2865 results about "Coal mining" patented technology

The invention relates to the technical field of coal mining safety monitoring, and discloses a coal mining subsidence space-time evolution intelligent prediction method, which comprises the following steps: acquiring multi-dimensional geological dynamic data such as surface displacement, underground water pressure and rock stratum stress of a coal mining area, extracting a space-time characteristic sequence by using a GCLSTM algorithm, and calculating a space-time fluctuation coefficient; extracting a principal component vector through spectral decomposition, mapping to obtain a space-time correlation weight, dynamically correcting an original prediction value to generate a fusion prediction value, and judging a subsidence space-time evolution trend; constructing a three-dimensional subsidence curved surface model to identify a high-risk area and generate graded early warning; and establishing a joint optimization model to solve an optimal mining path, and generating a subsidence risk minimization scheme. According to the method, intelligent analysis of multi-dimensional data fusion and spatial-temporal characteristics is realized, the prediction accuracy is improved, an effective means is provided for coal mining subsidence prevention and control and safe mining, and the method has a remarkable engineering application value.

The invention relates to a coal mining subsidence area plant foundation monitoring method and system based on multi-source data fusion, and the method comprises the steps: obtaining multi-source monitoring data of a target coal mining subsidence area plant area, the multi-source monitoring data comprising satellite remote sensing data, ground measurement data and interference radar data; performing time synchronization and space unification on the multi-source monitoring data to obtain monitoring data with unified space; performing fusion processing on the monitoring data with uniform space to obtain comprehensive deformation data; constructing a three-dimensional settlement deformation field according to the comprehensive deformation data, and extracting deformation rate and acceleration information of each monitoring point through a gradient calculation method; and according to the deformation rate and the acceleration information, obtaining risk assessment of the plant foundation in the target coal mining subsidence area. The technical problems of multi-source heterogeneous data fusion and real-time settlement monitoring and early warning are effectively solved, and the precision and timeliness of foundation settlement monitoring are improved.

The invention relates to production collaborative scheduling, in particular to a production collaborative scheduling method based on an intelligent mine comprehensive management and control platform. According to the intelligent linkage control system, a sensing-data-application three-layer framework is constructed, key links such as coal mining, transportation, storage, washing and selection and lifting are integrated, cross-equipment and cross-system intelligent linkage control is achieved, and the dispatching adaptive capacity and the cooperation efficiency under the complex working condition are remarkably improved. Comprising the following steps: S1, collecting equipment states, environmental parameters and production progress data of each production link of a mine, processing the data through an edge computing node, and uploading the data to a cloud platform; s2, constructing a digital twin mine model, and configuring an initial production scheduling rule and a resource constraint condition; s3, when an abnormal or disturbance event is detected, the system gives out an early warning and automatically responds, a scheduling instruction is issued to each equipment system, and linkage execution is realized; and S4, continuously returning a scheduling execution result and a running state to the platform for evaluation and analysis, and training and optimizing the scheduling model by using feedback data to realize self-adaptive capability enhancement.

The invention relates to the technical field of coal mining equipment, and discloses a mining roadway stability real-time monitoring and early warning system which comprises the following steps: S1, multi-source sensor network deployment, S2, data transmission and preprocessing, S3, stability index dynamic calculation, S4, fusion early warning model construction and S5, graded early warning triggering. Roadway surrounding rock deformation, stress, vibration and environmental parameters are collected in real time through a multi-source sensing network, efficient data transmission and preprocessing are achieved in combination with an industrial looped network, surrounding rock strain energy density, displacement convergence rate, support failure coefficient and other key indexes are dynamically calculated, a fusion early warning model is constructed based on machine learning, and the early warning accuracy is improved. According to the method, accurate evaluation of the stability level is achieved, grading alarm and emergency control are automatically triggered when a threshold value is reached, a'perception-analysis-decision-response 'closed loop is formed through the design, the real-time performance of roadway stability monitoring and the early warning reliability are remarkably improved, and accidents such as roof fall and wall caving are effectively prevented.

The invention discloses a real-time back break control method of a heading machine based on visual association and digital twinning, which relates to the technical field of intelligent control of coal mining equipment, and comprises the following four steps: processing binocular visual data through a double-domain double-branch Transformer model, extracting coal rock and roadway structure characteristics and outputting cutting head offset; a GCN-LSTM model is adopted to fuse visual, laser radar and fiber-optic gyroscope data, and dynamic calibration and output of a three-dimensional pose are carried out; a roadway three-dimensional model is constructed based on the SLAM technology, and real-time updating of a digital twin model is achieved through edge-cloud collaboration; and in combination with a reinforcement learning strategy, generating a cutting parameter adjustment instruction according to the deviation of the digital twin model, and correcting model parameters through error feedback. The method solves the problems of low visual recognition precision, sensor data drift, digital twinning update lag and the like in an underground complex environment, improves the back break control precision, tunneling efficiency and equipment stability, and is suitable for tunneling operation under complex geological conditions.

The invention discloses an anti-jamming coal mining drilling machine with drilling and multidirectional impacting functions and a using method thereof.The anti-jamming coal mining drilling machine comprises a drilling machine body, a high-pressure driving mechanism is arranged on the drilling machine body through a multidirectional guide rail mechanism, and a drilling assembly is connected with the high-pressure driving mechanism; when the drilling machine works, the high-pressure driving mechanism drives the drill rod and the drill bit to conduct rotary drilling, the high-frequency transverse vibration mechanism synchronously generates transverse high-frequency vibration, the high-pressure driving mechanism drives the drill rod and the drill bit to conduct rotary drilling, and the high-frequency transverse vibration mechanism drives the drill rod and the drill bit to conduct rotary drilling. The friction force between the drill bit and rock is reduced, debris accumulation is prevented, efficient deslagging is achieved, when hard rock or drill jamming occurs, the longitudinal vibration impact mechanism triggers longitudinal vibration, impact and drill jamming prevention functions are achieved through cooperative work of transverse vibration and longitudinal vibration, the drill jamming problem under the complex geological condition is effectively solved, the drilling efficiency and equipment reliability are improved, and the drilling cost is reduced. The device is suitable for drilling operation of mining roofs and baseplates, sides and the like.

The invention relates to the technical field of coal mining, in particular to a grouting reinforcement anti-seepage method for an underground coal mine, which comprises the following steps: cleaning and temporarily supporting a target area; scanning the surrounding rock by adopting intrinsic safety type detection equipment to obtain fracture parameters and generate a three-dimensional distribution diagram; designing a construction grouting hole and cleaning the hole; double-liquid grouting equipment is adopted, reinforced grout containing aggregate is injected firstly to fill large cracks, after the reinforced grout is initially set, impermeable grout such as acrylate is injected to block micro cracks, and grouting pressure and flow are monitored and controlled in real time; finally, strength and impermeability detection is carried out, and hole patching and grouting are carried out if the standard is not met; according to the method, through accurate detection, partition design, staged grouting and strict quality inspection, the problem that in a traditional method, the reinforcing effect and the seepage-proofing effect are difficult to cooperate is solved, integrated construction of high-strength reinforcing and efficient seepage-proofing of the surrounding rock is achieved, and the engineering quality and efficiency are improved.

The vertical feeding coal mining machine comprises a rack, a traction part and a cutting assembly, the traction part is connected with the rack so as to be used for dragging the rack to move, the cutting assembly comprises a roller body and cutting teeth, the roller body comprises a cylinder body, an end disc and an end cover, the end disc is arranged on the cylinder body, and the cutting teeth are arranged on the end disc. The end disc is arranged on the outer circumferential wall of the roller body in a sleeving mode, the end disc and the first end of the roller body are arranged in a flush mode, the end cover is connected with the inner circumferential wall of the roller body, a groove is defined between the end cover and the roller body, the multiple cutting teeth are arranged in the circumferential direction of the center line of the roller body at intervals, and the cutting teeth are arranged in the groove. One part of the plurality of cutting teeth is connected with the end disc, and the other part of the plurality of cutting teeth is connected with the end cover. According to the vertical feeding coal mining machine, the arrangement positions of the cutting picks are optimized, the possibility of abrasion of the cutting picks is reduced, and the cutting efficiency is improved.

The invention provides a coal face mining auxiliary method based on visual and point cloud data fusion modeling, and the method comprises the steps: collecting the visual image data of a coal face, collecting the three-dimensional point cloud data through a point cloud sensor, and obtaining the motion state information through an inertial sensor; based on internal and external parameters and IMU data of joint calibration, mapping point cloud data to an image plane, establishing a geometric mapping relationship between three-dimensional points and pixels, generating an attribute point cloud model containing geometry, color and semantics, and generating a high-precision global three-dimensional digital twinning model; and identifying and tracking equipment instances in the digital twinborn model, and resolving motion parameters of key components based on a URDF kinematics model and a principal component analysis algorithm to support remote control decisions. According to the invention, high-precision real-time sensing and three-dimensional visualization of the working space size, the equipment connection relation and the movement position of the coal face can be realized, and the remote control precision and the response efficiency of unmanned mining are remarkably improved.

The invention provides a coal seam sandstone roof water retention coal mining method with control while mining based on mining-induced fracture grouting. The coal seam sandstone roof water retention coal mining method comprises the steps that hydrogeological parameters of a target working face of a coal mine are obtained; according to the hydrogeological parameters, determining a roof fracture step pitch of the target working face, determining stratum distribution characteristics above the target working face, and determining simulated development characteristics of a flowing water fractured zone of the target working face; determining a grouting horizon according to the simulated development characteristics of the water-flowing fractured zone and the formation distribution characteristics; the target working face is subjected to stoping, and after the stoping distance reaches the roof fracture step pitch every time and the roof of the target working face is fractured, layered grouting is conducted on the grouting layer position corresponding to the target working face in the roof fracture step pitch till stoping of the target working face is completed completely. And after layered grouting of all the grouting layers corresponding to the target working face is completed, operation is finished. The coal seam sandstone roof water retention coal mining method with control while mining based on mining-induced fracture grouting is high in safety and water control mining efficiency, and resources are saved.

The invention discloses a weakly cemented mining stratum roadway roof separation limit value determination method, relates to the technical field of mine roadway damage surrounding rock anchor net cable support and roof stability monitoring, and focuses on roadway surrounding rock roof support and monitoring of a weakly cemented coal mining stratum. The most typical damage form is sudden roadway roof fall and roadway integral convergence, and the life safety of mine engineering technicians is greatly threatened. The roof separation value is the relative displacement between two measuring points in the surrounding rock and between the surrounding rock at the end of the anchor rod and the surface of the roadway roof, belongs to the mine pressure display of the mine roadway, and is an important index for evaluating the anchor net cable supporting effect. The anchor net and anchor cable roof separation value based on the excavation disturbance rock damage degree is accurately calculated and monitored, and the method has important significance for guaranteeing mine safety production.

The invention belongs to the field of dust production characteristic research of coal mining machines in coal mines, and relates to a device and method for researching coal breaking dust production characteristics of cutting picks, the device comprises a dustproof shell, a coal sample restraint device, the cutting picks, a counterweight and lifting system, a pressurization system and the like, and the dust production amount and particle size distribution are accurately measured by simulating the coal breaking process of the cutting picks under different working conditions. The experiment method comprises the steps of sample preparation, device arrangement, experiment operation, data acquisition and processing and the like, and the experiment accuracy is ensured by utilizing the secondary impact prevention lock. According to the method, dust production influence factors can be effectively analyzed, a dust generation mechanism is disclosed, a basis is provided for coal cutter design and operation parameter optimization, an effective dust control strategy is formulated, and an operation environment is improved.

The invention discloses an open pit mine stripping semi-continuous laying method based on a backfill type deeply-buried channel, and belongs to the technical field of transportation of open pit coal mine stripping systems. The method specifically comprises the steps that an optimal stripping semi-continuous belt conveyor system layout route starting from a stripping crushing station to an outer dumping site is planned; a space gully between the inner dumping site and the outer dumping site of the optimal route is filled with stripping materials to form a dumping bridge, a stripping semi-continuous belt conveyor is laid on the dumping bridge to the outer dumping site, and a backfill type deeply-buried channel is laid below the dumping bridge in advance. According to the transportation mode, the stripping and coal mining operation route is optimized, the truck transportation distance is shortened, and the comprehensive cost is reduced by 50%. Meanwhile, the dumping space is enlarged, and the tension of the dumping space is relieved. According to the arrangement mode, stripping and coal mining transportation routes are optimized, existing coal transportation and power transmission lines are reserved, and rerouting is avoided; tail gas emission is reduced, and environmental protection and energy conservation are achieved; hidden safety accidents in truck transportation are reduced, and manpower is released; and the strip mine is promoted to develop towards a safe, green, intelligent and efficient direction.

The invention relates to the technical field of coal mine fully-mechanized coal mining automation control, and discloses a roller cutting track calibration method based on IMU, radar and visual fusion, which comprises the following steps: establishing a static transformation matrix and a vibration mode external parameter compensation library; iMU, radar and visual data are collected in real time; performing external pre-correction based on an IMU vibration characteristic index compensation library; projecting radar and visual data to a fuselage coordinate system to calculate a spatial geometric residual error, and iteratively optimizing an external parameter by taking an IMU real-time attitude as a fixed constraint when the spatial geometric residual error exceeds a threshold value; and based on the geometric consistency confidence coefficient, carrying out adaptive weighted fusion on multi-source data, and reconstructing a coal wall model and a roller cutting track. Through combination of vibration mode feed-forward compensation and geometric consistency closed-loop feedback, dynamic calibration of external parameters of the sensor in a strong vibration environment is realized, the problems of multi-source data space registration deviation and fusion instability are solved, and the accuracy of fully mechanized coal mining face environment perception and cutting track calibration is improved.

The invention discloses a coal mining equipment intelligent type selection system and method based on multi-parameter coupling in the technical field of mining equipment type selection. The method comprises the steps that mine geological parameters, mining technical parameters and equipment correlation parameters are received; calculating support parameters and coal cutter parameters based on mine geological parameters, mining technical parameters and equipment associated parameters; calculating parameters of the scraper conveyor based on the parameters of the coal mining machine; calculating reversed loader parameters based on the scraper conveyor parameters; calculating crusher parameters based on the reversed loader parameters; and matching the support parameters, the coal mining machine parameters, the scraper conveyor parameters, the reversed loader parameters and the crusher parameters with the equipment database, screening equipment models meeting a threshold range, and displaying a model selection result. Through the automatic and intelligent model selection design process, the problems that traditional manual model selection is low in efficiency, large in error and the like are solved, and high efficiency and precision of fully-mechanized coal mining equipment model selection are achieved.

The invention discloses a coal mine intelligent coal face control system based on digital twinning. The system comprises an underground entity unit, a ground virtual unit and an interaction unit connecting the underground entity unit and the ground virtual unit. The physical unit acquires data through the sensing network module and uploads the data through the communication module; the virtual unit builds a three-dimensional dynamic model through a twinborn body building module, virtual and real consistency is guaranteed through a model dynamic correction module, then an optimal control strategy is generated through simulation optimization of a twinborn data analysis and decision-making module, and finally an instruction is issued to an execution mechanism module through a control module to form closed-loop control; according to the method, the digital twinborn body completely corresponding to the physical working face is constructed, simulation operation and verification can be carried out on the whole process of the coal mining technology and equipment linkage logic in a virtual space in advance, and therefore potential action interference and logic conflicts are recognized and eliminated before an actual control instruction is issued, the effect of pre-judgment in advance is achieved, and the real-time performance of the coal mining technology is improved. And the look-ahead decision-making capability of the system is greatly improved.

The invention relates to the field of geological exploration, in particular to an intelligent analysis method and system for geological exploration data of a coal mining subsidence area. The invention discloses an intelligent analysis system for geological exploration data of a coal mining subsidence area. The intelligent analysis system comprises a data acquisition module, an underground three-dimensional model construction module, a foundation stability evaluation module, a residual deformation prediction module and a suitability judgment module. According to the method, multi-source data such as drilling data, geophysical prospecting data, remote sensing topographic data, monitoring actual measurement data and geotechnical test data are comprehensively analyzed, a unified underground three-dimensional model is constructed, and the limitation of data isolation of a traditional exploration method is broken through; according to the method, through drilling and geophysical prospecting bidirectional complementary correction and combination of a settlement monitoring sequence and static attributes, a more accurate and comprehensive geological exploration result is provided for a coal mining subsidence area, and the accuracy of foundation stability evaluation and deformation prediction is remarkably improved.

The invention relates to the technical field of thin seam mining equipment, in particular to a thin seam mining machine which comprises a driving assembly, a transmission assembly, a machine body, a first cutting assembly and a second cutting assembly, and the first cutting assembly and the second cutting assembly are arranged on the two sides of the machine body in the extending direction. The driving assembly and the transmission assembly are arranged in the machine body, the driving assembly is arranged between the first cutting assembly and the second cutting assembly, the input end of the transmission assembly is connected with the output end of the driving assembly, and the first output end of the transmission assembly is connected with the input end of the first cutting assembly; and the second output end of the transmission assembly is connected with the input end of the second cutting assembly. According to the thin seam coal mining machine, the single motor is arranged to drive the rollers on the two sides, the size of the coal mining machine is reduced, and the coal mining flexibility is improved.

The invention discloses a coal mining water retention method, which comprises the following steps of: pre-calculating the height h0 of a water flowing fissure zone in a deep aquifer when the water yield Q2 of a coal mining mine is equal to the total water consumption Q1 of production and life of a mining area, and then calculating the corresponding mining height M0 when a coal seam below is mined according to the height h0 of the water flowing fissure zone; according to the mining height M0, the filling height M2 needing to be equivalently filled in the goaf is calculated, and materials are filled into the goaf behind along with advancing of the coal face during coal mining until the materials reach the height of M2, so that too high or too low development of the water flowing fissure zone can be inhibited, the filling height or thickness can be reduced, and the filling efficiency is improved. According to the method, the balance between the filling height of the goaf and the development height of the water flowing fractured zone is found in an equivalent filling mode, mine water generated during coal mining can meet the total water consumption of production and life of a mining area, the defects caused by complete filling can be avoided, the coal mining efficiency is improved, and the water retention effect is also improved.

The invention belongs to the technical field of coal mining, and discloses a coal mine collapse monitoring system and method, and the method comprises the steps: a deformation monitoring module carries out the deformation monitoring of a coal mine; the displacement stress monitoring module monitors rock mass displacement, stress state and strain change of a coal mine goaf or a potential collapse area; the underground water monitoring module measures the change of the underground water level in real time; the route planning module plans a cruise route of the unmanned aerial vehicle; the image acquisition module performs low-altitude flight shooting on a coal mine area; the image preprocessing module preprocesses the scanned image; the abnormity identification module performs feature extraction on the preprocessed image and identifies the abnormal condition of coal mine collapse; the comprehensive evaluation module performs multi-source data fusion and establishes a multi-parameter early warning model; when the monitoring data exceeds a preset threshold value, the alarm module triggers an early warning signal. Through multiple monitoring means, the functions of real-time continuous monitoring, intelligent analysis and evaluation and the like are achieved, and potential collapse risks can be found in time.

The invention discloses coal mine screening equipment for coal mining and a use method, and the equipment comprises a multi-source sensing module which is used for obtaining the original data of various physical characteristics of raw coal in real time; the data fusion and feature extraction module is used for extracting a fusion feature vector used for representing the key difference between the coal and the gangue; the decision-making unit is used for generating a sorting control instruction aiming at the current batch of raw coal in real time; the execution module is used for carrying out coal and gangue separation on the coal flow; the feedback module is used for feeding back clean coal product quality indexes and tailing data detected in real time to the decision-making unit; multi-dimensional information such as mineral components, moisture and lumpiness is fused through the multi-source sensing module, comprehensive analysis is carried out through the data fusion and intelligent recognition model, the limitation of a single sensing mode can be overcome, the recognition precision and reliability of coal and gangue are improved, efficient sorting is achieved from the source, and the recognition efficiency of coal and gangue is improved. The effects of improving the purity of a clean coal product and reducing the coal carrying rate of the gangue are directly achieved.

The invention discloses a mining vacuum drainage system, which relates to the technical field of mine drainage and comprises a tail end water collector, a height difference controller, a three-phase generator, a vacuum pipeline, an auxiliary pump station, a slag separator, a pump station system and a control system. It is ensured that the system safely and efficiently operates in roadways, tunneling faces or fully mechanized coal mining faces of coal mines, strip mines or non-coal mines. The system is applied to the tail end drainage requirement of a drainage system, a series of problems caused by decentralized drainage in a coverage area can be solved only through one vacuum drainage system, concentrated drainage of multiple drainage points is achieved, facilities such as a shift transformer, a switch, a cable, an electric pump, an air pump and an air pipe are omitted, and the cost is reduced. Concentrated drainage can be achieved only through the pump station, the vacuum pipeline and the matched water collector, great cost is saved in the aspects of purchase, installation, operation and maintenance, energy consumption, inspection, overhaul, recovery and the like of traditional drainage equipment, and the comprehensive efficiency of an original drainage system is remarkably improved.

The invention relates to a mining vehicle control method and device, equipment, a storage medium and a product. The method comprises the steps that event signals in the coal mining process are received, the event signals comprise at least one of dispatching instruction signals for a mining vehicle and sensor signals generated by a vehicle-mounted sensor of the mining vehicle, and the event signals are sent to the vehicle-mounted sensor of the mining vehicle in the current vehicle state of the mining vehicle; and determining a target vehicle state matched with the event signal from vehicle states of a preset state machine, and controlling the mining vehicle to execute a vehicle state transition process from the current vehicle state to the target vehicle state. By the adoption of the method, the operation process of the mining vehicle is decomposed into different vehicle states, the transfer relation between the different states is predefined to construct the preset state machine, multi-source data such as the dispatching instruction signal of the vehicle and the sensor signal of the vehicle-mounted sensor are fused to trigger conversion of the vehicle states, and the state of the vehicle is converted. According to the invention, the vehicle can flexibly complete state switching and task execution in a complex and changeable mine scene.

The invention discloses a precise dust fall and explosion suppression control method for a fully mechanized coal mining face and a combined type electric ball valve, and relates to the technical field of automatic control. The method comprises the following steps: step 1, an intelligent control device synchronously issues a sampling trigger instruction to a dust monitoring assembly, a spray monitoring assembly and a vibration monitoring assembly; when the three sequences simultaneously meet the preset trigger conditions, generating a trigger event and a control starting point; 2, dividing service areas based on a valve group topology table, determining a target service area, and obtaining a candidate sequence from far to near according to the connection sequence of the valve group topology table and a combined manifold; and 3, the target valve position sequence and the action window are issued to a soft opening and closing curve generator so as to drive an execution motor speed reduction self-locking mechanism in each electric ball valve unit. According to the invention, through collaborative optimization in three aspects of monitoring, scheduling and execution, limitations in triggering accuracy, multi-valve coupling control and execution reliability in the prior art are broken through.

The invention discloses a coal seam group mining overlying goaf water accumulation and water inrush risk evaluation method, and relates to the field of coal mining safety. The method comprises six modules: a data acquisition module obtains basic geology, goaf and mining engineering data; the evaluation index screening module screens out key indexes such as the development height of the water-flowing fractured zone; the improved weight calculation module calculates a comprehensive weight by using an improved analytic hierarchy process-entropy weight coupling algorithm; the dynamic water flowing fractured zone prediction module combines an improved empirical formula and a mining dynamic influence coefficient to predict the height and range of a dynamic fractured zone; the risk grade evaluation module combines the weight and a fissure zone result, calculates a comprehensive index by using a fuzzy comprehensive evaluation method and divides four grades of risks; and the result output module outputs charts and reports. According to the method, the problem that a traditional method is subjective in weight and does not dynamically reflect the mining influence is solved, the evaluation accuracy and timeliness are improved, and support is provided for safe mining of a coal seam group.

The invention provides a control method of fully-mechanized coal mining equipment and a coal mining machine, and relates to the technical field of coal mining machinery control. The control method of the fully-mechanized coal mining equipment is applied to a coal mining machine and comprises the following steps: acquiring running state information of the coal mining machine; according to the operation state information of the coal mining machine, a target hydraulic support to be cooperatively controlled is determined from multiple hydraulic supports, and the multiple hydraulic supports and the coal mining machine are located on the same working face; based on the transmission channel between the coal mining machine and the target hydraulic support, first information is sent to the target hydraulic support, and the first information is used for the target hydraulic support to determine cooperative action. According to the technical scheme, the cooperative efficiency between the coal mining machine and the hydraulic support can be improved, and then the mining efficiency is improved.

The invention relates to the technical field of coal mining, in particular to a dry coal preparation control system based on data analysis, which comprises a real-time data acquisition module, a data analysis module, a self-adaptive control module and a feedback optimization module. The real-time data acquisition module acquires information such as granularity, density, images and moisture of coal particles through a granularity sensor, a density sensor, an image sensor and a humidity sensor, and transmits data to the central processing unit. And the data analysis module analyzes the collected data based on a random forest algorithm to generate a sorting precision prediction value. The self-adaptive control module dynamically adjusts key parameters of the coal dressing equipment according to the predicted value by utilizing a PID control algorithm, and the key parameters comprise the wind speed, the screen inclination angle, the material flow speed and the like. The system not only improves the coal dressing precision and stability, but also improves the self-adaptive capacity of the equipment through intelligent control and optimization, and the system is suitable for popularization and application. The method has remarkable economic benefits and wide application prospects.

The invention discloses a goaf surface subsidence prediction method and system based on grouting-rock stratum coupling, and belongs to the technical field of coal mining surface subsidence prevention and control. According to the method, a basic parameter system containing geology, grouting and mining parameters is constructed, a grouting subsidence reduction influence factor model is established, a grouting influence factor beta is defined, a subsidence coefficient is corrected, then a collaborative prediction model is constructed, the subsidence dynamic influence radius is calculated, and a surface subsidence function is represented; according to the method, grouting parameters are quantified and introduced into the subsidence prediction model, the problems that a traditional model is poor in adaptability and low in prediction precision under the grouting condition are solved, and the accuracy of surface subsidence prediction and the engineering guidance value are remarkably improved.

The invention relates to the technical field of fully mechanized coal mining face automation control, and discloses a working face end straightness detection method and device based on a laser radar, and the method comprises the steps: building geometric and radiation references through collecting fixed reference target data; in real-time detection, a displacement vector and an atmospheric attenuation coefficient are calculated by using an instantaneous state of a target, and double-domain dynamic correction of coordinate rigid inverse transformation and intensity threshold adaptive adjustment is performed on an original point cloud. Then, clustering segmentation and slice centroid extraction are carried out on the corrected point cloud, and an ordered feature point set is obtained; and performing multi-factor weighted curve fitting on the feature point set in combination with geometric stability and environmental credibility, constructing a form fitting curve, and outputting a straightness deviation quantitative index according to a comparison result of the curve and an ideal reference straight line. According to the invention, the interference of equipment vibration and dust attenuation on measurement is eliminated, and the robustness and precision of the straightness detection of the scraper conveyor are improved.

The invention discloses a method and equipment for predicting surface subsidence of super-thick weakly-cemented overlying strata under insufficient mining, and belongs to the field of surface treatment of coal mining subsidence areas. Establishing a physical strata plate theoretical model according to the structure and the property of each strata, determining the size of each strata plate according to the actual mining progress of a working face, actually measured drilling data and mechanical test report parameters, and further establishing an overall model of overlying strata under the strata; the state information of each rock stratum under different advancing distances of the working face is judged, the flexural deformation value of the rock stratum in the advancing process of the working face is calculated, then the flexural value of each point of a rock stratum plate serves as the coal seam mining thickness, the subsidence deformation value of a rock-soil layer above the rock stratum subjected to flexural deformation is calculated, and then the surface subsidence value is predicted. The method has higher adaptability and accuracy for surface subsidence deformation prediction of mining areas with special stratum environments such as the condition of extremely thick and weak cemented overburden strata, calculation is simple, and a scientific theoretical basis is provided for coal mining design under regional structures.