CN108561134B - Automatic coal caving control system and method for fully mechanized top coal caving working face - Google Patents
Automatic coal caving control system and method for fully mechanized top coal caving working face Download PDFInfo
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Abstract
The invention discloses an automatic coal caving control system and method for a fully mechanized top coal caving working face. The control system includes: the sensing unit is used for detecting the coal caving data of the fully mechanized top coal caving working face; the top coal caving support is provided with a support controller; the support controller is in communication connection with the sensing unit, receives the coal caving data and calculates the similarity between the coal caving data and preset reference data, and the support controller controls the top coal caving support according to the similarity to complete automatic coal caving control. The control method adopts the control system to perform automatic coal caving control. By adopting the automatic coal caving control system and method for the fully-mechanized top coal caving working face, provided by the invention, the use difficulty is reduced, the application range and the practical performance are improved, the use cost is reduced, and the system and method are suitable for large-area popularization and practicability.
Description
Technical Field
The invention relates to the technical field of automatic mining of a top coal working face under a coal mine well, in particular to an automatic coal caving control system and method for a fully mechanized top coal caving working face.
Background
In coal mine production, the production environment of a working face is severe, the health and safety of workers are often not guaranteed, and the body and mind of the workers on the working face are greatly damaged by a large amount of dust generated in the mining process of the working face. At present, the coal face is automatically controlled by a hydraulic support and a coal mining machine, and few people or even no people are exploited on the face basically. However, for the coal caving working face, because the major technical problems such as coal gangue identification and the like are not solved, the coal caving at the rear part has no effective method to observe, and the variation condition of the top coal is not easy to master, so that the coal caving working process has the problems of low transparency, complex production environment and large dust, the existing coal caving working process still depends on manual operation on site by feeling and experience, the coal caving effect is poor, the production efficiency is low, the cost is high, the recovery rate is low and the like, and meanwhile, the personal injury is easily caused due to improper control in the coal caving process, and the coal caving working face faces serious potential safety hazard.
In contrast, in the field of coal mine production, attempts have been made to develop techniques for automatic caving control. The inventor discovers that in the process of realizing the invention creation, at present, the automatic top coal caving control technology generally needs to establish a complex mathematical model, and carries out model training and boundary condition setting according to the property of the on-site coal and gangue, and the property of the coal and gangue on the underground fully mechanized coal mining working face is constantly changed, so that the established mathematical model still needs to be constantly corrected in the using process, the correction of the model and the setting of the parameter boundary condition can be completed by professional technicians, the difficulty is high, the cost is high, the model must be customized according to the conditions of different areas in the using process, the technical requirement for popularization and application is higher, and the large-area popularization and the practicability cannot be realized.
Therefore, it is very necessary to design an automatic coal discharge control technology which is simple and easy to implement, wide in application range and easy to popularize and implement.
Disclosure of Invention
In view of the above, the invention provides an automatic coal caving control system and method for a fully mechanized top coal caving working face, aiming at overcoming the defects in the prior art.
The invention provides an automatic coal caving control system of a fully mechanized top coal caving working face, which comprises: the sensing unit is used for detecting the coal caving data of the fully mechanized top coal caving working face; the top coal caving support is provided with a support controller; the support controller is in communication connection with the sensing unit, receives the coal caving data and calculates the similarity between the coal caving data and preset reference data, and the support controller controls the top coal caving support according to the similarity to complete automatic coal caving control.
Preferably, the coal caving system further comprises a monitoring host computer, wherein the monitoring host computer is in communication connection with the support controller and is used for monitoring the coal caving condition of the fully mechanized top coal caving working face.
Preferably, the sensing unit comprises a vibration sensor, and the vibration sensor is installed on the top coal caving bracket and used for detecting vibration signals of the coal and the gangue smashed on the top coal caving bracket.
Preferably, the sensing unit comprises an acoustic wave sensor, and the acoustic wave sensor is mounted on the hydraulic support for caving coal and used for detecting acoustic wave signals generated in the coal caving process.
Preferably, the sensing unit comprises an ash sensor, and the ash sensor is mounted on a sliding head of a rear scraper conveyor of the fully mechanized top coal caving face and used for detecting the gangue content of the top coal caving face.
Preferably, the sensing unit is in communication connection with the monitoring host.
The automatic coal caving control method for the fully mechanized top coal caving working face provided by the invention adopts any one of the automatic coal caving control systems for the fully mechanized top coal caving working face to carry out automatic coal caving control, and comprises the following steps: the method comprises the steps that drilling coal caving data of a fully mechanized top coal caving working face in the process of artificial drilling coal caving are collected through a sensing unit and uploaded to a support controller, and the drilling coal caving data are used as reference data; the support controller controls the top coal caving support to start automatic coal caving operation; detecting the coal caving data of the fully mechanized top coal caving working face through the sensing unit and uploading the coal caving data to the bracket controller; and the support controller calculates the similarity between the coal caving data and the reference data, and controls the top coal caving support according to the similarity to complete automatic coal caving control.
Preferably, the rack controller calculates the similarity of the coal caving data and the reference data by using the signal characteristics of the coal caving data and the signal characteristics of the reference data.
Preferably, the rack controller controls the caving coal rack to stop the coal caving operation when the similarity is greater than a first threshold value.
Preferably, the automatic coal caving control system for the fully-mechanized top coal caving working face further comprises a monitoring host computer, wherein the monitoring host computer is in communication connection with the bracket controller and is used for monitoring the coal caving condition of the fully-mechanized top coal caving working face; and when the similarity is greater than a second threshold and smaller than the first threshold, the bracket controller sends an alarm signal to the monitoring host, and the monitoring host gives an alarm according to the alarm signal.
Preferably, the method further comprises the following steps: and sending a control instruction to the support controller through the monitoring host, and controlling the action of the top coal caving support by the support controller according to the control instruction.
Preferably, the sensing unit is in communication connection with the monitoring host, and uploads the coal caving data to the monitoring host.
Preferably, the method further comprises the following steps: and if the current coal caving time and the coal caving time in the manual drilling coal caving process reach a preset ratio, the support controller controls the top coal caving support to stop coal caving operation.
By adopting the automatic coal caving control system and method for the fully-mechanized top coal caving working face provided by the embodiment of the invention, the use difficulty is reduced, the application range and the practical performance are improved, and the use cost is reduced by establishing an automatic coal caving closed system and realizing weak coupling with the field mining environment. Specifically, a complex mathematical model does not need to be established in the automatic coal discharge control process, the model does not need to be corrected in the use process, the model can be completed without professional technicians, the difficulty is low, the cost is low, the technical requirements for popularization and application are low, and the automatic coal discharge control system is suitable for large-area popularization and practicability. Further, by adopting the automatic coal caving control system and method for the fully mechanized top coal caving working face provided by the embodiment of the invention, information such as a vibration sensor, an acoustic wave sensor, an ash content sensor and time parameter control can be combined with experience during manual operation, multi-sensor fusion and multi-mode fusion are realized, complex model calculation is omitted by using the experience of manual operation, influence of factors such as coal and gangue identification and coal seam thickness change on a coal caving control process caused by geological condition change is omitted, coal caving process operation is simplified, coal caving automation is realized, and an unmanned coal caving control and ground remote control coal caving production mode of a fully mechanized top coal caving working face stope is constructed.
Drawings
The objects and advantages of the present invention will be understood by the following detailed description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of an automatic coal caving control system of a fully mechanized top coal caving working face according to an embodiment of the invention.
FIG. 2 is a flow chart of an automatic coal caving control method for a fully mechanized top coal caving face according to an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
FIG. 1 is a schematic diagram of an automatic coal caving control system of a fully mechanized top coal caving working face according to an embodiment of the invention. As shown in fig. 1, the automatic coal caving control system for the fully mechanized top coal caving working face according to the embodiment of the present invention includes a top coal caving support 2 and a sensing unit, wherein the sensing unit is configured to detect coal caving data of the fully mechanized top coal caving working face, such as a noise signal of a working face production environment. Preferably, the sensing unit may include a vibration sensor 6, an acoustic wave sensor 7, an ash sensor 8, and the like.
A support controller 5 is arranged on the top coal caving support 2; the support controller 5 is in communication connection with the sensing unit, the support controller 5 receives the coal caving data and calculates the similarity between the coal caving data and preset reference data, and the support controller 5 controls the top coal caving support 2 according to the similarity to complete automatic coal caving control. Preferably, the caving coal support 2 can be realized by adopting a hydraulic support for caving coal. The support controller 5 may be installed on the top coal caving support 2 in the working face, and is used for controlling the actions of the top coal caving support 2, for example, controlling the actions of a tail beam, a coal caving port and the like of the top coal caving support 2 to carry out coal caving control.
By adopting the automatic coal caving control system for the fully-mechanized top coal caving working face provided by the embodiment of the invention, the use difficulty is reduced, the application range and the practical performance are improved and the use cost is reduced by establishing an automatic coal caving closed system and realizing weak coupling with the field mining environment. Specifically, a complex mathematical model does not need to be established in the automatic coal discharge control process, the model does not need to be corrected in the use process, the model can be completed without professional technicians, the difficulty is low, the cost is low, the technical requirements for popularization and application are low, and the automatic coal discharge control system is suitable for large-area popularization and practicability.
As shown in fig. 1, preferably, the automatic coal caving control system for the fully mechanized top coal caving face further includes a monitoring host 9, and the monitoring host 9 is in communication connection with the support controller 5 and is used for monitoring the coal caving condition of the fully mechanized top coal caving face. The monitoring host machine 9 can be arranged on the well, preferably, various sensor data can be uploaded to the monitoring host machine 9, the monitoring host machine 9 can be arranged in a ground dispatching room and used for observing and analyzing the coal caving condition of the fully mechanized top coal caving working face, and the monitoring host machine 9 can also remotely intervene in the coal caving process of the working face through a remote operation device 10. The remote operation device 10 may be integrated with the monitoring host 9, or may be separately provided, for example: and the control device is independently arranged and used for sending a control command to the underground.
Preferably, the sensing unit may include a vibration sensor 6, an acoustic wave sensor 7, an ash sensor 8, and the like. The vibration sensor 6 is installed on the top coal caving bracket 2, preferably, can be installed on a tail beam of the top coal caving bracket 2 and is used for detecting vibration signals of coal and gangue falling and smashing on the top coal caving bracket 2. And the acoustic wave sensor 7 is arranged on the top coal caving bracket 2 and is used for detecting acoustic wave signals generated in the coal caving process. And the ash content sensor 8 is arranged on the sliding head of the scraper conveyor 4 at the rear part of the fully mechanized top coal caving working surface and is used for detecting the gangue content of the top coal caving.
In the embodiment shown in fig. 1, the automatic coal caving control system for the fully mechanized top coal caving face comprises: the system comprises a coal mining machine 1, a top coal caving bracket 2, a front scraper conveyor 3, a rear scraper conveyor 4, a bracket controller 5, a vibration sensor 6, an acoustic wave sensor 7, an ash content sensor 8, a monitoring host machine 9, a remote operation device 10 and the like.
Based on the automatic coal caving control system for the fully mechanized top coal caving working face provided by the embodiment, the embodiment of the invention also provides an automatic coal caving control method for the fully mechanized top coal caving working face. FIG. 2 is a flow chart of an automatic coal caving control method for a fully mechanized top coal caving face according to an embodiment of the invention. As shown in fig. 1 and 2, the control method may be implemented by the following steps.
And S101, acquiring drilling coal caving data of a fully mechanized top coal caving working face in the process of artificial drilling coal caving through the sensing unit, uploading the drilling coal caving data to the support controller 5, and taking the drilling coal caving data as the reference data. Before the coal caving operation is started, signals of the vibration sensor 6 and the sound wave sensor 7 are recorded and stored as static noise processing signals. Through the coal caving of manual drilling, the signals of the vibration sensor 6, the sound wave sensor 7 and the ash content sensor 8 in the coal caving action and the coal caving process of the bracket controller 5 are memorized, and the sensor signals before coal caving are used for filtering and eliminating static noise signals, particularly memorizing the signal waveform after more than 90% of processing. Furthermore, the manual operation time of the manual coal drilling process can be automatically recorded.
Step S102, the rack controller 5 controls the top coal rack 2 to start an automatic coal caving operation. Specifically, the rack controller 5 may be used to control the automatic start of the coal caving after the coal cutter 1 is operated to cut coal by manual drilling and the top coal rack 2 is completely moved. Furthermore, the coal caving action time takes the memory coal caving manual operation time as reference.
And step S103, detecting the coal caving data of the fully mechanized top coal caving working face through the sensing unit, and uploading the coal caving data to the bracket controller 5.
And step S104, the support controller 5 calculates the similarity between the caving data and the reference data, controls the caving coal support 2 according to the similarity, and completes automatic caving control. In the similarity calculation process, the cradle controller 5 may preferably calculate the similarity of the coal caving data and the reference data from the signal characteristics of the coal caving data and the signal characteristics of the reference data.
Preferably, in the automatic control process, when the similarity is greater than a first threshold value, the support controller 5 controls the caving coal support 2 to stop the coal caving operation; when the similarity is greater than a second threshold and smaller than the first threshold, the stent controller 5 sends an alarm signal to the monitoring host 9, and the monitoring host 9 gives an alarm according to the alarm signal. And if the current coal caving time and the coal caving time in the manual drilling coal caving process reach a preset ratio, the support controller 5 controls the top coal caving support 2 to stop the coal caving operation.
Specifically, in the coal caving process, static noise processing is carried out on the noise signal and the sound wave signal at any time to form a monitored sensor signal waveform, the monitored sensor signal waveform is compared with a signal waveform when the coal caving port is closed during manual operation, when the coincidence degree of the noise signal and/or the sound wave signal waveform is larger than 90% (namely, the second threshold value), the coal caving stopping early warning section is entered, audible and visual alarm is carried out on the support controller 5, meanwhile, the alarm signal is reported to the ground dispatching room monitoring host machine 9, a picture that the coal caving port is to be closed is pushed out on the monitoring host machine 9, and a memorized signal waveform and a current signal waveform at the time of closing the coal caving port are pushed out for monitoring and judgment of an operator in the ground dispatching room, and the operator can carry out remote control on the coal caving port through the remote operation device 10 to stop closing the coal caving port. If no manual intervention is performed during the period, when the coincidence degree of the signal waveforms is greater than 95% (namely the first threshold value) or the manual operation memory time is reached and is increased by 10% (namely the preset ratio of the current coal caving time to the coal caving time in the manual coal drilling process is 110%), the bracket controller 5 automatically closes the coal caving port to finish the coal caving.
Similarly, automatic control can be realized according to the data collected by the ash content sensor 8, and in the coal caving process, the static noise processing is carried out on the ash content sensor 8 signal at any time to form a monitored coal gangue ash content signal waveform, and the monitored coal gangue ash content signal waveform is compared with a signal waveform when a coal discharge port is closed during manual operation, when the overlap ratio of the signal waveform of the ash content sensor 8 is more than 90 percent, entering a coal discharge stopping early warning section, the support controller 5 is used for sound and light alarm, meanwhile, the alarm signal is sent to the monitoring host machine 9 of the ground dispatching room, a picture that the coal discharge port is to be closed is pushed out on the monitoring host machine 9, and a memorized signal waveform and a current signal waveform at the moment of closing the coal discharge port are pushed out for monitoring and judging by an operator in a ground dispatching room, the operator can remotely control the coal discharge port through the remote operation device 10, and the closing of the coal discharge port is stopped; if no manual intervention is performed during the period, the bracket controller 5 automatically closes the coal discharge port to finish the coal discharge when the coincidence degree of the signal waveforms is more than 95% or the manual operation memory time is increased by 10%.
In a specific control process, the control may be performed according to signals of any one of the sensors, or may be performed in combination with signals of a plurality of sensors. For example: the coal discharge operation may be stopped when the signal of any one of the sensors satisfies the above-described condition, or the coal discharge operation may be stopped when the signals of two or more sensors satisfy the above-described condition at the same time.
Preferably, an operator on the well can also send a control command to the support controller 5 through the monitoring host 9, and the support controller 5 controls the actions of the top coal caving support 2 according to the control command. In particular, the support controller 5 can transmit the signal of the acoustic sensor 7 to a ground dispatch room, and an operator of the ground dispatch room can monitor the sound on the underground coal discharge support through a headset and can intervene in the underground coal discharge control through the remote operation device 10. Preferably, in any case, the operator can perform remote intervention operation by remotely operating the opening and closing operation of the coal discharge port, and the operation priority can be the highest.
Further, when the automatic coal caving is finished, if the top coal is not completely discharged in the coal caving process through manual observation, the automatic coal caving can be started again through remote operation, and all sensors do not participate in the control of the coal caving process in the automatic coal caving time period during the coal supplement, so that the purpose of completely extracting the top coal is achieved.
In the embodiment, vibration and sound wave signals in the coal caving process are obtained through manual drilling, ash content of the top coal is obtained to judge the content of coal gangue so as to determine the top coal mining rate, coal gangue characteristic signals are found out, a relevant control model is established, the data model is used for comparing the vibration signals and the sound wave signals in the coal caving process, when the similarity of the vibration signals and the sound wave signals reaches over 90 percent, information is pushed and reported to the dispatching room monitoring host computer 9, an operator can determine whether to perform manual intervention operation according to the observed information, if the coal caving process is normal, manual intervention is not performed, otherwise, the coal caving is stopped through manual operation, so that automatic coal caving control is realized, an intelligent coal caving production mode based on coal caving process control of a fully-mechanized coal mining working face and remote intervention of a ground dispatching room is realized, and the coal caving process of a stope is unmanned, the fully mechanized top coal caving face safe and efficient production is realized, the production environment of coal mine workers is improved, the labor intensity of the coal mine workers is reduced, and the labor cost of coal mine enterprises is reduced.
In a specific implementation process, the sensing unit may communicate with the monitoring host 9 through the rack controller 5. Furthermore, preferably, the sensing unit may also be directly connected in communication with the monitoring host 9, for example: direct communication may be achieved through high speed networks such as downhole ethernet. In this design, on the one hand, the signal detected by the sensing unit is sent to the rack controller 5, and the rack controller 5 sends the calculation result to the monitoring host 9; on the other hand, the sensing unit directly uploads the detected signal (for example, a waveform signal) to the monitoring host 9 through a high-speed network such as an ethernet network, and an operator can obtain the original waveform signal from the monitoring host 9, thereby providing a data basis for timely and accurate manual intervention. For example: if the waveform signal displayed by the monitoring host 9 is used by an operator to judge whether the result of automatic calculation has a problem, manual intervention can be performed in time if the result has a problem.
In one embodiment, the automatic coal caving control method for the fully mechanized top coal caving working face provided by the invention comprises the following control processes: determining a noise signal of a working face production environment field, specifically, a static waveform signal of a memory vibration sensor 6, a sound wave sensor 7 and an ash content sensor 8 before coal caving is included to determine a noise signal of a coal caving environment field; performing manual operation in the drilling process, specifically, performing coal caving control through manual operation, extracting and memorizing waveform signals of a vibration sensor 6, a sound wave sensor 7 and an ash content sensor 8 in a coal caving finishing section during the start-stop period of coal caving, removing noise signals of a static field, and extracting related characteristic signals; starting an automatic coal caving process, specifically, in the coal cutting process of the coal mining machine 1, automatically starting the coal caving control of the top coal caving bracket 2 after the top coal caving bracket 2 of the moving bracket is completed; a coal caving control process, specifically, the coal caving time memorized by manual operation is used as a coal caving time control parameter and is increased by about 10% in the coal caving process to perform coal caving control; and finishing the coal caving control process, specifically, finishing the coal caving control by adopting sensor priority control, taking time as protection and adopting manual remote operation as the highest control priority.
In the above embodiment of the invention, the automatic coal caving with the machine can be automatically started after the top coal caving bracket 2 is moved, the coal and gangue signal identification is carried out by adopting vibration and sound wave, the characteristic of the coal and gangue identification signal is determined by manual operation and is used for automatically identifying and automatically controlling to stop the coal caving operation in the coal caving process, information push is carried out, the waveform of a sensor when the coal caving control is finished by the manual operation is compared with the waveform of the sensor in the current coal caving process, an operator can distinguish by a monitoring host machine 9 in a ground dispatching room and can control the closing of a coal caving port by a remote operation device 10, meanwhile, the coal and gangue content of the coal is distinguished by an ash content sensor 8, the coal and gangue signal perception, ash perception and time control information fusion of several dimensions are realized, the unmanned coal caving control of the fully-mechanized top coal caving working face is realized, and can be remotely intervened and controlled by operators in a ground dispatching room.
By adopting the automatic coal caving control system and method for the fully mechanized top coal caving working face provided by the embodiment of the invention, information such as the vibration sensor 6, the acoustic wave sensor 7, the ash content sensor 8, time parameter control and the like can be combined with experience during manual operation to realize multi-sensor fusion and multi-mode fusion, and by utilizing the experience of manual operation, complex model calculation is omitted, influence of factors such as coal and gangue identification and coal seam thickness change on a coal caving control process caused by geological condition change is omitted, the operation of the coal caving process is simplified, coal caving automation is realized, unmanned coal caving control of a fully mechanized top coal caving working face stope is constructed, and a ground remote control coal caving production mode is constructed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. An automatic coal caving control system of a fully mechanized top coal caving working face is characterized by comprising:
the sensing unit is used for detecting the coal caving data of the fully mechanized top coal caving working face;
the top coal caving support is provided with a support controller; the support controller is in communication connection with the sensing unit, receives the coal caving data and calculates the similarity between the coal caving data and preset reference data, and the support controller controls the top coal caving support according to the similarity to complete automatic coal caving control;
the monitoring host is in communication connection with the bracket controller and is used for monitoring the coal caving condition of the fully mechanized top coal caving working face;
the sensing unit comprises a vibration sensor, and the vibration sensor is arranged on the top coal caving bracket and is used for detecting vibration signals of coal and gangue smashing on the top coal caving bracket;
the sensing unit comprises an acoustic wave sensor which is arranged on the top coal caving bracket and used for detecting an acoustic wave signal generated in the coal caving process;
the sensing unit comprises an ash content sensor, and the ash content sensor is arranged on a sliding head of a scraper conveyor at the rear part of the fully mechanized top coal caving working face and is used for detecting the gangue content of the top coal caving;
in the automatic control process, when the similarity is larger than a first threshold value, the support controller controls the caving coal support to stop the caving operation; when the similarity is greater than a second threshold and smaller than the first threshold, the bracket controller sends an alarm signal to the monitoring host, and the monitoring host gives an alarm according to the alarm signal;
when the automatic coal caving is finished, if the top coal is not completely discharged in the coal caving process through manual observation, the automatic coal caving is started again through remote operation, and all sensors do not participate in the control of the coal caving process in the automatic coal caving supplementing time period.
2. The automatic coal caving control system of the fully mechanized top coal caving face according to claim 1, wherein the sensing unit is in communication connection with the monitoring host.
3. An automatic coal caving control method for a fully mechanized top coal caving working face, which is characterized in that the automatic coal caving control system for the fully mechanized top coal caving working face according to any one of claims 1-2 is adopted for automatic coal caving control, and comprises the following steps:
the method comprises the steps that drilling coal caving data of a fully mechanized top coal caving working face in the process of artificial drilling coal caving are collected through a sensing unit and uploaded to a support controller, and the drilling coal caving data are used as reference data;
the support controller controls the top coal caving support to start automatic coal caving operation;
detecting the coal caving data of the fully mechanized top coal caving working face through the sensing unit and uploading the coal caving data to the bracket controller;
the bracket controller calculates the similarity between the caving data and the reference data, and controls the caving coal bracket according to the similarity to complete automatic caving control;
the bracket controller calculates the similarity of the coal caving data and the reference data through the signal characteristics of the coal caving data and the signal characteristics of the reference data;
when the similarity is larger than a first threshold value, the support controller controls the caving coal support to stop the coal caving operation;
the automatic coal caving control system of the fully mechanized top coal caving working face further comprises a monitoring host computer, wherein the monitoring host computer is in communication connection with the bracket controller and is used for monitoring the coal caving condition of the fully mechanized top coal caving working face; when the similarity is greater than a second threshold and smaller than the first threshold, the bracket controller sends an alarm signal to the monitoring host, and the monitoring host gives an alarm according to the alarm signal;
further comprising: sending a control instruction to the support controller through the monitoring host, and controlling the top coal caving support to act by the support controller according to the control instruction;
when the automatic coal caving is finished, if the top coal is not completely discharged in the coal caving process through manual observation, the automatic coal caving is started again through remote operation, and all sensors do not participate in the control of the coal caving process in the automatic coal caving supplementing time period.
4. The automatic coal caving control method of the fully mechanized top coal caving face according to claim 3, wherein the sensing unit is in communication connection with the monitoring host computer and uploads the coal caving data to the monitoring host computer.
5. The automatic coal caving control method for the fully mechanized top coal caving face according to any one of claims 3 to 4, further comprising: and if the current coal caving time and the coal caving time in the manual drilling coal caving process reach a preset ratio, the support controller controls the top coal caving support to stop coal caving operation.
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| CN109026109B (en) * | 2018-10-09 | 2023-11-28 | 中国矿业大学(北京) | Fully-mechanized caving mining intelligent coal caving mechanism |
| CN110043318B (en) * | 2019-04-19 | 2021-06-22 | 中国矿业大学(北京) | Sound vibration data acquisition device for tail beam of caving coal hydraulic support |
| CN110878704B (en) * | 2019-12-31 | 2021-03-16 | 中国矿业大学 | Intelligent control method for fully mechanized caving face top coal caving |
| 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 |
| CN112465063B (en) * | 2020-12-11 | 2023-05-23 | 中国矿业大学 | Coal gangue identification method in top coal caving process based on multi-sensing information fusion |
| 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 |
| CN113738364B (en) * | 2021-09-26 | 2022-09-30 | 中国矿业大学 | Intelligent fully-mechanized top coal caving hydraulic support teaching-free memory coal caving system |
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| CN2420422Y (en) * | 2000-02-20 | 2001-02-21 | 兖矿集团有限公司 | Automatic controlled top coal working rack |
| CN1129703C (en) * | 2000-02-20 | 2003-12-03 | 兖矿集团有限公司 | Technological method of raising exploitation efficiency in work area of coal mine |
| CN102777199B (en) * | 2012-07-13 | 2015-02-18 | 北京天地玛珂电液控制***有限公司 | Automatic coal carving control device with memory function for fully-mechanized carving mining face of coal mine underground and coal carving method thereof |
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