A Coal Mining Technology for Longwall Fully Mechanized Mining Based on Dynamic Decision-Making

Abstract

This invention discloses a dynamic decision-based longwall fully mechanized coal mining technology using two mining machines, belonging to the field of coal mine monitoring and control technology. The technology includes: a first mining machine and a second mining machine simultaneously starting coal mining from both ends of the working face; at the start of mining, the central control system determines an initial convergence point based on first and second initial state data; during mining, a first sensor and a second sensor collect first and second motion state data in real time, and the central control system determines a dynamic convergence point based on these data; the central control system adjusts the working states of the first and second mining machines in real time based on changes in the dynamic convergence point. This invention provides a dynamic decision-based longwall fully mechanized coal mining technology using two mining machines, generating a dynamic convergence point through dynamic real-time decision-making, thereby minimizing waiting time and achieving seamless coordination.

Description

Technical Field

[0001] This invention relates to the field of coal mine monitoring and regulation technology, specifically to a dual-mining machine longwall fully mechanized coal mining collaborative mining process based on dynamic decision-making. Background Technology

[0002] In longwall mining faces in coal mines, traditional mining processes often employ a single mining machine or a dual-machine (main and auxiliary) model. The single-machine process achieves production through reciprocating coal cutting, but its efficiency is low, with only 6-8 cuts per day and a yield of less than 10,000 tons. While the dual-machine model offers some improvement, one machine is responsible for primary coal cutting, while the other only assists with end-face processing, resulting in equipment utilization of less than 90% and long end-face waiting times (15-20 minutes per cycle), failing to achieve maximum efficiency. Furthermore, in ultra-long faces (such as 300 supports, approximately 525m in total length), existing processes struggle to coordinate simultaneous coal cutting by two machines, easily leading to problems such as cross-collision, excessive bending of the scraper conveyor, or roof instability, impacting safety and economic benefits.

[0003] In the existing technology, some mines (such as Shendong mining area) use equal-height double roller machine drive, but it is still limited to same-direction or alternating operation, and cannot make full use of the curvature of the scraper conveyor to achieve reverse simultaneous cutting. The cycle time is long (about 60 minutes) and the output increase is limited.

[0004] Application number CN202310153256.5 discloses a dual-mining-machine mining method. This method includes a first mining machine starting from point A and mining up to point E. Then, the first mining machine continues mining from point E using an end-angled cutting tool in a direction towards point A. A second mining machine starts mining from point B, cutting through the triangular coal seam left by the first mining machine at point E. After cutting through the triangular coal seam, the second mining machine continues mining towards point B. This invention's dual-mining-machine mining method uses the second mining machine to cut through the triangular coal seam left by the first mining machine at point E, thereby shortening the overall operating time of both machines and improving the mining efficiency of the coal seam.

[0005] Application No. 202310825823.7 discloses a method for coordinated mining of ultra-long working faces using two coal mining machines. The method involves setting up four roadways from left to right in the same ultra-long working face, forming a left working face, a coal pillar, and a right working face. Two coal mining machines respectively cut obliquely from the left and right roadways, and after completing the cut, they normally cut the coal body of the left and right working faces. After the initial cutting position of the two coal mining machines reaches the coal pillar, they are controlled to perform alternating coal pillar recovery according to a predetermined procedure. S4: After completing the coal pillar recovery operation, the two coal mining machines mine their respective working faces, and after cutting through the left and right roadways respectively, they move again towards the coal pillar, and repeat the working face recovery operation according to S2 and S3. This invention completes the cutting operation of ultra-long working faces by controlling two coal mining machines to cut the left and right working faces and alternately cut the coal pillar. Summary of the Invention

[0006] This invention aims to overcome the technical problems of low efficiency of a single coal mining machine and difficulty in coordinating two coal mining machines in the prior art. It provides a dynamic decision-based longwall fully mechanized coal mining technology that generates dynamic convergence points through dynamic real-time decision-making, thereby minimizing waiting time and achieving seamless coordination.

[0007] This invention provides a dynamic decision-based longwall fully mechanized coal mining technology using dual mining machines, comprising: The first and second coal mining machines started simultaneously from both ends of the working face to begin coal mining; When coal mining begins, the first sensor installed on the first coal mining machine sends the first initial state data to the central control system, and the second sensor installed on the second coal mining machine sends the second initial state data to the central control system. The central control system determines the initial convergence point based on the first initial state data and the second initial state data; During the coal mining process, the first sensor sends the first motion status data of the first coal mining machine to the central control system, and the second sensor sends the second motion status data of the second coal mining machine to the central control system. The central control system determines the dynamic convergence point based on the first motion state data and the second motion state data. When the distance between the first coal mining machine and the dynamic convergence point is less than the set threshold, the first sensor stops transmitting the first motion state data to the central control system, and the first coal mining machine stops cutting coal and turns away from the working face. When the distance between the second coal mining machine and the dynamic convergence point is less than the set threshold, the second coal mining machine decelerates and completes the remaining coal mining on the working face.

[0008] The present invention provides a preferred embodiment of a longwall fully mechanized coal mining technology based on dynamic decision-making, comprising the following steps: S1. The central control system sends a start command to the first and second coal mining machines. The first and second coal mining machines start mining coal simultaneously from both ends of the working face. The first and second sensors send the first and second initial state data to the central control system in real time. S2. The central control system generates an initial convergence point based on the first initial state data and the second initial state data. S3. During the coal mining process, the first and second sensors of the first and second coal mining machines send first motion status data and second motion status data to the central control system in real time. S4. The central control system generates a dynamic convergence point based on the first motion state data and the second motion state data. S5. Determine whether the distance between the dynamic merging point and the initial merging point is less than the set threshold. If the determination is yes, proceed to step S7; otherwise, proceed to step S6. S6. The central control system sends a first adjustment command to the first coal mining machine and / or the second coal mining machine, and returns to step S4. S7. Determine whether the distance between the first coal mining machine and the dynamic convergence point is less than the set threshold. If the determination is yes, return to step S4. If the determination is yes, proceed to step S8. S8. The central control system sends a second adjustment command to the first coal mining machine. The first coal mining machine stops mining and turns around to return according to the second adjustment command. The first sensor stops sending the first motion status data according to the second adjustment command. S9. Determine whether the distance between the first coal mining machine and the dynamic convergence point is less than the set threshold. If the determination is yes, otherwise repeat step S9. If the determination is yes, proceed to step S10. S10. The central control system sends a third adjustment command to the second coal mining machine. The second coal mining machine decelerates according to the third adjustment command and completes the remaining coal mining on the working face.

[0009] The present invention discloses a dynamic decision-based longwall fully mechanized coal mining technology based on dynamic decision-making. In a preferred embodiment, the first initial state data includes the initial position coordinates P1 of the first coal mining machine and the set speed v1 of the first coal mining machine, and the second initial state data includes the initial position coordinates P2 of the second coal mining machine and the set speed v2 of the second coal mining machine.

[0010] The preferred method for calculating the initial convergence point M in the dynamic decision-based longwall fully mechanized coal mining technology using dual coal mining machines described in this invention is as follows: ; Where M is the initial convergence point coordinate, P1 is the initial position coordinate of the first coal mining machine, P2 is the initial position coordinate of the second coal mining machine, v1 is the set speed of the first coal mining machine, and v2 is the set speed of the first coal mining machine.

[0011] The present invention discloses a dynamic decision-based longwall fully mechanized coal mining technology based on dynamic decision-making. In a preferred embodiment, the first motion state data includes the real-time position coordinates P1(t) of the first coal mining machine, the real-time velocity v1(t) of the first coal mining machine, and the real-time acceleration a1(t) of the first coal mining machine. The second initial state data includes the real-time position coordinates P2(t) of the second coal mining machine, the real-time velocity v2(t) of the second coal mining machine, and the real-time acceleration a2(t) of the second coal mining machine.

[0012] The proposed dual-mining machine longwall fully mechanized coal mining technology based on dynamic decision-making, as a preferred method, uses the following method to calculate the dynamic convergence point M(t): ; Where M(t) is the position coordinate of the dynamic convergence point, P1(t) is the real-time position coordinate of the first coal mining machine, v1(t) is the real-time velocity of the first coal mining machine, a1(t) is the real-time acceleration of the first coal mining machine, Δt1 is the predicted time from the first coal mining machine to the dynamic convergence point, P2(t) is the real-time position coordinate of the second coal mining machine, v2(t) is the real-time velocity of the second coal mining machine, a2(t) is the real-time acceleration of the second coal mining machine, and Δt2 is the predicted time from the second coal mining machine to the dynamic convergence point.

[0013] The proposed dual-mining-machine longwall fully mechanized coal mining technology based on dynamic decision-making, as a preferred embodiment, uses the following method to calculate the predicted time Δt1 from the first mining machine to the dynamic convergence point: ; Where M(t) is the position coordinate of the dynamic convergence point, P1(t) is the real-time position coordinate of the first coal mining machine, and v1(t) is the real-time speed of the first coal mining machine.

[0014] The present invention discloses a dynamic decision-based longwall fully mechanized coal mining technology with dual coal mining machines. As a preferred embodiment, the calculation method for the predicted time Δt2 from the second coal mining machine to the dynamic convergence point is as follows: ; Where M(t) is the position coordinate of the dynamic convergence point, P2(t) is the real-time position coordinate of the second coal mining machine, and v2(t) is the real-time speed of the second coal mining machine.

[0015] In the present invention, a dual-mining machine longwall fully mechanized coal mining technology based on dynamic decision-making is preferred in which the prediction time Δt1 from the first mining machine to the dynamic convergence point and the prediction time Δt2 from the second mining machine to the dynamic convergence point are equal.

[0016] In the preferred embodiment of the dynamic decision-making-based longwall fully mechanized coal mining technology of the present invention, a threshold of ≤15m is set in step S9.

[0017] The present invention has the following beneficial effects: (1) The central control system continuously calculates a predictive rendezvous position based on the real-time position, speed and acceleration data uploaded by the two coal mining machines. This realizes the transformation from "static planning" to "dynamic real-time decision-making", which enables the two coal mining machines to "arrive" at the optimal handover point "at the same time" after completing their respective coal cutting tasks, thereby minimizing waiting time and achieving seamless collaboration.

[0018] (2) Two identical coal mining machines start simultaneously from both ends of the working face and advance towards the middle in a differentiated manner, which can maximize equipment utilization, increase daily output, shorten cycle time, ensure the curvature of the scraper conveyor and the balance of coal flow load, and improve the safety production efficiency and economic benefits of the coal mine. Attached Figure Description

[0019] Figure 1 This is a process flow diagram for a longwall fully mechanized coal mining process based on dynamic decision-making. Detailed Implementation

[0020] Example 1 like Figure 1 As shown, a preferred method for a longwall fully mechanized coal mining process based on dynamic decision-making includes the following steps: S1. The central control system sends a start command to the first and second coal mining machines. The first and second coal mining machines start mining coal simultaneously from both ends of the working face. The first and second sensors send first and second initial state data to the central control system in real time. The first and second sensors include inertial navigation and laser positioning. S2. The central control system generates an initial convergence point based on the first initial state data and the second initial state data. S3. During the coal mining process, the first and second sensors of the first and second coal mining machines send first motion status data and second motion status data to the central control system in real time; the transmission frequency is 100 milliseconds / time. S4. The central control system generates a dynamic convergence point based on the first motion state data and the second motion state data. S5. Determine whether the distance between the dynamic merging point and the initial merging point is less than a set threshold (e.g., 5 meters). If the determination is yes, proceed to step S7; otherwise, proceed to step S6. S6. The central control system sends a first adjustment command to the first coal mining machine and / or the second coal mining machine, and returns to step S4. When the dynamic convergence point is between the first coal mining machine and the initial convergence point, the first adjustment command is to reduce the speed of the first coal mining machine. When the dynamic convergence point is between the second coal mining machine and the initial convergence point, the first adjustment command is to reduce the speed of the second coal mining machine. S7. Determine whether the distance between the first coal mining machine and the dynamic convergence point is less than the set threshold (e.g., 15 meters). If the determination is yes, return to step S4; otherwise, proceed to step S8. S8. The central control system sends a second adjustment command to the first coal mining machine. The first coal mining machine stops mining and turns around to return according to the second adjustment command. The first sensor stops sending the first motion status data according to the second adjustment command. S9. Determine whether the distance between the first coal mining machine and the dynamic convergence point is less than the set threshold. If the determination is yes, otherwise repeat step S9. If the determination is yes, proceed to step S10. S10. The central control system sends a third adjustment command to the second coal mining machine. The second coal mining machine decelerates according to the third adjustment command and completes the remaining coal mining on the working face.

[0021] The detailed code implementation of the core algorithm in the central control system is as follows: import time import random from collections import deque class DynamicRendezvousController: """ A collaborative controller for dual coal mining machines based on the Dynamic Merge Point (DRP) algorithm.

[0022] """ def __init__(self, workface_length: float, safety_margin: float =5.0, update_interval: float = 0.5, speed_filter_size: int = 5): """ Initialize the controller.

[0023] :param workface_length: Total length of the workface (unit: meters).

[0024] :param safety_margin: Minimum safe distance between the two machines (unit: meters). When the distance is less than this value, the coordination program is triggered.

[0025] :param update_interval: Controls the update interval of the loop (in seconds).

[0026] :param speed_filter_size: The size of the moving average window for speed data, used for data smoothing filtering.

[0027] """ self.workface_length = workface_length self.safety_margin = safety_margin self.update_interval = update_interval # Initialize coal mining machine status self.p_a, self.v_a = 0.0, 0.0 self.p_b, self.v_b = workface_length, 0.0 # Initialize the dynamic merging point; the initial value can be set to the midpoint. self.p_drp = workface_length / 2.0 # Set a moving average filter for the velocity data to reduce sensor noise interference. self.v_a_history = deque(maxlen=speed_filter_size) self.v_b_history = deque(maxlen=speed_filter_size) def _read_sensor_data(self, shearer_id: str): """ [Hardware Interface] Simulates the real-time status of a specified coal mining machine obtained from sensors.

[0028] In a real system, this function will communicate with the hardware via an industrial bus (such as EtherCAT, Profibus).

[0029] :param shearer_id: 'A' or 'B'.

[0030] :return: (position, velocity) tuple.

[0031] """ # This is simulated data; in actual applications, it needs to be replaced with real sensor readings. if shearer_id == 'A': # Simulator A moves from left to right new_p = self.p_a + self.v_a * self.update_interval new_v = random.uniform(0.7, 1.2) # Simulate velocity fluctuations return min(new_p, self.workface_length), new_v else: # shearer_id == 'B' # Simulator B moves from right to left new_p = self.p_b - self.v_b * self.update_interval new_v = random.uniform(0.6, 1.1) # Simulate velocity fluctuations return max(new_p, 0), new_v def _send_command(self, shearer_id: str, target_position: float): """ [Hardware Interface] Simulates sending motion commands to the coal mining machine.

[0032] :param shearer_id: 'A' or 'B'.

[0033] :param target_position: Target position.

[0034] """ print(f"[CMD] Command sent -> Shearer {shearer_id}: Move to target position {target_position:.2f}m.") def _get_filtered_speed(self, shearer_id: str, raw_speed: float) ->float: """ Apply a moving average filter to the velocity data.

[0035] :param shearer_id: 'A' or 'B'.

[0036] :param raw_speed: Raw speed reading.

[0037] :return: The smoothed speed after filtering.

[0038] """ history_buffer = self.v_a_history if shearer_id == 'A' elseself.v_b_history history_buffer.append(raw_speed) if not history_buffer: return 0.0 return sum(history_buffer) / len(history_buffer) def calculate_drp(self, p_a: float, v_a: float, p_b: float, v_b:float) ->float: """ Execute the core algorithm: calculate the Dynamic Merge Point (DRP).

[0039] :param p_a, v_a: The position and filtered speed of machine A.

[0040] :param p_b, v_b: The position and filtered speed of machine B.

[0041] :return: The calculated DRP location.

[0042] """ # Safety Protection: Prevent division errors caused by zero speed v_a_safe = v_a if v_a>0.01 else 0.01 v_b_safe = v_b if v_b>0.01 else 0.01 # Applying the core formula: P_DRP = (v_A*P_B + v_B*P_A) / (v_A + v_B) numerator = v_a_safe * p_b + v_b_safe * p_a denominator = v_a_safe + v_b_safe # Health Check if denominator == 0: return self.p_drp # If both machines are stopped, keep the previous DRP. calculated_p_drp = numerator / denominator # Boundary check to ensure DRP is within the effective range of the working face. calculated_p_drp = max(0.0, min(calculated_p_drp, self.workface_length)) return calculated_p_drp def run_control_loop(self): """ Start and run the main control loop.

[0043] """ print("--- Dynamic Cooperative Control System has been started---") cycle_count = 0 while True: cycle_count += 1 print(f"\n--- Control cycle: {cycle_count} ---") # 1. Real-time acquisition and updating of coal mining machine status self.p_a, raw_v_a = self._read_sensor_data('A') self.p_b, raw_v_b = self._read_sensor_data('B') # 2. Filter the speed data self.v_a = self._get_filtered_speed('A', raw_v_a) self.v_b = self._get_filtered_speed('B', raw_v_b) print(f"[DATA] Status Update: Machine A(P={self.p_a:.2f}m,V={self.v_a:.2f}m / s) | Machine B(P={self.p_b:.2f}m, V={self.v_b:.2f}m / s)") # 3. Check if you have entered the rendezvous and coordination zone. current_distance = abs(self.p_a - self.p_b) if current_distance<= self.safety_margin: print(f"[EVENT] The distance between the two machines is {current_distance:.2f}m <= safety threshold {self.safety_margin}m. Triggering the final rendezvous procedure.") # More complex collaborative logic can be added here, such as instructing one machine to stop while another completes the triangular coal formation. self._send_command('A', self.p_a) # Command machine A to stop self._send_command('B', self.p_b) # Command machine B to stop print("--- End of this loop---") break # End the loop # 4. Dynamically calculate the new rendezvous point self.p_drp = self.calculate_drp(self.p_a, self.v_a, self.p_b,self.v_b) print(f"[CALC] New Dynamic Dive Point (DRP) calculated: {self.p_drp:.2f}m") # 5. Issue new dynamic target instructions to the coal mining machine. self._send_command('A', self.p_drp) self._send_command('B', self.p_drp) # Waiting for the next control cycle time.sleep(self.update_interval) # --- Usage Examples --- if __name__ == '__main__': # Assume the total length of the working face is 525 meters, consistent with the process documents. controller = DynamicRendezvousController(workface_length=525.0,safety_margin=10.0) controller.run_control_loop().

[0044] The above description is illustrative only and not restrictive of the present invention. Those skilled in the art will understand that any modifications, variations or equivalents that can be made without departing from the spirit and scope defined by the claims will fall within the protection scope of the present invention.

Claims

1. A longwall fully mechanized coal mining technology based on dynamic decision-making, characterized in that: include: The first and second coal mining machines started simultaneously from both ends of the working face to begin coal mining; When coal mining begins, the first sensor installed on the first coal mining machine sends the first initial state data to the central control system, and the second sensor installed on the second coal mining machine sends the second initial state data to the central control system. The central control system determines the initial convergence point based on the first initial state data and the second initial state data; During the coal mining process, the first sensor sends the first motion status data of the first coal mining machine to the central control system, and the second sensor sends the second motion status data of the second coal mining machine to the central control system. The central control system determines the dynamic convergence point based on the first motion state data and the second motion state data; When the distance between the first coal mining machine and the dynamic convergence point is less than a set threshold, the first sensor stops transmitting the first motion state data to the central control system, and the first coal mining machine stops cutting coal and turns away from the working face. When the distance between the second coal mining machine and the dynamic convergence point is less than a set threshold, the second coal mining machine decelerates and completes the remaining coal mining on the working face.

2. The longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 1, characterized in that: Includes the following steps: S1. The central control system sends a start command to the first coal mining machine and the second coal mining machine. The first coal mining machine and the second coal mining machine start mining coal simultaneously from both ends of the working face. The first sensor and the second sensor send the first initial state data and the second initial state data to the central control system in real time. S2. The central control system generates the initial convergence point based on the first initial state data and the second initial state data; S3. During the coal mining process, the first and second sensors of the first and second coal mining machines send the first motion status data and the second motion status data to the central control system in real time. S4. The central control system generates the dynamic convergence point based on the first motion state data and the second motion state data; S5. Determine whether the distance between the dynamic merging point and the initial merging point is less than a set threshold. If the determination is yes, proceed to step S7; otherwise, proceed to step S6. S6. The central control system sends a first adjustment command to the first coal mining machine and / or the second coal mining machine, and returns to step S4. S7. Determine whether the distance between the first coal mining machine and the dynamic convergence point is less than a set threshold. If the determination is yes, return to step S4; otherwise, proceed to step S8. S8. The central control system sends a second adjustment command to the first coal mining machine. The first coal mining machine stops mining and turns around to return according to the second adjustment command. The first sensor stops sending the first motion state data according to the second adjustment command. S9. Determine whether the distance between the first coal mining machine and the dynamic convergence point is less than a set threshold. If the determination is yes, then repeat step S9. If the determination is yes, then proceed to step S10. S10. The central control system sends a third adjustment command to the second coal mining machine, and the second coal mining machine decelerates according to the third adjustment command and completes the remaining coal mining on the working face.

3. The longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 2, characterized in that: The first initial state data includes the initial position coordinates P1 of the first coal mining machine and the set speed v1 of the first coal mining machine, and the second initial state data includes the initial position coordinates P2 of the second coal mining machine and the set speed v2 of the second coal mining machine.

4. The longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 3, characterized in that: The initial meeting point M is calculated as follows: ； Where M is the position coordinate of the initial meeting point, P1 is the initial position coordinate of the first coal mining machine, P2 is the initial position coordinate of the second coal mining machine, v1 is the set speed of the first coal mining machine, and v2 is the set speed of the first coal mining machine.

5. The longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 2, characterized in that: The first motion state data includes the real-time position coordinates P1(t) of the first coal mining machine, the real-time velocity v1(t) of the first coal mining machine, and the real-time acceleration a1(t) of the first coal mining machine. The second initial state data includes the real-time position coordinates P2(t) of the second coal mining machine, the real-time velocity v2(t) of the second coal mining machine, and the real-time acceleration a2(t) of the second coal mining machine.

6. The longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 5, characterized in that: The calculation method for the dynamic convergence point M(t) is as follows: ； Wherein, M(t) is the position coordinate of the dynamic convergence point, P1(t) is the real-time position coordinate of the first coal mining machine, v1(t) is the real-time velocity of the first coal mining machine, a1(t) is the real-time acceleration of the first coal mining machine, Δt1 is the predicted time from the first coal mining machine to the dynamic convergence point, P2(t) is the real-time position coordinate of the second coal mining machine, v2(t) is the real-time velocity of the second coal mining machine, a2(t) is the real-time acceleration of the second coal mining machine, and Δt2 is the predicted time from the second coal mining machine to the dynamic convergence point.

7. A longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 6, characterized in that: The calculation method for the predicted time Δt1 from the first coal mining machine to the dynamic convergence point is as follows: ； Where M(t) is the position coordinate of the dynamic convergence point, P1(t) is the real-time position coordinate of the first coal mining machine, and v1(t) is the real-time speed of the first coal mining machine.

8. A longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 7, characterized in that: The calculation method for the predicted time Δt2 from the second coal mining machine to the dynamic convergence point is as follows: ； Where M(t) is the position coordinate of the dynamic convergence point, P2(t) is the real-time position coordinate of the second coal mining machine, and v2(t) is the real-time speed of the second coal mining machine.

9. A longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 7, characterized in that: The predicted time Δt1 from the first coal mining machine to the dynamic convergence point is equal to the predicted time Δt2 from the second coal mining machine to the dynamic convergence point.

10. A longwall fully mechanized coal mining technology based on dynamic decision-making according to claim 2, characterized in that: The threshold value set in step S9 is ≤15m.

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