阅读说明：本技术 基于综采工作面的跟机控制方法、装置和电子设备 (Fully mechanized coal mining face-based follow machine control method and device and electronic equipment ) 是由 周如林 黄园月 张晶晶 李新建 钟声 于 2020-12-07 设计创作，主要内容包括：本发明公开了一种基于综采工作面的跟机控制方法、装置和电子设备,所述方法包括：采集综采工作面状态参数,其中,综采工作面状态参数包括采煤机状态参数、供液系统状态参数、工作面状态参数和液压系统状态参数之中的一种或多种,工作面状态参数包括液压缸伸和/或液压缸收的行程；根据综采工作面状态参数通过神经网络模型生成液压支架跟随动作指令和泵站启动数量指令；以及根据泵站启动数量指令启动相应的泵站,并根据液压支架跟随动作指令控制液压支架进行动作。本发明实施例的跟机控制方法,能够满足现场维护便捷、精确控制的需求,且兼顾可靠性及便捷性,同时提高了跟机控制的稳定性。(The invention discloses a fully mechanized mining face-based follow machine control method, a fully mechanized mining face-based follow machine control device and electronic equipment, wherein the method comprises the following steps: collecting fully-mechanized coal mining face state parameters, wherein the fully-mechanized coal mining face state parameters comprise one or more of coal mining machine state parameters, liquid supply system state parameters, face state parameters and hydraulic system state parameters, and the face state parameters comprise hydraulic cylinder extension and/or hydraulic cylinder retraction strokes; generating a hydraulic support following action command and a pump station starting number command through a neural network model according to the fully mechanized mining face state parameters; and starting the corresponding pump stations according to the pump station starting number instructions, and controlling the hydraulic support to act according to the hydraulic support following action instructions. The control method of the tracking machine provided by the embodiment of the invention can meet the requirements of convenient and accurate field maintenance, and has the advantages of reliability and convenience, and meanwhile, the stability of the tracking machine is improved.)

1. A fully mechanized coal mining face-based follow machine control method is characterized by comprising the following steps:

collecting fully-mechanized coal mining face state parameters, wherein the fully-mechanized coal mining face state parameters comprise one or more of coal mining machine state parameters, liquid supply system state parameters, face state parameters and hydraulic system state parameters, and the face state parameters comprise hydraulic cylinder extension and/or hydraulic cylinder retraction strokes;

generating a hydraulic support following action command and a pump station starting number command through a neural network model according to the fully mechanized mining face state parameters; and

and starting the corresponding pump stations according to the pump station starting number instructions, and controlling the hydraulic support to act according to the hydraulic support following action instructions.

2. The fully mechanized mining face-based follow control method according to claim 1, wherein the trip is obtained by the following formula:

wherein, L is the stroke, t is a hydraulic cylinder action time variable, and q is_iIs the flow on the input side of the hydraulic cylinder, dt is an integral time variable, A_iThe hydraulic acting area of the input side of the hydraulic cylinder.

3. The fully mechanized mining face-based follow control method of claim 1, further comprising:

acquiring a new action corresponding to the follow action instruction of the hydraulic support, and acquiring system pressure corresponding to the new action;

judging whether the system pressure generated by the newly added action is greater than a pressure threshold value;

if the pressure is larger than the pressure threshold value, executing the following action command of the hydraulic support;

and if the pressure is not larger than the pressure threshold value, regenerating the follow action command of the hydraulic support.

4. The fully mechanized mining face-based follow control method according to claim 1, wherein the neural network model generates the hydraulic support follow action command according to a preset rule and the fully mechanized mining face state parameter, wherein the preset rule comprises cross control of hydraulic cylinder extension and/or hydraulic cylinder retraction.

5. The fully mechanized mining face-based follow machine control method according to claim 3, wherein the obtaining of the system pressure corresponding to the new action comprises:

acquiring a hydraulic cylinder corresponding to the newly added action;

acquiring the corresponding pressure of the hydraulic cylinder;

and acquiring the current pressure of the system, and generating the system pressure according to the current pressure and the corresponding pressure of the hydraulic cylinder corresponding to the newly added action.

6. The fully mechanized mining face-based follow control method according to claim 1, wherein the neural network model generates the hydraulic support follow action command according to a hydraulic cylinder action priority sequence and a feature table.

7. A follow machine control device based on a fully mechanized mining face is characterized by comprising:

the fully mechanized coal mining face state parameter acquisition module is used for acquiring fully mechanized coal mining face state parameters, wherein the fully mechanized coal mining face state parameters comprise one or more of coal mining machine state parameters, liquid supply system state parameters, working face state parameters and hydraulic system state parameters, and the working face state parameters comprise hydraulic cylinder extension and/or hydraulic cylinder retraction strokes;

the generating module is used for generating a hydraulic support following action instruction and a pump station starting number instruction according to the fully mechanized mining face state parameter through a neural network model; and

and the control module is used for starting the corresponding pump stations according to the pump station starting number instructions and controlling the hydraulic support to act according to the hydraulic support following action instructions.

8. The fully mechanized mining face-based heel control device of claim 7, further comprising:

the acquisition module is used for acquiring a new action corresponding to the action following instruction of the hydraulic support and acquiring system pressure corresponding to the new action;

the judging module is used for judging whether the system pressure generated by the newly added action is greater than a pressure threshold value; wherein the content of the first and second substances,

the control module is further used for regenerating the following action command of the hydraulic support if the pressure is greater than the pressure threshold; and if the pressure is not larger than the pressure threshold, executing the hydraulic support following action command.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the method of fully mechanized coal mining face-based follow-up control according to any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the method of fully mechanized coal face based heel control according to any of claims 1 to 6.

Technical Field

The invention relates to the technical field of follow machine control of coal mine working faces, in particular to a follow machine control method and device based on a fully mechanized coal mining working face and electronic equipment.

Background

At present, hydraulic support electrohydraulic control systems are widely applied to coal mines in China, more than 100 sets of support electrohydraulic control systems are newly added to be used every year, along with the continuous popularization of intelligent working faces in recent years, the requirements on the fully mechanized mining working faces and the automatic control technology are higher and higher, the use effects of the automatic control technology and the automatic control effect in different mining areas are greatly different due to the working conditions, the use environments and the control frameworks of the fully mechanized mining working faces, the initial debugging time and the initial debugging cost are too large, and the effect cannot reach the satisfaction of clients.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above.

Therefore, the first purpose of the invention is to provide a control method of the follow-up machine based on the fully mechanized mining face, which can meet the requirements of convenient and accurate field maintenance, and has reliability and convenience, and meanwhile, the stability of the control of the follow-up machine is improved.

The invention also provides a control device of the follow-up machine based on the fully mechanized mining face.

A third object of the invention is to propose an electronic device.

A fourth object of the invention is to propose a non-transitory computer-readable storage medium.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides a fully mechanized coal mining face-based follow machine control method, including: collecting fully-mechanized coal mining face state parameters, wherein the fully-mechanized coal mining face state parameters comprise one or more of coal mining machine state parameters, liquid supply system state parameters, face state parameters and hydraulic system state parameters, and the face state parameters comprise hydraulic cylinder extension and/or hydraulic cylinder retraction strokes; generating a hydraulic support following action command and a pump station starting number command through a neural network model according to the fully mechanized mining face state parameters; and starting the corresponding pump stations according to the pump station starting number instructions, and controlling the hydraulic support to act according to the hydraulic support following action instructions.

According to the fully-mechanized mining face-based follow machine control method, firstly, fully-mechanized mining face state parameters are collected, hydraulic support follow action instructions and pump station starting quantity instructions are generated through a neural network model according to the fully-mechanized mining face state parameters, then corresponding pump stations are started according to the pump station starting quantity instructions, and the hydraulic supports are controlled to act according to the hydraulic support follow action instructions. From this, can satisfy the demand that the on-the-spot maintenance is convenient, accurate control, and compromise reliability and convenience, improved simultaneously with the stability of machine control.

In addition, the fully mechanized mining face-based follow-up control method provided by the embodiment of the invention can also have the following additional technical characteristics:

in one embodiment of the invention, the stroke is obtained by the following formula:wherein, L is the stroke, t is a hydraulic cylinder action time variable, and q is_iIs the flow on the input side of the hydraulic cylinder, dt is an integral time variable, A_iThe hydraulic acting area of the input side of the hydraulic cylinder.

In an embodiment of the present invention, the fully mechanized mining face-based follow-up machine control method further includes: acquiring a new action corresponding to the follow action instruction of the hydraulic support, and acquiring system pressure corresponding to the new action; judging whether the system pressure generated by the newly added action is greater than a pressure threshold value; if the pressure is larger than the pressure threshold value, regenerating the following action command of the hydraulic support; and if the pressure is not larger than the pressure threshold value, regenerating the follow action command of the hydraulic support.

In one embodiment of the invention, the neural network model generates the hydraulic support following action command according to a preset rule and the fully mechanized mining face state parameter, wherein the preset rule comprises cross control of hydraulic cylinder extension and/or hydraulic cylinder retraction.

In an embodiment of the present invention, the acquiring the system pressure corresponding to the new adding action includes: acquiring a hydraulic cylinder corresponding to the newly added action; acquiring the corresponding pressure of the hydraulic cylinder; and acquiring the current pressure of the system, and generating the system pressure according to the current pressure and the corresponding pressure of the hydraulic cylinder corresponding to the newly added action.

In one embodiment of the invention, the neural network model generates the hydraulic support following action command according to the action priority sequence of the hydraulic cylinder and the characteristic table.

In order to achieve the above object, a second aspect of the present invention provides a fully mechanized coal mining face-based tracking control device, including: the fully mechanized coal mining face state parameter acquisition module is used for acquiring fully mechanized coal mining face state parameters, wherein the fully mechanized coal mining face state parameters comprise one or more of coal mining machine state parameters, liquid supply system state parameters, working face state parameters and hydraulic system state parameters, and the working face state parameters comprise hydraulic cylinder extension and/or hydraulic cylinder retraction strokes; the generating module is used for generating a hydraulic support following action instruction and a pump station starting number instruction according to the fully mechanized mining face state parameter through a neural network model; and the control module is used for starting the corresponding pump stations according to the pump station starting number instruction and controlling the hydraulic support to act according to the hydraulic support following action instruction.

According to the fully mechanized mining face-based follower control device, firstly, the state parameters of the fully mechanized mining face are collected through the collection module, the generation module generates the hydraulic support following action instructions and the pump station starting quantity instructions through the neural network model according to the state parameters of the fully mechanized mining face, then the control module starts the corresponding pump stations according to the pump station starting quantity instructions, and the hydraulic support is controlled to act according to the hydraulic support following action instructions. From this, can satisfy the demand that the on-the-spot maintenance is convenient, accurate control, and compromise reliability and convenience, improved simultaneously with the stability of machine control.

In addition, the fully mechanized mining face-based follow-up control device provided by the embodiment of the invention can also have the following additional technical characteristics:

in an embodiment of the present invention, the fully mechanized mining face-based tracking control device further includes: the acquisition module is used for acquiring a new action corresponding to the action following instruction of the hydraulic support and acquiring system pressure corresponding to the new action; the judging module is used for judging whether the system pressure generated by the newly added action is greater than a pressure threshold value; the control module is further used for regenerating the follow-up action command of the hydraulic support if the pressure is greater than the pressure threshold; and if the pressure is not larger than the pressure threshold, executing the hydraulic support following action command.

In order to achieve the above object, an embodiment of a third aspect of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the program to implement the method for controlling a fully mechanized mining face-based follow-up control according to the embodiment of the first aspect of the present invention.

According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored on the memory, so that the requirements of convenience and accurate control in field maintenance can be met, the reliability and convenience are both considered, and the stability of the follow-up control is improved.

In order to achieve the above object, a fourth aspect of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a method for controlling a fully mechanized mining face-based follow-up control according to an embodiment of the first aspect of the present invention.

The non-transitory computer-readable storage medium of the embodiment of the invention can meet the requirements of convenient and accurate field maintenance by executing the stored computer program, and has the advantages of reliability and convenience, and improved stability of the follow-up control.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a fully mechanized coal face based follow machine control method according to one embodiment of the present invention;

FIG. 2 is a topological diagram of a fully mechanized coal mining face-based follow machine control method according to an embodiment of the present invention;

FIG. 3 is a flow chart of a fully mechanized mining face based follow-up control method according to another embodiment of the present invention;

fig. 4 is a block diagram of a fully mechanized mining face based follower control apparatus according to an embodiment of the present invention;

fig. 5 is a block diagram of a fully mechanized mining face based follower control apparatus according to another embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The fully-mechanized coal face-based following control method, the fully-mechanized coal face-based following control device, the electronic equipment and the non-transitory computer-readable storage medium according to the embodiment of the invention are described below with reference to the drawings.

The following control method based on the fully mechanized coal mining face provided by the embodiment of the invention can be executed by electronic equipment, and the electronic equipment can be a Personal Computer (PC), a tablet Computer, a server or a host centralized control center, and the like, and is not limited herein.

In an embodiment of the present invention, a processing component, a storage component, and a driving component may be provided in the electronic device. Optionally, the driving component and the processing component may be integrated, the storage component may store an operating system, an application program, or other program modules, and the processing component implements the fully mechanized coal mining face-based follow-up control method provided by the embodiment of the present invention by executing the application program stored in the storage component.

Fig. 1 is a flowchart of a fully mechanized mining face-based follow-up control method according to an embodiment of the present invention.

As shown in fig. 1, the fully mechanized mining face-based follow machine control method according to the embodiment of the present invention may include:

and S1, acquiring fully mechanized mining face state parameters, wherein the fully mechanized mining face state parameters comprise one or more of coal mining machine state parameters, liquid supply system state parameters, face state parameters and hydraulic system state parameters, and the face state parameters comprise the stroke of extending and/or retracting a hydraulic cylinder.

In an embodiment of the present invention, referring to fig. 2, the coal mining machine state parameters may include parameters such as the speed, direction, and current position of the coal mining machine, and the coal mining machine parameters are generally communicated with the main machine centralized control center in a wireless or wired manner.

The state parameters of the liquid supply system can comprise performance parameters such as the opening number of the current pump station, the set pressure and the nominal flow of the pump station, wherein the set pressure and the flow parameters of the pump station are generally determined values, and the opening number is changed along with the change of the system working condition and the decision result.

The hydraulic system state parameters may include pipeline structure parameters, main intake pressure, main return pressure, initial pressure, input flow rate of a hydraulic rod (e.g., a hydraulic cylinder), and performance parameters of a hydraulic valve, such as nominal flow rate and flow resistance characteristics, where the pipeline structure parameters and the performance parameters of the hydraulic valve are determined values or constant values, and the main intake pressure, the main return pressure and the initial pressure are variables that vary with system operating conditions, and are generally monitored in real time by a pressure sensor, and the pressure parameters are generally detected by the sensor and then transmitted to a host centralized control center through communication by a controller.

To clarify the above embodiment, in the embodiment of the present application, the input flow rate of the hydraulic bar (e.g., the hydraulic cylinder) can be represented by the following formula (1):

where q is the input flow rate of the hydraulic rod (e.g., hydraulic cylinder), and q is_iThe flow rate of the hydraulic bar corresponding to the input side of the hydraulic cylinder can be obtained, and n can be the number of the hydraulic bar.

It should be noted that when Q is smaller than the nominal flow Q (i.e., a constant), the unloading state may be newly added with motion control according to the system configuration condition in combination with the following preset rule (i.e., a training rule), but the pressure principle of the liquid supply system needs to be ensured; when Q is equal to the nominal flow Q, the full-flow liquid supply state is realized, and the full-efficiency work is realized.

Further, in the embodiment of the invention, the hydraulic system can be controlled according to a pre-judgment and grading control idea, the control of the hydraulic support hydraulic cylinders can be divided into 4 types according to the characteristics of the cylinder diameter and the stroke action of each hydraulic cylinder, each type is a sequence because the support descending-moving-ascending is generally continuous action and relates to the safe and efficient action of the support, and other actions can be used as another sequence because the liquid consumption and the load pressure are not outstanding and are used as auxiliary configuration parameters in the comprehensive control of the system.

The working surface state parameters can comprise parameters such as stroke of lifting columns and/or lowering columns, pressure of lower cavities of the columns and the like, current action codes and quantity, and the controllers are communicated through communication; on the other hand, the working state of the current support comprises a support action code through a communication line, and the continuous action time is transmitted to the host centralized control center through the communication line.

In an embodiment of the present invention, the stroke of the raising column and/or the lowering column may refer to a distance that the hydraulic support ascends and/or descends under the action of the corresponding hydraulic cylinder, that is, a stroke of the hydraulic cylinder.

For clarity of the above embodiment, in one embodiment of the present application, the stroke may be obtained by the following equation (2):

wherein, L can be stroke, t can be hydraulic cylinder action time variable, q_iMay be the flow on the input side of the hydraulic cylinder, dt may be an integral time variable, A_iMay be the hydraulic acting area of the input side of the hydraulic cylinder.

Further, the flow q on the input side of the hydraulic cylinder can be obtained by the following formula (3)_i：

q_i＝f_i ^jz(pin,pout,p₀) (3)

Wherein, i can be the tail number of the hydraulic support, j can be the number of the hydraulic cylinder corresponding to the hydraulic support, z can be 0 or 1, which represents the action direction of the hydraulic cylinder, 0 represents the extension of the hydraulic cylinder, 1 represents the retraction of the hydraulic cylinder, pin can be the main liquid inlet pipeline pressure of the working surface, pout can be the main liquid return pipeline pressure of the working surface, p₀May be the initial pressure of the cylinder lock chamber. It should be noted that the initial pressure of the lock chamber of the hydraulic cylinder described in this embodiment is assumed to be pump pressure if there is no pressure sensor; if there is a pressure sensor, the actual pressure, especially for the lower cavity of the column, is required to be accurate.

In an embodiment of the present invention, the working surface state parameter may further include a stroke of the hydraulic mount movement, which may also be calculated by the above equations (2) and (3).

In addition, in other embodiments of the invention, a stroke sensor may be mounted on each hydraulic cylinder, and the stroke of each hydraulic cylinder is acquired by the stroke sensor to acquire the stroke of the raising column and/or the lowering column and the stroke of the movement of the hydraulic support.

It should be noted that the host centralized control center described in this embodiment may be an electronic device, such as a server, a cloud server, and the like, and is not limited herein.

Specifically, the host centralized control center can be connected with a system related to the fully mechanized coal mining face in a wireless or wired mode to acquire the state parameters of the fully mechanized coal mining face in real time.

Further, in the embodiment of the present invention, according to the above derivation formula, the existing control formula can be combined and calculated under the liquid supply capacity of the existing pump station, and according to the working characteristics of different control units, on the basis of ensuring efficiency and initial support force, the working state (speed, direction and position) of the coal mining machine is used as target input, and the sensor unit includes main liquid inlet pressure, main liquid return pressure and column lower cavity pressure as input; the support control logic state (the support position and the action function unit number are input), the support action process is judged in the form of estimating action displacement through the action unit flow integral form, and finally, the control functions of a plurality of supports of the hydraulic system of the working face are intelligently controlled and researched through an intelligent control algorithm (such as a neural network model) such as a neural network and by taking safety control and hierarchical control as boundary rules, so that the high-efficiency utilization of the pump station flow is realized, and the integral improvement of the automatic level of the working face and the machine tracking is realized.

And S2, generating a hydraulic support following action command and a pump station starting number command through a neural network model according to the fully mechanized mining face state parameters. It should be noted that the pump station described in this embodiment may be a pump station in a liquid supply system.

In one embodiment of the invention, the neural network model can generate the hydraulic support following action command according to a preset rule and the fully mechanized mining face state parameters, wherein the preset rule can be calibrated according to the actual situation, and the preset rule can comprise cross control of a lifting column and a lowering column.

Specifically, after the host centralized control center collects the fully mechanized coal mining face state parameters, the fully mechanized coal mining face state parameters can be input into the neural network model, so that the fully mechanized coal mining face state parameters are processed through the neural network model, and a hydraulic support following action instruction and a pump station starting number instruction are output (generated). The neural network model can generate a hydraulic support following action instruction according to a preset rule and fully mechanized coal mining face state parameters.

And S3, starting the corresponding pump stations according to the pump station starting number instruction, and controlling the hydraulic support to act according to the hydraulic support following action instruction.

Specifically, after obtaining the hydraulic support following action command and the pump station starting number command, the host centralized control center can start the corresponding pump station according to the pump station starting number command, and control the hydraulic support to act according to the hydraulic support following action command.

It should be noted that the hydraulic support can stably operate in the current state, and each system parameter, such as system pressure, flow rate, and support motion number, satisfies the current training rule (i.e., the preset rule).

In the embodiment of the invention, firstly, fully mechanized coal mining face state parameters are collected, hydraulic support following action instructions and pump station starting quantity instructions are generated through a neural network model according to the fully mechanized coal mining face state parameters, then corresponding pump stations are started according to the pump station starting quantity instructions, and the hydraulic supports are controlled to act according to the hydraulic support following action instructions. From this, can satisfy the demand that the on-the-spot maintenance is convenient, accurate control, and compromise reliability and convenience, improved simultaneously with the stability of machine control.

In order to clearly illustrate the above embodiment, in an embodiment of the present application, as shown in fig. 3, the method for controlling a fully mechanized mining face-based follow-up machine may further include:

s201, acquiring a newly added action corresponding to the follow action command of the hydraulic support, and acquiring system pressure corresponding to the newly added action. Wherein, the newly added action can be column lifting, column lowering and the like.

In the embodiment of the invention, as the coal mining machine runs and advances, the bracket to be moved behind the coal mining machine needs to perform related actions, and the system state generated by the action of each bracket, such as the influence on the pressure and the flow of the system, is pre-judged.

S202, judging whether the system pressure generated by the new adding action is larger than a pressure threshold value. The pressure threshold value can be calibrated according to actual conditions.

And S203, if the pressure is larger than the pressure threshold, executing a hydraulic support following action command.

And S204, if the pressure is not greater than the pressure threshold, regenerating a hydraulic support following action command.

Specifically, after obtaining the hydraulic support following action instruction and the pump station starting number instruction, the host centralized control center may first obtain a new action corresponding to the hydraulic support following action instruction, obtain a system pressure corresponding to the new action, and judge whether the system pressure generated by the new action is greater than a pressure threshold, if it is judged that the system pressure generated by the new action is greater than the pressure threshold, it indicates that the new action is allowed, and continuously adjust the new state according to the cooperation state of the coal mining machine and the support, that is, control the hydraulic support to act according to the hydraulic support following action instruction, and start the corresponding pump station according to the pump station starting number instruction. If the system pressure generated by the newly added action is judged to be not greater than (i.e. less than or equal to) the pressure threshold, the newly added current action (newly added action) is indicated to cause the system pressure to be too low, so the newly added action is forbidden, the newly added action is reselected according to a unified training rule (i.e. a preset rule), then the judgment is continued according to the original flow until the system pressure is greater than the pressure threshold according to the pre-judgment result, and finally the newly added state is continuously adjusted according to the cooperative state of the coal mining machine and the support.

To clearly illustrate the previous embodiment, in an embodiment of the present application, the obtaining of the system pressure corresponding to the new action may include obtaining a hydraulic cylinder corresponding to the new action, obtaining a corresponding pressure of the hydraulic cylinder, obtaining a current pressure of the system, and then generating the system pressure according to the current pressure and the corresponding pressure of the hydraulic cylinder corresponding to the new action.

Specifically, after obtaining the hydraulic support following action command and the pump station starting number command, the host centralized control center can first obtain a new action corresponding to the hydraulic support following action command and obtain a hydraulic cylinder corresponding to the new action, and then can obtain the corresponding pressure of the hydraulic cylinder through a pressure sensor arranged on the hydraulic cylinder and obtain the current pressure of the system. And then the host centralized control center generates system pressure according to the current pressure of the system and the corresponding pressure of the hydraulic cylinder corresponding to the newly added action.

It should be noted that the neural network model described in the above embodiments may be obtained by training a neural network through a preset rule (training rule). The preset rules are mainly classified according to the working characteristics of the system and the working characteristics of each action unit for constraint, and simultaneously, the safety, pressure, efficiency and other elements are considered, and the specific preset rules (training rules) at least comprise the following steps:

1. lifting and combining: according to a calculation model algorithm, the simultaneous frame descending of a plurality of supports is prevented, the frame descending is in a pressure control mode, the flow required by the frame descending is small, the flow of return liquid is large, the phenomenon can not only cause slow movement of the supports due to overlarge system back pressure, but also cause the problems of loading and unloading of a pump station, the utilization rate of the pump station is low, and the use efficiency is low; prevent that a plurality of supports from rising the post simultaneously, this problem not only can cause the system to need the liquid measure big, and required pressure hangs down the grade characteristics, causes system pressure when system flow is not enough to hang down excessively, not only can cause other actions if draw the frame unusual, can cause output load moreover to hang down excessively, the not enough scheduling problem of working resistance. In order to fully solve the problems, the lifting column and the lowering column are crossed to act when different frame actions are adopted in consideration of different working characteristics of the lifting column and the lowering column, so that the problems of pressure and efficiency are considered.

2. Ensuring the lowest working resistance: simulating the hydraulic system principle of each support action, optimizing a numerical analysis model, deducing a flow equation of each hydraulic cylinder unit, deducing a functional relation, predicting the influence on the system pressure during the newly added action, and ensuring that the system cannot be lower than a minimum set threshold Pset originally.

3. The characteristics of each action: the working surface can collect a few data points, which mainly include system liquid inlet pressure Pin, system liquid return pressure Pout, column lower cavity pressure P and pull frame stroke L, and how to utilize the parameters to realize accurate judgment of the hydraulic support, so that the high-efficiency utilization of the working surface is realized, and the method is particularly urgent.

4. Setting the minimum working resistance: the smooth work of reliable pulling, moving and the like is ensured.

5. Stand and lapse pneumatic cylinder characteristic: the two actions are characterized by large liquid quantity, large load and the like, and are main units of the actions of the hydraulic support, and the main reasons for the failure of the automation of the hydraulic system and the machine are that the support is not pulled to the right position to cause the problem of losing the support, and the column falls beyond the range to cause the problem of low system efficiency and the like, so the two units are the most important two units in the control process of the hydraulic system.

6. Other hydraulic cylinder characteristics: the hydraulic cylinder comprises hydraulic cylinders for balancing, side protection, extension, side protection and the like, the hydraulic cylinder is lower in required flow rate due to the fact that load comparison is determined, the hydraulic cylinder serves as an accessory action of a support action, and in the process of controlling the hydraulic cylinder, due to the fact that most of the hydraulic cylinder is not provided with a sensing unit, the hydraulic cylinder can only be guaranteed to be finally in place through time setting extension (video control can also serve as auxiliary judgment control). In addition, the real-time variable quantity of the hydraulic cylinder stroke can be calculated in a flow integral mode, and when the hydraulic cylinder stroke reaches a set threshold value, the reliable action of the auxiliary action hydraulic cylinder can be realized by adding time delay.

Further, in one embodiment of the invention, the neural network model can generate the hydraulic support following action command according to the action priority sequence and the characteristic table of the hydraulic cylinder.

Specifically, referring to the following table 1, the neural network model can generate a hydraulic support following action instruction according to a hydraulic cylinder action priority sequence and a characteristic table of the following table 1, and simultaneously process the fully mechanized mining face state parameters through the neural network model to output (generate) a pump station starting number instruction, start a corresponding pump station according to the pump station starting number instruction, and control the hydraulic support to act according to the hydraulic support following action instruction, so that the requirements of convenience and accuracy in field maintenance can be met, reliability and convenience are both considered, and the stability of the following control is improved.

TABLE 1

In other embodiments of the invention, the neural network model may generate the hydraulic support following action command according to the hydraulic cylinder action priority sequence and the characteristic table, the preset rule and the fully mechanized mining face state parameter, or the neural network model may generate the hydraulic support following action command according to the hydraulic cylinder action priority sequence and the characteristic table and the fully mechanized mining face state parameter.

It should be noted that the hydraulic cylinder action priority sequence and the feature table described in this embodiment can implement action matching analysis, priority selection of simultaneous column lowering action and frame pulling action, priority selection of simultaneous column lowering action and column lifting action, and the like in the process of multiple frame actions, and can enable the system to implement auxiliary actions of simultaneously operating other hydraulic cylinders when the frame pulling action is performed, so as to perform system efficiency without using a pump station on the premise of ensuring sufficient initial support force.

In the embodiment of the invention, a host centralized control center mainly collects and analyzes information data transmitted by all current controllers or sensing units, controls the starting number of pump stations based on control algorithms such as a current neural network (neural network model) and the like, and realizes the control of the automatic control relation of a working face and a machine through a self-adaptive control algorithm (neural network model); the collected data is judged, calculated and trained in the host centralized control center through a self-adaptive control algorithm (a neural network model), so that the final result is output to control the starting number of pump stations and control the action function logic of the hydraulic support, and safe and efficient operation is realized.

According to the fully-mechanized mining face-based follow machine control method, firstly, fully-mechanized mining face state parameters are collected, hydraulic support follow action instructions and pump station starting quantity instructions are generated through a neural network model according to the fully-mechanized mining face state parameters, then corresponding pump stations are started according to the pump station starting quantity instructions, and the hydraulic supports are controlled to act according to the hydraulic support follow action instructions. From this, can satisfy the demand that the on-the-spot maintenance is convenient, accurate control, and compromise reliability and convenience, improved simultaneously with the stability of machine control.

Fig. 4 is a block diagram of a fully mechanized mining face based follower control apparatus according to an embodiment of the present invention.

As shown in fig. 4, a fully mechanized mining face-based follow-up control device 1000 according to an embodiment of the present invention may include: an acquisition module 100, a generation module 200 and a control module 300.

The fully mechanized mining face state parameter comprises one or more of a coal mining machine state parameter, a liquid supply system state parameter, a working face state parameter and a hydraulic system state parameter, and the working face state parameter comprises a hydraulic cylinder extending stroke and/or a hydraulic cylinder retracting stroke.

And the generating module is used for generating a hydraulic support following action instruction and a pump station starting number instruction according to the fully mechanized mining face state parameters through a neural network model.

And the control module is used for starting the corresponding pump stations according to the pump station starting quantity instructions and controlling the hydraulic support to act according to the hydraulic support following action instructions.

In an embodiment of the present invention, as shown in fig. 5, the fully mechanized mining face-based follow-up control device 1000 may further include: an obtaining module 400 and a judging module 500.

The obtaining module 400 is configured to obtain a new action corresponding to the hydraulic support following action instruction, and obtain a system pressure corresponding to the new action.

The judging module 500 is configured to judge whether the system pressure generated by the newly added action is greater than a pressure threshold, wherein the control module 300 is further configured to regenerate the hydraulic support following action instruction if the system pressure is greater than the pressure threshold; and if the pressure is not greater than the pressure threshold value, executing a hydraulic support following action command.

It should be noted that the foregoing explanation of the embodiment of the fully mechanized mining face-based follow control method is also applicable to the fully mechanized mining face-based follow control device of the embodiment, and details are not repeated here.

In summary, according to the fully mechanized mining face-based tracking control device provided by the embodiment of the invention, firstly, the state parameters of the fully mechanized mining face are collected through the collection module, the generation module generates the hydraulic support tracking action instructions and the pump station starting quantity instructions through the neural network model according to the state parameters of the fully mechanized mining face, then, the control module starts the corresponding pump stations according to the pump station starting quantity instructions, and controls the hydraulic supports to act according to the hydraulic support tracking action instructions. From this, can satisfy the demand that the on-the-spot maintenance is convenient, accurate control, and compromise reliability and convenience, improved simultaneously with the stability of machine control.

In order to implement the foregoing embodiments, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the fully mechanized coal mining face-based follow control method of the foregoing embodiments.

According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored on the memory, so that the requirements of convenience and accurate control in field maintenance can be met, the reliability and convenience are both considered, and the stability of the follow-up control is improved.

In order to implement the foregoing embodiment, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, wherein the program is executed by a processor to implement the method for controlling a fully mechanized mining face-based follow-up control of the foregoing embodiment.

The non-transitory computer-readable storage medium of the embodiment of the invention can meet the requirements of convenient and accurate field maintenance by executing the stored computer program, and has the advantages of reliability and convenience, and improved stability of the follow-up control.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.