CN108561134A - Comprehensive extracting and caving face puts coal control system and method automatically - Google Patents
Comprehensive extracting and caving face puts coal control system and method automatically Download PDFInfo
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- CN108561134A CN108561134A CN201810332700.9A CN201810332700A CN108561134A CN 108561134 A CN108561134 A CN 108561134A CN 201810332700 A CN201810332700 A CN 201810332700A CN 108561134 A CN108561134 A CN 108561134A
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- 239000003245 coal Substances 0.000 title claims abstract description 246
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012544 monitoring process Methods 0.000 claims description 44
- 230000008569 process Effects 0.000 claims description 22
- 238000005065 mining Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 8
- 230000003068 static effect Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000004927 fusion Effects 0.000 description 5
- 239000002956 ash Substances 0.000 description 4
- 238000005553 drilling Methods 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000010883 coal ash Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of comprehensive extracting and caving faces to put coal control system and method automatically.The control system includes：Sensing unit, what the sensing unit was used to detect comprehensive extracting and caving face puts coal data；Sublevel caving hydrau lic support is equipped with bracket controller on the sublevel caving hydrau lic support；The bracket controller is communicated to connect with the sensing unit, the bracket controller puts coal data described in receiving, and the similarity of coal data and preset reference data is put described in calculating, the bracket controller controls the sublevel caving hydrau lic support according to the similarity, and completion puts coal control automatically.The control method puts coal control automatically using the progress of above-mentioned control system.Coal control system and method are put using comprehensive extracting and caving face provided by the present invention automatically, reduces using difficulty, improves the scope of application and practical performance, reduce use cost, suit large area to popularize practicality.
Description
Technical field
The present invention relates to underground coal mine top-coal caving face roboticized mining techniques fields, are put more particularly to a kind of fully mechanized mining
Top coal working face puts coal control system and method automatically.
Background technology
In coal production, the health and safety of working surface production bad environments, staff often cannot be guaranteed, work
Make a large amount of dust generated when the digging of face, the body and mind of working face staff is made to suffer from great harm.Coal work at present
Face has substantially carried out working face and has lacked people's even Manless mining by the automation control of hydraulic support and coalcutter.So
And for putting coal working face, since the significant technology issues such as coal rock detection are not resolved, put coal at rear portion and do not do effectively
Method goes to observe, and top coal situation of change is not allowed to grasp yet, so that putting, coal operation process transparency is low, production environment is complicated, powder
Dirt is big, still relies on manually with feeling and experience local operation at present, causes drawing effectiveness bad, production efficiency is relatively low, cost
The problems such as height, the rate of extraction is low, simultaneously because put control during coal it is improper be easy to cause personal injury, it is great hidden to be faced with safety
Suffer from.
In this regard, having attempted to study the technology of automatic Sub-Level Caving control in coal production field.Inventor is realizing hair
It is found during bright creation, currently, the mathematical model that automatic Sub-Level Caving control technology is usually required for foundation complicated, and according to
Live bastard coal attribute carries out model training and boundary condition setting, and is also constantly becoming in the bastard coal attribute of down-hole combined mining working
Change, therefore the mathematical model established also needs to constantly correct in use, and the amendment of model and bound of parameter item
The setting of part needs professional technician that could complete, difficult, and cost is very high, in use must be according to not same district
The case where domain, is customized completion, and it is more demanding to promote and apply technology, can not be widely applied practicality.
Therefore, be highly desirable to design it is a kind of it is simple and practicable, use scope is wide, the automatic of implementation easy to spread puts coal control
Technology.
Invention content
In view of this, the present invention provides a kind of comprehensive extracting and caving faces to put coal control system and method automatically, it is intended to
Overcome the defect present in the prior art.
Comprehensive extracting and caving face provided by the present invention puts coal control system automatically：Sensing unit, the sensing
What unit was used to detect comprehensive extracting and caving face puts coal data；Sublevel caving hydrau lic support is equipped with holder on the sublevel caving hydrau lic support
Controller；The bracket controller is communicated to connect with the sensing unit, and coal data are put described in the bracket controller reception, and
The similarity of coal data and preset reference data is put described in calculating, the bracket controller is according to described in similarity control
Sublevel caving hydrau lic support, completion put coal control automatically.
Preferably, further include monitoring host computer, the monitoring host computer is communicated to connect with the bracket controller, comprehensive for monitoring
That adopts top-coal caving face puts coal situation.
Preferably, the sensing unit includes vibrating sensor, and the vibrating sensor is mounted on the sublevel caving hydrau lic support
On, for detecting coal the vibration signal on the sublevel caving hydrau lic support is pounded with spoil.
Preferably, the sensing unit includes sonic sensor, and the sonic sensor is mounted on the Sub-Level Caving hydraulic pressure
On holder, acoustic signals caused by coal process are put for detecting.
Preferably, the sensing unit includes grey sub-sensor, and the ash sub-sensor works mounted on mining
The rear portion drag conveyor in face slips on head, the percentage of shale content for detecting let-down top coal.
Preferably, the sensing unit is communicated to connect with the monitoring host computer.
Comprehensive extracting and caving face provided by the present invention is put coal control method and is put using any one fully mechanized mining as above automatically
Top coal working face puts the progress of coal control system and puts coal control automatically automatically, including：Artificial rehearsal is acquired by the sensing unit
Coal data are put in the rehearsal for putting comprehensive extracting and caving face during coal, and upload to the bracket controller, and the rehearsal is put
Coal data are as the reference data；The bracket controller controls the sublevel caving hydrau lic support and starts to put coal operation automatically；Pass through
The sensing unit detection comprehensive extracting and caving face puts coal data, and uploads to the bracket controller；The holder control
The similarity that coal data and the reference data are put described in device calculating processed, the sublevel caving hydrau lic support is controlled according to the similarity,
Completion puts coal control automatically.
Preferably, the bracket controller is special by the signal characteristic for putting coal data and the signal of the reference data
It levies to calculate the similarity for putting coal data and the reference data.
Preferably, when the similarity is more than first threshold, the bracket controller controls the sublevel caving hydrau lic support and stops
Only put coal operation.
Preferably, it further includes monitoring host computer that comprehensive extracting and caving face puts coal control system automatically, the monitoring host computer with
Bracket controller communication connection puts coal situation for monitor comprehensive extracting and caving face；When the similarity is more than the
Two threshold values and less than the first threshold when, the bracket controller to the monitoring host computer send alarm signal, the prison
Control host is alarmed according to the alarm signal.
Preferably, further include：By the monitoring host computer control instruction, the holder control are sent to the bracket controller
Device processed controls the sublevel caving hydrau lic support according to the control instruction and acts.
Preferably, the sensing unit is communicated to connect with the monitoring host computer, and the coal data of putting are uploaded to the prison
Control host.
Preferably, further include：If top coal caving time reaches default ratio during current top coal caving time puts coal with artificial rehearsal
When, the bracket controller controls the sublevel caving hydrau lic support stopping and puts coal operation.
The comprehensive extracting and caving face provided using the embodiment of the present invention puts coal control system and method automatically, by building
It is vertical to put coal closed system automatically, and realize the weak coupling with situ extraction environment, it reduces using difficulty, improves the scope of application
And practical performance, reduce use cost.Specifically, complicated mathematical modulo need not be established during putting coal control automatically
Type, also need not correction model in use, can be completed without professional technician, difficulty is small, at low cost, and popularization is answered
Relatively low with technology requirement, suit large area to popularize practicality.Further, the mining work provided using the embodiment of the present invention
Make face and puts coal control system and method automatically, it can be by vibrating sensor, sonic sensor, grey sub-sensor, time parameter control
System etc. information with manual work operate when experience be combined, realize Multi-sensor Fusion, multi-pattern Fusion, utilize manually grasp
The experience of work eliminates complicated model and calculates, and eliminates because geological conditions changes the coal rock detection brought, Coal Seam Thickness Change
Etc. factors to put coal control process influence, simplify put coal process operation, realize put coal automation, construct fully mechanized mining caving
Coal working face stope is unmanned to put coal control, ground remote control puts coal production model.
Description of the drawings
Preferred embodiment in the attached drawing detailed description present invention will be passed through below, it will help understand the purpose of the present invention and excellent
Point, wherein:
Fig. 1 is the schematic diagram that comprehensive extracting and caving face described in the embodiment of the present invention puts coal control system automatically.
Fig. 2 is the flow chart that comprehensive extracting and caving face described in the embodiment of the present invention puts coal control method automatically.
Specific implementation mode
The following describes the present invention in detail with reference to examples.The identical reference numeral table of wherein identical parts
Show.It should be noted that word "front", "rear" used in the following description, "left", "right", "up" and "down" refer to attached drawing
In direction, word "inner" and "outside" refer respectively to the direction towards or away from geometric center of specific component.
Fig. 1 is the schematic diagram that comprehensive extracting and caving face described in the embodiment of the present invention puts coal control system automatically.Such as Fig. 1
Shown, the comprehensive extracting and caving face that the embodiment of the present invention is provided puts coal control system and includes sublevel caving hydrau lic support 2 and pass automatically
Feel unit, what the sensing unit was used to detect comprehensive extracting and caving face puts coal data, such as working surface production environment field is made an uproar
Acoustical signal.Preferably, the sensing unit may include vibrating sensor 6, sonic sensor 7 and grey sub-sensor 8 etc..
Bracket controller 5 is installed on the sublevel caving hydrau lic support 2；The bracket controller 5 is communicated with the sensing unit
Connection, the bracket controller 5 receive it is described put coal data, and it is similar to preset reference data to put coal data described in calculating
Degree, the bracket controller 5 control the sublevel caving hydrau lic support 2 according to the similarity, and completion puts coal control automatically.Preferably,
Caving roof coal hydraulic support may be used to realize in the sublevel caving hydrau lic support 2.The bracket controller 5 may be mounted in working face
It on the sublevel caving hydrau lic support 2, is acted for controlling sublevel caving hydrau lic support 2, for example, tail boom, the coal discharge outlet etc. of control sublevel caving hydrau lic support 2
Action carries out putting coal control.
The comprehensive extracting and caving face provided using the embodiment of the present invention puts coal control system automatically, automatic by establishing
Coal closed system is put, and realizes the weak coupling with situ extraction environment, reduces using difficulty, improves the scope of application and practicality
Performance reduces use cost.Specifically, complicated mathematical model need not be established during putting coal control automatically, also not
Correction model in use is needed, can be completed without professional technician, difficulty is small, at low cost, promotes and applies technology
It is required that relatively low, suit large area to popularize practicality.
As illustrated in fig. 1, it is preferred that it further includes monitoring host computer 9 that the comprehensive extracting and caving face puts coal control system automatically,
The monitoring host computer 9 and the bracket controller 5 communicate to connect, and coal situation is put for monitor comprehensive extracting and caving face.Institute
Stating monitoring host computer 9 can be arranged on well, it is preferable that various sensing datas can upload to the monitoring host computer 9, the prison
Control host 9 may be mounted at ground maneuvers room, and coal situation, the monitoring master are put for observation analysis comprehensive extracting and caving face
Machine 9 can also put coal process to working face by long-distance operating device 10 and carry out remote intervention.The long-distance operating device 10 can
To be integrated in the monitoring host computer 9, can also be separately provided, such as：The control device being separately provided sends control to underground and refers to
It enables.
Preferably, the sensing unit may include vibrating sensor 6, sonic sensor 7 and grey sub-sensor 8 etc..Institute
Vibrating sensor 6 is stated on the sublevel caving hydrau lic support 2, it is preferable that may be mounted on 2 tail boom of sublevel caving hydrau lic support, be used for
Detection coal is caving the vibration signal pounded on sublevel caving hydrau lic support 2 with spoil.The sonic sensor 7 is mounted on the Sub-Level Caving branch
On frame 2, acoustic signals caused by coal process are put for detecting.The ash sub-sensor 8 is mounted on comprehensive extracting and caving face
Rear portion scratch board conveyor 4 slip on head, percentage of shale content for detecting let-down top coal.
In specific embodiment shown in Fig. 1, the comprehensive extracting and caving face puts coal control system and includes automatically：It mines
Machine 1, sublevel caving hydrau lic support 2, forward scraper transporter 3, rear portion scratch board conveyor 4, bracket controller 5, vibrating sensor 6, sound wave
Sensor 7, grey sub-sensor 8, monitoring host computer 9 and long-distance operating device 10 etc..
Coal control system is put automatically based on the comprehensive extracting and caving face that above-described embodiment is provided, and the embodiment of the present invention is also
It provides a kind of comprehensive extracting and caving face and puts coal control method automatically.Fig. 2 is the mining described in the embodiment of the present invention
Working face puts the flow chart of coal control method automatically.As illustrated in fig. 1 and 2, which can be realized by following steps.
Step S101 acquires the rehearsal that comprehensive extracting and caving face during coal is put in artificial rehearsal by the sensing unit
Coal data are put, and upload to the bracket controller 5, the rehearsal is put into coal data as the reference data.Starting to put
Before coal operation, the vibrating sensor 6 and 7 signal of the sonic sensor are recorded and stored as static noise processing
Signal.Coal is put by manually drilling, putting coal action and put the vibrating sensor 6, sound wave during coal to bracket controller 5
The signal of sensor 7 and grey sub-sensor 8 is remembered, and the sensor signal before putting coal is used to filter sensor signal
Wave rejects static noise signal, especially remembers 90% or more treated signal waveform.It further, can also be to manually drilling
The handling time for putting coal process is automatically recorded.
Step S102, the bracket controller 5 control the sublevel caving hydrau lic support 2 and start to put coal operation automatically.Specifically, may be used
To use bracket controller 5 after artificial rehearsal operates 1 coal cutting of coalcutter and the sublevel caving hydrau lic support 2 is completed to move frame
Control automatically begins to put coal.Further, it puts coal actuation time and puts coal handling time to remember as reference.
Step S103 is put coal data by sensing unit detection comprehensive extracting and caving face, and is uploaded to described
Bracket controller 5.
Step S104, the bracket controller 5 calculates the similarity for putting coal data and the reference data, according to institute
It states similarity and controls the sublevel caving hydrau lic support 2, completion puts coal control automatically.In the calculating process of similarity, the holder control
Device 5 processed can preferably calculate described put by the signal characteristic for putting coal data and the signal characteristic of the reference data
The similarity of coal data and the reference data.
Preferably, in automatic control process, when the similarity is more than first threshold, the bracket controller 5 is controlled
It makes the stopping of the sublevel caving hydrau lic support 2 and puts coal operation；When the similarity is more than second threshold and is less than the first threshold
When, the bracket controller 5 sends alarm signal to the monitoring host computer 9, and the monitoring host computer 9 is according to the alarm signal report
It is alert.If current top coal caving time and artificial rehearsal put top coal caving time during coal and reach default ratio, the bracket controller 5 is controlled
It makes the stopping of the sublevel caving hydrau lic support 2 and puts coal operation.
Specifically, during putting coal, static noise processing is carried out to the noise signal and acoustic signals at any time and is formed
The sensor signal waveform of monitoring, and be compared with signal waveform when manual operation when coal discharge outlet closing, work as noise signal
And/or acoustic signals waveform registration be more than 90% (the i.e. described second threshold) when, into stopping put coal early warning section, in holder
Sound-light alarm is carried out on controller 5, while alarm signal being reported and submitted on ground maneuvers room monitoring host computer 9, on monitoring host computer 9
The picture that coal discharge outlet will close is released, and releases the signal waveform and current demand signal waveform at the closing coal discharge outlet moment of memory,
Monitoring judgement is carried out for ground maneuvers room operating personnel, operating personnel can carry out coal discharge outlet by the long-distance operating device 10
Remote control, phase down coal discharge outlet puts coal.If during this period without manual intervention, when signal waveform registration is big
When 95% (the i.e. described first threshold) or reach manual operation memory time be further added by 10% (i.e. current top coal caving time with it is artificial
When the default ratio for drilling top coal caving time during putting coal is 110%), bracket controller 5, which will turn off coal discharge outlet, to be terminated to put
Coal.
Similarly, it can also be automatically controlled according to the data that the grey sub-sensor 8 is acquired to realize, put coal process
In, the bastard coal ash content signal waveform that static noise processing forms monitoring, and and people are carried out to 8 signal of the grey sub-sensor at any time
Signal waveform when coal discharge outlet is closed when work operates is compared, when 8 signal waveform registration of grey sub-sensor is more than 90%,
Coal early warning section is put into stopping, sound-light alarm is carried out on bracket controller 5, while alarm signal is reported and submitted into ground maneuvers
On room monitoring host computer 9, when releasing the picture that coal discharge outlet will close on monitoring host computer 9, and releasing the closing coal discharge outlet of memory
The signal waveform and current demand signal waveform at quarter carry out monitoring judgement for ground maneuvers room operating personnel, and operating personnel can pass through
The long-distance operating device 10 carries out the remote control of coal discharge outlet, and phase down coal discharge outlet puts coal；If during it without
Manual intervention, then when signal waveform registration be more than 95% when or reach manual operation memory time be further added by 10% when holder control
Device 5 processed, which will turn off coal discharge outlet, to be terminated to put coal.
It should be noted that during specific control, can be controlled according to the signal of any type sensor,
It can be controlled in conjunction with the signal of multiple sensors.Such as：It can stop when the signal of any sensor meets above-mentioned condition
Coal operation is only put, can also stop putting coal operation when the signal of two or more sensors meets above-mentioned condition simultaneously.
Preferably, operating personnel can also be referred to by the monitoring host computer 9 to the transmission control of the bracket controller 5 on well
It enables, the bracket controller 5 controls the sublevel caving hydrau lic support 2 according to the control instruction and acts.Specifically, the holder control
The signal of the sonic sensor 7 can be transmitted to ground maneuvers room by device 5, and ground maneuvers room operating personnel can pass through headset
The sound on the coal-caving supporter of underground is listened to, and underground can be intervened by long-distance operating device 10 and put coal control.More preferably, in office
In the case of what, operating personnel can be operated by the open and close of remote operation coal discharge outlet, carry out remote intervention operation, should
Operator precedence grade can be highest.
Further, when it is automatic put coal at the end of, if manually observe this and put coal process there is no top coal is all released,
It can be again started up by remote operation and put coal automatically, also, all the sensors are not involved in this in benefit puts and puts the coal period automatically
The control for putting coal process, to achieve the purpose that top coal all produces.
In the above-described embodiments, it by manually drilling the vibration and the acoustic signals that obtain during putting coal, obtains and releases top
Pit ash judges that bastard coal content to determine top coal recovery rate, finds out bastard coal characteristic signal, and establishes relevant control model, and
It using the data model, is compared with the vibration signal and acoustic signals during putting coal, when its similarity reaches 90%
It when above, push, is reported and submitted onto control room monitoring host computer 9 into row information, the information that operating personnel can arrive according to the observation determines
Whether manual intervention operation is carried out, if put, coal process is normal, and without manual intervention, coal is put in otherwise manual operation stopping,
To realize automatic coal discharge control, realizes and coal working face is put based on fully mechanized mining put coal automatic process control system, ground maneuvers
Coal production model is put in the intelligence of room remote intervention, so that stope is put coal process unmanned, realizes comprehensive extracting and caving face peace
Overall height effect production, improves the production environment of coal miner, reduces the labor intensity of coal miner, reduce coal mining enterprise
Cost of labor.
In specific implementation process, the sensing unit can be real by the bracket controller 5 and the monitoring host computer 9
Now communicate.Moreover it is preferred that the sensing unit can also be connect with 9 direct communication of the monitoring host computer, such as：It can lead to
Cross the high speeds real-time performance direct communication such as underground Ethernet.In this type of design, on the one hand, detected by the sensing unit
Signal is sent to the bracket controller 5, and result of calculation is sent to the monitoring host computer 9 by the bracket controller 5；Another party
Face, the sensing unit directly upload to the signal detected (such as waveform signal) described by express networks such as Ethernets
Monitoring host computer 9, operating personnel can obtain original waveform signal on the monitoring host computer 9, for promptly and accurately it is artificial do
It is pre- that data basis is provided.Such as：Waveform signal as operating personnel are shown by the monitoring host computer 9 judges the knot calculated automatically
If fruit can carry out manual intervention in time with the presence or absence of problem there are problem.
In a specific embodiment, comprehensive extracting and caving face provided by the present invention puts coal control method and includes automatically
Process is controlled below：Determine working surface production environment field noise signal, specifically, including memory vibrating sensor 6, sound wave sensing
The static waveform signal of device 7 and grey sub-sensor 8 before putting coal, to determine the noise signal for putting coal Environment space；Manual operation
Rehearsal process specifically carries out putting coal control by manual operation, extracts and remembers during putting coal start-stop, puts coal and terminate section
Vibrating sensor 6, sonic sensor 7 and grey sub-sensor 8 waveform signal, and reject the noise signal of static field, extract
Correlated characteristic signal；Start the process for putting coal automatically, specifically, during 1 coal cutting of coalcutter, in the Sub-Level Caving for completing shifting frame
Automatically start sublevel caving hydrau lic support 2 after holder 2 puts coal control；Coal control process is put, specifically, using artificial during putting coal
The time that the top coal caving time of operative memory is further added by 10% or so carries out putting coal control as top coal caving time control parameter；End is put
Coal control process, specifically, end put coal control and use sensor priority acccess control, and the time, which is used as, to be protected, and artificial remote operation is
Highest controls priority.
In the above embodiment of the present invention, it can start automatically after sublevel caving hydrau lic support 2 is completed to move frame and put coal automatically with machine, adopt
Bastard coal signal identification is carried out with vibration, sound wave, by determining the feature of coal rock detection signal from manual operation, and by this feature
For during putting coal automatically identification automatically control stopping put coal operation, row information of going forward side by side push, manual operation is terminated to put
Coal control when waveform sensor with currently put coal during waveform sensor signal be compared, operating personnel can be on ground
Control room is differentiated by monitoring host computer 9, and coal discharge outlet shutdown control can be carried out by long-distance operating device 10, while also may be used
To differentiate to the coal percentage of shale content for putting coal by grey sub-sensor 8, the perception of bastard coal signal and ash content perception and time are realized
Control the information fusion of several dimensions puts coal automation control, realizes that comprehensive extracting and caving face is unmanned to put coal control,
And remote intervention control can be carried out by ground maneuvers room operating personnel.
The comprehensive extracting and caving face provided using the embodiment of the present invention puts coal control system and method automatically, can incite somebody to action
The experience when information such as vibrating sensor 6, sonic sensor 7, grey sub-sensor 8, time parameter control are operated with manual work
Being combined realizes Multi-sensor Fusion, multi-pattern Fusion, using manually-operated experience, eliminates complicated model and calculates,
It eliminates because the factors such as coal rock detection, the Coal Seam Thickness Change that geological conditions variation is brought control putting coal the influence of process, letter
Change and put the operation of coal process, has realized and put coal automation, construct that comprehensive extracting and caving face stope is unmanned to put coal control, ground
Face remote control puts coal production model.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, the range for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (13)
1. a kind of comprehensive extracting and caving face puts coal control system automatically, which is characterized in that including：
Sensing unit, what the sensing unit was used to detect comprehensive extracting and caving face puts coal data；
Sublevel caving hydrau lic support is equipped with bracket controller on the sublevel caving hydrau lic support；The bracket controller and the sensing unit
It communicates to connect, puts coal data described in the bracket controller reception, and put coal data and preset reference data described in calculating
Similarity, the bracket controller control the sublevel caving hydrau lic support according to the similarity, and completion puts coal control automatically.
2. comprehensive extracting and caving face according to claim 1 puts coal control system automatically, which is characterized in that further include prison
Host is controlled, the monitoring host computer and the bracket controller communicate to connect, and coal feelings are put for monitor comprehensive extracting and caving face
Condition.
3. comprehensive extracting and caving face according to claim 1 puts coal control system automatically, which is characterized in that the sensing
Unit includes vibrating sensor, and the vibrating sensor is mounted on the sublevel caving hydrau lic support, is pounded with spoil for detecting coal
Vibration signal on the sublevel caving hydrau lic support.
4. comprehensive extracting and caving face according to claim 1 puts coal control system automatically, which is characterized in that the sensing
Unit includes sonic sensor, and the sonic sensor is mounted on the caving roof coal hydraulic support, and coal process is put for detecting
Generated acoustic signals.
5. comprehensive extracting and caving face according to claim 1 puts coal control system automatically, which is characterized in that the sensing
Unit includes grey sub-sensor, and what the ash sub-sensor was mounted on the rear portion drag conveyor of comprehensive extracting and caving face slips head
On, the percentage of shale content for detecting let-down top coal.
6. the comprehensive extracting and caving face according to claim 1-5 any one puts coal control system automatically, feature exists
In the sensing unit is communicated to connect with the monitoring host computer.
7. a kind of comprehensive extracting and caving face puts coal control method automatically, which is characterized in that using such as any institutes of claim 1-6
The comprehensive extracting and caving face stated puts the progress of coal control system and puts coal control automatically automatically, including：
Artificial rehearsal is acquired by the sensing unit put the rehearsal of comprehensive extracting and caving face during coal put coal data, and on
The bracket controller is passed to, the rehearsal is put into coal data as the reference data；
The bracket controller controls the sublevel caving hydrau lic support and starts to put coal operation automatically；
Coal data are put by sensing unit detection comprehensive extracting and caving face, and upload to the bracket controller；
The similarity that coal data and the reference data are put described in the bracket controller calculating, institute is controlled according to the similarity
Sublevel caving hydrau lic support is stated, completion puts coal control automatically.
8. comprehensive extracting and caving face according to claim 7 puts coal control method automatically, which is characterized in that the holder
Controller calculated by the signal characteristic for putting coal data and the signal characteristic of the reference data it is described put coal data with
The similarity of the reference data.
9. comprehensive extracting and caving face according to claim 7 puts coal control method automatically, which is characterized in that when the phase
When being more than first threshold like degree, the bracket controller controls the sublevel caving hydrau lic support stopping and puts coal operation.
10. comprehensive extracting and caving face according to claim 9 puts coal control method automatically, which is characterized in that fully mechanized mining is put
It further includes monitoring host computer that top coal working face puts coal control system automatically, the monitoring host computer and the bracket controller communication link
It connects, coal situation is put for monitor comprehensive extracting and caving face；When the similarity is more than second threshold and less than described the
When one threshold value, the bracket controller sends alarm signal to the monitoring host computer, and the monitoring host computer is according to the alarm signal
Number alarm.
11. comprehensive extracting and caving face according to claim 10 puts coal control method automatically, which is characterized in that also wrap
It includes：Control instruction is sent to the bracket controller by the monitoring host computer, the bracket controller refers to according to the control
It enables and controls the sublevel caving hydrau lic support action.
12. comprehensive extracting and caving face according to claim 10 puts coal control method automatically, which is characterized in that the biography
Feel unit to communicate to connect with the monitoring host computer, the coal data of putting are uploaded into the monitoring host computer.
13. putting coal control method automatically according to any comprehensive extracting and caving faces of claim 7-12, which is characterized in that
Further include：If current top coal caving time and artificial rehearsal put top coal caving time during coal and reach default ratio, the holder control
Device controls the sublevel caving hydrau lic support stopping and puts coal operation.
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| CN109026109A (en) * | 2018-10-09 | 2018-12-18 | 中国矿业大学(北京) | Longwall top coal caving intelligence Fang Mei mechanism |
| CN110043318A (en) * | 2019-04-19 | 2019-07-23 | 中国矿业大学(北京) | Roof caving coal hydraulic support tail beam sound and vibration data acquisition device |
| CN110878704A (en) * | 2019-12-31 | 2020-03-13 | 中国矿业大学 | Intelligent control method for fully mechanized caving face top coal caving |
| CN111398207A (en) * | 2020-03-20 | 2020-07-10 | 中国矿业大学 | Coal and gangue identification-based full-mechanized caving face coal caving control system and method |
| CN112193727A (en) * | 2020-09-11 | 2021-01-08 | 徐州工程学院 | Scraper conveyor health management system based on multi-sensing fusion and operation method |
| CN112465063A (en) * | 2020-12-11 | 2021-03-09 | 中国矿业大学 | Coal gangue identification method in top coal caving process based on multi-sensor information fusion |
| CN112963148A (en) * | 2021-03-19 | 2021-06-15 | 郑州煤机液压电控有限公司 | Automatic coal caving method for fully mechanized coal mining face of coal mine |
| CN113738364A (en) * | 2021-09-26 | 2021-12-03 | 中国矿业大学 | Intelligent fully-mechanized top coal caving hydraulic support teaching-free memory coal caving system |
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| CN111398207A (en) * | 2020-03-20 | 2020-07-10 | 中国矿业大学 | Coal and gangue identification-based full-mechanized caving face coal caving control system and method |
| CN111398207B (en) * | 2020-03-20 | 2021-11-16 | 中国矿业大学 | Coal and gangue identification-based full-mechanized caving face coal caving control system and method |
| CN112193727A (en) * | 2020-09-11 | 2021-01-08 | 徐州工程学院 | Scraper conveyor health management system based on multi-sensing fusion and operation method |
| CN112465063A (en) * | 2020-12-11 | 2021-03-09 | 中国矿业大学 | Coal gangue identification method in top coal caving process based on multi-sensor information fusion |
| CN112963148A (en) * | 2021-03-19 | 2021-06-15 | 郑州煤机液压电控有限公司 | Automatic coal caving method for fully mechanized coal mining face of coal mine |
| CN112963148B (en) * | 2021-03-19 | 2022-06-24 | 郑州煤机液压电控有限公司 | Automatic coal caving method for fully mechanized coal mining face of coal mine |
| CN113738364A (en) * | 2021-09-26 | 2021-12-03 | 中国矿业大学 | Intelligent fully-mechanized top coal caving hydraulic support teaching-free memory coal caving system |
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Address after: 101399 No.27, Linhe Development Zone, Shunyi District, Beijing Patentee after: CCTEG Beijing Tianma Intelligent Control Technology Co.,Ltd. Patentee after: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. Address before: No.131, ground floor, Tiandi building, No.5, qingniangou East Road, Hepingli, Chaoyang District, Beijing 100013 Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee before: BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. |