CN111828002A - Lagging automatic coal cutting method based on advanced coal wall identification - Google Patents
Lagging automatic coal cutting method based on advanced coal wall identification Download PDFInfo
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- CN111828002A CN111828002A CN202010815051.5A CN202010815051A CN111828002A CN 111828002 A CN111828002 A CN 111828002A CN 202010815051 A CN202010815051 A CN 202010815051A CN 111828002 A CN111828002 A CN 111828002A
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- 239000003245 coal Substances 0.000 title claims abstract description 253
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000005520 cutting process Methods 0.000 title claims abstract description 44
- 238000005065 mining Methods 0.000 claims abstract description 64
- 230000001681 protective effect Effects 0.000 claims description 35
- 239000010720 hydraulic oil Substances 0.000 claims description 22
- 239000011435 rock Substances 0.000 claims description 18
- 238000009423 ventilation Methods 0.000 claims description 11
- 238000003672 processing method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 8
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 7
- 235000017491 Bambusa tulda Nutrition 0.000 description 7
- 241001330002 Bambuseae Species 0.000 description 7
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 7
- 239000011425 bamboo Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 239000010883 coal ash Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 239000003818 cinder Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005251 gamma ray Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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Abstract
The invention discloses a lag automatic coal cutting method based on advanced coal wall identification, which comprises the following steps: firstly, ventilating a fully mechanized coal mining face; secondly, collecting images of the fully mechanized coal mining face; thirdly, splicing images of the fully mechanized mining face; fourthly, advanced coal wall identification; and fifthly, automatically cutting coal after the coal mining machine lags behind. The invention can protect the camera and has good image acquisition effect, thereby better obtaining the information of the coal wall and accurately guiding the coal mining machine to mine coal, therefore, the practicability is strong and the popularization and the use are convenient.
Description
Technical Field
The invention belongs to the technical field of coal mining equipment, and particularly relates to a lag automatic coal cutting method based on advanced coal wall identification.
Background
Coal is an important basic energy and raw material in China, and the energy structure mainly based on coal cannot be changed in a long time. With the frequent occurrence of safety accidents, the safe and efficient mining of coal has become the subject of key research of scholars at home and abroad. The fully mechanized coal mining face is the most complex in application technology in coal mining, and can represent one of the links of high-efficiency mining most. However, the underground environment of the coal mine is complex and dangerous, so that the realization of unmanned coal mining or few-person coal mining with three-machine linkage is very important.
The conventional method for identifying the coal wall interface mainly has the following problems: firstly, an NGR sensor method of natural gamma ray radiation characteristics of domestic main coal rocks. The method is suitable for high gas ores, but the method needs to reserve top coal with a certain thickness, so that the recovery rate is reduced; meanwhile, the surrounding rock of the top plate and the bottom plate is required to have radioactive elements, so that the adaptability to the sandstone top plate is extremely poor. And secondly, identifying a sensor method based on the rock interface of the cutting force response of the coal mining machine. The method uses a sensor to pick up a rocker arm vibration signal, a roller shaft torque signal and an heightening oil cylinder pressure signal for identification. Due to the fact that coal beds are complex and changeable, and the rollers rotate all the time, large errors exist in signals acquired by the method. The coal and rock identification method based on the image textures mainly utilizes different texture broad values of coal and rock to distinguish coal beds and the rock, but due to the fact that dust and mud are particularly large when a coal mining machine works, the image fuzziness shot by a camera on the coal mining machine is very large, the edges of the rock and the coal wall cannot be accurately judged through an image edge gray level processing method, and therefore the rock and the coal in the coal wall are difficult to distinguish.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a lag automatic coal cutting method based on advanced coal wall identification aiming at the defects in the prior art, and the method has good image acquisition effect, so that the information of the coal wall can be better obtained, and the coal mining machine can be accurately guided to carry out coal mining, therefore, the method has strong practicability and is convenient to popularize and use.
In order to solve the technical problems, the invention adopts the technical scheme that: a lag automatic coal cutting method based on advanced coal wall identification is characterized in that an adopted lag automatic coal cutting device comprises a coal cutter and an advanced coal wall identification mechanism communicated with the coal cutter, the advanced coal wall identification mechanism comprises a computer and a plurality of advanced coal wall identification units which are connected with the computer, the number of the advanced coal wall identification units is equal to that of hydraulic supports and corresponds to that of the hydraulic supports one by one, the advanced coal wall identification units are installed on a top beam of the hydraulic supports, each advanced coal wall identification unit comprises a hydraulic oil cylinder installed on the side wall of a vertical plate of the top beam and a protective cylinder connected with a piston rod of the hydraulic oil cylinder, and one end, far away from the hydraulic oil cylinder, of each protective cylinder is provided with a camera;
the method comprises the following steps:
step one, ventilation of the fully mechanized coal mining face: setting a ventilation time threshold of the fully mechanized mining face, and ventilating the fully mechanized mining face;
step two, collecting images of the fully mechanized coal mining face: the side wall of the vertical plate is provided with a chute for steering the protective cylinder, one side of the protective cylinder, which is close to the chute, is provided with a plurality of pulleys which are matched with the chute, the hydraulic support is controlled to work, so that the front beam is turned upwards, then the hydraulic oil cylinder is controlled to work, the piston rod is driven to extend, the piston rod drives the protective cylinder to move along the path of the chute and enable the camera to extend out of the top beam, after the camera extends in place, the computer controls the camera to acquire images of the coal wall, after the images are acquired, the piston rod is shortened through the hydraulic oil cylinder, the protective cylinder is retracted into the top beam, and finally the hydraulic support is controlled to work, so;
step three, image splicing of the fully mechanized coal mining face: the computer splices the coal wall segment images acquired by the cameras so as to obtain an image of the whole coal wall;
step four, advanced coal wall identification: the computer carries out image processing on the image of the whole coal wall by using an image edge processing method, so that the separation of rocks and coal in the coal wall is realized, and an upper edge curve of the coal wall and a lower edge curve of the coal wall corresponding to a leading coal wall of a next cut are identified;
step five, lagging automatic coal cutting of the coal mining machine: and the computer transmits the data of the upper edge curve of the coal wall and the lower edge curve of the coal wall corresponding to the leading coal wall of the next cut to the coal mining machine, and the coal mining machine performs lag automatic coal cutting according to the data of the upper edge curve of the coal wall and the lower edge curve of the coal wall corresponding to the leading coal wall of the next cut.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: the camera is connected with the computer through a data line, and the coal mining machine is communicated with the computer.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: the protective cylinder is hinged with a piston rod of a hydraulic oil cylinder, and the hydraulic oil cylinder is hinged with the side wall of the vertical plate.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: offer the spout that supplies to protect a section of thick bamboo to turn to on the lateral wall of riser, the spout includes spout straight section and the spout oblique section down with spout straight section intercommunication, protects one side that a section of thick bamboo is close to the spout and is provided with a plurality of pulleys all with spout complex.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: and the included angle between the central axis of the straight section of the sliding chute and the central axis of the lower inclined section of the sliding chute is 140-160 degrees.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: the pulley is connected with the protective cylinder through a supporting block.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: the protective cylinder is of a hollow structure, and the camera is arranged on the inner wall of the end part of the protective cylinder.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: the camera is a wide-angle lens.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: in the fourth step, the image edge processing method is an image edge gray scale processing algorithm, a Canny image edge recognition algorithm or a binarization edge detection algorithm.
The lag automatic coal cutting method based on the advanced coal wall identification is characterized in that: and in the step one, the set ventilation time threshold of the fully mechanized coal mining face is 1-3 min.
Compared with the prior art, the invention has the following advantages:
1. according to the device, the camera is arranged in the top beam of the hydraulic support, the front beam at the front end of the top beam is retracted, the camera can be wrapped by the front beam, and the purpose of protecting the camera is achieved.
2. The protective cylinder of the device is arranged on the inner side wall of the vertical plate, so that the normal work of the hydraulic support is not influenced, and the device is convenient to popularize and use.
3. The wide-angle lens of the device adopted by the invention can collect coal walls with larger areas within shorter image collection distance, thereby avoiding the problem that a hydraulic support needs to be arranged at a position far away from the coal walls.
4. According to the method, after the coal mining machine is stopped, the dust concentration of the fully mechanized coal mining face can be reduced by ventilating the fully mechanized coal mining face, so that the definition and the recognition degree of photo information acquisition are greatly improved, the shooting is lagged behind the stop of the coal mining machine, the shooting effect is better, the images of the coal wall can be acquired by a plurality of cameras at one time, and therefore, the efficiency is high, the method is simple in steps and convenient to popularize and use.
In conclusion, the invention can protect the camera and has good image acquisition effect, thereby better obtaining the information of the coal wall and accurately guiding the coal mining machine to mine coal, therefore, the practicability is strong and the popularization and the use are convenient.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic view of the coal cutting operation of the apparatus used in the present invention.
FIG. 2 is a schematic view of the working state of the device used in the present invention for advanced coal wall identification.
FIG. 3 is a schematic view of the device of the present invention showing the non-operation state of the leading coal wall identification unit on the vertical plate.
Fig. 4 is a schematic view of the working state of the advanced coal wall identification unit on the vertical plate in the device of the present invention.
Fig. 5 is a view a-a of fig. 3.
Fig. 6 is a schematic view of the position of the chute on the vertical plate in the device of the present invention.
FIG. 7 is a block flow diagram of the method of the present invention.
Description of reference numerals:
1-hydraulic support; 2-top beam; 3, a camera;
4, a coal mining machine; 5, protecting the cylinder; 6-a hydraulic oil cylinder;
7, erecting a plate; 8, a pulley; 9-a chute;
9-1-straight section of chute; 9-2-a lower inclined section of the chute; 10-coal wall;
11-a piston rod; 12-a support block; 13-front beam.
Detailed Description
As shown in fig. 1 to 7, the lag automatic coal cutting device adopted by the method of the invention comprises a coal cutter 4 and a leading coal wall 12 identification mechanism communicated with the coal cutter 4, wherein the leading coal wall 12 identification mechanism comprises a computer and a plurality of leading coal wall 12 identification units connected with the computer, the number of the leading coal wall 12 identification units is equal to that of the hydraulic supports 1 and corresponds to that of the hydraulic supports 1 one by one, the leading coal wall 12 identification units are installed on a top beam 2 of the hydraulic supports 1, the leading coal wall 12 identification units comprise hydraulic oil cylinders 6 installed on the side walls of vertical plates 7 of the top beam 2 and protective cylinders 5 connected with piston rods 13 of the hydraulic oil cylinders 6, and one ends, far away from the hydraulic oil cylinders 6, of the protective cylinders 5 are provided with cameras 3;
it should be noted that the arrangement of the plurality of cameras 3 enables the images of the coal wall 10 to be collected at one time, which is efficient. Install camera 3 and protect a section of thick bamboo 5 on the 7 lateral walls of riser, can not influence the normal work of hydraulic support 1, the installation protects a section of thick bamboo 5 and can be convenient for maintain camera 3 to can realize better image acquisition effect. When coal mining in-process or hydraulic support 1 were idle, through withdrawing the front beam 13 with the front end of back timber 2, can wrap up camera 3 in back timber 2, and then play the purpose of protection camera 3, especially at the coal mining in-process, can effectively avoid the coal cinder, dust and the mud that splash to influence camera 3 and normally work, lead to the problem that camera 3 damaged even.
The computer of the advanced coal wall identification unit controls the camera 3 to acquire an image of the coal wall 10, and then the computer processes the image of the coal wall 10, so that the information of rocks and coal of the current coal wall 10 can be obtained; the computer can make the next coal cutting scheme according to the information of the rock and the coal, and further, the purpose of automatic coal mining is achieved.
The method comprises the following steps:
step one, ventilation of the fully mechanized coal mining face: setting a ventilation time threshold of the fully mechanized mining face, and ventilating the fully mechanized mining face;
it should be noted that the coal mining machine 4 moves to any one of two sides of the fully mechanized mining face, and the coal mining machine 4 performs coal mining during the movement. More coal ash can be generated on the fully mechanized coal mining face in the coal mining process, the coal ash can be blown away through ventilation and is settled, the concentration of the coal ash is further reduced, the image acquisition quality can be improved, and the camera is protected.
Step two, collecting images of the fully mechanized coal mining face: the side wall of the vertical plate 7 is provided with a chute 9 for steering the protective cylinder 5, one side of the protective cylinder 5 close to the chute 9 is provided with a plurality of pulleys 8 which are matched with the chute 9, the hydraulic support 1 is controlled to work, so that the front beam is turned upwards, the hydraulic oil cylinder 6 is controlled to work, the piston rod 13 is driven to extend, the piston rod 13 drives the protective cylinder 5 to move along the path of the chute 9 and the camera 3 extends out of the top beam 2, after the camera 3 extends in place, the computer controls the camera 3 to acquire images of the coal wall 12, after the images are acquired, the piston rod 13 is shortened through the hydraulic oil cylinder 6, so that the protective cylinder 5 is retracted into the top beam 2, and finally the hydraulic support 1 is controlled to work, so that the front beam is;
it should be noted that, when the camera 3 is used for collecting images of the coal wall 10, the hydraulic support 1 is controlled to enable the front beam 13 to turn upwards, after the front beam 13 is turned in place, the computer controls the hydraulic cylinder 6 to enable the piston rod 11 to extend, the protective cylinder 5 is pushed to move along the path of the chute 9 in the process that the piston rod 11 extends, the camera 3 is pushed in the process that the protective cylinder 5 moves, after the camera 3 extends out of the top beam 2, the computer controls the camera 3 to collect the images of the coal wall 10 in segments, then the computer processes the images of the coal walls 10, after the computer confirms that the images of the coal walls 10 are complete, the computer controls the hydraulic cylinder 6 to enable the piston rod 11 to contract and retract the protective cylinder 5, then the control system of the hydraulic support 1 is controlled to enable the front beam 13 to turn downwards, so that the front beam 13 wraps the camera 3, and protects the camera 3.
Step three, image splicing of the fully mechanized coal mining face: the computer splices the segment images of each coal wall 12 collected by the plurality of cameras 3, so as to obtain the image of the whole coal wall 12;
it should be noted that the camera 3 collects a plurality of images of the coal wall 10 at the same position, selects an optimal image, and then splices the optimal image with optimal images of other parts, and the image of the entire coal wall 10 can be obtained by splicing, so that the image is used as a basis for judging the attribute information of the coal wall 10, and the attribute information of the coal wall 10 is mainly used for judging the position distribution of rocks and coal, and further determining the next coal cutting operation.
Step four, identifying the advanced coal wall 12: the computer carries out image processing on the image of the whole coal wall 12 by using an image edge processing method, so as to realize the distinguishing of rocks and coal in the coal wall 12 and identify an upper edge curve of the coal wall 12 and a lower edge curve of the coal wall 12 corresponding to a leading coal wall 12 of a next cut;
it should be noted that points of the upper edge curve and the lower edge curve of the coal wall 10 in the same vertical direction are the edges of the coal wall 10, so that the mining height of the coal mining machine 4 can be obtained, and the coal mining machine 4 is controlled to perform coal cutting in the next cut. Under special conditions, rocks also exist in the middle of the coal wall 10, and the rock and coal are distinguished, so that a coal cutting area is preset, the knife edge of the coal cutter 4 can be effectively prevented from touching the rocks when the coal cutter 4 cuts coal, and further, the coal can be more effectively cut.
Step five, automatically cutting coal after the coal mining machine 4 lags: and the computer transmits the data of the upper edge curve of the coal wall 12 and the lower edge curve of the coal wall 12 corresponding to the leading coal wall 12 of the next cut to the coal mining machine 4, and the coal mining machine 4 performs lag automatic coal cutting according to the data of the upper edge curve of the coal wall 12 and the lower edge curve of the coal wall 12 corresponding to the leading coal wall 12 of the next cut.
After the lag automatic coal cutting is completed, the first step to the fourth step are repeated, and a coal cutting scheme is made according to the image processing result of the coal wall 10, or whether the next coal cutting is needed is judged.
In this embodiment, the camera 3 is connected to the computer through a data line, and the shearer 4 is in communication with the computer.
In this embodiment, the protective cylinder 5 is hinged to a piston rod 13 of the hydraulic oil cylinder 6, and the hydraulic oil cylinder 6 is hinged to a side wall of the vertical plate 7.
In this embodiment, offer the spout 9 that supplies to protect a section of thick bamboo 5 to turn to on the lateral wall of riser 7, spout 9 includes spout 9 straight section 10 and the spout 9 oblique section 11 down that communicates with spout 9 straight section 10, protects a section of thick bamboo 5 and is provided with a plurality of pulleys 8 all with spout 9 complex on the one side near spout 9.
It should be noted that the chute lower inclined section 9-2 is the side close to the coal wall 10, and the end of the chute 9 is set to be inclined downwards, so that the camera 3 can further extend out of the top beam 2 during image acquisition, and the image acquisition effect is better.
When the picture is gathered to the image, at first control hydraulic support 1 work for front beam 13 upwards overturns, and hydraulic cylinder 6 work is controlled again, drives piston rod 11 extension, and piston rod 11 drives and protects a section of thick bamboo 5 and remove and make camera 3 stretch out back timber 2 along the route of spout 9, and camera 3 stretches out the back that targets in place, and computer control camera 3 carries out image acquisition to coal wall 10, and camera 3 stretches out back timber 2 and has realized better image acquisition effect.
In this embodiment, an included angle between a central axis of the straight section 9-1 of the sliding chute and a central axis of the lower inclined section 9-2 of the sliding chute is 140 to 160 degrees, and the pulley 8 is connected with the casing 5 through the supporting block 12.
It should be noted that the included angle between the central axis of the straight section 9-1 of the sliding chute and the central axis of the lower inclined section 9-2 of the sliding chute is 140 to 160 degrees, so that image acquisition in a wider range is realized, and the problem that the hydraulic support 1 needs to be arranged at a position far away from the coal wall 10 can be solved.
The number of the pulleys 8 is two, and the arrangement of the pulleys 8 can enable the protective cylinder 5 to slide on the sliding groove 9 more stably; when the camera 3 is in a retraction state, the two pulleys 8 are both positioned on the straight section 9-1 of the chute, and when the camera 3 is in an extension state, the two pulleys 8 are both positioned on the lower inclined section 9-2 of the chute.
In this embodiment, the casing 5 is a hollow structure, and the camera 3 is disposed on an inner wall of an end portion of the casing 5. The protective cylinder 5 is a hollow structure and is convenient for accommodating a data line of the camera 3.
In this embodiment, the camera 3 is a wide-angle lens.
It should be noted that the camera 3 with the wide-angle lens can acquire a large area of the coal wall 10 in a short image acquisition distance, so that the problem that the hydraulic support 1 needs to be arranged at a longer distance from the coal wall 10 can be avoided.
The embodiment can also install the cameras 3 every two hydraulic supports 1, and the cameras 3 do not need to be installed on each hydraulic support 1 because the image acquisition range of the cameras 3 is wide, so that the cost is saved.
In this embodiment, in step four, the image edge processing method is an image edge gray scale processing algorithm, a Canny image edge recognition algorithm, or a binarization edge detection algorithm.
It should be noted that the position distribution of the rock and the coal can be effectively judged by the image edge processing method, so that a coal cutting scheme can be conveniently formulated.
In the embodiment, the set ventilation time threshold of the fully mechanized mining face in the step one is 1min to 3 min.
The set time length is 1-3 min. The specific time is set according to the length of the coal face, the attribute of the coal bed, the ventilation effect and the like, and after the coal ash is blown away and settled, the camera 3 can acquire clear images of the coal wall 10.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (9)
1. A lag automatic coal cutting method based on advanced coal wall identification is characterized in that an adopted lag automatic coal cutting device comprises a coal cutter (4) and an advanced coal wall identification mechanism communicated with the coal cutter (4), the advanced coal wall identification mechanism comprises a computer and a plurality of advanced coal wall identification units which are connected with the computer, the number of the advanced coal wall identification units is equal to that of hydraulic supports (1) and corresponds to that of the hydraulic supports (1) one by one, the advanced coal wall identification units are installed on a top beam (2) of the hydraulic supports (1), each advanced coal wall identification unit comprises a hydraulic oil cylinder (6) installed on the side wall of a vertical plate (7) of the top beam (2) and a protective cylinder (5) connected with a piston rod (11) of the hydraulic oil cylinder (6), and a camera (3) is installed at one end, far away from the hydraulic oil cylinder (6), of the protective cylinder (5);
the method is characterized in that: the method comprises the following steps:
step one, ventilation of the fully mechanized coal mining face: setting a ventilation time threshold of the fully mechanized mining face, and ventilating the fully mechanized mining face;
step two, collecting images of the fully mechanized coal mining face: a chute (9) for the steering of the protective cylinder (5) is arranged on the side wall of the vertical plate (7), a plurality of pulleys (8) which are matched with the chute (9) are arranged on one side of the protective cylinder (5) close to the chute (9) to control the hydraulic support (1) to work, the front beam (13) is turned upwards, the hydraulic oil cylinder (6) is controlled to work to drive the piston rod (11) to extend, the piston rod (11) drives the protective cylinder (5) to move along the path of the chute (9) and the camera (3) extends out of the top beam (2), after the camera (3) extends out in place, the computer controls the camera (3) to collect images of the coal wall (10), after the image acquisition is finished, the piston rod (11) is shortened through the hydraulic oil cylinder (6), then the protective cylinder (5) is retracted into the top beam (2), and finally the hydraulic support (1) is controlled to work, so that the front beam (13) is retracted downwards and reset;
step three, image splicing of the fully mechanized coal mining face: the computer splices the segment images of each coal wall (10) collected by the plurality of cameras (3) so as to obtain an image of the whole coal wall (10);
step four, advanced coal wall identification: the computer carries out image processing on the image of the whole coal wall (10) by using an image edge processing method, so that the separation of rocks and coal in the coal wall (10) is realized, and a coal wall upper edge curve and a coal wall lower edge curve corresponding to a leading coal wall (10) of a next cut are identified;
step five, lagging automatic coal cutting of the coal mining machine: and the computer transmits the data of the coal wall upper edge curve and the coal wall lower edge curve corresponding to the advanced coal wall (10) of the next cut to the coal mining machine (4), and the coal mining machine (4) performs lag automatic coal cutting according to the data of the coal wall upper edge curve and the coal wall lower edge curve corresponding to the advanced coal wall (10) of the next cut.
2. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: the camera (3) is connected with the computer through a data line, and the coal mining machine (4) is communicated with the computer.
3. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: the protective cylinder (5) is hinged with a piston rod (11) of the hydraulic oil cylinder (6), and the hydraulic oil cylinder (6) is hinged with the side wall of the vertical plate (7).
4. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: the side wall of the vertical plate (7) is provided with a sliding groove (9) for the steering of the protective cylinder (5), the sliding groove (9) comprises a sliding groove straight section (9-1) and a sliding groove lower inclined section (9-2) communicated with the sliding groove straight section (9-1), and one side, close to the sliding groove (9), of the protective cylinder (5) is provided with a plurality of pulleys (8) matched with the sliding groove (9).
5. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: the included angle between the central axis of the straight chute section (9-1) and the central axis of the inclined chute section (9-2) is 140-160 degrees, and the pulley (8) is connected with the protective cylinder (5) through a supporting block (12).
6. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: the protective cylinder (5) is of a hollow structure, and the camera (3) is arranged on the inner wall of the end part of the protective cylinder (5).
7. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: the camera (3) is a wide-angle lens.
8. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: in the fourth step, the image edge processing method is an image edge gray scale processing algorithm, a Canny image edge recognition algorithm or a binarization edge detection algorithm.
9. The method for the lag automatic coal cutting based on the advanced coal wall identification is characterized in that: and in the step one, the set ventilation time threshold of the fully mechanized coal mining face is 1-3 min.
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