Coal mining machine control system

Abstract

The utility model relates to a coal mining machine control system which comprises a control center, a traction assembly acquisition module, a cutting assembly acquisition module, a coal mining machine body acquisition module and a power assembly acquisition module. The control center is respectively connected with the traction assembly acquisition module, the cutting assembly acquisition module, the coal mining machine body acquisition module and the power assembly acquisition module; the traction assembly acquisition module is used for acquiring a first working condition parameter of a traction assembly in the coal mining machine; the cutting assembly acquisition module is used for acquiring a second working condition parameter of a cutting assembly in the coal mining machine; the coal mining machine body acquisition module is used for acquiring a third working condition parameter of the machine body of the coal mining machine; the power assembly acquisition module is used for acquiring a fourth working condition parameter of a power assembly in the coal mining machine; and the control center is used for being connected with the coal mining machine and generating a control signal based on the first working condition parameter, the second working condition parameter, the third working condition parameter and the fourth working condition parameter so as to control movement and cutting start and stop of the coal mining machine.

Description

Technical Field

[0001] The present disclosure relates to the technical field of coal mining, and in particular, to a shearer control system. Background Art

[0002] With the continuous improvement of the intelligent level of fully mechanized coal mining faces in coal mines, as an important device in the fully mechanized coal mining face, the intelligent degree of the control system of the shearer is the key factor affecting the intelligent level of the fully mechanized coal mining face.

[0003] However, the underground working environment is harsh and the working intensity of the shearer is relatively high. At present, the existing control systems of shearers cannot adjust the operating state of the shearer in real time according to external changes, and the control accuracy is relatively low, and the operating state of the shearer cannot be monitored in real time. Summary of the Utility Model

[0004] To overcome the problems existing in the related art, the present disclosure provides a shearer control system.

[0005] According to an embodiment of the present disclosure, a shearer control system is provided, including: a control center, a traction assembly acquisition module, a cutting assembly acquisition module, a shearer body acquisition module, and a power assembly acquisition module; the control center is respectively connected to the traction assembly acquisition module, the cutting assembly acquisition module, the shearer body acquisition module, and the power assembly acquisition module; the traction assembly acquisition module is configured to acquire first working condition parameters of the traction assembly in the shearer; the cutting assembly acquisition module is configured to acquire second working condition parameters of the cutting assembly in the shearer; the shearer body acquisition module is configured to acquire third working condition parameters of the body of the shearer; the power assembly acquisition module is configured to acquire fourth working condition parameters of the power assembly in the shearer; the control center is configured to be connected to the shearer, and generate a control signal based on the first working condition parameters, the second working condition parameters, the third working condition parameters, and the fourth working condition parameters, and the control signal is used to control the movement and the start and stop of cutting of the shearer.

[0006] Optionally, the first working condition parameters include: the rotation speed of the traction assembly, the current of the traction assembly, the temperature of the traction assembly, and the rotation angle of the output shaft in the traction assembly; the traction assembly acquisition module includes: a first rotation speed acquisition device, a first current acquisition device, a first temperature acquisition device, and a first angle acquisition device; the first rotation speed acquisition device is configured to acquire the rotation speed of the traction assembly; the first current acquisition device is configured to acquire the current of the traction assembly; the first temperature acquisition device is configured to acquire the temperature of the traction assembly; the first angle acquisition device is configured to acquire the rotation angle of the output shaft in the traction assembly.

[0007] Optionally, the second operating condition parameters include: the rotation speed of the cutting assembly, the current of the cutting assembly, the temperature of the cutting assembly, and the angle of the rocker arm in the cutting assembly; the cutting assembly acquisition module includes: a second rotation speed acquisition device, a second current acquisition device, a second temperature acquisition device, and a second angle acquisition device; the second rotation speed acquisition device is used to acquire the rotation speed of the cutting assembly; the second current acquisition device is used to acquire the current of the cutting assembly; the second temperature acquisition device is used to acquire the temperature of the cutting assembly; the second angle acquisition device is used to acquire the angle of the rocker arm in the cutting assembly.

[0008] Optionally, the third operating condition parameters include: the vibration acceleration of the shearer and the coordinate position of the shearer; the shearer body acquisition module includes: a vibration acceleration acquisition device and a coordinate acquisition device; the vibration acceleration acquisition device is used to acquire the vibration acceleration of the shearer; the coordinate acquisition device is used to acquire the coordinate position of the shearer.

[0009] Optionally, the fourth operating condition parameters include: the cooling water flow rate in the power assembly, the hydraulic flow rate in the power assembly, the cooling water pressure in the power assembly, and the cylinder pressure in the power assembly; the power assembly acquisition module includes: a flow rate acquisition device, a pressure acquisition device, and a displacement acquisition device; the flow rate acquisition device is used to acquire the cooling water flow rate and the hydraulic flow rate in the power assembly; the pressure acquisition device is used to acquire the cooling water pressure and the cylinder pressure in the power assembly; the displacement acquisition device is used to acquire the displacement of the cylinder in the power assembly.

[0010] Optionally, the control center includes a PLC controller, a communication module, and a shearer control device; the PLC controller is connected to the shearer control device through the communication module; the shearer control device is used to connect to the shearer; the shearer control device is used to control the movement and the cutting start and stop of the shearer based on the control signal triggered by the PLC controller.

[0011] Optionally, the control signal includes a first control signal for controlling the movement of the shearer and a second control signal for controlling the cutting start and stop of the shearer; the shearer control device includes a traction assembly control device and a cutting assembly control device; the traction assembly control device is used to connect to the traction assembly and control the movement of the shearer based on the first control signal triggered by the PLC controller; the cutting assembly control device is used to connect to the cutting assembly and control the cutting start and stop of the shearer based on the second control signal triggered by the PLC controller.

[0012] Optionally, the system further includes: a monitoring module and an alarm module; the monitoring module is connected to the control center, and the alarm module is respectively connected to the monitoring module and the control center; the monitoring module is configured to monitor the change information of the first operating parameter, the second operating parameter, the third operating parameter, and the fourth operating parameter; the alarm module is configured to output a first alarm information based on the change information monitored by the monitoring module.

[0013] Optionally, the system further includes: an analysis module, the analysis module is respectively connected to the alarm module and the control center; the analysis module is configured to generate a processing strategy corresponding to the first alarm information, and the processing strategy includes a strategy for adjusting the first operating parameter, the second operating parameter, the third operating parameter, and the fourth operating parameter.

[0014] Optionally, the control center is further configured to execute the processing strategy; the alarm module is further configured to output a second alarm information based on the execution result of the processing strategy.

[0015] Through the above technical solutions, the first operating parameter of the traction component, the second operating parameter of the cutting component, the third operating parameter of the fuselage, and the fourth operating parameter of the power component in the shearer can be collected, and a control signal is generated based on the first operating parameter, the second operating parameter, the third operating parameter, and the fourth operating parameter to control the movement and the start / stop of cutting of the shearer. In this way, the control system can collect the operating parameters of the shearer in real time according to the change of the external environment to adjust the operating state of the shearer, improve the control accuracy of the shearer, and realize the real-time monitoring of the operating state of the shearer.

[0016] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation part. Brief Description of the Drawings

[0017] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the following specific implementation manners, but do not constitute a limitation to the present disclosure. In the drawings:

[0018] Figure 1 is a schematic structural diagram of a shearer control system shown according to an exemplary embodiment.

[0019] Figure 2 is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment.

[0020] Figure 3 is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment.

[0021] Figure 4 It is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment.

[0022] Figure 5 It is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment.

[0023] Figure 6 It is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment.

[0024] Figure 7 It is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment.

[0025] Figure 8 It is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment.

[0026] Figure 9 It is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment. Detailed implementation manners

[0027] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0028] The implementation manners described in some embodiments of the present disclosure below do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0029] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and do not have to be understood as a specific order or sequence. In addition, in the description with reference to the drawings, the same reference numerals in different drawings represent the same elements.

[0030] The term "including" and its variations used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments".

[0031] In the related art, as an important device in the fully mechanized mining face, the intelligence level of the control system of the shearer is a key factor affecting the intelligence level of the fully mechanized mining face. However, due to the harsh underground working environment and the high working intensity of the shearer, the existing control systems of the shearer at present cannot adjust the running state of the shearer in real time according to the external changes, and the control accuracy is low, and the running state of the shearer cannot be monitored in real time.

[0032] To solve the above technical problems, the present disclosure provides a shearer control system, which can collect the first working condition parameters of the traction component, the second working condition parameters of the cutting component, the third working condition parameters of the fuselage, and the fourth working condition parameters of the power component in the shearer, and generate a control signal based on the first working condition parameter, the second working condition parameter, the third working condition parameter, and the fourth working condition parameter to control the movement and the start / stop of cutting of the shearer. In this way, the control system of the shearer can collect the working condition parameters of the shearer in real time according to the external changes to adjust the running state of the shearer, improve the control accuracy of the shearer, and can realize the real-time monitoring of the running state of the shearer.

[0033] The following will describe in detail the specific embodiments of the present disclosure with reference to the accompanying drawings.

[0034] Figure 1 is a schematic structural diagram of a shearer control system shown according to an exemplary embodiment. As Figure 1 shown, the shearer control system 100 may include: a control center 101, a traction component acquisition module 102, a cutting component acquisition module 103, a shearer fuselage acquisition module 104, and a power component acquisition module 105; the control center 101 is respectively connected to the traction component acquisition module 102, the cutting component acquisition module 103, the shearer fuselage acquisition module 104, and the power component acquisition module 105; the traction component acquisition module 102 is configured to collect the first working condition parameters of the traction component in the shearer; the cutting component acquisition module 103 is configured to collect the second working condition parameters of the cutting component in the shearer; the shearer fuselage acquisition module 104 is configured to collect the third working condition parameters of the fuselage of the shearer; the power component acquisition module 105 is configured to collect the fourth working condition parameters of the power component in the shearer; the control center 101 is configured to be connected to the shearer, and generate a control signal based on the first working condition parameter, the second working condition parameter, the third working condition parameter, and the fourth working condition parameter, and the control signal is used to control the movement and the start / stop of cutting of the shearer.

[0035] In some embodiments, the first operating condition parameter may include the rotational speed of the traction assembly, the current of the traction assembly, the temperature of the traction assembly, and the rotation angle of the output shaft in the traction assembly; the second operating condition parameter may include the rotational speed of the cutting assembly, the current of the cutting assembly, the temperature of the cutting assembly, and the angle of the rocker arm in the cutting assembly; the third operating condition parameter may include the vibration acceleration of the shearer and the coordinate position of the shearer; the fourth operating condition parameter may include the cooling water flow rate in the power assembly, the hydraulic flow rate in the power assembly, the cooling water pressure in the power assembly, and the cylinder pressure in the power assembly.

[0036] Exemplarily, the control center may adopt a self-tuning PID control algorithm. Based on the PID controller, the model identification method is used to obtain the proportional (P), proportional integral (I), and proportional derivative (D) of the deviation values corresponding to the first, second, third, and fourth operating condition parameters for automatic tuning and obtain the optimal control parameters. According to the rotational speed, current, temperature, and rotation angle of the output shaft of the traction assembly, as well as the vibration acceleration and coordinate position of the shearer, and in combination with the cylinder pressure in the power assembly, based on the PID control algorithm, the moving path, moving speed, and start / stop of the shearer can be determined, and a moving control signal for the shearer can be generated. At the same time, according to the rotational speed, current, temperature, and angle of the rocker arm of the cutting assembly, in combination with the cooling water flow rate, hydraulic flow rate, and cooling water pressure in the power assembly, the start / stop of the cutting function, cutting power, and cutting angle of the shearer can be determined, and a cutting start / stop control signal for the shearer can be generated.

[0037] It should be noted that the specific implementation method of the PID control algorithm can refer to the algorithms in related technologies and will not be elaborated here.

[0038] By adopting the above solution, the first operating condition parameter of the traction assembly, the second operating condition parameter of the cutting assembly, the third operating condition parameter of the fuselage, and the fourth operating condition parameter of the power assembly in the shearer can be collected, and control signals can be generated based on the first, second, third, and fourth operating condition parameters to control the movement and start / stop of the cutting of the shearer. In this way, the control system of the shearer can collect the operating condition parameters of the shearer in real time according to the changes in the external environment to adjust the operating state of the shearer, improve the control accuracy of the shearer, and realize the real-time monitoring of the operating state of the shearer.

[0039] Figure 2 is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment, as Figure 2As shown in the figure, the traction component acquisition module 102 may include: a first rotational speed acquisition device 1021, a first current acquisition device 1022, a first temperature acquisition device 1023, and a first angle acquisition device 1024; the first rotational speed acquisition device 1021 is used to acquire the rotational speed of the traction component; the first current acquisition device 1022 is used to acquire the current of the traction component; the first temperature acquisition device 1023 is used to acquire the temperature of the traction component; the first angle acquisition device 1024 is used to acquire the rotation angle of the output shaft in the traction component.

[0040] Among them, the traction component may include a traction motor, a transmission gear and a brake connected to the traction motor, and is used to drive the walking and stopping of the shearer. The first rotational speed acquisition device 1021 may include a first rotational speed sensor and can acquire the rotational speed of the traction motor; the first current acquisition device 1022 may include a first current sensor and can acquire the current of the traction motor; the first temperature acquisition device 1023 may include a first temperature sensor and can acquire the temperature of the traction motor; the first angle acquisition device 1024 may include a first angle sensor and can acquire the rotation angle of the output shaft of the brake.

[0041] Figure 3 is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment, as Figure 3 As shown in the figure, the cutting component acquisition module 103 includes: a second rotational speed acquisition device 1031, a second current acquisition device 1032, a second temperature acquisition device 1033, and a second angle acquisition device 1034; the second rotational speed acquisition device 1031 is used to acquire the rotational speed of the cutting component; the second current acquisition device 1032 is used to acquire the current of the cutting component; the second temperature acquisition device 1033 is used to acquire the temperature of the cutting component; the second angle acquisition device 1034 is used to acquire the angle of the rocker arm in the cutting component.

[0042] Among them, the cutting component may include a cutting motor, a cutting drum, a rocker arm and a reduction gearbox connected to the cutting motor, and is used for coal cutting in the fully mechanized coal mining face and coal loading by the scraper conveyor. The second rotational speed acquisition device 1031 may include a second rotational speed sensor and can acquire the rotational speed of the cutting motor; the second current acquisition device 1032 may include a second current sensor and can acquire the current of the cutting motor; the second temperature acquisition device 1033 may include a second temperature sensor and can acquire the temperature of the cutting motor; the second angle acquisition device 1034 may include a second angle sensor and can acquire the angle of the rocker arm.

[0043] Figure 4 is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment, as Figure 4As shown, the shearer body acquisition module 104 may include a vibration acceleration acquisition device 1041 and a coordinate acquisition device 1042; the vibration acceleration acquisition device 1041 is used to acquire the vibration acceleration of the shearer; the coordinate acquisition device 1042 is used to acquire the coordinate position of the shearer.

[0044] Among them, the vibration acceleration acquisition device 1041 may include a vibration sensor, and the coordinate acquisition device 1042 may include a displacement sensor.

[0045] Figure 5 is a schematic structural diagram of another shearer control system shown according to an exemplary embodiment, as Figure 5 As shown, the power component acquisition module 105 may include: a flow rate acquisition device 1051, a pressure acquisition device 1052, and a displacement acquisition device 1053; the flow rate acquisition device 1051 is used to acquire the cooling water flow rate and hydraulic flow rate in the power component; the pressure acquisition device 1052 is used to acquire the cooling water pressure and cylinder pressure in the power component; the displacement acquisition device 1053 is used to acquire the displacement of the cylinder in the power component.

[0046] Among them, the power component may include a hydraulic system and a spray system, which is composed of cylinders, hydraulic pumps, and control valves, and can provide power for the drum adjustment, mechanical braking, and spray cooling of the shearer. The flow rate acquisition device 1051 may include a flow rate sensor and can acquire the cooling water flow rate and hydraulic flow rate of the hydraulic system; the pressure acquisition device 1052 may include a pressure sensor and can acquire the cooling water pressure and cylinder pressure of the hydraulic system; the displacement acquisition device 1053 may include a cylinder displacement sensor and can acquire the displacement of the cylinder.

[0047] In some embodiments, as Figure 6 As shown, the control center 101 may include a PLC controller 1011, a communication module 1012, and a shearer control device 1013; the PLC controller 1011 is connected to the shearer control device through the communication module 1012; the shearer control device 1013 is used to connect to the shearer; the shearer control device 1013 is used to control the movement and cutting start and stop of the shearer based on the control signal triggered by the PLC controller 1011.

[0048] Among them, the PLC controller 1011 may include an SM331 analog input module and a PID controller. The PLC controller 1011 can obtain the collected working condition parameters through the SM331 analog input module. The SM331 analog input module includes an ADC (Analog-to-Digital Converter), which can convert the analog signal of the collected working condition parameters into a digital signal. The PID controller can automatically tune the proportional (P), proportional integral (I), and proportional derivative (D) of the deviation value corresponding to the digital signal converted from the working condition parameters to obtain the optimal control parameters, and generate a movement control signal and a cutting start-stop control signal. The communication module 1012 may include an RS485 communication module, which has a function of suppressing common-mode interference, and can transmit the control signal sent by the PLC controller 1011 to the shearer control device 1013, and can also receive and transmit the feedback signal sent by the shearer control device 1013 to the PLC controller 1011.

[0049] In some embodiments, as Figure 7 shown, the control signal may include a first control signal for controlling the movement of the shearer and a second control signal for controlling the start and stop of the cutting of the shearer; the shearer control device 1013 may include a traction assembly control device 10131 and a cutting assembly control device 10132; the traction assembly control device 10131 is used to connect to the traction assembly and control the movement of the shearer based on the first control signal triggered by the PLC controller 1011; the cutting assembly control device 10132 is used to connect to the cutting assembly and control the start and stop of the cutting of the shearer based on the second control signal triggered by the PLC controller 1011.

[0050] Among them, the first control signal may include control signals for controlling the movement path, movement speed, and movement start and stop of the shearer. The second control signal may include control signals for controlling the start and stop of the cutting function, cutting power, and cutting angle of the shearer.

[0051] In some embodiments, as Figure 8 shown, the system may further include: a monitoring module 106 and an alarm module 107; the monitoring module 106 is connected to the control center 101, and the alarm module 107 is respectively connected to the monitoring module 106 and the control center 101; the monitoring module 106 is used to monitor the change information of the first working condition parameter, the second working condition parameter, the third working condition parameter, and the fourth working condition parameter; the alarm module 107 is used to output a first alarm message based on the change information monitored by the monitoring module 106.

[0052] Among them, the monitoring module 106 can be connected to the communication module 1012 of the control center through the CAN (Controller Area Network) bus. The change information of the first operating condition parameter, the second operating condition parameter, the third operating condition parameter, and the fourth operating condition parameter can include the average value and variance of the instantaneous change rates of multiple operating condition parameter values of the first operating condition parameter, the second operating condition parameter, the third operating condition parameter, and the fourth operating condition parameter within a preset time period. The alarm module 107 is configured to output a first alarm message when the monitoring module 106 detects that the average value is greater than or equal to a preset average value threshold and / or the variance is greater than or equal to a preset variance threshold. The first alarm message is used to prompt the user that the external environment is abnormal and it is not recommended for the user to enable the shearer. The alarm module 107 can include a buzzer or an indicator light. In this way, when it is detected that the operating condition parameter values collected by the acquisition device in the system are abnormal, the user can be alerted in a timely manner, improving the safety when the shearer is enabled.

[0053] In some embodiments, as Figure 9 shown, the system may further include an analysis module 108. The analysis module 108 is respectively connected to the alarm module 107 and the control center 101. The analysis module 108 is configured to generate a processing strategy corresponding to the first alarm message. The processing strategy includes a strategy for adjusting the first operating condition parameter, the second operating condition parameter, the third operating condition parameter, and the fourth operating condition parameter.

[0054] Exemplarily, the processing strategy may include, when the average value of the instantaneous change rates of the multiple operating condition parameter values is greater than or equal to a preset average value threshold and / or the variance is greater than or equal to a preset variance threshold, adjusting the set value according to a preset adjustment value to reduce the deviation between the acquisition value and the set value, thereby reducing the average value and variance of the instantaneous change rate and improving the safety when the shearer is enabled.

[0055] In some embodiments, the control center 101 is further configured to execute the processing strategy. The alarm module 107 is further configured to output a second alarm message based on the execution result of the processing strategy.

[0056] Among them, the execution result may include successful execution and failed execution. Successful execution is used to indicate that after adjusting the set value of the operating condition parameter, the average value of the instantaneous change rates of multiple operating condition parameter values collected is less than the preset average value threshold, and the variance of the instantaneous change rates is less than the preset variance threshold. Failed execution is used to indicate that after adjusting the set value of the operating condition parameter, the average value of the instantaneous change rates of multiple operating condition parameter values collected is still greater than or equal to the preset average value threshold and / or the variance is greater than or equal to the preset variance threshold. A second alarm message can be output when the execution result is failed execution. The second alarm message is used to prompt the user that the external environment is abnormal and the automatic adjustment fails, and the shearer needs to be manually adjusted by the user. The second alarm message can be output through sound or through an image. The present disclosure does not limit this. In this way, when it is monitored that the operating condition parameter values collected by the acquisition device in the system are abnormal and the system automatic adjustment fails, an alarm can be sent to the user to prompt the user to handle it manually, which can improve the safety when the shearer is started.

[0057] The working principle of the shearer control system will be described below in conjunction with Figure 9 the shearer control system shown:

[0058] When it is necessary to control the shearer to move and cut, the traction assembly acquisition module 102 respectively acquires the rotational speed, current, temperature, and the rotational angle of the output shaft in the traction assembly through the first rotational speed acquisition device 1021, the first current acquisition device 1022, the first temperature acquisition device 1023, and the first angle acquisition device 1024, and transmits the acquired first operating condition parameters to the control center 101; the cutting assembly acquisition module 103 respectively acquires the rotational speed, current, temperature, and the angle of the rocker arm in the cutting assembly through the second rotational speed acquisition device 1031, the second current acquisition device 1032, the second temperature acquisition device 1033, and the second angle acquisition device 1034, and transmits the acquired second operating condition parameters to the control center 101; the shearer body acquisition module 104 respectively acquires the vibration acceleration and the coordinate position of the shearer through the vibration acceleration acquisition device 1041 and the coordinate acquisition device 1042, and transmits the acquired third operating condition parameters to the control center 101; the power assembly acquisition module 105 acquires the cooling water flow and the hydraulic flow in the power assembly through the flow acquisition device 1051, acquires the cooling water pressure and the cylinder pressure in the power assembly through the pressure acquisition device 1052, and acquires the displacement of the cylinder in the power assembly through the displacement acquisition device 1053, and transmits the acquired fourth operating condition parameters to the control center 101.

[0059] The PLC controller 1011 in the control center 101 converts the first working condition parameter, the second working condition parameter, the third working condition parameter, and the fourth working condition parameter collected from analog signals into digital signals, and automatically tunes the proportional (P), proportional-integral (I), and proportional-derivative (D) values of the deviation between the working condition parameters and the set values to obtain the optimal control parameters. Based on the first working condition parameter and the third working condition parameter, and combined with the oil cylinder pressure in the fourth working condition parameter, the moving path, moving speed, and start / stop of the shearer are determined based on the PID control algorithm, and the first control signal of the shearer is generated. At the same time, according to the second working condition parameter, combined with the cooling water flow rate, hydraulic flow rate, and cooling water pressure in the fourth working condition parameter, the start / stop of the cutting function, cutting power, and cutting angle of the shearer are determined, and the second control signal of the shearer is generated. The PLC controller 1011 transmits the generated first control signal and second control signal to the shearer control device 1013 through the communication module 1012. The shearer control device 1013 controls the movement of the shearer based on the first control signal and controls the start / stop of the cutting of the shearer based on the second control signal.

[0060] Meanwhile, the monitoring module 106 obtains the average value and variance of the instantaneous change rates of multiple working condition parameter values of the first working condition parameter, the second working condition parameter, the third working condition parameter, and the fourth working condition within a preset time period. The alarm module 107 is used to output a first alarm message when the average value detected by the monitoring module 106 is greater than or equal to the preset average value threshold and / or the variance is greater than or equal to the preset variance threshold. The analysis module 108 can generate a processing strategy. When the average value of the instantaneous change rates of the multiple working condition parameter values is greater than or equal to the preset average value threshold and / or the variance is greater than or equal to the preset variance threshold, the set value is adjusted according to the preset adjustment value to reduce the deviation between the collected value and the set value. The alarm module 107 can also output a second alarm message when the execution result of the processing strategy fails.

[0061] In this way, the control system can collect the working condition parameters of the shearer in real time according to the changes in the external environment to adjust the operating state of the shearer, improve the control accuracy of the shearer, realize the real-time monitoring of the operating state of the shearer, and in the case of detecting abnormal working condition parameter values collected by the acquisition equipment in the system, alarm the user in time, improving the safety when the shearer is started.

[0062] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0063] In addition, it should be noted that, in the above specific embodiments, the described specific technical features can be combined in any suitable way without conflict. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0064] Furthermore, any combination can be made among various different embodiments of the present disclosure, as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A shearer control system, characterized in that, Including: A control center, a traction component acquisition module, a cutting component acquisition module, a shearer body acquisition module, and a power component acquisition module; the control center is respectively connected to the traction component acquisition module, the cutting component acquisition module, the shearer body acquisition module, and the power component acquisition module; The traction component acquisition module is used to acquire the first working condition parameters of the traction component in the shearer; The cutting component acquisition module is used to acquire the second working condition parameters of the cutting component in the shearer; The shearer body acquisition module is used to acquire the third working condition parameters of the shearer body; The power component acquisition module is used to acquire the fourth working condition parameters of the power component in the shearer; The control center is used to connect to the shearer, and based on the first working condition parameters, the second working condition parameters, the third working condition parameters, and the fourth working condition parameters, generate a control signal, and the control signal is used to control the movement and cutting start and stop of the shearer.

2. The system according to claim 1, wherein The first working condition parameters include: the rotation speed of the traction component, the current of the traction component, the temperature of the traction component, and the rotation angle of the output shaft in the traction component; the traction component acquisition module includes: a first rotation speed acquisition device, a first current acquisition device, a first temperature acquisition device, and a first angle acquisition device; The first rotation speed acquisition device is used to acquire the rotation speed of the traction component; The first current acquisition device is used to acquire the current of the traction component; The first temperature acquisition device is used to acquire the temperature of the traction component; The first angle acquisition device is used to acquire the rotation angle of the output shaft in the traction component.

3. The system according to claim 2, wherein The second working condition parameters include: the rotation speed of the cutting component, the current of the cutting component, the temperature of the cutting component, and the angle of the rocker arm in the cutting component; the cutting component acquisition module includes: a second rotation speed acquisition device, a second current acquisition device, a second temperature acquisition device, and a second angle acquisition device; The second rotation speed acquisition device is used to acquire the rotation speed of the cutting component; The second current acquisition device is used to acquire the current of the cutting component; The second temperature acquisition device is used to acquire the temperature of the cutting component; The second angle acquisition device is used to acquire the angle of the rocker arm in the cutting component.

4. The system according to claim 3, wherein The third working condition parameters include: the vibration acceleration of the shearer and the coordinate position of the shearer; the shearer body acquisition module includes: a vibration acceleration acquisition device and a coordinate acquisition device; The vibration acceleration acquisition device is used to acquire the vibration acceleration of the shearer; The coordinate acquisition device is used to acquire the coordinate position of the shearer.

5. The system according to claim 4, wherein The fourth working condition parameters include: the cooling water flow rate in the power component, the hydraulic flow rate in the power component, the cooling water pressure in the power component, and the cylinder pressure in the power component; the power component acquisition module includes: a flow rate acquisition device, a pressure acquisition device, and a displacement acquisition device; The flow rate acquisition device is used to acquire the cooling water flow rate and the hydraulic flow rate in the power component; The pressure acquisition device is used to acquire the cooling water pressure and the oil cylinder pressure in the power assembly; The displacement acquisition device is used to acquire the displacement of the oil cylinder in the power assembly.

6. The system according to claim 5, characterized in that, The control center includes a PLC controller, a communication module, and a shearer control device; the PLC controller is connected to the shearer control device through the communication module; the shearer control device is used to connect to the shearer; The shearer control device is used to control the movement and the cutting start / stop of the shearer based on the control signal triggered by the PLC controller.

7. The system according to claim 6, characterized in that, The control signal includes a first control signal for controlling the movement of the shearer and a second control signal for controlling the cutting start / stop of the shearer; the shearer control device includes a traction assembly control device and a cutting assembly control device; The traction assembly control device is used to connect to the traction assembly and control the movement of the shearer based on the first control signal triggered by the PLC controller; The cutting assembly control device is used to connect to the cutting assembly and control the cutting start / stop of the shearer based on the second control signal triggered by the PLC controller.

8. The system according to claim 7, wherein The system further includes: a monitoring module and an alarm module; the monitoring module is connected to the control center, and the alarm module is respectively connected to the monitoring module and the control center; The monitoring module is used to monitor the change information of the first working condition parameter, the second working condition parameter, the third working condition parameter, and the fourth working condition parameter; The alarm module is used to output a first alarm message based on the change information monitored by the monitoring module.

9. The system according to claim 8, wherein The system further includes: an analysis module, and the analysis module is respectively connected to the alarm module and the control center; The analysis module is used to generate a processing strategy corresponding to the first alarm message, and the processing strategy includes strategies for adjusting the first working condition parameter, the second working condition parameter, the third working condition parameter, and the fourth working condition parameter.

10. The system according to claim 9, wherein The control center is further used to execute the processing strategy; The alarm module is further used to output a second alarm message based on the execution result of the processing strategy.

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