CN-122014247-A - Coal mining machine traction speed cross-circulation control method and system based on temperature field sensing

CN122014247ACN 122014247 ACN122014247 ACN 122014247ACN-122014247-A

Abstract

A temperature field sensing-based coal mining machine traction speed cross-circulation control method and system comprise the steps of collecting multidimensional information to construct a multisource sensing data set when an Nth cutter is cut, extracting thermal response characteristics of a temperature field, obtaining coal and rock characters of the current position through a recognition model, constructing position-coal and rock character space mapping and storing the space mapping and knowledge base as priori, calling priori information of the last cutter when an (n+1) th cutter is used, carrying out mutual verification and correction by combining real-time temperature field sensing, constructing a multistarget optimization model, deciding an optimal traction speed under the condition that constraint is met, issuing an optimal speed instruction, continuously monitoring feedback parameters, and guaranteeing operation safety. The system comprises a perception acquisition module, a thermal response characteristic extraction module, a coal lithology identification module, a space mapping and knowledge base storage module, a priori calling and correcting module, a multi-target traction speed optimization module and a traction control execution module which are sequentially connected. The method and the system can improve the stability and the intelligent decision level of cutting operation.

Inventors

LI FUTAO
WANG ZHONGBIN
WEI DONG
SI LEI
ZHAO YIHUI
LI XIN
Gu jinheng
LIANG MINFU
KOU QIQI

Assignees

中国矿业大学

Dates

Publication Date: 20260512
Application Date: 20260318

Claims (10)

1. The coal mining machine traction speed cross-circulation control method based on temperature field sensing is characterized by comprising the following steps of: The method comprises the following steps of S1, data acquisition and state sensing, wherein in the Nth cutter cutting process, coal wall temperature field information is acquired, and running state parameters of a coal cutter are synchronously acquired, and position information of the coal cutter in a working face is acquired to construct a multisource sensing data set in the cutting process; S2, extracting thermal response characteristics and identifying coal rock characteristics, extracting characteristic parameters reflecting the thermal response characteristics of the coal rock based on the acquired coal wall temperature field information, and completing identification and classification of the coal rock characteristics through a preset coal rock characteristic identification model to obtain a coal rock characteristic identification result of the current position; S3, space mapping construction and knowledge storage, wherein a coal lithology recognition result and coal cutter position information are subjected to space-time correlation to construct a position-coal lithology space mapping relation which is used for representing the distribution characteristics of the coal lithology along a working surface in the current cutting cycle; S4, calling prior knowledge and correcting in real time, calling corresponding coal lithology space mapping information formed by the previous cutting cycle from a knowledge base according to the real-time position of the coal cutter in the cutting process of the (N+1) th cutter to obtain corresponding coal lithology of the current position as prior input; S5, multi-target constraint index speed decision is carried out, a multi-target constraint optimization model is built after a corrected coal rock character recognition result is obtained, and on the premise that multi-target constraint conditions are met, the cutting stability is improved, traction load fluctuation is reduced, cutting energy consumption is reduced, cutting efficiency is taken into consideration, and an optimal traction speed set value matched with the current coal rock character is determined; S6, traction execution and process control, wherein an optimal traction speed set value is used as a control input, decision is made to output an optimal traction speed instruction and the optimal traction speed instruction is issued to a traction driving system, and the coal mining machine is driven to stably run according to the optimal traction speed set value; S7, knowledge fusion updating and cross-loop iteration, wherein after the N+1th cutting is completed, a coal lithology recognition result obtained through real-time correction in the current cutting loop is subjected to fusion updating with original coal lithology space mapping information in a knowledge base, the updated coal lithology space mapping information is rewritten into the knowledge base to serve as a priori basis of the next cutting loop, and the cross-loop rolling optimization and the system self-adaptive evolution of the traction speed of the coal mining machine are realized by continuously and repeatedly executing S1 to S7 in a plurality of cutting loops.
2. The method of claim 1, wherein in S1, the motion state parameters include a traction speed, a motor current, and a power.
3. The coal mining machine traction speed cross-cycle control method based on temperature field sensing according to claim 1 or 2, wherein in S1, coal wall temperature field information is acquired through an infrared thermal imaging device arranged at the front of the coal mining machine.
4. A method of controlling a shearer haulage speed across cycles based on temperature field sensing as claimed in claim 3, wherein in S2 the characteristic parameters include a temperature gradient characteristic parameter, a thermal profile characteristic parameter.
5. The method for controlling the cross-cycle of the traction speed of the coal mining machine based on the temperature field sensing according to claim 1, wherein in the step S2, the coal lithology comprises hardness, joint and coal lithology interface information.
6. The method of claim 1, wherein in S6, the feedback parameters include traction load and motor current parameters.
7. The method for controlling the cross-cycle of the traction speed of the coal mining machine based on the temperature field sensing according to claim 1, wherein in the step S5, the multi-objective constraint condition of the multi-objective constraint optimization model at least comprises a traction system load constraint, a motor current/power constraint and a cutting safety constraint.
8. A temperature field sensing-based shearer haulage speed trans-circulation control system for implementing a temperature field sensing-based shearer haulage speed trans-circulation control method as claimed in any one of claims 1 to 7, comprising: The sensing acquisition module is arranged on the coal mining machine and used for acquiring the coal wall temperature field information, the coal mining machine running state parameters and the position information of the coal mining machine in a working surface in a non-contact mode; the thermal response characteristic extraction module is connected with the sensing acquisition module and is used for carrying out characteristic extraction on the coal wall temperature field information to obtain thermal response characteristic parameters; The coal rock character recognition module is connected with the thermal response characteristic extraction module and is used for recognizing and classifying coal rock characters based on the thermal response characteristic parameters and outputting a coal rock character recognition result of the current position; The space mapping and knowledge base storage module is connected with the coal lithology recognition module and is used for carrying out space-time correlation on the coal lithology recognition result and the position information of the coal mining machine, constructing a position-coal lithology space mapping relation and storing the coal lithology space mapping information into the knowledge base; the prior calling and correcting module is respectively connected with the knowledge base and the perception acquisition module, and is used for calling corresponding coal lithology space mapping information formed by the previous cutting cycle from the knowledge base according to the real-time position of the coal cutter in the subsequent cutting cycle to serve as prior input of the coal lithology of the current position; The multi-target traction speed optimization module is respectively connected with the perception acquisition module and the priori invoking and correcting module and is used for deciding an optimal traction speed set value through a multi-target optimization algorithm under the condition of meeting multi-target constraint conditions based on corrected coal lithology recognition results; the traction control execution module is used for taking the optimal traction speed set value as a control input, deciding and outputting an optimal traction speed instruction to the traction driving system, and realizing the self-adaptive adjustment of the traction speed of the coal mining machine.
9. The temperature field sensing based shearer haulage speed cross-cycle control system of claim 8, further comprising: and the rolling updating module is used for carrying out fusion updating on the coal lithology recognition result obtained by real-time correction of the current cutting cycle and the original coal lithology space mapping information in the knowledge base, generating updated coal lithology space mapping information, and rewriting the updated coal lithology space mapping information into the knowledge base to serve as a priori basis of the next cutting cycle, so that cross-cycle rolling updating of the coal lithology information is realized.
10. The coal mining machine traction speed cross-circulation control system based on temperature field sensing according to claim 8 is characterized in that the sensing acquisition module comprises an infrared thermal imaging device, a multi-parameter monitoring integrated monitoring device and a positioning monitoring device, wherein the infrared thermal imaging device is used for acquiring coal wall temperature field information, the multi-parameter monitoring integrated monitoring device is used for acquiring coal mining machine running state parameters, and the positioning monitoring device is used for acquiring position information of a coal mining machine in a working face.

Description

Coal mining machine traction speed cross-circulation control method and system based on temperature field sensing Technical Field The invention belongs to the technical field of fully-mechanized intelligent control, and particularly relates to a coal mining machine traction speed cross-circulation control method and system based on temperature field sensing. Background In comprehensive mechanized coal mining operations, the coal cutter traction speed plays a decisive role in cutting load, energy consumption level and equipment operation safety. The coal rock characteristics are unevenly distributed in the working face space and continuously change along with the propelling of the coal mining machine, so that reasonable adjustment of the traction speed of the coal mining machine becomes a core difficult problem in the field of fully-mechanized mining face control. Currently, under the prior art system, the traction speed of the coal mining machine is mainly set in two modes, namely, setting by virtue of experience of an operator, and unfolding feedback adjustment according to single operation parameters such as motor current, power and the like. These methods have significant drawbacks that do not accurately reflect the dynamic changes in coal-rock properties. When facing complex coal and rock working conditions, traction load fluctuation is easy to be aggravated, energy consumption is greatly increased, and stability of a cutting process and safety of equipment operation are seriously affected. With the continuous development of intelligent perception technology, part of technical schemes try to identify the lithology of coal by means of coal wall images or temperature field information, and adjust the traction speed based on the lithology. However, most of the methods depend on a deep learning model with huge calculation amount, and in an underground practical operation environment, a plurality of practical problems of limited calculation force, fluctuation of communication bandwidth, unstable time and the like exist, so that the methods have high requirements on the onboard calculation force and communication instantaneity of the coal mining machine and are difficult to effectively adapt. In addition, the existing intelligent control scheme is used for tightly coupling coal and rock identification and traction control in the same real-time closed loop system, and the architecture highly dependent on real-time computing capacity reduces engineering applicability and operation reliability of the system under complex working conditions. In view of the above, there is an urgent need for a control method capable of implementing coal lithology sensing and coal mining machine traction adaptive adjustment under the conditions of limited calculation force and complex communication, so as to effectively improve the adaptability of the system to complex coal rock working conditions and meet the actual requirements of underground safe coal mining operation. Disclosure of Invention Aiming at the problems in the prior art, the invention provides a coal mining machine traction speed cross-circulation control method and system based on temperature field sensing, the method has simple implementation process and low implementation cost, can realize self-adaptive rolling optimization of the coal mining machine traction speed, and obviously improves cutting stability and intelligent decision level under complex geological conditions while considering cutting efficiency and energy consumption; the system realizes cross-cycle decoupling and rolling optimization of coal lithology sensing and coal mining machine traction speed control through cooperative work of a plurality of modules, and effectively improves adaptability and operation stability of the coal mining machine under the environments of limited computational power and complex communication conditions. In order to achieve the above purpose, the invention provides a coal mining machine traction speed cross-cycle control method based on temperature field sensing, which comprises the following steps: The method comprises the following steps of S1, data acquisition and state sensing, wherein in the Nth cutter cutting process, coal wall temperature field information is acquired, and running state parameters of a coal cutter are synchronously acquired, and position information of the coal cutter in a working face is acquired to construct a multisource sensing data set in the cutting process; S2, extracting thermal response characteristics and identifying coal rock characteristics, extracting characteristic parameters reflecting the thermal response characteristics of the coal rock based on the acquired coal wall temperature field information, and completing identification and classification of the coal rock characteristics through a preset coal rock characteristic identification model to obtain a coal rock characteristic identification result of the current position; S3, sp