A control system and method for a shearer plow

Abstract

The application discloses a control system and method for a coal blocking plate of a coal mining machine, and belongs to the technical field of intelligent control of coal mining machines and regulation of coal flow. The control system comprises: an information acquisition module, which is used to acquire coal quality information, coal seam structure information, cutting operation information and attitude state information of the blocking plate mechanism of a coal mining face; a working condition identification module, which is used to identify a current coal flow state and a working space working condition type; a strategy generation module, which is used to generate a corresponding blocking plate control strategy; an arc adjustment control module, which is used to control switching of the blocking plate mechanism between a coal flow gathering mode and a coal passing expansion mode; an attitude adjustment control module, which is used to adaptively adjust a spatial position and an inclination angle of the blocking plate mechanism according to the control strategy; and a state evaluation module, which is used to evaluate an operation state of the blocking plate mechanism according to a coal flow conveying state, an equipment operation load and attitude feedback information of the blocking plate mechanism.

Description

Technical Field

[0001] This application relates to the field of intelligent control and coal flow regulation technology for coal mining machines, and more specifically, to a control system and method for a coal retaining plate of a coal mining machine. Background Technology

[0002] In fully mechanized coal mining operations underground, the coal retaining plate of the coal mining machine is an important auxiliary component that ensures efficient discharge of cut coal flow, reduces coal dust diffusion, and protects equipment and personnel safety. Its main function is to receive the coal flow thrown out during the cutting process of the coal mining machine drum and effectively guide the coal flow so that it can smoothly flow into the scraper conveyor. At the same time, it reduces the safety risks caused by coal and gangue splashing to hydraulic supports, coal mining machine body and operators, thus having a direct impact on the production efficiency, operational safety and working environment quality of the coal mining face.

[0003] However, most existing coal-stop plates in coal mining machines adopt a fixed arc structure or have only limited mechanical adjustment capabilities, making it difficult to dynamically adapt to the complex and ever-changing coal quality characteristics, coal seam structure conditions, and cutting conditions underground. In practical applications, this easily leads to problems such as poor coal flow guidance, localized coal flow jamming, overflow, and coal leakage, resulting in reduced coal recovery rates. Simultaneously, uneven distribution of coal flow impact can cause increased localized wear, uneven structural stress, and increased maintenance costs. Furthermore, in terms of dust control, existing coal-stop plates lack the ability to coordinate and regulate with the coal flow state, leading to severe coal dust diffusion, which not only affects the underground working environment but also increases occupational health risks such as pneumoconiosis for workers.

[0004] To address the aforementioned issues, existing technologies propose adjusting the curvature of the coal retaining plate through mechanical linkages or hydraulic drives. For example, a two-way cylinder can drive a linkage mechanism to rotate the two inclined plates around a rotation axis, altering the stress pattern and overall curvature of the cross structure to achieve adjustability of the coal retaining plate's curvature and adapt to different coal seam thicknesses and cutting conditions to a certain extent. Simultaneously, there are also solutions using spray dust suppression systems to treat the coal flow area with water mist. For instance, a water pump can deliver water to atomizing nozzles, forming micron-sized water mist particles that combine with dust and reduce dust concentration through gravity settling, thereby improving the working environment.

[0005] However, the above solutions still have significant shortcomings: First, there is no real-time correlation mechanism between the adjustment of the coal retaining plate's curvature and the actual coal flow state. The adjustment strategy relies on experience or fixed logic, making it difficult to achieve adaptive control for complex working conditions. Second, the dust suppression spray and the coal retaining plate's flow guidance control are independent of each other and lack system-level collaborative optimization, making it difficult to balance dust control and coal flow transportation efficiency. Third, the overall control method lacks intelligence and cannot achieve dynamic decision-making and closed-loop adjustment based on multi-source working condition information, thus limiting the equipment's comprehensive adaptability and operational stability under complex geological conditions.

[0006] In summary, how to construct a coal-stopping plate control system and control method for coal mining machines that can integrate multi-source operating condition information, achieve coordinated control of coal stopping plate attitude and coal flow state, and have adaptive adjustment and closed-loop optimization capabilities has become an urgent technical problem to be solved. Summary of the Invention

[0007] To overcome a series of defects in the existing technology, the purpose of this application is to provide a control system for a coal shearing machine's coal retaining plate, which controls the coal shearing machine's coal retaining plate, including: The information acquisition module is used to collect coal quality information, coal seam structure information, cutting operation information, and attitude status information of the baffle mechanism at the coal mining face. The working condition identification module, connected to the information acquisition module, is used to identify the current coal flow status and working condition type of the workspace based on coal quality information, coal seam structure information, and cutting operation information. The strategy generation module, connected to the working condition identification module, is used to generate corresponding baffle control strategies based on the coal flow status, working space condition type, and baffle mechanism attitude status information. The arc adjustment control module, connected to the strategy generation module, is used to drive the arc adjustment mechanism to move according to the control strategy and control the baffle mechanism to switch between coal flow gathering mode and coal passage expansion mode. The attitude adjustment control module, connected to the strategy generation module, is used to adaptively adjust the spatial position and tilt angle of the baffle mechanism according to the control strategy. The status assessment module is connected to the arc adjustment control module and the attitude adjustment control module respectively. It is used to assess the operating status of the baffle mechanism based on the coal flow conveying status, equipment operating load and attitude feedback information of the baffle mechanism. The dust control module, connected to the information acquisition module, is used to control the start and stop of the spraying mechanism based on the cutting operation information, so as to reduce the dust concentration in the working area by utilizing the principle of gravity settling.

[0008] The purpose of this application is also to provide a control method for a coal retaining plate of a coal mining machine, applied to the above-mentioned control system, comprising the following steps: Acquire coal quality information, coal seam structure information, and cutting operation information of the coal mining face, and obtain the initial attitude state of the baffle mechanism; Based on coal quality information, coal seam structure information, and cutting operation information, the current coal flow status and working space condition type are determined, and the control strategy of the baffle mechanism is generated in combination with the initial attitude status. Based on the coal flow state parameters, the baffle mechanism is subjected to arc adjustment control according to the control strategy, so that it switches between the coal flow gathering mode and the coal flow expansion mode to adapt to different coal flow transportation needs. Based on the working space conditions, the baffle mechanism is subjected to attitude adjustment control according to the control strategy, so that it can adaptively adjust its spatial position and inclination angle under different coal seam spatial constraints. During the attitude adjustment control process, when abnormal geological conditions or impact cutting conditions are detected, the attitude compensation adjustment of the baffle mechanism is performed on the basis of attitude adjustment control to achieve obstacle avoidance adjustment or enhance the coal flow constraint capability; if no abnormal geological conditions or impact cutting conditions are detected, the current attitude adjustment control is maintained. The spraying mechanism is started and stopped based on the cutting operation information to continuously spray water mist into the work area during the cutting operation to reduce dust concentration.

[0009] In some embodiments, the method for obtaining the initial attitude state of the baffle mechanism is as follows: Obtain the current operating status data of electric telescopic pole one, electric telescopic pole two, and the two-way cylinder; Based on the extension lengths of electric telescopic rod one and electric telescopic rod two, determine the spatial position and tilting posture of the baffle mechanism relative to the coal mining machine body; Based on the extension and retraction length of the bidirectional cylinder, and combined with the linkage deformation relationship between the tripod and the cross, the arc curvature of the baffle mechanism is determined. The spatial position, tilting posture, and arc curvature of the baffle mechanism are fused and characterized to obtain the initial attitude state data of the baffle mechanism.

[0010] In some embodiments, the method for determining the current coal flow state is as follows: Based on the magnitude and spatial distribution information of the impact force of coal flow acting on the baffle mechanism, the peak impact pressure and parameters of the action area are extracted, and the degree of coal flow concentration and flow direction are determined. Obtain the motor power data of the scraper conveyor, and calculate the coal loading capacity per unit time based on the motor power data to obtain the coal flow conveying intensity parameters; Based on the coal flow image data above the baffle mechanism, the coal flow accumulation state, coal flow overflow state, and coal flow off-center loading state are determined, and the apparent state parameters of the coal flow are obtained. The coal flow lumps characteristic parameters are determined based on the frequency and amplitude of the change in impact force. A coal flow state feature vector is constructed based on the degree of concentration, flow direction, coal flow transport intensity parameters, apparent state parameters, and block size characteristic parameters. The coal flow state feature vector is input into a preset coal flow state determination model for analysis to obtain the corresponding coal flow state category, thereby determining the current coal flow state.

[0011] In some embodiments, the method for determining the workspace condition type is as follows: Based on the lifting position information of the cutting drum and the stroke data of the height adjustment cylinder, the coal seam thickness parameters are determined, and the working space is divided into thin coal seam conditions, medium-thick coal seam conditions, or thick coal seam conditions based on the coal seam thickness parameters. Based on the body tilt angle data of the coal mining machine, the working space is divided into gently inclined working conditions, inclined working conditions, or steeply inclined working conditions. The working space is determined to be either a stable working condition or a complex working condition based on the force fluctuation of the baffle mechanism and the amount of top plate subsidence. The spatial distribution information of impact force, coal flow transport intensity and spatial constraints are constructed into a set of working condition characteristic parameters; The working conditions of coal seam thickness, dip angle, stability and the set of working condition characteristic parameters are integrated and characterized to construct a working condition type identification matrix. The working condition type of the current workspace is determined by a comprehensive judgment based on the working condition type identification matrix.

[0012] In some embodiments, the method for generating the control strategy is as follows: Based on the cutting motor power, coal mining machine traction speed, coal seam thickness, coal seam dip angle, and baffle mechanism force parameters, a multi-source working condition feature input model is constructed, and the corresponding control parameter template is determined by matching based on a preset rule base to generate basic control parameters. The target control parameters are obtained by performing fuzzy control optimization on the basic control parameters. The target attitude parameters of the baffle mechanism are determined based on the target control parameters to characterize the arc curvature and spatial attitude state of the baffle mechanism. Based on the current attitude parameters and target attitude parameters of the baffle mechanism, the attitude adjustment path of the baffle mechanism is planned, and preset safety constraints are introduced in the planning process. Based on the attitude adjustment path, target attitude parameters, and preset safety constraints, a control strategy for the coal retaining plate of the coal mining machine is generated.

[0013] In some embodiments, the method for switching between the coal flow convergence mode and the coal flow expansion mode is as follows: Based on coal flow rate, coal flow distribution, coal flow accumulation height and impact pressure, the current coal flow conditions are analyzed to determine the current coal flow state type; When it is determined that the coal flow is in a dispersed or overflowing state, switch to the coal flow gathering mode, control the two output ends of the bidirectional cylinder to contract, and drive the two inclined plates to rotate towards each other with the rotation axis as the center through the connecting rod, so that the distance between the rear ends of the two inclined plates gradually decreases, thereby increasing the arc curvature of the baffle mechanism and enhancing the baffle mechanism's ability to constrain and guide the coal flow. When it is determined that the coal flow is in a high flow state, there is coal flow accumulation, or there is a risk of coal flow obstruction, switch to the coal flow expansion mode, control the output end of the bidirectional cylinder to extend, and drive the two inclined plates to rotate in opposite directions around the rotation axis through the connecting rod, so that the distance between the rear ends of the two inclined plates gradually increases, thereby reducing the arc curvature of the baffle mechanism, expanding the coal flow space and improving the coal flow capacity. During mode switching and baffle mechanism control, the curvature adjustment range and adjustment rate of the baffle mechanism are dynamically constrained based on the impact pressure on the baffle mechanism and the coal flow accumulation state.

[0014] In some embodiments, the method for performing attitude adjustment control on the baffle mechanism is as follows: Based on the stability of the surrounding rock and the preset safety clearance requirements, the target attitude parameters are safely corrected to obtain the corrected target attitude parameters. The attitude of the baffle mechanism is adjusted according to the corrected target attitude parameters. During the attitude adjustment process, the actual attitude parameters of the baffle mechanism are acquired in real time, and the attitude adjustment process of the baffle mechanism is dynamically corrected based on the deviation between the actual attitude parameters and the corrected target attitude parameters, so as to realize the closed-loop attitude control of the baffle mechanism.

[0015] In some embodiments, the control method further includes: During the execution of the control strategy, the operating status of the baffle mechanism is evaluated based on the coal flow conveying status, equipment operating load and baffle mechanism attitude feedback information, and it is determined whether the baffle mechanism deviates from the preset operating range. If the deviation occurs, the control strategy will be re-optimized and the corrected control strategy will be executed. If there is no deviation, the current control strategy will continue to be implemented until the cutting operation of the current coal mining face is completed.

[0016] In some embodiments, the method for re-optimizing the control strategy is as follows: Based on the deviation information of the operating state and the historical similar working condition processing records, the parameter optimization algorithm is used to optimize the control strategy parameters under the preset safety constraints, and the optimized control strategy parameters are obtained. Simulation verification is performed based on the optimized control strategy parameters to predict the changing trends of key operating parameters and verify whether the optimized control strategy parameters meet the preset operating requirements. Once the simulation verification is successful, the optimized control strategy parameters are applied, and a smooth transition between the old and new control strategies is achieved through a gradual transition method.

[0017] Compared with the prior art, this application has the following beneficial effects: This application achieves dynamic optimization and adjustment of the arc and posture of the coal retaining plate by collaboratively sensing, intelligently making decisions and adaptive closed-loop control of the coal flow state, working space conditions and coal retaining plate posture, thereby improving the coal flow guidance and constraint effect, reducing coal spillage and blockage, and enhancing the safety, stability and conveying efficiency of coal mining operations under complex working conditions. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the coal retaining plate of the coal mining machine disclosed in the embodiments of this application; Figure 2 This is another schematic diagram of the overall structure of the coal retaining plate of the coal mining machine disclosed in the embodiments of this application; Figure 3 This is a schematic diagram of the baffle mechanism in the coal retaining plate of the coal mining machine disclosed in the embodiments of this application; Figure 4 This is a schematic cross-sectional view of the adjusting mechanism in the coal retaining plate of the coal mining machine disclosed in the embodiments of this application; Figure 5 This is a schematic diagram of the split structure of the baffle mechanism disclosed in the embodiments of this application; Figure 6 This is a schematic diagram of the baffle mechanism disclosed in an embodiment of this application from another perspective; Figure 7 This is a schematic diagram of the spray mechanism disclosed in the embodiments of this application.

[0019] Figure 8 This is a flowchart illustrating a control method for a coal retaining plate of a coal mining machine disclosed in an embodiment of this application.

[0020] In the diagram: 10. Coal mining machine body; 11. Bearing plate; 20. Baffle mechanism; 201. Cross; 202. Splicing baffle; 2021. Arc plate; 2022. Outer plate; 2023. Connecting groove; 2024. Installation groove; 203. Insertion groove; 204. Installation guide rail; 205. Positioning groove; 30. Adjustment mechanism; 301. Electric telescopic rod one; 302. Electric telescopic rod two; 303. Cover box; 304. Tripod; 305. Arc guide rail; 306. Two-way cylinder; 307. Connecting rod; 40. Spraying mechanism; 401. Water tank; 402. Water pump; 403. Connecting hose; 404. Atomizing nozzle; 405. Connecting parts. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some embodiments of this invention, but not all embodiments.

[0022] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The embodiments and directional terms described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] like Figures 1-6 As shown, the coal mining machine retaining plate includes a coal mining machine body 10. A bearing plate 11 is fixedly connected to the rear side of the coal mining machine body 10. A pair of left and right arranged baffle mechanisms 20 are provided on the top of the bearing plate 11. The baffle mechanism 20 includes a cross 201. Splicing baffles 202 are installed in an orderly manner at the four gaps of the cross 201. Insertion slots 203 are opened on the circumferential boundary of the four gaps of the cross 201, and the insertion slots 203 extend along the boundary of the gaps. A set of positioning slots 205 are opened in the horizontal direction and the vertical direction of the insertion slots 203 respectively.

[0025] In some embodiments, the cross 201 and the splicing baffle 202 are made of flexible metal plates, and the cross 201 and the splicing baffle 202 have an outwardly convex arc design.

[0026] Specifically, the splicing baffle 202 includes an arc-shaped plate 2021, with outer plates 2022 fixedly connected to the front and rear sides of the arc-shaped plate 2021 respectively. The outer plates 2022 and the arc-shaped plate 2021 are connected in a staggered manner, so that the arc-shaped plate 2021 has a partially exposed L-shaped segment, and a corresponding L-shaped gap area is formed at the bottom of the arc-shaped plate 2021. Two pairs of vertically arranged connecting grooves 2023 are opened on the outer side of the outer plate 2022, and the two pairs of connecting grooves 2023 penetrate the L-shaped gap area. Two pairs of vertically arranged mounting grooves 2024 are opened on the front side of the arc-shaped plate 2021, and the two pairs of mounting grooves 2024 are located in the L-shaped segment. The two baffle mechanisms 20 are connected as a whole by overlapping at the boundary.

[0027] In some embodiments, the positioning groove 205 is internally fixedly connected to an installation guide rail 204 adapted to the shape of the positioning groove 205.

[0028] When assembling the baffle mechanism 20, the splicing baffles 202 are installed sequentially at the four empty positions of the cross 201. During installation, the splicing baffles 202 are first installed at the inner corner of the empty position of the cross 201; then, subsequent splicing baffles 202 are installed outwards from this base point. The installation steps are as follows: insert the L-shaped empty position of the splicing baffle 202 into the turning point of the mounting guide rail 204, then pass bolts through the corresponding positioning groove 205 and connecting groove 2023, and tighten with nuts to complete the connection of the first splicing baffle 202 in that empty position. When it is necessary to install a splicing baffle 202 on top of this splicing baffle 202, insert the L-shaped empty position at the bottom of the new splicing baffle 202 into the horizontal part of the L-shaped section at the top of this splicing baffle 202, so that the horizontal mounting groove 2024 coincides with the horizontal connecting groove 2023 of the upper splicing baffle 202. Furthermore, the right side of the newly spliced ​​baffle 202 is inserted into the mounting rail 204; then, it is connected to the mounting rail 204 by bolts using the above installation method. Next, bolts are inserted into the corresponding connecting grooves 2023 and mounting grooves 2024 and fixed with nuts to complete the connection between the spliced ​​baffles 202. In this way, the spliced ​​baffles 202 are laid to cover the cross 201, forming a baffle with a convex arc shape on the outside. Through the initial connection by insertion and the fixing by bolts, the baffle mechanism 20 is formed into a whole, covering the four boundaries of the connection of the spliced ​​baffles 202, improving the sealing and overall strength of the overall baffle mechanism 20. At the same time, the disassembly and assembly time of a single spliced ​​baffle 202 is shorter. Compared with the integral coal retaining plate, the replacement efficiency of the damaged underground plate is increased by more than 40%, significantly reducing maintenance time and labor intensity.

[0029] refer to Figure 3 , Figure 4 An adjustment mechanism 30 is provided on the front side of the baffle mechanism 20. The adjustment mechanism 30 includes a cover box 303, which consists of a pair of T-shaped plates arranged horizontally and a fixing plate connecting the two T-shaped plates. A tripod 304 is provided inside the cover box 303. The tripod 304 consists of two inclined plates that are symmetrical vertically and arranged at an angle. The front ends of the two inclined plates are rotatably connected by a rotating shaft, and the front and rear ends of the rotating shaft are respectively fixedly connected to the front and rear inner walls of the cover box 303. The rear ends of the two inclined plates are respectively hinged to the beginning and end ends of the longitudinal part of the cross 201.

[0030] Specifically, a bidirectional cylinder 306 is fixedly connected inside the cover box 303 via an installation component. The upper and lower output ends of the bidirectional cylinder 306 are respectively hinged to connecting rods 307 via hinges. The outer end of the connecting rod 307 is hinged to the inner side of the corresponding inclined plate via a hinge.

[0031] In some embodiments, arc-shaped guide rails 305 are fixedly connected to the left and right sides of the interior of the cover box 303, and the arc-shaped guide rails 305 are slidably connected to the two inclined plates of the tripod 304 respectively; when in use, the inclined plates slide along the surface of the arc-shaped guide rails 305 when flipped, thereby achieving the effect of guiding the inclined plates when flipped.

[0032] In use, the bidirectional cylinder 306 is started by an external power supply. The output end of the bidirectional cylinder 306 retracts or extends, causing the two inclined plates to flip in opposite directions around the rotation axis. When the output end of the bidirectional cylinder 306 extends, the connecting rod 307 causes the two inclined plates to flip in opposite directions, thereby gradually increasing the distance between the rear ends of the two inclined plates. The pulling force acts on the cross 201, causing the arc of the longitudinal part of the cross 201 to gradually decrease and the overall length to adapt to the flipping of the two inclined plates. The change in the arc of the longitudinal part of the cross 201 also changes the arc of the baffle mechanism 20. Similarly, when the output ends of the bidirectional cylinder 306 retract, the two inclined plates flip in opposite directions, causing the distance between the rear ends of the inclined plates to gradually decrease, thereby causing the arc of the longitudinal part of the cross 201 to gradually increase, and thus increasing the overall arc of the baffle mechanism 20.

[0033] As the curvature of the baffle mechanism 20 increases, its ability to constrain and concentrate the coal flow is enhanced. When the cut coal is relatively fragmented (e.g., high proportion of pulverized coal) or the coal seam is unstable (including interbedded rock and faults), the large curvature can more tightly wrap the coal flow, reducing coal dust splashing and the scattering of fine particles, allowing the coal flow to be more concentratedly guided into the scraper conveyor along the curved surface, thus improving the coal recovery rate.

[0034] With the reduction of the arc curvature of the baffle mechanism 20, the coal passage space is expanded. It is suitable for large coal (such as coal with a size ≥300mm) or high-yield and high-efficiency coal mining scenarios (when the coal interception volume increases sharply), to avoid large coal and gangue from getting stuck between the coal baffle and the drum, while accelerating the coal flow speed, reducing the probability of coal accumulation in the coal baffle area, and improving the continuous operation capability of the coal loading system.

[0035] Furthermore, the curvature of the baffle mechanism 20 can be dynamically adjusted according to the situation, and the dynamic adjustment of the baffle mechanism 20 has the following advantages; Firstly, when coal gangue impacts, the dynamic adjustment of the arc curvature can utilize the change in the arc surface to disperse the concentrated impact load to a larger contact area, reducing local stress concentration in the coal retaining plate and lowering the risk of deformation and cracking.

[0036] Secondly, when the coal mining machine passes through faults or reverses direction for cutting, it can quickly adapt by dynamically adjusting the curvature, without having to stop the machine to replace the coal retaining plate, thus shortening the working condition switching time and improving the efficiency of continuous mining.

[0037] Thirdly, the principle of "the arc shape can control the trajectory and speed of the coal flow, reduce the amount of air carried and suppress dust" means that dynamically adjusting the curvature can make the coal flow slide more smoothly along the arc surface, reduce coal dust splashing and improve the underground working environment.

[0038] Fourth, the dynamic adjustment of the curvature of the coal retaining plate can reduce coal leakage from the gap between the coal retaining plate and surrounding equipment, improve energy utilization, and reduce environmental pollution.

[0039] Fifth, dynamically adjusting the curvature can change the contact position between the coal flow and the coal retainer plate, avoiding excessive local wear and making the overall wear of the coal retainer plate more uniform; at the same time, by changing the curvature, some impact loads are removed, reducing indirect impacts on components such as the rocker arm and drum of the coal mining machine, and improving the overall stability of the machine.

[0040] In some embodiments, the top of the support plate 11 is hinged to an electric telescopic rod 301 via a hinge, and the output end of the electric telescopic rod 301 is hinged to the rear end of the cover box 303; the top of the support plate 11 is hinged to an electric telescopic rod 302 via a hinge, and the output end of the electric telescopic rod 302 is hinged to the inner bottom of the cover box 303.

[0041] When the baffle mechanism 20 is in use, its position and tilt angle can be changed by driving the electric telescopic rod 301 and the electric telescopic rod 302. When the lower electric telescopic rod 301 is not driven but the electric telescopic rod 302 is driven, the cover box 303 rotates around the connection between the electric telescopic rod 301 and the cover box 303. When the output end of the electric telescopic rod 302 extends, the cover box 303 and the baffle mechanism 20 rotate upward, and the baffle mechanism 20 corresponds to the upper area. When the output end of the electric telescopic rod 302 retracts, the cover box 303 and the baffle mechanism 20 rotate downward, and the baffle mechanism 20 corresponds to the lower area. Similarly, when the second electric telescopic rod 302 is not driven while the first electric telescopic rod 301 is driven, the cover box 303 rotates around the connection point between the second electric telescopic rod 302 and the cover box 303. As the output end of the first electric telescopic rod 301 contracts, the cover box 303 and the baffle mechanism 20 rotate upward or downward. However, the connection positions between the output ends of the two electric telescopic rods and the cover box 303 are not consistent, so the rotation angle of the cover box 303 and the baffle mechanism 20 is also inconsistent when the center is different.

[0042] When the electric telescopic rod 2 302 is driven, with the center of the circle between the electric telescopic rod 1 301 and the rear middle connection point of the cover box 303: Since the center of rotation is located at the rear center of the cover box 303 (near the longitudinal centerline of the baffle mechanism 20), the extension and retraction of the electric telescopic rod 302 will cause the baffle mechanism 20 to swing up and down around the "longitudinal centerline", and the rotation angle has the characteristic of "smaller at the top and larger at the bottom": When the output end of the electric telescopic rod 302 extends and causes the baffle mechanism 20 to flip upward: the cover box 303 rotates upward with the rear middle as the center. The upper area (arc-shaped top) of the baffle mechanism 20 lifts upward by a smaller amplitude, while the lower area (arc-shaped bottom) swings upward by a slightly larger amplitude. In this state, the overall arc surface of the baffle mechanism 20 will "tilt forward," getting closer to the upper middle coal cutting area of ​​the coal mining machine drum—suitable for "receiving the coal flow thrown from the upper half of the drum" in thick coal seam mining, preventing the coal flow from splashing from the top of the baffle plate to the hydraulic support side, while not affecting the coal loading space in the lower half of the drum.

[0043] The retraction of the output end of the electric telescopic rod 302 causes the baffle mechanism 20 to flip downwards. The baffle mechanism 20 rotates downwards around the rear center, with its lower area (arc-shaped bottom) drooping significantly more downwards, while the upper area swings downwards less. At this time, the arc-shaped bottom of the coal baffle plate can fit more closely to the top of the scraper conveyor trough, and even partially cover the residual coal accumulation area at the conveyor edge. This allows for targeted cleaning of the "bottom edge residual coal" of the conveyor, reducing manual cleaning workload. It is particularly suitable for scenarios in thin coal seams where "the roller is close to the bottom plate for coal cutting, and residual coal easily accumulates at the conveyor edge."

[0044] When the electric telescopic rod 301 is driven, with the connection point between the electric telescopic rod 302 and the inner bottom of the cover box 303 as the center: Since the center of rotation is located at the bottom inner side of the cover box 303 (on the side closer to the support plate 11, and closer to the ground), the extension and retraction of the electric telescopic rod 301 will cause the baffle mechanism 20 to rotate up and down around the "bottom edge", with the rotation angle showing a reverse difference of "larger at the top and smaller at the bottom": The retraction of the output end of the electric telescopic rod 301 causes the baffle mechanism 20 to flip upward: The cover box 303 rotates upwards with its bottom connection point as the center. The upper part (arc-shaped top) of the baffle mechanism 20 is raised to a great extent, while the lower part (arc-shaped bottom), being closer to the center, is only slightly adjusted upwards. In this state, the arc-shaped top of the baffle mechanism 20 can be raised significantly, avoiding "protruding gangue" or "fault areas" on the coal seam roof—suitable for coal mining machines passing through faults and uneven roofs. This prevents the top of the coal retaining plate from rubbing against the roof, causing structural deformation, while not affecting the fit between the lower part and the conveyor.

[0045] When the output end of the electric telescopic rod 301 extends and drives the baffle mechanism 20 to flip downward: The baffle mechanism 20 rotates downwards around its bottom center, with its upper area drooping downwards significantly while its lower area remains largely in contact with the conveyor. At this point, the curved surface of the baffle plate becomes "steeper," enhancing the restraint on large pieces of coal falling from the lower part of the drum—suitable for scenarios involving cutting hard coal or large pieces of coal. The steeper curved surface guides large pieces of coal to slide along the surface into the conveyor, preventing them from getting stuck between the baffle plate and the drum and causing a "machine jam."

[0046] When two electric telescopic rods are activated simultaneously, causing the baffle mechanism 20 to form various tilt states, the two electric telescopic rods have different rotation centers and angle ranges. When driven in tandem, they can combine to form "asymmetric tilt angles", covering complex scenarios that cannot be achieved by driving a single electric telescopic rod.

[0047] Scenario 1: The coal seam dip angle is slightly upward (the roof slopes upward). The electric telescopic rod 301 is slightly retracted (raising the upper part of the baffle by 10° to 15°) and the electric telescopic rod 302 is slightly extended (swinging the lower part of the baffle upward by 5° to 8°), so that the baffle mechanism 20 forms an inclination angle where the upward lifting amplitude is greater than the downward lifting amplitude. The arc surface can tilt synchronously with the inclination angle of the roof plate, which not only avoids the top from rubbing against the roof plate, but also ensures that the lower part fits the conveyor, reducing the leakage of coal from the gap between the coal baffle plate and the roof plate.

[0048] Scenario 2: Coal flow deviation (more coal on the right side of the drum than on the left side) The electric telescopic rod 301 retracts (raising the upper part by 12°) and the electric telescopic rod 302 retracts (swinging the lower part downward by 10°), so that the baffle mechanism 20 is in an inclined state of "high on the upper left and low on the lower right" - the inclined arc surface guides the deviated coal flow back to the correct position, avoids the coal flow from being concentrated on one side of the conveyor and causing "uneven load", and reduces the risk of conveyor chain jamming.

[0049] Scenario 3: Operations in "limited space" in thin coal seams (e.g., coal seam thickness < 0.8m) The electric telescopic rod 301 extends slightly (the upper part drops downward by 3° to 5°) and the electric telescopic rod 302 extends slightly (the lower part swings upward by 2° to 3°) so that the baffle mechanism 20 maintains a "small angle of gentle tilt" - which both compresses the longitudinal space occupied by the coal baffle plate (avoiding scraping against the top and bottom plates) and ensures smooth coal flow through the gentle arc surface, balancing "space constraints" and "coal loading efficiency".

[0050] Furthermore, the difference in the connection positions of the two types of electric telescopic rods is essentially due to the "double-center, differentiated angle" design, which allows the baffle mechanism 20 to break through the limitation of "single flipping trajectory": More comprehensive area coverage: From "residual coal at the edge of the conveyor" to "coal flow above the drum", from "roof fault avoidance" to "large coal constraint", different turning angles can accurately cover the entire "upper, middle and lower" area of ​​the coal mining machine operation; More flexible in adapting to working conditions: There is no need to replace the coal retaining plate assembly. It can cope with multiple scenarios such as "thick / thin coal seam, hard / soft coal, flat / faulted roof" by simply extending and retracting the electric telescopic rod, reducing the downtime for adjustment underground; More precise structural protection: For different risk points (such as roof scraping and large coal impact), the probability of coal retaining plate deformation and cracking is reduced and the service life is extended by "actively avoiding" or "strengthening constraints" through differentiated flipping angles.

[0051] Furthermore, the two electric telescopic rods enable the baffle mechanism 20 to change its tilt angle and position, which, together with the curvature change of the baffle mechanism 20 itself, forms a dual-dimensional coordinated adjustment of "posture + form". This can break through the limitations of a single adjustment function and bring comprehensive optimization effects from four core dimensions: adaptation to complex working conditions, maximization of coal guiding efficiency, enhancement of equipment protection, and guarantee of continuous operation.

[0052] refer to Figure 7 A spraying mechanism 40 is provided on the right side of the support plate 11. The spraying mechanism 40 includes a water tank 401 and a water pump 402 fixedly connected to the top of the support plate 11. A connecting pipe is fixedly connected to the input end of the water pump 402 and is inserted into the interior of the water tank 401. A connecting hose 403 is fixedly connected to the output end of the water pump 402. An atomizing nozzle 404 is fixedly connected to the other end of the connecting hose 403. The water outlet end of the atomizing nozzle 404 corresponds to the forward wheel of the coal mining machine body 10. A connecting piece 405 is fixedly connected to the outer side of the atomizing nozzle 404. The rear end of the connecting piece 405 is fixedly connected to the transverse section of the cross 201 by a buckle.

[0053] During operation, the water pump 402 is started via an external power supply. Water from the water tank 401 is drawn from the input end of the pump 402 through a connecting pipe, and then discharged through the output end of the pump 402 via a connecting hose 403 to the atomizing nozzle 404. Finally, the atomizing nozzle 404 sprays water mist towards the forward wheel. When the forward wheel (traveling wheel) of the coal mining machine is in contact with the scraper conveyor track, friction and crushing of the coal seam floor generate a large amount of dust (especially in semi-coal-rock roadways or scenarios with high dust content in the coal seam). Simultaneously, coal dust is also stirred up during the coal flow collision process of the coal retainer. The micron-sized water mist sprayed from the atomizing nozzle 404 can fully combine with dust particles, reducing dust concentration through gravity settling, thus reducing the risk of pneumoconiosis for workers and preventing dust from adhering to electrical components and causing short circuits.

[0054] Furthermore, the atomizing nozzle 404 is fixed to the horizontal section of the cross 201 via the connector 405, and moves synchronously with the angle flip and arc change of the baffle mechanism 20 to achieve "dynamic adaptation and precise coverage", breaking through the limitations of traditional fixed nozzles and reducing the spray blind zone of the atomizing nozzle 404.

[0055] Based on the above structural design, the baffle mechanism 20 in this embodiment can not only achieve continuous adjustment of the arc curvature through the adjustment mechanism 30, but also achieve dynamic adjustment of the spatial position and tilt posture through the electric telescopic rod 1 301 and the electric telescopic rod 2 302, so that the baffle mechanism 20 has the execution capability of variable curvature, adjustable posture and adaptive working conditions.

[0056] Based on the aforementioned variable curvature baffle structure and multi-degree-of-freedom attitude adjustment structure, in order to achieve adaptive adjustment of the baffle mechanism 20 to different coal flow states and working conditions, this application further proposes a control system and control method for the coal baffle of a coal mining machine. By coordinating the control of the arc curvature, spatial position and tilting attitude of the baffle mechanism 20, the coal flow guiding effect and working condition adaptability are improved.

[0057] This embodiment provides a control system for a coal-stopping plate of a coal mining machine, used to control the aforementioned coal-stopping plate of the coal mining machine, including: The information acquisition module is used to collect coal quality information, coal seam structure information, cutting operation information, and attitude status information of the baffle mechanism 20 at the coal mining face. The working condition identification module, connected to the information acquisition module, is used to identify the current coal flow status and working condition type of the workspace based on the coal quality information, coal seam structure information and cutting operation information. The strategy generation module, connected to the working condition identification module, is used to generate a corresponding baffle control strategy based on the coal flow state, the working space working condition type, and the attitude state information of the baffle mechanism 20. An arc adjustment control module, connected to the strategy generation module, is used to drive the arc adjustment mechanism 30 to act according to the control strategy and control the baffle mechanism 20 to switch between coal flow gathering mode and coal expansion mode. An attitude adjustment control module, connected to the strategy generation module, is used to adaptively adjust the spatial position and tilt angle of the baffle mechanism 20 according to the control strategy. The status assessment module is connected to the arc adjustment control module and the attitude adjustment control module respectively, and is used to assess the operating status of the baffle mechanism 20 based on the coal flow conveying status, equipment operating load and attitude feedback information of the baffle mechanism 20. The dust control module, connected to the information acquisition module, is used to control the start and stop of the spraying mechanism based on the cutting operation information, so as to reduce the dust concentration in the working area by utilizing the principle of gravity settling.

[0058] The coal-stop plate control system of the coal mining machine described in this application achieves dynamic perception and accurate judgment of the coal mining conditions by real-time acquisition of coal quality information, coal seam structure information, cutting operation information, and baffle mechanism attitude status information, combined with coal flow status and working space condition identification. By generating a baffle control strategy that matches the current working conditions, the system adaptively adjusts the curvature, spatial position, and inclination angle of the baffle mechanism, enabling it to flexibly switch between coal flow gathering mode and coal passage expansion mode, thereby improving coal flow guidance and conveying efficiency. On this basis, by real-time evaluation of coal flow conveying status, equipment operating load, and baffle attitude feedback information, the system achieves closed-loop optimization control of the baffle operating status. Combined with the linkage dust suppression control of the spray mechanism, the system effectively reduces the dust concentration in the working area, thereby enhancing the adaptability of the coal mining machine to complex coal seams and variable working conditions, improving coal loading efficiency, reducing coal spillage and equipment load fluctuations, and ensuring the safety, stability, and continuity of coal mining operations.

[0059] like Figure 8 As shown, a method for controlling the coal retaining plate of a coal mining machine includes the following steps: The coal quality information, coal seam structure information and cutting operation information of the coal mining face are obtained, and the initial attitude state of the baffle mechanism 20 is obtained. Based on coal quality information, coal seam structure information, and cutting operation information, the current coal flow status and working space condition type are determined, and the control strategy of the baffle mechanism 20 is generated in combination with the initial attitude status. Based on the coal flow state parameters, the baffle mechanism 20 is subjected to arc adjustment control according to the control strategy, so that it switches between the coal flow gathering mode and the coal flow expansion mode to adapt to different coal flow transportation needs. Based on the working space conditions, the baffle mechanism 20 is subjected to attitude adjustment control according to the control strategy, so that it can achieve adaptive adjustment of spatial position and inclination angle under different coal seam spatial constraints. During the attitude adjustment control process, when abnormal geological conditions or impact cutting conditions are detected, the attitude compensation adjustment of the baffle mechanism 20 is performed on the basis of attitude adjustment control to achieve obstacle avoidance adjustment or enhance the coal flow constraint capability; if no abnormal geological conditions or impact cutting conditions are detected, the current attitude adjustment control is maintained. The spraying mechanism is started and stopped based on the cutting operation information to continuously spray water mist into the work area during the cutting operation to reduce dust concentration. During the execution of the control strategy, the operating status of the baffle mechanism 20 is evaluated based on the coal flow conveying status, equipment operating load and baffle mechanism 20 attitude feedback information, and it is determined whether it deviates from the preset operating range. If the deviation occurs, the control strategy will be re-optimized and the corrected control strategy will be executed. If there is no deviation, the current control strategy will continue to be implemented until the cutting operation of the current coal mining face is completed.

[0060] The coal-blocking plate control method of the coal mining machine described in this application comprehensively identifies the current coal flow status and working space conditions by acquiring coal quality information, coal seam structure information, cutting operation information, and the attitude status information of the baffle mechanism 20, and generates a baffle control strategy that matches the working conditions. By executing arc adjustment control, the baffle mechanism 20 can adaptively switch between coal flow gathering mode and coal-passing expansion mode to meet the guiding and interception requirements under different coal flow transportation conditions. By executing attitude adjustment control and attitude compensation adjustment, the baffle mechanism 20 can dynamically adjust its spatial position and inclination angle according to coal seam space constraints, abnormal geological conditions, and impact cutting conditions, thereby achieving obstacle avoidance operation and enhanced coal flow constraint capability. On this basis, by real-time evaluation of coal flow transportation status, equipment operating load, and attitude feedback information of the baffle mechanism 20, and optimizing and correcting the control strategy that deviates from the preset operating range, closed-loop adaptive control of the baffle mechanism 20 is achieved, thereby improving the coal flow guiding effect and transportation stability, and reducing the risk of coal spillage and equipment interference.

[0061] In some embodiments, the method for obtaining coal quality information of the coal mining face is as follows: Load change data during the cutting process is collected by the current and power monitoring system of the cutting motor, and vibration frequency and vibration amplitude data during the cutting process are collected by the vibration sensor installed on the cutting drum. Based on load change data, the characteristics of load fluctuations are analyzed, the changes in coal seam hardness are identified, and the coal quality is classified to obtain the coal quality classification results. Vibration signal characteristic analysis is performed based on vibration frequency and vibration amplitude data to identify the location of the coal-rock interface. Based on coal seam structure information and the location of coal-rock interface, a comprehensive judgment is made on the integrity of coal seam and the degree of joint development, and the judgment result of coal seam structure characteristics is obtained. Based on the coal quality classification results and the judgment results of coal seam structure characteristics, coal quality information of the coal mining face is generated.

[0062] The method for acquiring coal quality information in the coal mining face described in this application improves the accuracy of coal quality identification by real-time monitoring and analysis of load changes such as current and power of the cutting motor, identifying changes in coal seam hardness, and completing coal quality classification. It also improves the accuracy of coal quality identification by collecting vibration frequency and amplitude data during the cutting process, analyzing vibration signal characteristics, and accurately identifying the location of the coal-rock interface. Furthermore, it comprehensively assesses the integrity and joint development of the coal seam by combining coal seam structural information with the location of the coal-rock interface, achieving precise characterization of coal seam structural characteristics. Finally, it integrates coal quality classification results with coal seam structural characteristic assessment results to generate coal quality information that comprehensively reflects the geological conditions of the coal mining face. This provides reliable data support for coal flow state identification, baffle control strategy formulation, and adaptive adjustment of coal mining equipment, improving operational adaptability and control accuracy under complex coal seam conditions.

[0063] In some embodiments, the method for obtaining coal seam structure information is as follows: Acquire data on the inclination angle of the coal mining machine, the spatial position of the cutting drum, and the pressure data from the roof. Determine the coal seam dip angle based on fuselage tilt angle data; The coal seam thickness variation curve is determined based on the spatial location information of the cutting drum and historical cutting data. The spacing and stability of the top and bottom plates are determined based on the pressure data of the top plate; The coal seam structure information is determined based on the coal seam dip angle, coal seam thickness variation curve, roof and floor spacing, and stability.

[0064] The coal seam structure information acquisition method described in this application accurately determines the coal seam dip angle by acquiring and analyzing the inclination angle data of the coal mining machine, thereby achieving effective perception of the spatial distribution characteristics of the coal seam. By combining the spatial position information of the cutting drum with historical cutting data, a coal seam thickness variation curve is constructed to dynamically reflect the variation law of coal seam thickness, improving the precision of coal seam structure identification. By analyzing the roof pressure data, the distance between the roof and floor plates and their stability are determined, enhancing the ability to grasp the constraints of the working space and the surrounding rock condition. On this basis, the coal seam dip angle, coal seam thickness variation curve, and parameters such as the distance between the roof and floor plates and stability are integrated to form coal seam structure information that can comprehensively characterize the geometric morphology and spatial structural features of the coal seam. This provides a reliable basis for optimizing coal mining machine cutting parameters, identifying coal flow status, and adaptive control of the coal retaining plate, thereby improving the operational safety, control accuracy, and production stability under complex geological conditions.

[0065] In some embodiments, the cutting operation information includes the cutting mechanism operating parameters, the coal mining machine motion parameters, and the power system operating parameters. The cutting mechanism operating parameters include the cutting drum speed and cutting depth, the coal mining machine motion parameters include the coal mining machine traction speed and rocker arm lifting speed, and the power system operating parameters include the hydraulic system working pressure and the cutting motor load power.

[0066] In some embodiments, the method for obtaining the initial attitude state of the baffle mechanism 20 is as follows: Acquire the current operating status data of electric telescopic rod 1 301, electric telescopic rod 2 302, and bidirectional cylinder 306; Based on the extension lengths of electric telescopic rod 1 301 and electric telescopic rod 2 302, determine the spatial position and tilting posture of the baffle mechanism 20 relative to the coal mining machine body 10. Based on the extension and retraction length of the bidirectional cylinder 306, and combined with the linkage deformation relationship between the tripod 304 and the cross 201, the arc curvature of the baffle mechanism 20 is determined. The spatial position, tilting posture, and arc curvature of the baffle mechanism 20 are fused and characterized to obtain the initial posture state data of the baffle mechanism 20.

[0067] The method for obtaining the initial attitude state of the baffle mechanism 20 described in this application acquires the operating status data of the electric telescopic rod 301, the electric telescopic rod 302, and the bidirectional cylinder 306 to monitor the current working status of each actuator of the baffle mechanism 20 in real time. By analyzing the extension lengths of the electric telescopic rods 301 and 302, the spatial position and tilt posture of the baffle mechanism 20 relative to the coal mining machine body 10 are determined, achieving accurate perception of the baffle's spatial configuration. By combining the extension length of the bidirectional cylinder 306 and the linkage deformation relationship between the tripod and the cross 201, the arc curvature of the baffle mechanism 20 is accurately determined, reflecting the baffle's guiding and constraining ability on the coal flow. Based on this, the spatial position, tilt posture, and arc curvature of the baffle mechanism 20 are fused and characterized to form complete initial attitude state data, thereby providing accurate initial parameter basis for subsequent coal flow state identification, control strategy generation, and adaptive adjustment of the baffle mechanism 20, improving the response accuracy, coordination, and adaptability of the baffle control.

[0068] In some embodiments, the method for determining the current coal flow state is as follows: Based on the magnitude and spatial distribution information of the impact force of the coal flow acting on the baffle mechanism 20, the peak value of the impact pressure and the parameters of the action area are extracted, and the degree of coal flow concentration and the flow direction are determined. Obtain the motor power data of the scraper conveyor, and calculate the coal loading capacity per unit time based on the motor power data to obtain the coal flow conveying intensity parameters; Based on the coal flow image data above the baffle mechanism 20, the coal flow accumulation state, coal flow overflow state, and coal flow off-center loading state are determined, and the apparent state parameters of the coal flow are obtained. The coal flow lumps characteristic parameters are determined based on the frequency and amplitude of the change in impact force. A coal flow state feature vector is constructed based on the degree of concentration, flow direction, coal flow transport intensity parameters, apparent state parameters, and block size characteristic parameters. The coal flow state feature vector is input into a preset coal flow state determination model for analysis to obtain the corresponding coal flow state category, thereby determining the current coal flow state.

[0069] The coal flow state determination method described in this application analyzes the magnitude and spatial distribution of the impact force of the coal flow acting on the baffle mechanism 20, extracts the peak impact pressure and action area parameters, accurately identifies the coal flow concentration and flow direction, and achieves real-time perception of the coal flow motion characteristics; by acquiring the motor power data of the scraper conveyor and calculating the coal flow conveying intensity parameters, it accurately reflects the changes in coal conveying load; by analyzing coal flow image data, it identifies the coal flow accumulation state, coal flow overflow state, and coal flow off-center loading state, obtains the apparent characteristic information of the coal flow, and enhances the comprehensiveness of the coal flow state perception; by dividing... By analyzing the frequency and amplitude of impact force changes, coal flow particle size characteristic parameters are determined, enabling effective characterization of coal particle size changes and impact characteristics. Based on this, a coal flow state characteristic vector is constructed by integrating coal flow concentration, flow direction, coal flow conveying intensity parameters, apparent state parameters, and particle size characteristic parameters. A pre-set coal flow state determination model is then used for comprehensive analysis to accurately identify the current coal flow state. This provides a reliable basis for the adaptive generation and dynamic adjustment of the baffle mechanism 20 control strategy, improving the coal flow guiding effect, conveying stability, and coal recovery efficiency, while reducing the risk of coal spillage and abnormal conveying.

[0070] In some embodiments, the method for determining the workspace condition type is as follows: Based on the lifting position information of the cutting drum and the stroke data of the height adjustment cylinder, the coal seam thickness parameters are determined, and the working space is divided into thin coal seam conditions, medium-thick coal seam conditions, or thick coal seam conditions based on the coal seam thickness parameters. Based on the body tilt angle data of the coal mining machine, the working space is divided into gently inclined working conditions, inclined working conditions, or steeply inclined working conditions. Based on the force fluctuation of the baffle mechanism 20 and the amount of top plate subsidence, the working space is determined to be either a stable working condition or a complex working condition. The spatial distribution information of impact force, coal flow transport intensity and spatial constraints are constructed into a set of working condition characteristic parameters; The working conditions of coal seam thickness, dip angle, stability and the set of working condition characteristic parameters are integrated and characterized to construct a working condition type identification matrix. The working condition type of the current workspace is determined by a comprehensive judgment based on the working condition type identification matrix.

[0071] The method for determining the working space conditions described in this application analyzes the lifting position information of the cutting drum and the stroke data of the height adjustment cylinder to determine the coal seam thickness parameters and classifies the working space into thin coal seam, medium-thick coal seam, or thick coal seam conditions, thus achieving refined identification of coal seam space conditions. By utilizing the inclination angle data of the coal mining machine, the method classifies the degree of inclination of the working space, accurately distinguishing between gently inclined, inclined, and sharply inclined conditions, thereby improving the ability to perceive the posture characteristics of the coal seam. Furthermore, by combining the force fluctuation of the baffle mechanism 20 with the roof subsidence, the stability of the working space is evaluated, achieving effective assessment of both stable and complex working conditions. The system is designed to identify the working conditions by integrating information on the spatial distribution of impact force, coal flow intensity, and spatial constraints. This process enhances the comprehensiveness of working condition identification by constructing a set of working condition characteristic parameters that reflect the characteristics of coal flow and the working environment. Based on this, the working conditions of coal seam thickness, dip angle, stability, and the set of working condition characteristic parameters are integrated and characterized to construct a working condition type identification matrix. This matrix is ​​then used for comprehensive identification to achieve accurate identification of the working condition type in the current working space. This provides a reliable basis for the generation of control strategies, adaptive attitude adjustment, and obstacle avoidance control of the baffle mechanism 20, thereby improving the adaptability of the coal mining machine to complex coal seam environments, operational safety, and operational stability.

[0072] In some embodiments, the method for generating the control strategy is as follows: Based on the cutting motor power, coal mining machine traction speed, coal seam thickness, coal seam dip angle, and the force parameters of the baffle mechanism 20, a multi-source working condition feature input model is constructed, and the corresponding control parameter template is determined by matching based on the preset rule base to generate basic control parameters. The target control parameters are obtained by performing fuzzy control optimization on the basic control parameters. The target attitude parameters of the baffle mechanism 20 are determined based on the target control parameters to characterize the arc curvature and spatial attitude state of the baffle mechanism 20. Based on the current attitude parameters and target attitude parameters of the baffle mechanism 20, the attitude adjustment path of the baffle mechanism 20 is planned, and preset safety constraints are introduced in the planning process. Based on the attitude adjustment path, target attitude parameters, and preset safety constraints, a control strategy for the coal retaining plate of the coal mining machine is generated.

[0073] The control strategy generation method described in this application integrates multi-source working condition information, such as the cutting motor power, coal mining machine traction speed, coal seam thickness, coal seam dip angle, and the force parameters of the baffle mechanism 20, to construct a multi-source working condition feature input model. This model is then matched with a pre-set rule base to quickly determine the basic control parameters suitable for the current working condition, improving the relevance and applicability of the generated control strategy. Furthermore, by performing fuzzy control optimization on the basic control parameters, dynamic correction and fine-tuning of the control parameters are achieved, enhancing the control strategy's adaptability to complex working condition changes. Finally, by determining the target attitude parameters of the baffle mechanism 20 based on the optimized target control parameters, the curvature of the baffle is controlled. The precise planning of the spatial attitude state improves the guiding and constraining effect of coal flow. By combining the current attitude parameters and target attitude parameters of the baffle mechanism 20, the attitude adjustment path is planned, and preset safety constraints are introduced to effectively avoid mechanism interference, sudden action changes, or operational risks during the adjustment process. On this basis, the control strategy of the coal baffle plate of the coal mining machine is generated according to the attitude adjustment path, target attitude parameters, and safety constraints to achieve safe, stable, and precise control of the adjustment process of the baffle mechanism 20, thereby improving the stability of coal flow transportation and coal recovery efficiency, reducing the risk of coal spillage and equipment collision, and enhancing the adaptive operation capability and operational reliability of the coal mining machine in complex coal seam environments.

[0074] In some embodiments, the method for switching between the coal flow convergence mode and the coal flow expansion mode is as follows: Based on coal flow rate, coal flow distribution, coal flow accumulation height and impact pressure, the current coal flow conditions are analyzed to determine the current coal flow state type; When it is determined that the coal flow is in a dispersed or overflowing state, switch to the coal flow gathering mode, control the two output ends of the bidirectional cylinder 306 to contract, and drive the two inclined plates to rotate towards each other with the rotation axis as the center through the connecting rod 307, so that the distance between the rear ends of the two inclined plates gradually decreases, thereby increasing the arc curvature of the baffle mechanism 20 and enhancing the baffle mechanism 20's ability to constrain and guide the coal flow. When it is determined that the coal flow is in a high flow state, there is coal flow accumulation, or there is a risk of coal flow obstruction, the coal flow expansion mode is switched to control the output end of the bidirectional cylinder 306 to extend, and through the connecting rod 307, the two inclined plates are rotated in opposite directions around the rotation axis, so that the distance between the rear ends of the two inclined plates gradually increases, thereby reducing the arc curvature of the baffle mechanism 20, expanding the coal flow space and improving the coal flow capacity. During mode switching and baffle mechanism 20 control, the curvature adjustment range and adjustment rate of baffle mechanism 20 are dynamically constrained based on the impact pressure on baffle mechanism 20 and the coal flow accumulation state.

[0075] The method for switching between the coal flow gathering mode and the coal flow expansion mode described in this application comprehensively analyzes the coal flow rate, coal flow distribution state, coal flow accumulation height, and impact pressure to identify the current coal flow state in real time, thereby achieving intelligent switching of the working mode of the baffle mechanism. By increasing the arc curvature of the baffle mechanism under the state of coal flow dispersion or overflow, the ability to gather and guide the coal flow is enhanced, reducing coal scattering. By reducing the arc curvature of the baffle mechanism under high flow rate, coal flow accumulation, or coal flow obstruction risk conditions, the coal flow space is expanded and the coal flow capacity is improved, reducing the risk of coal blockage. On this basis, the curvature adjustment amplitude and adjustment rate are dynamically constrained in combination with the impact pressure on the baffle mechanism and the coal flow accumulation state, so as to achieve smooth adaptive adjustment of the baffle mechanism, thereby improving the continuity of coal flow transportation and coal loading efficiency, reducing equipment impact load and operational failure risk, and enhancing the adaptability and operational stability of the coal mining machine to complex coal flow conditions.

[0076] In some embodiments, the method for performing attitude adjustment control on the baffle mechanism 20 is as follows: Based on the stability of the surrounding rock and the preset safety clearance requirements, the target attitude parameters are safely corrected to obtain the corrected target attitude parameters. The attitude of the baffle mechanism 20 is adjusted according to the corrected target attitude parameters; During the attitude adjustment process, the actual attitude parameters of the baffle mechanism 20 are acquired in real time, and the attitude adjustment process of the baffle mechanism 20 is dynamically corrected according to the deviation between the actual attitude parameters and the corrected target attitude parameters, so as to realize the closed-loop attitude control of the baffle mechanism 20.

[0077] The attitude adjustment control method of the baffle mechanism 20 described in this application, by combining the stability state of the surrounding rock and the preset safety clearance requirements, safely corrects the target attitude parameters, enabling the baffle mechanism 20 to meet the coal flow guidance requirements while taking into account operational safety requirements, reducing the risk of interference and collision with the roof, floor, or surrounding rock. By adjusting the attitude of the baffle mechanism 20 according to the corrected target attitude parameters, the spatial position and tilt angle of the baffle are adaptively matched with the current working environment, improving the constraint and guiding capacity of the baffle mechanism 20 on the coal flow. During the attitude adjustment process, the actual attitude parameters of the baffle mechanism 20 are acquired in real time, and the deviation between the actual attitude parameters and the corrected target attitude parameters is dynamically analyzed and corrected, realizing closed-loop control of the attitude adjustment process of the baffle mechanism 20, improving attitude control accuracy and response speed. On this basis, the baffle mechanism 20 can continuously maintain a stable and reasonable working attitude, thereby enhancing the adaptability of the coal mining machine to complex coal seam structures and spatial constraints, improving the stability of coal flow transportation and the reliability of equipment operation, and reducing equipment wear and operational risks.

[0078] In some embodiments, the conditions for determining that the operating state of the baffle mechanism 20 deviates from the preset operating range include any one of the following: The load on the scraper conveyor is consistently higher than the preset upper limit or lower than the preset lower limit; There is a continuous accumulation of coal flow in area 20 of the baffle mechanism, and the accumulation height exceeds the preset safety threshold; The impact pressure on the baffle mechanism 20 continuously exceeds the preset allowable value; The hydraulic system's working pressure fluctuates abnormally or approaches the upper limit of the rated pressure. The deviation between the actual attitude parameters of the baffle mechanism 20 and the target attitude parameters exceeds the allowable error range, wherein the angle deviation exceeds the preset angle threshold and / or the position deviation exceeds the preset displacement threshold. The vibration amplitude of the baffle mechanism 20 during operation exceeds the preset multiple of the normal operating value; Dust concentration monitoring values ​​consistently exceeded preset safety standards; The traction resistance of the coal mining machine has increased abnormally. When any one of the above conditions is met, or when multiple conditions are met simultaneously, the operating status is determined to deviate from the preset operating range.

[0079] The method for determining deviations in the operating state of the baffle mechanism 20 described in this application monitors key operating parameters in real time, such as the load of the scraper conveyor, the coal flow accumulation state, the impact pressure of the baffle mechanism 20, the working pressure of the hydraulic system, and the attitude deviation of the baffle mechanism 20, thereby achieving continuous tracking of the coal flow conveying state and equipment operating state. By comparing the actual operating parameters with preset safety thresholds, it promptly identifies operational risks such as abnormal load, coal flow accumulation, impact overload, hydraulic abnormality, and attitude deviation, improving the timeliness and accuracy of abnormal state detection. By comprehensively analyzing auxiliary operating indicators such as the vibration amplitude of the baffle mechanism 20, dust concentration, and the traction resistance of the coal mining machine, it further enhances the ability to assess the mechanical state of the equipment, the operating environment, and operational stability, avoiding misjudgments caused by judging a single parameter. On this basis, when any or multiple abnormal conditions are met simultaneously, it is determined that the operating state of the baffle mechanism 20 deviates from the preset operating range, thereby triggering timely control strategy optimization and operating state correction, achieving early warning and proactive intervention of operational risks, improving the safety, reliability, and stability of the baffle mechanism 20, and ensuring continuous and efficient coal mining operations.

[0080] In some embodiments, the method for re-optimizing the control strategy is as follows: Based on the deviation information of the operating state and the historical similar working condition processing records, the parameter optimization algorithm is used to optimize the control strategy parameters under the preset safety constraints, and the optimized control strategy parameters are obtained. Simulation verification is performed based on the optimized control strategy parameters to predict the changing trends of key operating parameters and verify whether the optimized control strategy parameters meet the preset operating requirements. Once the simulation verification is successful, the optimized control strategy parameters are applied, and a smooth transition between the old and new control strategies is achieved through a gradual transition method.

[0081] The aforementioned control strategy re-optimization method of this application integrates operational state deviation information and historical similar working condition processing records. Under preset safety constraints, it employs a parameter optimization algorithm to optimize and adjust the control strategy parameters, thereby obtaining optimized control strategy parameters suitable for the current abnormal working conditions and improving the pertinence and adaptability of strategy adjustment. By simulating and verifying the optimized control strategy parameters, the changing trends of key operating parameters are predicted, and their compliance with preset operating requirements is checked, effectively avoiding operational fluctuations and safety risks that may arise from direct switching of control strategies. Based on this, when the simulation verification is successful, a gradual transition method is adopted to achieve a smooth switch between the old and new control strategies, making the control parameter change process more continuous and controllable, reducing the risk of system shock and control abrupt changes, thereby improving the stability, reliability, and anti-disturbance capability of the coal mining machine baffle mechanism 20 control system, and ensuring the continuity and safety of coal flow transportation and equipment operation under complex working conditions.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for a coal-stopping plate of a coal mining machine, used to control the coal-stopping plate of the coal mining machine, characterized in that, include: The information acquisition module is used to collect coal quality information, coal seam structure information, cutting operation information, and attitude status information of the baffle mechanism at the coal mining face. The working condition identification module, connected to the information acquisition module, is used to identify the current coal flow status and working condition type of the workspace based on coal quality information, coal seam structure information, and cutting operation information. The strategy generation module, connected to the working condition identification module, is used to generate corresponding baffle control strategies based on the coal flow status, working space condition type, and baffle mechanism attitude status information. The arc adjustment control module, connected to the strategy generation module, is used to drive the arc adjustment mechanism to move according to the control strategy and control the baffle mechanism to switch between coal flow gathering mode and coal passage expansion mode. The attitude adjustment control module, connected to the strategy generation module, is used to adaptively adjust the spatial position and tilt angle of the baffle mechanism according to the control strategy. The status assessment module is connected to the arc adjustment control module and the attitude adjustment control module respectively. It is used to assess the operating status of the baffle mechanism based on the coal flow conveying status, equipment operating load and attitude feedback information of the baffle mechanism. The dust control module, connected to the information acquisition module, is used to control the start and stop of the spraying mechanism based on the cutting operation information, so as to reduce the dust concentration in the working area by utilizing the principle of gravity settling.

2. A control method for a coal-stopping plate of a coal mining machine, applied to the control system as described in claim 1, characterized in that, Includes the following steps: Acquire coal quality information, coal seam structure information, and cutting operation information of the coal mining face, and obtain the initial attitude state of the baffle mechanism; Based on coal quality information, coal seam structure information, and cutting operation information, the current coal flow status and working space condition type are determined, and the control strategy of the baffle mechanism is generated in combination with the initial attitude status. Based on the coal flow state parameters, the baffle mechanism is subjected to arc adjustment control according to the control strategy, so that it switches between the coal flow gathering mode and the coal flow expansion mode to adapt to different coal flow transportation needs. Based on the working space conditions, the baffle mechanism is subjected to attitude adjustment control according to the control strategy, so that it can adaptively adjust its spatial position and inclination angle under different coal seam spatial constraints. During the attitude adjustment control process, when abnormal geological conditions or impact cutting conditions are detected, the attitude compensation adjustment of the baffle mechanism is performed on the basis of attitude adjustment control to achieve obstacle avoidance adjustment or enhance the coal flow constraint capability; if no abnormal geological conditions or impact cutting conditions are detected, the current attitude adjustment control is maintained. The spraying mechanism is started and stopped based on the cutting operation information to continuously spray water mist into the work area during the cutting operation to reduce dust concentration.

3. The control method according to claim 2, characterized in that, The method for obtaining the initial attitude state of the baffle mechanism is as follows: Obtain the current operating status data of electric telescopic pole one, electric telescopic pole two, and the two-way cylinder; Based on the extension lengths of electric telescopic rod one and electric telescopic rod two, determine the spatial position and tilting posture of the baffle mechanism relative to the coal mining machine body; Based on the extension and retraction length of the bidirectional cylinder, and combined with the linkage deformation relationship between the tripod and the cross, the arc curvature of the baffle mechanism is determined. The spatial position, tilting posture, and arc curvature of the baffle mechanism are fused and characterized to obtain the initial attitude state data of the baffle mechanism.

4. The control method according to claim 2, characterized in that, The method for determining the current coal flow status is as follows: Based on the magnitude and spatial distribution information of the impact force of coal flow acting on the baffle mechanism, the peak impact pressure and parameters of the action area are extracted, and the degree of coal flow concentration and flow direction are determined. Obtain the motor power data of the scraper conveyor, and calculate the coal loading capacity per unit time based on the motor power data to obtain the coal flow conveying intensity parameters; Based on the coal flow image data above the baffle mechanism, the coal flow accumulation state, coal flow overflow state, and coal flow off-center loading state are determined, and the apparent state parameters of the coal flow are obtained. The coal flow lumps characteristic parameters are determined based on the frequency and amplitude of the change in impact force. A coal flow state feature vector is constructed based on the degree of concentration, flow direction, coal flow transport intensity parameters, apparent state parameters, and block size characteristic parameters. The coal flow state feature vector is input into a preset coal flow state determination model for analysis to obtain the corresponding coal flow state category, thereby determining the current coal flow state.

5. The control method according to claim 2, characterized in that, The method for determining the working space condition type is as follows: Based on the lifting position information of the cutting drum and the stroke data of the height adjustment cylinder, the coal seam thickness parameters are determined, and the working space is divided into thin coal seam conditions, medium-thick coal seam conditions, or thick coal seam conditions based on the coal seam thickness parameters. Based on the body tilt angle data of the coal mining machine, the working space is divided into gently inclined working conditions, inclined working conditions, or steeply inclined working conditions. The working space is determined to be either a stable working condition or a complex working condition based on the force fluctuation of the baffle mechanism and the amount of top plate subsidence. The spatial distribution information of impact force, coal flow transport intensity and spatial constraints are constructed into a set of working condition characteristic parameters; The working conditions of coal seam thickness, dip angle, stability and the set of working condition characteristic parameters are integrated and characterized to construct a working condition type identification matrix. The working condition type of the current workspace is determined by a comprehensive judgment based on the working condition type identification matrix.

6. The control method according to claim 2, characterized in that, The method for generating the control strategy is as follows: Based on the cutting motor power, coal mining machine traction speed, coal seam thickness, coal seam dip angle, and baffle mechanism force parameters, a multi-source working condition feature input model is constructed, and the corresponding control parameter template is determined by matching based on a preset rule base to generate basic control parameters. The target control parameters are obtained by performing fuzzy control optimization on the basic control parameters. The target attitude parameters of the baffle mechanism are determined based on the target control parameters to characterize the arc curvature and spatial attitude state of the baffle mechanism. Based on the current attitude parameters and target attitude parameters of the baffle mechanism, the attitude adjustment path of the baffle mechanism is planned, and preset safety constraints are introduced in the planning process. Based on the attitude adjustment path, target attitude parameters, and preset safety constraints, a control strategy for the coal retaining plate of the coal mining machine is generated.

7. The control method according to claim 2, characterized in that, The method for switching between the coal flow aggregation mode and the coal flow expansion mode is as follows: Based on coal flow rate, coal flow distribution, coal flow accumulation height and impact pressure, the current coal flow conditions are analyzed to determine the current coal flow state type; When it is determined that the coal flow is in a dispersed or overflowing state, switch to the coal flow gathering mode, control the two output ends of the bidirectional cylinder to contract, and drive the two inclined plates to rotate towards each other with the rotation axis as the center through the connecting rod, so that the distance between the rear ends of the two inclined plates gradually decreases, thereby increasing the arc curvature of the baffle mechanism and enhancing the baffle mechanism's ability to constrain and guide the coal flow. When it is determined that the coal flow is in a high flow state, there is coal flow accumulation, or there is a risk of coal flow obstruction, switch to the coal flow expansion mode, control the output end of the bidirectional cylinder to extend, and drive the two inclined plates to rotate in opposite directions around the rotation axis through the connecting rod, so that the distance between the rear ends of the two inclined plates gradually increases, thereby reducing the arc curvature of the baffle mechanism, expanding the coal flow space and improving the coal flow capacity. During mode switching and baffle mechanism control, the curvature adjustment range and adjustment rate of the baffle mechanism are dynamically constrained based on the impact pressure on the baffle mechanism and the coal flow accumulation state.

8. The control method according to claim 2, characterized in that, The method for performing attitude adjustment control on the baffle mechanism is as follows: Based on the stability of the surrounding rock and the preset safety clearance requirements, the target attitude parameters are safely corrected to obtain the corrected target attitude parameters. The attitude of the baffle mechanism is adjusted according to the corrected target attitude parameters. During the attitude adjustment process, the actual attitude parameters of the baffle mechanism are acquired in real time, and the attitude adjustment process of the baffle mechanism is dynamically corrected based on the deviation between the actual attitude parameters and the corrected target attitude parameters, so as to realize the closed-loop attitude control of the baffle mechanism.

9. The control method according to any one of claims 2-8, characterized in that, The control method further includes: During the execution of the control strategy, the operating status of the baffle mechanism is evaluated based on the coal flow conveying status, equipment operating load and baffle mechanism attitude feedback information, and it is determined whether the baffle mechanism deviates from the preset operating range. If the deviation occurs, the control strategy will be re-optimized and the corrected control strategy will be executed. If there is no deviation, the current control strategy will continue to be implemented until the cutting operation of the current coal mining face is completed.

10. The control method according to claim 9, characterized in that, The method for re-optimizing the control strategy is as follows: Based on the deviation information of the operating state and the historical similar working condition processing records, the parameter optimization algorithm is used to optimize the control strategy parameters under the preset safety constraints, and the optimized control strategy parameters are obtained. Simulation verification is performed based on the optimized control strategy parameters to predict the changing trends of key operating parameters and verify whether the optimized control strategy parameters meet the preset operating requirements. Once the simulation verification is successful, the optimized control strategy parameters are applied, and a smooth transition between the old and new control strategies is achieved through a gradual transition method.

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