Mining method based on double-drum coal mining machine, control system and related equipment
With intelligent cutting mode and memory cutting mode, the dual-drum coal mining machine adaptively adjusts cutting parameters and paths, solving the problem of high operational difficulty and achieving convenient operation without remote control.
Patent Information
- Application Number
- CN202510921793.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-03
- Publication Date
- 2026-05-05
AI Technical Summary
The operation of the twin-drum coal mining machine is difficult and requires remote control, which makes operation inconvenient.
The system employs intelligent cutting mode and memory cutting mode. By generating intelligent cutting commands or memory cutting commands, it uses sensors such as laser scanners and ultrasonic ranging sensors to acquire coal and rock contour and working condition characteristic data, and automatically adjusts cutting parameters and paths to achieve adaptive coal mining.
This reduces the difficulty of operation, enabling the twin-drum coal mining machine to perform cutting operations autonomously without remote control, thus improving the convenience and safety of operation.
Smart Images
Figure CN121976798A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of coal mining technology, and in particular to a mining method, control system and related equipment based on a double-drum coal mining machine. Background Technology
[0002] Currently, twin-drum coal mining machines require remote control by operators for mining operations, which is quite difficult. Therefore, how to reduce the operational difficulty of twin-drum coal mining machines has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0003] This application proposes a double-drum coal mining machine to reduce the operational difficulty of the double-drum coal mining machine.
[0004] To achieve the above objectives, this application discloses the following technical solutions:
[0005] In a first aspect, this application provides a mining method based on a double-drum coal mining machine, comprising the following steps:
[0006] Intelligent cutting mode: In response to the trigger operation, an intelligent cutting command is generated to control the dual-drum coal mining machine to perform intelligent cutting;
[0007] Memory Cutting Mode: In response to a trigger operation, a memory cutting instruction is generated, working condition feature data is acquired, an adaptive coal mining path model associated with the working condition feature data is invoked, and the dual-drum coal mining machine is controlled to perform memory cutting.
[0008] As can be seen, the mining method of this application includes intelligent cutting mode and memory cutting mode. In intelligent cutting mode, the double-drum coal mining machine can perform cutting operation by itself. In memory cutting mode, the corresponding adaptive coal mining path model can be selected for cutting operation. Therefore, the appropriate cutting mode can be selected as needed without remote control, thereby reducing the difficulty of operation.
[0009] In some embodiments, in smart cut-off mode, the method includes:
[0010] Scan the coal and rock contours to obtain information on the undulation characteristics of the cross-section;
[0011] Cutting parameters are calculated based on the undulation characteristics of the cross-section, including cutting depth, cutting height, and cutting path.
[0012] The twin-drum coal mining machine performs intelligent cutting based on the cutting parameters calculated above.
[0013] In some embodiments, in intelligent cut-off mode, the method further includes:
[0014] Obtain the distances between the front and rear sides of the twin-drum coal mining machine and the coal wall;
[0015] When the distance to the front of the fuselage is greater than the distance to the rear of the fuselage, adjust the speed of the second track to be less than the speed of the first track.
[0016] When the distance to the front of the fuselage is less than the distance to the rear of the fuselage, adjust the speed of the second track to be greater than the speed of the first track.
[0017] In some embodiments, in intelligent cut-off mode, the method further includes:
[0018] Obtain the tilt angle of the twin-drum coal mining machine body;
[0019] Obtain the lifting height of the cutting drum of the twin-drum coal mining machine;
[0020] The tilt angle and lifting height are automatically and redundantly calculated, and the target height is obtained by superimposing the fuselage tilt angle and the rocker arm position angle.
[0021] Adjust the cutting roller to the target height.
[0022] In some embodiments, under the memory truncation mode, the method further includes:
[0023] During the manual operation of the twin-drum coal mining machine, the operating parameters of the twin-drum coal mining machine are collected and processed in real time to generate a reusable adaptive coal mining path model.
[0024] Store the adaptive coal mining path model and associated working condition characteristic data.
[0025] In some embodiments, under the memory truncation mode, the method further includes:
[0026] Establish a mapping database between working condition characteristic data and adaptive coal mining path model;
[0027] The system automatically selects historical models that match real-time detection data by a similarity matching algorithm, with a similarity rate greater than 90%.
[0028] When a match fails, a memory cut is triggered to generate a new model and update the database.
[0029] Secondly, this application provides a mining control system based on a dual-drum coal mining machine, comprising:
[0030] The human-computer interaction module is configured to generate intelligent truncation instructions or memorize truncation instructions in response to triggered operations.
[0031] The controller is configured to control the twin-drum coal mining machine to perform any of the methods described above based on intelligent cutting instructions or memory cutting instructions.
[0032] In some embodiments, the control system may further include a laser scanner, an ultrasonic ranging sensor, and a tilt sensor, wherein the laser scanner is used to scan the coal and rock contour to obtain information on the undulation characteristics of the cross-section; and the ultrasonic ranging sensor acquires the distance between the front and rear sides of the twin-drum coal mining machine and the coal wall.
[0033] Thirdly, this application provides a double-drum coal mining machine that integrates the above-mentioned system.
[0034] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the preceding claims. Attached Figure Description
[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort, and this application can be applied to other similar scenarios based on the provided drawings. Unless obvious from the linguistic context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.
[0036] Figure 1 A schematic diagram of a double-drum coal mining machine provided in an embodiment of this application;
[0037] Figure 2 A schematic diagram of a mining method based on a double-drum coal mining machine provided in an embodiment of this application;
[0038] Figure 3 for Figure 2 A schematic diagram of the intelligent cutting mode shown;
[0039] Figure 4 for Figure 2 A schematic diagram of the intelligent cutting mode shown;
[0040] Figure 5 for Figure 2 A schematic diagram of the intelligent cutting mode shown;
[0041] Figure 6 This is a schematic diagram of the double-drum coal mining machine provided in the embodiments of this application on an inclined plane;
[0042] Figure 7 for Figure 2 A schematic diagram of the memory truncation pattern is shown;
[0043] Figure 8 for Figure 2A schematic diagram of the memory truncation pattern is shown;
[0044] Figure 9 A schematic diagram of a mining control system based on a dual-drum coal mining machine provided in an embodiment of this application;
[0045] Figure 10 A schematic diagram of another mining control system based on a dual-drum coal mining machine provided for an embodiment of this application;
[0046] In the diagram: 100 - Double-drum coal mining machine; 200 - Control system;
[0047] 110 - Machine body; 120 - Cutting drum; 130 - Traveling device;
[0048] 210 - Human-computer interaction module; 220 - Controller; 230 - Laser scanner; 240 - Ultrasonic ranging sensor; 250 - Tilt sensor. Detailed Implementation
[0049] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. The described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.
[0050] See Figure 1 This application provides a double-drum coal mining machine including a machine body 110, a cutting drum 120, and a traveling device 130. There are two cutting drums 120, which are respectively vertically and vertically mounted at the front and rear ends of the traveling device 130, close to the side of the ore mining face, for cutting ore layers in layers. The traveling device 130 drives the machine body 110 to travel back and forth along the ore mining face. When cutting the ore layer, the cutting drums 120 are inclined inwards against the ore layer. The cutting drums 120 themselves also have a certain inclined structure, so that after cutting the ore layer using the front and rear cutting drums 120, the sidewall of the ore layer forms a certain angle of inclination, avoiding sidewall spalling and collapse.
[0051] The aforementioned walking device 130 includes a first side track and a second side track, which are arranged in parallel.
[0052] See Figure 1 This application provides a mining method based on a double-drum coal mining machine, comprising the following steps:
[0053] S1: Intelligent Cutting Mode: In response to the trigger operation, an intelligent cutting command is generated to control the dual-drum coal mining machine to perform intelligent cutting.
[0054] The triggering operations mentioned above can include physical touch, virtual interface touch, and gesture sensing. Example: Detecting a user's index finger pressing on the display screen for more than 2 seconds. When the triggering operation meets the triggering conditions, a smart cutoff command can be generated, for example: when the pressure sensor reading is >1.5N and the contact area is ≥0.8cm².
[0055] The twin-drum coal mining machine can automatically adjust the distance between the machine body and the coal smoke based on information about the coal and rock contours collected; or adjust the height of the cutting drum according to the tilt angle of the machine body, etc., so as to adjust the attitude of the twin-drum coal mining machine for intelligent cutting.
[0056] S2: Memory Cutting Mode: In response to the trigger operation, a memory cutting instruction is generated, working condition feature data is obtained, the adaptive coal mining path model associated with the working condition feature data is called, and the dual-drum coal mining machine is controlled to perform memory cutting.
[0057] The triggering operations mentioned above can include physical touch, virtual interface touch, and gesture sensing. Example: Detecting a user's index finger pressing on the display screen for more than 2 seconds. When the triggering operation meets the triggering conditions, a memory cutoff command can be generated, for example: when the pressure sensor reading is >1.5N and the contact area is ≥0.8cm².
[0058] In the memory-based truncation mode, the system stores the correspondence between the adaptive coal mining path model and the working condition characteristic data. After acquiring the current working condition characteristic data, it selects the corresponding adaptive coal mining path model for coal mining. The aforementioned adaptive coal mining path model can be learned and stored on-site, or it can be stored in advance.
[0059] The structure used to respond to the triggering operations of the above-mentioned smart cut-off mode and memory cut-off mode can be the same structure or different structures. When it is the same structure, corresponding instructions can be generated according to the touch situation, such as the number of touch intervals, the touch time, etc.
[0060] The mining method of this application includes an intelligent cutting mode and a memory cutting mode. In the intelligent cutting mode, the dual-drum coal mining machine can perform cutting operations automatically. In the memory cutting mode, the corresponding adaptive coal mining path model can be selected for cutting operations. Therefore, the appropriate cutting mode can be selected as needed without remote control, thereby reducing the difficulty of operation.
[0061] In addition, the method described above in this application may also include a one-button mode: in response to a trigger operation, a start command or a stop command is generated. This response is similar to the response described above; the operator can perform touch operation remotely, from a control room, or via remote control. When a start command is generated, all motors of the device start; when a stop command is generated, all motors of the device stop.
[0062] See Figure 3 In intelligent pruning mode, the method includes:
[0063] Step S111: Scan the coal and rock contour to obtain the undulation feature information of the cross-section. The equipment for scanning the coal smoke contour may include a laser scanner, an industrial camera, an inertial measurement unit (IMU), and a positioning system. The laser scanner is configured to capture contour information, the industrial camera is configured to acquire surface texture information, the IMU is configured to compensate for equipment jitter, and the positioning system is configured for spatial coordinate calibration. The aforementioned undulation feature information of the cross-section includes undulation degree, fracture density, dip angle distribution, etc. The aforementioned undulation feature information of the cross-section is obtained through calculation using the contour information and surface texture information.
[0064] Step S112: Calculate the cutting parameter information based on the undulation characteristics of the cross-section. The cutting parameter information includes the cutting depth, cutting height, and cutting path.
[0065] Step S113: The dual-drum coal mining machine performs intelligent cutting based on the cutting parameters calculated above.
[0066] The above steps enable the twin-drum coal mining machine to cut under certain cutting parameters, ensuring that the cutting depth is not too deep, thus affecting safety, and that the cutting depth is not too shallow, thus affecting cutting efficiency.
[0067] See Figure 4 In the intelligent pruning mode, the method further includes:
[0068] Step S121: Obtain the distance between the front and rear sides of the double-drum coal mining machine and the coal wall; the aforementioned distances between the front and rear sides of the machine can be obtained by ultrasonic ranging sensors, laser ranging sensors, millimeter-wave radar, infrared rangefinders, or ToF cameras.
[0069] Step S122: When the distance to the front of the fuselage is greater than the distance to the rear of the fuselage, adjust the speed of the second track to be less than the speed of the first track;
[0070] Step S123: When the distance to the front of the fuselage is less than the distance to the rear of the fuselage, adjust the speed of the second track to be greater than the speed of the first track.
[0071] By adjusting the distance between the front and rear sides of the machine body, the machine body is kept at a relatively safe distance, ensuring the safety of the coal mining process.
[0072] See Figure 5 In the intelligent pruning mode, the method further includes:
[0073] Step S131: Obtain the tilt angle of the body of the double-drum coal mining machine;
[0074] Step S132: Obtain the lifting height of the cutting drum of the double-drum coal mining machine;
[0075] Step S133: Automatically perform redundant calculations on the tilt angle and lifting height, and superimpose the body tilt angle and rocker arm position angle to obtain the target height;
[0076] Step S134: Adjust the cutting roller to the target height.
[0077] The cutting roller automatically adjusts its height according to uneven road surfaces, reducing human intervention.
[0078] See Figure 6 The twin-drum coal mining machine is equipped with an inclination sensor and an absolute encoder on the swing shaft of the cutting drum, which can sense the lifting height of the drum in real time. When encountering uneven ground, the control unit of the twin-drum coal mining machine will automatically perform redundant calculations and superimpose the tilt angle of the machine body and the position angle of the rocker arm. During the automatic coal cutting process along the cutting path, the height of the cutting drum and the shovel can be automatically adjusted according to the undulation of the road surface.
[0079] Zero baseline O: A new horizontal baseline is generated when the twin-drum coal mining machine reverses direction. This line serves as the reference for all absolute heights.
[0080] Absolute height of the walking device: h, the height of the working face side slip shoe relative to the zero reference line.
[0081] Absolute height of the cutting drum: The height H of the center of the cutting drum relative to the baseline.
[0082] Relative height of the cutting drum: The height H1 of the center of the cutting drum relative to the bottom of the chute is related to the angle of the machine body.
[0083] In intelligent cutting mode, the control method may also include real-time monitoring of the cutting current to adjust the travel speed of the twin-drum coal mining machine (the travel speed is relatively fast when the coal and rock are soft, and relatively slow when the coal and rock are hard).
[0084] See Figure 7 In the memory truncation mode, the method further includes:
[0085] Step S211: During the manual operation of the double-drum coal mining machine, the operating parameters of the double-drum coal mining machine are collected and processed in real time to generate a reusable adaptive coal mining path model;
[0086] Step S212: Store the adaptive coal mining path model and associated working condition characteristic data.
[0087] The above steps constitute the self-learning process under the memory truncation mode, where the most important aspect of this learning process is learning manual operation.
[0088] join Figure 8 In the memory truncation mode, the method further includes:
[0089] Step S221: Establish a mapping database between working condition characteristic data and adaptive coal mining path model;
[0090] Step S222: Automatically select historical models with a similarity matching degree > 90% with real-time detection data using a similarity matching algorithm;
[0091] Step S223: When a match fails, trigger memory truncation to generate a new model and update the database.
[0092] See Figure 9 This application discloses a mining control system based on a double-drum coal mining machine, comprising:
[0093] Human-computer interaction module 210 is configured to generate intelligent cutting instructions or memorized cutting instructions in response to trigger operations;
[0094] The controller 220 is configured to control the twin-drum coal mining machine to perform any of the methods described above based on intelligent cutting instructions or memory cutting instructions.
[0095] Specifically, the controller 220 can control the dual-drum coal mining machine to perform intelligent cutting according to the intelligent cutting instruction; it can also obtain working condition characteristic data according to the memory cutting instruction, call the adaptive coal mining path model associated with the working condition characteristic data, and control the dual-drum coal mining machine to perform memory cutting.
[0096] The aforementioned human-computer interaction module 210 may include a display screen, buttons, etc.
[0097] The controller 220 may include a processor and a memory, which can be used to store computer-executable program code. Specifically, the memory may include a program storage area and a data storage area. The program storage area may store program code required to implement an operating system, software system, or at least one function. The data storage area may store data acquired, generated, and used during the use of the electronic device.
[0098] In some implementations, all or part of the memory can be integrated into the processor as internal processor memory. In other implementations, the memory is external to the processor and communicates with the processor through the processor's external memory interface.
[0099] In some implementations, the memory may include high-speed random access memory, or it may include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.
[0100] The processor may include one or more processing units. For example, in intelligent cutting mode, the processor can calculate cutting parameters based on the undulation characteristics of the cross-section, including cutting depth, cutting height, and cutting path. The processor can adjust the speed of the second track to be lower than the speed of the first track when the distance to the front of the fuselage is greater than the distance to the rear of the fuselage; and adjust the speed of the second track to be greater than the speed of the first track when the distance to the front of the fuselage is less than the distance to the rear of the fuselage. The processor can also automatically perform redundant calculations on the tilt angle and lifting height, and superimpose the fuselage tilt angle and the rocker arm position angle to obtain the target height.
[0101] In addition, in intelligent cutting mode, the processor can monitor the cutting current in real time to adjust the travel speed of the dual-drum coal mining machine (the travel speed is relatively fast when the coal and rock are soft, and relatively slow when the coal and rock are hard).
[0102] In memory truncation mode, the processor generates a reusable adaptive mining path model based on the real-time acquisition and processing of the operating parameters of the dual-drum coal mining machine; and stores the adaptive mining path model and associated working condition feature data.
[0103] See Figure 10 The control system also includes a laser scanner 230, an ultrasonic ranging sensor 240, and a tilt sensor 250. The laser scanner 230 is used to scan the coal and rock contour to obtain information on the undulation characteristics of the cross-section. The ultrasonic ranging sensor 240 acquires the distances between the front and rear sides of the twin-drum coal mining machine and the coal wall.
[0104] This application also discloses a double-drum coal mining machine that integrates the above-mentioned system.
[0105] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method of the above embodiments.
[0106] In the above context, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
[0107] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.
[0108] It should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0109] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed, and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. The scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.
Claims
1. A mining method based on a double-drum coal mining machine, characterized in that, Includes the following steps: Intelligent cutting mode: In response to the trigger operation, an intelligent cutting command is generated to control the dual-drum coal mining machine to perform intelligent cutting; Memory Cutting Mode: In response to a trigger operation, a memory cutting instruction is generated, working condition feature data is acquired, an adaptive coal mining path model associated with the working condition feature data is invoked, and the dual-drum coal mining machine is controlled to perform memory cutting.
2. The method as described in claim 1, characterized in that, In intelligent cut-off mode, the method includes: Scan the coal and rock contours to obtain information on the undulation characteristics of the cross-section; Cutting parameters are calculated based on the undulation characteristics of the cross-section, including cutting depth, cutting height, and cutting path. The twin-drum coal mining machine performs intelligent cutting based on the cutting parameters calculated above.
3. The method as described in claim 1, characterized in that, In intelligent cutting mode, the method further includes: Obtain the distances between the front and rear sides of the twin-drum coal mining machine and the coal wall; When the distance to the front of the fuselage is greater than the distance to the rear of the fuselage, adjust the speed of the second track to be less than the speed of the first track. When the distance to the front of the fuselage is less than the distance to the rear of the fuselage, adjust the speed of the second track to be greater than the speed of the first track.
4. The method as described in claim 1, characterized in that, In intelligent cutting mode, the method further includes: Obtain the tilt angle of the twin-drum coal mining machine body; Obtain the lifting height of the cutting drum of the twin-drum coal mining machine; The tilt angle and lifting height are automatically and redundantly calculated, and the target height is obtained by superimposing the fuselage tilt angle and the rocker arm position angle. Adjust the cutting roller to the target height.
5. The method as described in claim 1, characterized in that, In the memory truncation mode, the method further includes: During the manual operation of the twin-drum coal mining machine, the operating parameters of the twin-drum coal mining machine are collected and processed in real time to generate a reusable adaptive coal mining path model. Store the adaptive coal mining path model and associated working condition characteristic data.
6. The method as described in claim 1, characterized in that, In the memory truncation mode, the method further includes: Establish a mapping database between working condition characteristic data and adaptive coal mining path model; The system automatically selects historical models that match real-time detection data by a similarity matching algorithm, with a similarity rate greater than 90%. When a match fails, a memory cut is triggered to generate a new model and update the database.
7. A mining control system based on a double-drum coal mining machine, characterized in that, include: The human-computer interaction module is configured to generate intelligent truncation instructions or memorize truncation instructions in response to triggered operations. The controller is configured to control the twin-drum coal mining machine to perform the method as described in any one of claims 1 to 6 according to a smart cutting instruction or a memory cutting instruction.
8. The mining control system as described in claim 7, characterized in that, The mining control system also includes a laser scanner, an ultrasonic ranging sensor, and an inclination sensor. The laser scanner is used to scan the coal and rock contour to obtain information on the undulation characteristics of the cross-section. The ultrasonic ranging sensor acquires the distance between the front and rear sides of the twin-drum coal mining machine and the coal wall.
9. A double-drum coal mining machine, characterized in that, It integrates the mining control system as described in claim 7 or 8.
10. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by the processor, it implements the method described in any one of claims 1-6.