Coal cutting control method, device, electronic equipment and storage medium

Abstract

The present disclosure provides a coal cutting control method, device, electronic device and storage medium, the control method comprising: obtaining reflection data of at least one radar detector in a target area, the reflection data comprising the radar reflection intensity of the target area; calculating stratification information of the target area based on the reflection data, the stratification information comprising contour information of coal seams and rock strata in the target area; locating the coal seams and rock strata in the target area according to the stratification information to obtain coal cutting information of the target area, the coal cutting information comprising the three-dimensional spatial position coordinates of the coal seams and rock strata in the target area; and controlling a coal mining machine to cut coal in the target area according to the coal cutting information.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mines, and in particular to a coal cutting control method, device, electronic equipment and storage medium. Background Art

[0002] Coal mining machine is the core equipment of fully mechanized mining face. Its intelligent and efficient cutting is the basic guarantee for realizing intelligent unmanned mining of fully mechanized mining face. During fully mechanized mining operation, the coal mining machine uses the hydraulic system to adjust the height of the rocker arm and the drum to meet the mining requirements of coal seams of different thicknesses. There will be problems if the adjustment is too high or too low, such as mechanical damage or waste of coal resources.

[0003] At present, the solution to this problem still relies on on-site operators to stop the machine in time and adjust the position of the mining head, which puts the workers in a high labor intensity and risk.

[0004] In order to solve the above problems, a coal cutting control method, device, electronic device and storage medium are proposed herein. Summary of the invention

[0005] In a first aspect of the present disclosure, a coal cutting control method is provided, the control method comprising:

[0006] Acquire reflection data of at least one radar detector in a target area, wherein the reflection data includes radar reflection intensity of the target area;

[0007] Based on the reflection data, calculating the layer information of the target area, the layer information including the contour information of the coal seam and the rock layer of the target area;

[0008] Positioning the coal seam and rock stratum in the target area according to the layering information to obtain coal cutting information of the target area, wherein the coal cutting information includes the three-dimensional spatial position coordinates of the coal seam and rock stratum in the target area;

[0009] The coal cutting machine is controlled to cut coal in the target area according to the coal cutting information.

[0010] In combination with the first aspect, the calculating the layered information of the target area based on the reflection data includes:

[0011] Calculating the dielectric constant of the target area based on the reflection data;

[0012] The target area is layered according to the dielectric constant to obtain contour information of the coal seams and rock strata in the target area.

[0013] In combination with the first aspect, the method further includes:

[0014] Performing random gradient descent screening on the calculated dielectric constant to obtain a target dielectric constant;

[0015] The target region is stratified according to the target dielectric constant.

[0016] In combination with the first aspect, the performing random gradient descent screening on the calculated dielectric constant includes iterating using the following formula:

[0017] ,

[0018] Among them, the subscript is the number of iterations, is the search weight, is the stochastic gradient, The elements in are random numbers between [0,1]. are all the child individuals after iteration, For all child individuals in the current iteration;

[0019] ,

[0020] in, for The search weight of the layer, The maximum dielectric constant of the layer is , The minimum dielectric constant of the layer is , The value range of is [1, n], where n is the number of layers in the target area.

[0021] In combination with the first aspect, the positioning of the coal seam and the rock stratum in the target area according to the layered information includes preliminary positioning of the coal seam and the rock stratum, and the preliminary positioning includes:

[0022] Based on the contour information of the coal seam in the target area in the stratification information, the number of sample points of the coal seam is calculated using the following formula:

[0023] ,

[0024] in, is the number of sample points of the initial contour information of the coal seam in the target area, is the height of the radar antenna; is the sampling time window; is the sampling rate; is the propagation speed of electromagnetic waves in air;

[0025] Based on the contour information of the rock formation in the target area in the stratification information, the number of sample points of the rock formation is calculated using the following formula:

[0026] ,

[0027] in, is the coal seam height; is the propagation speed of electromagnetic waves in coal seams;

[0028] The coal seam and rock stratum in the target area are located according to the positions of all the sample points of the coal seam and all the sample points of the rock stratum.

[0029] In combination with the first aspect, the method further includes secondary positioning of the coal seam and the rock layer, and the secondary positioning includes:

[0030] Build an error model;

[0031] Generate a two-dimensional error map according to the error model;

[0032] In each error two-dimensional map, the coal seam thickness threshold E is set. rm , screening coal seam thickness E r1 Less than the coal seam thickness threshold E rm area, and perform intersection operation to obtain the number and location of sample points of coal seams and rock strata.

[0033] In combination with the first aspect, the error model is set on a two-dimensional grid unit, the two-dimensional grid unit has equal length and width, the time window is less than or equal to 15ns, and the wavelet center frequency is less than or equal to 1.2GHz.

[0034] A second aspect of the present disclosure provides a coal cutting control device, the control device comprising:

[0035] A coal mining machine and a coal cutting unit arranged on the coal mining machine, wherein the coal cutting unit comprises a hydraulic assembly, a rocker arm and a roller, wherein the hydraulic assembly is used to adjust the height of the rocker arm and the roller according to the thickness of the coal seam;

[0036] A detection unit, including a radar detector, for acquiring reflection data of a target area;

[0037] A calculation unit, which calculates the layer information of the target area according to the reflection data, wherein the layer information includes the contour information of the coal seam and the rock layer of the target area;

[0038] A positioning unit locates the coal seam and the rock layer in the target area according to the layer information to obtain coal cutting information of the target area, wherein the coal cutting information includes the three-dimensional spatial position coordinates of the coal seam and the rock layer in the target area;

[0039] A coal cutting control unit is used to control the coal cutting machine to cut coal in the target area according to the coal cutting information.

[0040] According to a third aspect of the present disclosure, an electronic device is provided, including:

[0041] one or more processors;

[0042] The storage unit is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement any of the above-mentioned coal cutting control methods.

[0043] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, any of the above-mentioned coal cutting control methods can be implemented.

[0044] The present disclosure provides a coal cutting control method, device, electronic device and storage medium, which uses radar sensors to obtain geological information of the working face, and uses the geological information to realize intelligent identification and prediction of geological conditions, thereby optimizing the working parameters of the coal mining machine for coal cutting. By implementing this solution, the boundaries and characteristics of coal seams and rock strata can be accurately identified, and the coal cutting path and speed of the coal mining machine can be automatically adjusted, which reduces equipment loss, reduces failure rate and maintenance costs, improves coal cutting efficiency, and extends equipment service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic flow chart of a coal cutting control method according to an embodiment of the present disclosure;

[0046] Figure 2 A schematic diagram of a coal mining machine according to an embodiment of the present disclosure;

[0047] Figure 3 A schematic diagram of a coal mining machine cutting coal according to an embodiment of the present disclosure;

[0048] Figure 4 It is a schematic diagram of a coal cutting control device according to an embodiment of the present disclosure;

[0049] Figure 5 Schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure.

[0051] The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments and are not intended to limit the disclosed embodiments. The singular forms of "a", "said" and "the" used in the disclosed embodiments are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0052] like Figure 1 FIG. 1 is a flow chart of a coal cutting control method according to an embodiment of the present disclosure. The control method comprises the following steps:

[0053] S101: Acquire reflection data of at least one radar detector in a target area, where the reflection data includes radar reflection intensity of the target area;

[0054] S102: Calculating the layer information of the target area based on the reflection data, where the layer information includes contour information of the coal seam and the rock layer of the target area;

[0055] S103: positioning the coal seam and the rock layer in the target area according to the layer information, and obtaining coal cutting information of the target area, wherein the coal cutting information includes the three-dimensional spatial position coordinates of the coal seam and the rock layer in the target area;

[0056] S104: Controlling the coal mining machine to cut coal in the target area according to the coal cutting information.

[0057] Radar sensors emit electromagnetic waves, which are reflected when they encounter different media (such as coal and rock layers). Receivers collect these reflected waves and obtain reflection data, which contains the radar reflection intensity of different materials in the target area.

[0058] The calculation of layer information is through analyzing and processing the reflection data, extracting the characteristic points of coal seams and rock strata, and using the inversion algorithm to calculate the contour to ensure the accuracy and completeness of the layer information.

[0059] Through precise spatial coordinate calculation, detailed geological information can be provided for the operation of coal mining machines.

[0060] Refer to the following Figure 2-Figure 5 The control method is described in detail.

[0061] like Figure 2 As shown, it is a schematic diagram of a coal mining machine 200 according to an embodiment of the present disclosure.

[0062] The spiral drum 210 cuts the coal seam by rotating, thereby removing the coal blocks from the coal wall.

[0063] Fuselage 220: provides a platform for supporting and fixing other components.

[0064] Height adjustment cylinder 230: used to adjust the height of the rocker arm and the spiral drum. By adjusting the extension and contraction of the cylinder, it can meet the mining requirements of coal seams of different thicknesses.

[0065] Rocker arm 240: The part connecting the spiral drum and the machine body. The rocker arm adjusts the height of the spiral drum by adjusting the oil cylinder, thereby controlling the coal mining depth.

[0066] During the coal cutting operation, the coal mining machine 200 uses the height adjustment cylinder 230 to adjust the height of the spiral drum 210 to adapt to coal seams of different thicknesses. This adjustment is completed by a hydraulic unit, which includes components such as a cylinder, a hydraulic pump, and a control valve. By adjusting the hydraulic unit, the operator can accurately control the position of the spiral drum 210 to ensure the efficiency and safety of the coal mining operation.

[0067] like Figure 3 Shown is a schematic diagram of coal cutting by a coal mining machine according to an embodiment of the present disclosure.

[0068] Among them, the coal mining machine 200 is used for cutting coal seams.

[0069] Coal seam 320 is a coal seam to be mined, and its height and thickness present an irregular curve.

[0070] The boundary between the coal seam 320 and the rock layer 330 is an irregular curve.

[0071] During operation, the coal mining machine 200 detects irregular height changes in the coal seam and performs precise identification and targeted positioning.

[0072] Furthermore, Figure 1 The steps of step S102 in the embodiment include:

[0073] Based on the reflection data, calculating the dielectric constant of the target area;

[0074] The target area is layered according to the dielectric constant to obtain contour information of the coal seams and rock strata in the target area.

[0075] Specifically, the electromagnetic waves emitted by the radar detector generate reflection signals of different intensities and phases when encountering the coal seam and rock layer. Reflection data is obtained by receiving and analyzing these signals.

[0076] According to the intensity and phase difference of the reflected signal, the dielectric constant of each point in the target area is calculated using the inversion algorithm. The corresponding dielectric constants of the coal seam and the rock layer in the inversion algorithm can be found through historical coal cutting data, which will not be repeated here.

[0077] Exemplarily, the obtained dielectric constant is subjected to random gradient descent screening to obtain a target dielectric constant;

[0078] Among them, the stochastic gradient descent method is used to gradually obtain the real dielectric constant closest to the coal seam and rock formation, more accurately identify the characteristics of the coal seam and rock formation, and ensure the reliability and accuracy of the results.

[0079] Specifically, the random gradient descent screening of the calculated dielectric constant includes iterating using the following formula:

[0080] ,

[0081] Among them, the subscript is the number of iterations, is the search weight, is the stochastic gradient, The elements in are random numbers between [0,1]. are all the child individuals after iteration, For all child individuals in the current iteration;

[0082] ,

[0083] in, for The search weight of the layer, The maximum dielectric constant of the layer is , The minimum dielectric constant of the layer is , The value range of is [1, n], where n is the number of layers in the target area.

[0084] Iterative formula: The dielectric constant is iteratively updated using the following formula:

[0085] Through stochastic gradient descent, the dielectric constant is updated using stochastic gradients in the hope of finding the optimal parameters that minimize the objective function.

[0086] Furthermore, the target area is stratified according to the obtained dielectric coefficient to obtain the contour information of the coal seam and the rock stratum.

[0087] Furthermore, Figure 1 The steps of step S103 in the embodiment include:

[0088] The coal seam and rock stratum in the target area are located according to the contour information to obtain coal cutting information of the target area, and the coal cutting information includes the three-dimensional spatial position coordinates of the coal seam and rock stratum in the target area.

[0089] Specifically, it includes preliminary positioning of coal seams and rock strata, which includes:

[0090] Based on the contour information of the coal seam in the target area in the layer information, the number of sample points of the coal seam is calculated using the following formula:

[0091] ,

[0092] in, is the number of sample points of the initial contour information of the coal seam in the target area, is the height of the radar antenna; is the sampling time window; is the sampling rate; is the propagation speed of electromagnetic waves in air;

[0093] Based on the contour information of the rock formation in the target area in the stratification information, the number of sample points of the rock formation is calculated using the following formula:

[0094] ,

[0095] in, is the coal seam height; is the propagation speed of electromagnetic waves in coal seams;

[0096] According to the positions of all the sample points of the coal seam and all the sample points of the rock stratum, the coal seam and rock stratum in the target area are located.

[0097] Furthermore, the coal seam and rock stratum are secondary positioned, and the secondary positioning includes:

[0098] Build an error model;

[0099] Generate a two-dimensional error map according to the error model;

[0100] In each error two-dimensional map, the coal seam thickness threshold E is set. rm , screening coal seam thickness E r1 Less than the coal seam thickness threshold E rm area, and perform intersection operation to obtain the number and location of sample points of coal seams and rock strata.

[0101] Exemplarily, the error model is set on a two-dimensional grid unit, the two-dimensional grid unit size is 0.005m×0.005m, the time window is 15ns, and the wavelet center frequency is 1.2GHz.

[0102] Among them, the preliminary data points about coal seams and rock strata collected by the radar sensor reflect the medium characteristics of the target area.

[0103] ,

[0104] This formula calculates the number of coal seam data points that can be detected by the radar antenna within the sampling time window.

[0105] Among them, the suspension height of the radar antenna affects the propagation range and distance of the radar waves. The higher the antenna, the larger the coverage range.

[0106] The sampling window is the length of time that the radar collects data in one cycle. The longer the window, the more data can be collected.

[0107] The sampling rate refers to the number of samples collected per second. The higher the sampling rate, the more data points are collected.

[0108] The speed at which electromagnetic waves travel through air. The speed at which radar waves travel through air determines the distance they can cover in a given time.

[0109] ,

[0110] This formula represents the number of rock formation data points that can be detected by electromagnetic waves.

[0111] Among them, the height of the coal seam affects the propagation distance of the radar wave in the coal seam.

[0112] The propagation speed of electromagnetic waves in coal seams affects the propagation time and range of electromagnetic waves in coal seams.

[0113] Furthermore, the errors in the radar data are analyzed and corrected to further improve the accuracy of coal and rock strata positioning.

[0114] The error model takes into account the reflection, refraction, and signal delay factors that may occur during signal propagation. By simulating the propagation path of the radar signal, the difference between the actual collected data and the true position is calculated.

[0115] Generate a 2D error map showing the distribution of errors at different locations to help identify and correct biases in radar data.

[0116] Specifically, grid division: divide the target area into multiple two-dimensional grid cells of fixed size, each cell size is 0.005m×0.005m, in each grid cell, based on the sampling time window (15ns) and the wavelet center frequency (1.2GHz), calculate the propagation error of the radar signal in the cell.

[0117] In the numerical model, the relative dielectric constant of the coal seam is 6, and the relative dielectric constant of the rock is 9. The antenna's suspension height is set to 20 cm and remains unchanged, and the coal seam thickness ranges from 30 to 50 cm. The track spacing is set to 0.02 m.

[0118] Assume that on a single-channel waveform, the ranges of sampling point numbers for the direct wave, air-to-coal, and coal-to-rock reflected wave are [i1,i2], [j1,j2], and [k1,k2], respectively. i′, j′, and k′ are the distances of the sampling points relative to the extreme point numbers of their main lobe, which are called relative numbers.

[0119] The relative error of the calculated value of the suspended height and the relative error of the coal seam thickness are E r0 and E r1 .

[0120] The single waveforms of different coal seam thicknesses will each correspond to a relative error two-dimensional map. In each two-dimensional map, the threshold E is set. rm , and get its corresponding E r1 <E rm , and perform intersection operations on several regions.

[0121] Specifically, the overlapping sample points of the two are found, and these overlapping sample points are the sample points and their positions of the coal seam and rock layer that are finally determined. The intersection operation ensures that only those sample points that have been confirmed after preliminary positioning and error correction are retained, thereby improving the accuracy of positioning.

[0122] In this process, it is necessary to ensure that the threshold E rm As small as possible, and ensure E under different suspension height conditions r1 <E rm The intersection of the regions is not empty. That is, the final threshold E rm It is the minimum common area that satisfies a certain linear relationship.

[0123] From the above, we get the relationship between the relative serial numbers i′ and j′, j′ and k′ under different altitude conditions, and finally we get: if N0 is selected as the number of sample points of the direct wave position in the preprocessed radar data, then the position from the air to the coal seed layer is (T0, N1+2), and the position from the coal to the rock seed layer is (T0, N2+2).

[0124] The coal cutting machine is controlled to cut coal in the target area according to the coal cutting information.

[0125] A schematic diagram of a coal cutting control device according to an embodiment of the present disclosure is shown in FIG. Figure 4 As shown, including:

[0126] A coal mining machine and a coal cutting unit provided on the coal mining machine, wherein the coal cutting unit comprises a hydraulic assembly, and the hydraulic assembly is used to adjust the height of the rocker arm and the drum according to the thickness of the coal seam;

[0127] An electromagnetic sensor unit for identifying a coal-rock interface, the electromagnetic sensor unit comprising a signal processing module for processing received signals to determine the coal-rock interface;

[0128] The coal cutting control unit is used to control the coal cutting unit to cut coal according to the coal-rock interface information of the electromagnetic sensor unit.

[0129] The directional coal cutting control device performs coal cutting through the above-mentioned coal cutting control method. The specific method refers to the above-mentioned coal cutting control method, which will not be described in detail here.

[0130] The embodiments of the present disclosure provide a coal cutting control method, device, electronic device and storage medium, which uses a radar sensor to obtain geological information of the working face, and uses the geological information to realize intelligent identification and prediction of geological conditions, thereby optimizing the working parameters of the coal mining machine for coal cutting. By implementing this solution, the boundaries and characteristics of coal seams and rock strata can be accurately identified, and the coal cutting path and speed of the coal mining machine can be automatically adjusted, which reduces equipment loss, reduces failure rate and maintenance costs, improves coal cutting efficiency, and extends equipment service life.

[0131] The electronic device may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that Figure 5 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0132] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0133] The memory can be an internal storage unit of an electronic device, such as a hard disk or memory of the electronic device. The memory can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Furthermore, the memory can also include both the internal storage unit of the electronic device and the external storage device. The memory is used to store computer programs and other programs and data required by the electronic device. The memory can also be used to temporarily store data that has been output or is to be output.

[0134] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0135] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0136] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0137] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0138] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims

1. A coal cutting control method, characterized in that: The control method comprises: Acquire reflection data of at least one radar detector in a target area, wherein the reflection data includes radar reflection intensity of the target area; Based on the reflection data, the dielectric constant of the target area is calculated, the dielectric constant is subjected to random gradient descent screening to obtain a target dielectric constant, and the target area is stratified according to the target dielectric constant. The random gradient descent screening of the dielectric constant includes iterating using the following formula: ， Among them, the subscript is the number of iterations, is the search weight, is the stochastic gradient, The elements in are random numbers between [0,1]. are all the child individuals after iteration, are all the sub-individuals in the current iteration, ， in, for The search weight of the layer, The maximum dielectric constant of the layer is , The minimum dielectric constant of the layer is , The value range of is [1, n], where n is the number of layers in the target area; The coal seams and rock strata in the target area are initially and secondary positioned according to the layered information to obtain coal cutting information of the target area, wherein the coal cutting information includes the three-dimensional spatial position coordinates of the coal seams and rock strata in the target area. The initial positioning includes: Based on the contour information of the coal seam in the target area in the stratification information, the number of sample points of the coal seam is calculated using the following formula: ， in, is the number of sample points of the initial contour information of the coal seam in the target area, is the height of the radar antenna; is the sampling time window; is the sampling rate; is the propagation speed of electromagnetic waves in air, Based on the contour information of the rock formation in the target area in the stratification information, the number of sample points of the rock formation is calculated using the following formula: ， in, is the coal seam height; is the propagation speed of electromagnetic waves in coal seams, The secondary positioning includes: Build an error model. Generate a two-dimensional error map according to the error model, Set the coal seam thickness threshold E in each error two-dimensional map rm , screening coal seam thickness E r1 Less than the coal seam thickness threshold E rm The area is divided into two parts, and the intersection operation is performed to obtain the number and location of sample points of coal seams and rock strata; The coal cutting machine is controlled to cut coal in the target area according to the coal cutting information.

2. The control method according to claim 1, characterized in that: The error model is set on a two-dimensional grid unit, the size of the two-dimensional grid unit is equal to the length and width, the time window is less than or equal to 15ns, and the wavelet center frequency is less than or equal to 1.2GHz.

3. A coal cutting control device, characterized in that: The control device comprises: A coal mining machine and a coal cutting unit arranged on the coal mining machine, wherein the coal cutting unit comprises a hydraulic assembly, a rocker arm and a roller member, wherein the hydraulic assembly is used to adjust the height of the rocker arm and the roller according to the thickness of the coal seam; A detection unit, including a radar detector, for acquiring reflection data of a target area; A calculation unit calculates the dielectric constant of the target area according to the reflection data, performs random gradient descent screening on the dielectric constant to obtain a target dielectric constant, and stratifies the target area according to the target dielectric constant. The random gradient descent screening of the dielectric constant includes iterating using the following formula: ， Among them, the subscript is the number of iterations, is the search weight, is the stochastic gradient, The elements in are random numbers between [0,1]. are all the child individuals after iteration, are all the sub-individuals in the current iteration, ， in, for The search weight of the layer, The maximum dielectric constant of the layer is , The minimum dielectric constant of the layer is , The value range of is [1, n], where n is the number of layers in the target area; A positioning unit performs preliminary positioning and secondary positioning of the coal seam and the rock layer in the target area according to the layer information to obtain coal cutting information of the target area, wherein the coal cutting information includes the three-dimensional spatial position coordinates of the coal seam and the rock layer in the target area. The initial positioning includes: Based on the contour information of the coal seam in the target area in the stratification information, the number of sample points of the coal seam is calculated using the following formula: ， in, is the number of sample points of the initial contour information of the coal seam in the target area, is the height of the radar antenna; is the sampling time window; is the sampling rate; is the propagation speed of electromagnetic waves in air, Based on the contour information of the rock formation in the target area in the stratification information, the number of sample points of the rock formation is calculated using the following formula: ， in, is the coal seam height; is the propagation speed of electromagnetic waves in coal seams, The secondary positioning includes: Build an error model. Generate a two-dimensional error map according to the error model, Set the coal seam thickness threshold E in each error two-dimensional map rm , screening coal seam thickness E r1 Less than the coal seam thickness threshold E rm The area is divided into two parts, and the intersection operation is performed to obtain the number and location of sample points of coal seams and rock strata; A coal cutting control unit is used to control the coal cutting machine to cut coal in the target area according to the coal cutting information.

4. An electronic device, characterized in that: include: one or more processors; A storage unit is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement the coal cutting control method according to any one of claims 1 to 2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the coal cutting control method according to any one of claims 1 to 2 can be implemented.

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