CN-121974112-A - Intelligent operation method and control device of tunneling working face belt conveyor

CN121974112ACN 121974112 ACN121974112 ACN 121974112ACN-121974112-A

Abstract

The invention provides an intelligent operation method and a control device for a tunneling working face belt conveyor, and relates to the field of coal mine tunneling. The method comprises the steps of obtaining real-time images of the heading face of the fully-mechanized coal mining machine and the line of the belt conveyor, identifying the current operation working condition of the fully-mechanized coal mining machine based on the real-time images, wherein the identification comprises the steps of analyzing pixel motion vector characteristics of a cutting head area in the real-time images, executing cooperative control on the belt conveyor based on the current operation working condition, wherein the cooperative control comprises the steps of executing reverse coal flow prediction starting control when the current operation working condition is a heading operation starting working condition, controlling the belt conveyor to operate according to the operation speed corresponding to the current operation working condition when the current operation working condition is a heading operation working condition, and executing sequential coal flow stopping control when the current operation working condition is an anchor operation working condition. The intelligent coordination control method can realize intelligent coordination, optimize start-stop and speed regulation strategies, improve operation efficiency and reduce energy consumption and cost.

Inventors

YAO RONG
ZHAO ZHIZHI
LI LANGPING
JIANG DONG
MA JI
YAO BO

Assignees

国家能源集团宁夏煤业有限责任公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. An intelligent operation method of a tunneling working face belt conveyor is characterized by comprising the following steps: acquiring real-time images of the heading face head on of the fully-mechanized coal mining machine and along the line of the belt conveyor; the current working condition of the comprehensive excavator is identified based on the real-time image, wherein the identification comprises analysis of the pixel motion vector characteristics of the cutting head area in the real-time image, and the current working condition at least comprises a tunneling working starting condition, a tunneling working condition and an anchoring working condition; The method comprises the steps of executing cooperative control on the belt conveyor based on a current working condition, wherein the cooperative control comprises the steps of executing reverse coal flow prediction starting control under the condition that the current working condition is a tunneling working condition, controlling the belt conveyor to run at a running speed corresponding to the current working condition under the condition that the current working condition is the tunneling working condition, and executing sequential coal flow stopping control under the condition that the current working condition is an anchoring working condition.
2. The intelligent operation method of the tunneling working face belt conveyor according to claim 1, wherein the tunneling working conditions comprise an effective cutting condition and an idle running condition; the analyzing the pixel motion vector characteristics of the cutting head area in the real-time image comprises the following steps: Calculating the direction and the size of a motion vector of a cutting head region pixel point in a real-time image; Under the condition that the direction of the motion vector is detected to be diverged from the cutting center to the periphery and has specific radial distribution, determining the current working condition as an effective cutting condition; and under the condition that the motion vector direction is detected to have only rotation characteristics or the variation amplitude is smaller than a preset threshold value, determining the current working condition to be an idle working condition.
3. The intelligent operation method of the tunneling working face belt conveyor according to claim 2, wherein the controlling the belt conveyor to operate according to the operation speed corresponding to the current working condition comprises: under the condition that the current working condition is an effective cutting condition, controlling the belt conveyor to run at full speed; And controlling the belt conveyor to operate at a speed lower than the rated operating speed or enter a shutdown preparation state under the condition that the current operating condition is an idle operating condition.
4. The intelligent operation method of the tunneling working face belt conveyor according to claim 1, wherein said identifying the current working condition of the fully-mechanized excavating machine based on the real-time image comprises: The method comprises the steps of calculating a comprehensive score based on the working condition identification confidence scores of all real-time images and the corresponding weights of the real-time images, wherein the real-time images of the head-on of the tunneling working face and the real-time images of different positions along the belt conveyor are distributed with different identification weights, and the weight of the real-time images of the head-on of the tunneling working face is greater than that of the real-time images of the tail of the belt conveyor; and under the condition that the comprehensive score exceeds a judging threshold value, determining the corresponding current working condition.
5. The intelligent operation method of the tunneling working face conveyor according to claim 1, wherein the tunneling working starting condition is identified by the following means: identifying a reset movement action of a large arm of the fully-mechanized coal mining machine or a rotation starting action of a cutting head based on the real-time image; Under the condition that the reset movement action or the rotary starting action is identified, the current working condition is determined to be the tunneling working starting condition.
6. The intelligent operation method of the tunneling working face belt conveyor according to claim 1, wherein said executing reverse coal flow predictive start control comprises: calculating coal flow transmission time based on the distance between the fully-mechanized coal mining machine and the tail end of the belt conveyor and the running speed of the belt conveyor; Determining an early starting time based on the coal flow transmission time and the starting time consumption of the belt conveyor; and controlling the belt conveyor to start at the early starting moment.
7. The intelligent operation method of the tunneling working face belt conveyor according to claim 6, wherein determining the early start time based on the coal flow transmission time and the start time of the belt conveyor comprises: acquiring a historical operation switching interval, and calculating an average operation switching interval based on the historical operation switching interval, wherein the historical operation switching interval is a time interval from the end of an anchor operation working condition to the start of a tunneling operation working condition; and calculating the early starting time based on the average job switching interval, the coal flow transmission time and the starting time consumption.
8. The intelligent operation method of the tunneling working face belt conveyor according to claim 1, wherein said executing sequential down-flow shutdown control comprises: starting an anti-shake timer; And under the condition that the anti-shake timer is started for a preset time period and no coal flow residues exist in the carrying section of the conveying belt based on real-time images, sending a stop instruction to the belt conveyor close to the head-on of the tunneling working face.
9. The intelligent operation method of a tunneling working face conveyor according to claim 1, further comprising: identifying the congestion level of the lap joint based on the real-time image of the lap joint of the belt conveyor, wherein the congestion level is used for representing the severity of congestion, and the severity of the congestion is sequentially increased from one level to three levels; Under the condition that the congestion level is one level, controlling the lower-level belt conveyor to run in an accelerating way, and starting a vibration device; Under the condition that the congestion level is two-level, controlling the upper-level belt conveyor to stop, keeping the lower-level belt conveyor running, and improving the vibration intensity of the vibration device; And under the condition that the congestion level is three-level, sending out an alarm signal and locking the upper-level belt conveyor.
10. An intelligent operation control device of a tunneling working face belt conveyor, which is characterized by comprising: The acquisition module is used for acquiring real-time images of the heading face head on of the comprehensive excavator and along the line of the belt conveyor; The working condition identification module is used for identifying the current working condition of the fully-mechanized coal mining machine based on the real-time image, wherein the identification comprises analysis of the pixel motion vector characteristics of the cutting head area in the real-time image, and the current working condition at least comprises a tunneling working starting working condition, a tunneling working condition and an anchor working condition; The control module is used for executing cooperative control on the belt conveyor based on the current operation working condition, wherein the cooperative control comprises executing reverse coal flow prediction starting control under the condition that the current operation working condition is a tunneling operation starting working condition, controlling the belt conveyor to operate according to the operation speed corresponding to the current operation working condition under the condition that the current operation working condition is a tunneling operation working condition, and executing sequential coal flow stopping control under the condition that the current operation working condition is an anchor operation working condition.

Description

Intelligent operation method and control device of tunneling working face belt conveyor Technical Field The invention relates to the technical field of coal mine tunneling, in particular to an intelligent operation method of a tunneling working face belt conveyor and an intelligent operation control device of the tunneling working face belt conveyor. Background Along with the continuous development of technology, the underground raw coal transportation system of the coal mine is gradually upgraded into continuous transportation equipment mainly comprising a belt conveyor and a scraper belt conveyor, and the equipment has the characteristics of strong transportation capability, high operation reliability, convenience in installation and maintenance and the like. In normal heading face, raw coal and gangue are transported outwards mainly by belt conveyors, and a standard face is usually provided with three to five belt conveyors to form a continuous transport network. Before the conventional tunneling operation starts, the operation flow generally requires starting the belt conveyors one by one from inside to outside to ensure continuous transportation of raw coal and gangue generated by tunneling of the fully-mechanized coal mining machine. In the anchoring operation stage after the fully-mechanized coal mining machine completes the tunneling operation, the belt conveyor is usually kept in a continuous running state in order to avoid repeated starting. In the prior art, the progressive starting flow of a plurality of belt conveyors is complicated, the operation interval time can be prolonged, and the continuous no-load operation of the belt conveyors during the anchoring operation can cause serious energy waste. The operation mode has the advantages of low automation degree of the operation flow, high operation cost and easiness in occurrence of the conditions of low tunneling efficiency or energy waste. Disclosure of Invention Aiming at the technical problems of low automation degree of an operation flow and high operation cost in the prior art, and easiness in generating low tunneling efficiency or energy waste, the invention provides an intelligent operation method of a tunneling working face belt conveyor and an intelligent operation control device of the tunneling working face belt conveyor. The intelligent operation method for the tunneling working face belt conveyor comprises the steps of obtaining real-time images of the tunneling working face of the fully-mechanized coal mining machine and the line of the belt conveyor, identifying the current operation working condition of the fully-mechanized coal mining machine based on the real-time images, wherein the identification comprises analysis of pixel motion vector characteristics of a cutting head area in the real-time images, the current operation working condition at least comprises a tunneling operation starting working condition, a tunneling working condition and an anchoring working condition, and executing cooperative control on the belt conveyor based on the current operation working condition, wherein the cooperative control comprises executing inverse coal flow prediction starting control when the current operation working condition is the tunneling operation starting working condition, controlling the belt conveyor to operate according to the operation speed corresponding to the current operation working condition when the current operation working condition is the tunneling operation working condition, and executing sequential down-coal flow stop control when the current operation working condition is the anchoring working condition. The tunneling working conditions comprise an effective cutting condition and an idle working condition, the analysis of pixel motion vector characteristics of a cutting head area in a real-time image comprises the steps of calculating the motion vector direction and the size of a cutting head area pixel point in the real-time image, determining the current working condition as the effective cutting condition under the condition that the detected motion vector direction diverges from the cutting center to the periphery and has specific radial distribution, and determining the current working condition as the idle working condition under the condition that the detected motion vector direction only has rotation characteristics or the variation amplitude is smaller than a preset threshold value. Further, the control belt conveyor operates according to the operation speed corresponding to the current operation working condition, and the control belt conveyor operates at full speed under the condition that the current operation working condition is an effective cutting working condition, and operates at a speed lower than the rated operation speed or enters a stop preparation state under the condition that the current operation working condition is an idle working condition. Further, the method for identifying the cu