process requirements (mining height, cutting depth), and dynamically adjusts it in conjunction with real-time operating data (such as roof and floor position, coal seam hardness). The geological data is transmitted to the centralized control software in advance by the working face advanced detection system, and the real-time operating data is collected by infrared detectors and ultrasonic detectors on the coal mining machine.

[0055] ② Initial cut path planning; The integrated management and control platform determines the mining height based on the coal seam thickness (mining height = coal seam thickness - 0.2m, with reserved thickness for roof and floor protection), and determines the cutting depth based on the mining process requirements (usually 0.8-1.2m). Starting from the working face transport roadway, the initial cutting path of the coal mining machine is planned as "serpentine cutting": the coal mining machine starts from the starting end and is pulled along the length of the working face. The cutting drum cuts according to the set mining height (the upper drum cuts the coal seam near the roof and the lower drum cuts the coal seam near the floor). When the coal mining machine reaches the end of the working face return airway, one cutting cycle is completed. Then the height of the cutting drum is adjusted (keeping the mining height unchanged) and the machine is pulled in the opposite direction to start the next cutting cycle.

[0056] ③ Dynamic slicing path adjustment; During the coal cutting process, infrared detectors and ultrasonic detectors monitor the position of the roof and floor and changes in coal seam hardness in real time. The integrated control platform dynamically adjusts the cutting path based on the detection data. When a sudden increase in coal seam thickness is detected (increase > 0.3m), the integrated control platform sends a "raise drum" command to the coal mining machine controller to raise the height of the cutting drum, so that the mining height matches the actual coal seam thickness (mining height = actual coal seam thickness - 0.2m), thus avoiding cutting into the bottom rock.

[0057] When the coal seam hardness is detected to increase (exceeding the set value, such as f>4), the integrated control platform sends a "reduce traction speed + adjust cutting angle" command to the coal mining machine controller, reducing the traction speed of the coal mining machine (to 2-3m / min) and adjusting the cutting angle of the cutting drum (increasing the contact area between the cutting drum and the coal seam), reducing cutting resistance and protecting the cutting teeth and cutting motor.

[0058] When a broken area is detected in the roof (monitored by the roof displacement sensor, the roof subsidence is >50mm / h), the centralized control software sends a "shorten cutting cycle length" command to the coal mining machine controller, shortening the coal mining machine cutting cycle length from the full length of the working face to 50m, while accelerating the following support speed to prevent the broken roof from collapsing.

[0059] (5) On-board control; ① Scope and objects of on-site control; The scope of the machine-following control is 5-8 supports in front of and behind the coal mining machine. The controlled objects include the supports (moving supports, raising columns, lowering columns, and side guard plate movements), the spray system (opening and closing of the machine-following spray), and the conveyor (pushing the machine-following).

[0060] ② On-board control process; On-board rack transfer control; 1) When the coal mining machine is being pulled, the position sensor tracks the position of the cutting drum of the coal mining machine in real time. When the cutting drum moves forward by 1 support width (1.5m), the centralized control software determines the support number that follows the machine to move the support (3-5 supports behind the coal mining machine) and sends a "move support" command to the corresponding support controller. 2) After receiving the instruction, the support controller first controls the support column to be lowered (the column lowering height should be such that the top beam is 50-100mm away from the top plate), then controls the pushing jack to push the support forward 1.5m, and finally controls the column to be raised so that the support top beam contacts the top plate and the working resistance reaches the set value, thus completing the machine-following support relocation. 3) During the frame relocation process, if the frame displacement sensor detects a frame relocation distance deviation > 50mm, the frame controller will automatically adjust the thrust of the pushing jack to correct the displacement deviation; if the pressure sensor detects that the top plate suddenly collapses after the column is lowered (pressure drops sharply), the frame relocation will be stopped immediately and the "emergency column raising" will be started to ensure the safety of the working face.

[0061] Onboard spray control; 1) The following spray system moves synchronously with the coal mining machine's cutting drum. When the coal mining machine's cutting drum moves, the central control layer sends instructions to the spray pump controller and the working face spray valve controller according to the position of the cutting drum. 2) The spray valves within the range of 1-2 supports in front of the cutting drum are opened to achieve "advance spraying" to moisten the coal seam in advance and reduce dust generation during cutting; the spray valves within the range of 3-4 supports near the cutting drum are opened to "high-pressure spraying" to directly suppress the dust generated during cutting; the spray valves within the range of 2-3 supports behind the cutting drum are opened to "low-pressure spraying" to perform secondary dust suppression on the scattered dust.

[0062] Control of the following transport aircraft; 1) After the coal mining machine completes a cutting cycle (moving from one end of the working face to the other), the integrated control platform sends a "push conveyor" command to all supports of the working face, adopting a "group pushing" method to avoid stress concentration when the conveyor is pushed as a whole; 2) The support controller controls the pushing jacks to push the conveyor towards the coal face. The pushing distance is consistent with the cutting depth (0.8-1.2m). During the pushing process, the conveyor deviation sensor monitors the position of the conveyor in real time. If the deviation is >100mm, the integrated control platform adjusts the pushing speed of the adjacent supports to correct the conveyor deviation.

[0063] This invention first acquires data from multiple sources, covering three categories: equipment operating status (core parameters), environmental perception (gas, dust, etc.), and working condition parameters (mining height, coal seam characteristics, etc.). Then, it uses a three-tiered mechanism of "preprocessing-fusion-analysis" to fuse and analyze the data. Finally, it controls the graded startup of each piece of equipment and performs coal flow balancing control, machine-assisted support coordination, precise spray control, dynamic cutting path planning, and machine-assisted movement control. Through the cyclical operation of these stages, it achieves real-time monitoring, intelligent analysis, precise control, and status feedback for underground coal mining machines, conveyors, and hydraulic supports. This ensures the coordinated and efficient operation of all equipment in the coal mining face, truly realizing autonomous, unmanned mining of "one cut of coal," improving the production efficiency of coal mine operations, and guaranteeing the safe operation of coal mining.

Claims

1. A collaborative control method based on data fusion, characterized in that: Includes the following steps: S1. Real-time acquisition of multi-source data; S2. Integrate and analyze the collected multi-source data; S3. Perform startup and coordinated control on each device; S31. Perform safety checks before starting the equipment; S32. Control each piece of equipment to start in stages in the following order: emulsifying pump, spray pump, roadway belt conveyor, crusher, transfer conveyor, conveyor, hydraulic support, and coal mining machine. S33. Perform coordinated control on the equipment after startup.

2. The collaborative control method based on data fusion as described in claim 1, characterized in that: Step S1 specifically includes the following steps: S11. Collect the operating status data of each device; S12. Collect environmental perception data of the working face; S13. Collect working condition parameter data during mining operations at the working face.

3. The collaborative control method based on data fusion as described in claim 2, characterized in that: Step S2 specifically includes the following steps: S21. Use an industrial internet platform to filter, denoise, and complete the collected equipment operating status data, working face environmental perception data, and working face working condition parameter data. S22. Extract features from equipment operating status data, and use heterogeneous data fusion technology to organize and fuse the extracted features of equipment operating status data, working face environment perception data, and working face working condition parameter data to obtain fused data. S23. Based on the industrial internet platform, a cloud-based decision-making system is built that combines an AI algorithm library and an expert knowledge base. The cloud-based decision-making system analyzes the fused data and transmits the analysis results to the integrated management and control platform.

4. The collaborative control method based on data fusion as described in claim 3, characterized in that: Step S31 specifically includes the following steps: S311. The integrated control platform determines whether the gas concentration data, dust concentration data, and temperature data meet the standards. S312. The integrated control platform determines whether the transport aircraft load, hydraulic system oil volume, and transport aircraft tension meet the standards. S313. The integrated control platform confirms that there are no personnel in the working area through the UWB positioning system. If there are no personnel, the standard is met, and the entrance to the working area is locked. S314. After steps S311, S312, and S313 have all met the requirements, the equipment will be started.

5. The collaborative control method based on data fusion as described in claim 4, characterized in that: Step S33 specifically includes the following steps: S331. Adjust the operating parameters of each device according to the coal quantity data to achieve coordinated coal flow control; S332. Adjust the position of the hydraulic support according to the position data of the coal mining machine to achieve coordinated control of support and mining; S333. Control the working status of the spray pump according to the working status of the coal mining machine to achieve coordinated control of spraying and mining; S334. Based on the geological data of the working face and the real-time working condition data, the cutting path of the coal mining machine is planned to realize the planning and control of the cutting path of the coal mining machine. S335. Adjust the movement position of the hydraulic support, the working status of the spray pump, and the movement position of the conveyor according to the movement data of the coal mining machine to achieve the following control of the coal mining machine.

6. The collaborative control method based on data fusion as described in claim 5, characterized in that: Step S331 specifically includes the following steps: S3311. When the coal load of the conveyor exceeds 80% of the rated coal load, a speed reduction command is sent to the coal mining machine controller to reduce the traction speed of the coal mining machine. At the same time, a speed increase command is sent to the transfer machine controller to increase the speed of the transfer machine and reduce coal accumulation on the conveyor. S3312. When the coal volume of the conveyor belt in the roadway is less than 50% of the rated coal volume, a speed-up command is sent to the coal mining machine controller to increase the traction speed of the coal mining machine. At the same time, a speed-down command is sent to the conveyor controller and the transfer machine controller to reduce their operating speed and avoid the equipment running idle and wasting energy.

7. The collaborative control method based on data fusion as described in claim 6, characterized in that: Step S332 specifically includes the following steps: S3321. During the traction process of the coal mining machine, the position sensor transmits the position data of the coal mining machine to the integrated management and control platform in real time. The integrated management and control platform sends support instructions to the hydraulic support controller according to the position of the coal mining machine. S3322. When the cutting drum of the coal mining machine moves forward 1.5m, the integrated control platform sends a moving command to 3 to 5 hydraulic supports behind the coal mining machine. The hydraulic support controller controls the hydraulic supports to complete the actions of lowering the column, moving the support, and raising the column in sequence. The moving speed is matched with the traction speed of the coal mining machine. S3323 After the frame is moved, the hydraulic support pressure sensor monitors the working resistance of the hydraulic support in real time. If the working resistance is less than the set value, the hydraulic support controller automatically starts the pressure compensation program until the working resistance reaches the set value. S3324. When the coal mining machine is mining at the end, the integrated control platform sends a special support command to the hydraulic support at the end position. The hydraulic support at the end position extends its side guard plate to increase the support width and at the same time increase the working resistance of the hydraulic support to ensure the safety of the end area.

8. The collaborative control method based on data fusion as described in claim 7, characterized in that: Step S333 specifically includes the following steps: S3331. When the coal mining machine is in the cutting state, the integrated control platform sends a high-pressure spray command to the spray pump controller to increase the outlet pressure of the spray pump to 10-12MPa. At the same time, it controls all the spray nozzles on the outer periphery of the coal mining machine cutting drum to open, so as to achieve precise dust reduction in the cutting area. S3332. When the coal mining machine is in no-load traction mode, the integrated control platform sends a low-pressure spray command to the spray pump controller to reduce the outlet pressure of the spray pump to 5-8 MPa, leaving only the spray nozzles above the conveyor open to reduce water waste. S3333 When the gas concentration at the working face exceeds 0.8%, the integrated control platform sends an enhanced spray command to the spray pump controller, the outlet pressure of the spray pump is increased to 12-15MPa, all spray nozzles are opened, and at the same time a shutdown command is sent to the coal mining machine controller, the coal mining machine stops cutting, and restarts after the gas concentration drops below 0.5%.

9. The collaborative control method based on data fusion as described in claim 8, characterized in that: Step S334 specifically includes the following steps: S3341. The integrated control platform determines the mining height based on the coal seam thickness and the cutting depth based on the mining conditions. Starting from the working face transport roadway, the initial cutting path of the coal mining machine is planned as a serpentine cutting path. S3342. During the coal cutting process, the position of the roof and floor of the working face and the change data of coal seam hardness are detected in real time. The integrated control platform dynamically adjusts the initial cutting path of the coal cutting machine based on the detection data. When a sudden increase in coal seam thickness is detected, the integrated control platform sends a raising drum command to the coal mining machine controller to increase the height of the cutting drum, so that the mining height matches the actual coal seam thickness and avoids cutting into the bottom rock. When the increased hardness of the coal seam is detected, the integrated control platform sends a command to the coal mining machine controller to reduce the traction speed and adjust the cutting angle. This reduces the traction speed of the coal mining machine and adjusts the cutting angle of the cutting drum to reduce cutting resistance. When a fractured area is detected in the roof, the integrated control platform sends a command to the coal mining machine controller to shorten the cutting cycle length, reducing the cutting cycle length of the coal mining machine from the full length of the working face to 50m, while accelerating the following support speed to prevent the fractured roof from collapsing.

10. The collaborative control method based on data fusion as described in claim 9, characterized in that: Step S335 specifically includes the following steps: S3351. When the coal mining machine is being pulled, the position sensor monitors the position of the cutting drum of the coal mining machine in real time. When the cutting drum moves forward by 1 hydraulic support width, the integrated control platform determines the hydraulic support number that follows the machine to move the support and sends the moving command to the corresponding hydraulic support controller. After receiving the moving command, the hydraulic support controller first controls the hydraulic support to lower the column, then controls the pushing jack to push the hydraulic support forward by 1.5m, and finally controls the hydraulic support to raise the column so that the top beam of the hydraulic support contacts the top plate and the working resistance reaches the set value. During the relocation process, if the hydraulic support displacement sensor detects a relocation distance deviation > 50mm, the support controller adjusts the thrust of the pushing jack to correct the displacement deviation; if the hydraulic support pressure sensor detects that the top plate suddenly collapses after the column is lowered, the relocation is immediately stopped, and the hydraulic support is started for emergency column raising to ensure the safety of the working face. S3352. When the coal mining machine cutting drum moves, the integrated control platform sends instructions to the spray pump controller and the working face spray nozzle valve controller according to the position of the cutting drum. Low-pressure spraying is applied to the nozzles within the range of 1-2 hydraulic supports in front of the cutting drum to achieve advanced spraying, moisten the coal seam in advance, and reduce dust generation during cutting; high-pressure spraying is applied to the nozzles within the range of 3-4 hydraulic supports around the outer perimeter of the cutting drum to directly suppress the dust generated during cutting; low-pressure spraying is applied to the nozzles within the range of 2-3 hydraulic supports behind the cutting drum to perform secondary dust suppression on the dispersed dust. S3353. After the coal mining machine completes one cutting cycle, the integrated control platform sends a push conveyor instruction to all hydraulic supports on the working face. The hydraulic support controller controls the push jacks to push the conveyor towards the coal face. The push distance is consistent with the cutting depth. During the push, the conveyor deviation sensor monitors the position of the conveyor in real time. If the deviation is greater than 100mm, the integrated control platform adjusts the push speed of the adjacent hydraulic supports to correct the conveyor deviation.