Path planning method for heading machine, medium and equipment

Abstract

The invention discloses a path planning method for a heading machine, a medium and equipment, and relates to the related technical field of heading machines, the method comprises the following steps: constructing a coal mine operation graph network, and segmenting to obtain a plurality of operation areas; respectively executing heading machine advancing control error analysis, and determining a plurality of advancing control error distributions; constructing an identification operation graph network; and with the shortest overall idle running path and the shortest overall operation time as targets, collaborative optimization of multiple tunneling paths is carried out according to the coal mining operation target and the current equipment distribution, and an optimal tunneling path plan is output. The technical problems that in the prior art, coal mine operation area differences cannot be fully considered, so that heading machine advancing control errors are large, multi-heading-machine cooperative operation efficiency is low, the idle running path is long and time length waste is serious are solved, multi-heading-path cooperative optimization is achieved, the overall idle running path is shortest, the overall operation time length is shortest, and the working efficiency is improved. And the safety and efficiency of the tunneling operation are improved.

Description

Technical Field

[0001] The present application relates to the technical field related to roadheaders, and in particular to a path planning method, medium and equipment for roadheaders. Background Art

[0002] In coal mining operations, the efficient and safe operation of tunnel boring machines is crucial to improving coal mining efficiency and ensuring production safety. As coal mining gradually develops towards deep and complex geological conditions, traditional tunnel boring machine path planning methods have exposed many drawbacks. Traditional path planning has not fully considered the complexity of the coal mine operating environment. Differences in road conditions and geological conditions in different areas will have a significant impact on the movement of tunnel boring machines. In addition, existing methods usually regard the entire operating area as a single and uniform environment, resulting in large control errors in the movement of tunnel boring machines, which not only affects operating efficiency, but may also cause equipment failures and safety accidents due to control errors. At the same time, in the scenario of collaborative operation of multiple tunnel boring machines, there is a lack of effective collaborative path planning, and each tunnel boring machine operates independently, which is prone to path conflicts and long empty running paths, resulting in an increase in the overall operation time and serious waste of resources.

[0003] At the current stage, relevant technologies fail to fully consider the differences in coal mine operating areas, resulting in large errors in the travel control of the tunnel boring machines, low efficiency in the coordinated operation of multiple tunnel boring machines, long empty running paths and serious waste of time. Summary of the invention

[0004] The present application solves the technical problems in the prior art that the differences in coal mine operating areas cannot be fully considered, resulting in large errors in the travel control of the tunnel boring machine, low efficiency in the coordinated operation of multiple tunnel boring machines, long empty running paths and serious waste of time, by providing a path planning method, medium and equipment for the tunnel boring machine. The application realizes the collaborative optimization of multiple tunnel boring paths, achieves the shortest overall empty running path and the shortest overall operation time, and improves the safety and efficiency of tunnel boring operations.

[0005] The present application provides a path planning method for a roadheader, the method comprising: constructing a coal mine operation map network, and segmenting the coal mine operation map network to obtain multiple operation areas, wherein the road features of each operation area are the same by default; performing roadheader travel control error analysis respectively according to the multiple operation areas to determine multiple travel control error distributions; marking the multiple operation areas according to the multiple travel control error distributions to construct a marked operation map network; using the marked operation map network, with the shortest overall empty running path and the shortest overall operation time as the goals, performing collaborative optimization of multiple roadheading paths according to coal mining operation goals and current equipment distribution, and outputting the optimal roadheading path planning, wherein during the optimization process, a travel safety range is set according to the travel control error distribution and the roadheader travel speed, and the sum of the safety range diameters is less than the road width as the optimization constraint.

[0006] In a possible implementation, the path planning method for a tunnel boring machine is also used to perform the following processing: obtaining several coal mining areas and several access paths of a target coal mine, wherein the access paths are marked with road information, and the road information includes road curvature, road slope and road width; performing graph mapping with coal mining areas as nodes and access paths as edges to build a coal mine operation map network.

[0007] In a possible implementation, the path planning method for a tunnel boring machine is also used to perform the following processing: setting a slope division step and a curvature division step; performing a primary segmentation on the coal mine operation map network according to the slope division step to obtain multiple primary operation areas; performing a secondary segmentation on the multiple primary operation areas according to the curvature division step to obtain multiple operation areas, and calculating the average slope and average curvature of each operation area to identify the operation area.

[0008] In a possible implementation, the path planning method for a tunnel boring machine is also used to perform the following processing: randomly selecting a first working area and obtaining a first slope mean and a first curvature mean of the first working area; using the first slope mean and the first curvature mean as comparison constraints, retrieving historical travel records of similar tunnel boring machines, collecting sample travel speed sets and sample travel control error sets, wherein the travel control error is a route deviation ratio; configuring multiple travel speed intervals, clustering the sample travel control error sets based on the sample travel speed sets, and calculating the error mean of each clustering result to obtain multiple first travel control errors; establishing a mapping relationship among the first working area, multiple travel speed intervals, and multiple first travel control errors, constructing a first travel control error distribution, and sequentially analyzing and obtaining multiple travel control error distributions.

[0009] In one possible implementation, the path planning method for a tunnel boring machine is also used to perform the following processing: building a tunnel boring path simulation space based on the identification operation map network; obtaining a variable threshold value of the travel speed of the tunnel boring machine; using the tunnel boring path simulation space to simulate multiple tunnel boring paths according to the coal mining operation objectives, current equipment distribution and variable threshold value of the travel speed, and outputting a first feasible tunnel boring path plan based on the multiple travel control error distributions; constructing a planning evaluation function with the goal of minimizing the overall empty running path and minimizing the overall operation time, evaluating the first feasible tunnel boring path plan, and obtaining a first planning fitness; continuing to iteratively generate and evaluate the feasible tunnel boring path plan until a predetermined number of convergences is reached, and outputting the feasible tunnel boring path plan with the maximum planning fitness as the optimal tunnel boring path plan.

[0010] In a possible implementation manner, the path planning method for the roadheader is further used to perform the following processing: segment a plurality of passing paths in the simulation space of the driving path according to a predetermined distance step length to obtain a plurality of sets of passing road segments; take the coal mining operation target as the operation requirement, perform path planning according to the current equipment distribution, and output a first initial path planning result, where the first initial path planning result includes the planned traveling paths of a plurality of roadheaders; according to the variable traveling speed threshold, configure the speeds of the plurality of planned traveling paths respectively according to the plurality of sets of passing road segments, and output a first path planning result; based on the plurality of traveling control error distributions, determine whether the first path planning result meets the road width constraint. If it meets, set the first path planning result as the first feasible driving path planning; if it does not meet, continue to perform path planning until the road width constraint is met, and output the first feasible driving path planning.

[0011] In a possible implementation manner, the path planning method for the roadheader is further used to perform the following processing: randomly configure the speeds of the plurality of planned traveling paths respectively according to the plurality of sets of passing road segments according to the variable traveling speed threshold, and output a first configured path planning result; judge the first configured path planning result according to the adjacent segment speed deviation threshold. If the speed deviation of each adjacent segment is less than the adjacent segment speed deviation threshold, set the first configured path planning result as the first path planning result.

[0012] In a possible implementation manner, the path planning method for the roadheader is further used to perform the following processing: arbitrarily select the position of the first segment, the width of the first segment, the number of the first roadheaders, and the first traveling speed set within the same time of the first segment in the first path planning result; based on the plurality of traveling control error distributions, obtain the adapted traveling control error distribution according to the matching of the first segment position; based on the adapted traveling control error distribution, obtain the adapted traveling control error set according to the matching of the first traveling speed set; calculate a first traveling safety range set according to the adapted traveling control error set and the first traveling speed set, where the traveling safety range is the product of the adapted traveling control error and the traveling speed; judge whether the sum of the diameters of the first traveling safety range set is less than the width of the first segment. If so, the first segment width constraint is met; if all segments in the first path planning result meet the segment width constraint, set the first path planning result as the first feasible driving path planning.

[0013] The present application also provides a computer-readable storage medium, including: a computer program stored thereon, which when executed by a processor implements the path planning method for the roadheader.

[0014] The present application also provides an electronic device, including: a memory for storing executable instructions; and a processor for implementing a path planning method for a roadheader when executing the executable instructions stored in the memory.

[0015] It is intended to construct a coal mine operation map network through the path planning method, medium and device for a roadheader proposed in the present application, and perform segmentation to obtain multiple operation areas; respectively perform analysis of the travel control error of the roadheader to determine multiple travel control error distributions; construct an identification operation map network; with the goal of the shortest overall idle running path and the shortest overall operation duration, perform collaborative optimization of multiple roadheader paths according to the coal mining operation target and the current equipment distribution, and output the optimal roadheader path planning. This solves the technical problems in the prior art that the differences in coal mine operation areas cannot be fully considered, resulting in large travel control errors of the roadheader, low efficiency of collaborative operation of multiple roadheaders, long idle running paths, and serious waste of time, realizes collaborative optimization of multiple roadheader paths, achieves the shortest overall idle running path and the shortest overall operation duration, and improves the safety and efficiency of the roadheader operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly introduced below. Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the operations in the front or below do not necessarily need to be executed precisely in sequence. On the contrary, according to the need, they can be executed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or several operations can be removed from these processes.

[0017] Figure 1 It is a schematic flowchart of the path planning method for a roadheader provided by an embodiment of the present application.

[0018] Figure 2 It is a schematic flowchart of determining the travel control error distribution in the path planning method for a roadheader provided by an embodiment of the present application.

[0019] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0020] Description of the reference numerals: input device 401, processor 402, memory 403, output device 404. DETAILED DESCRIPTION

[0021] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific embodiments of the present application.

[0022] To make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be construed as limitations on the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0023] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict. The terms "first / second" only distinguish similar objects and do not represent a specific order for the objects. The terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, product or server including a series of steps does not have to be limited to those steps clearly listed, but may include other steps not clearly listed or inherent to these processes, methods, products or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application.

[0024] The embodiments of the present application provide a path planning method for a roadheader, as Figure 1 shown, the method includes: Step S100, constructing a coal mine operation map network, and segmenting the coal mine operation map network to obtain a plurality of operation areas, where the road characteristics of each operation area are defaulted to be the same.

[0025] Preferably, various types of information in the coal mine are obtained through mine design drawings, on-site measurement data, and real-time monitoring data of sensors, including the layout, dimensions, and connection relationships of roadways, as well as the position information of various equipment and facilities (such as ventilation equipment, transportation tracks, etc.). Then, using geographic information system (GIS) and graph theory techniques, the obtained coal mine operation information is converted into a graph network structure. Specifically, the intersection points, endpoints, etc. of the roadways are used as nodes, the roadways connecting the nodes are used as edges, and corresponding attributes are assigned to each edge, such as the length, slope, and whether there are obstacles of the roadway, so as to comprehensively describe the road characteristics of the coal mine operation area. For example, if there is local water accumulation in a certain section of the roadway, it can be noted in the corresponding edge attribute, which may affect the traveling speed and safety of the roadheader in this area.

[0026] Preferably, the coal mine operation graph network is segmented based on the functional areas of the tunnels, for example, the coal mining area, transportation area, ventilation area, etc. are each divided into different operation areas. During the segmentation process, a clustering algorithm (such as the K-Means algorithm) is used to cluster the nodes of the graph network, that is, the number K of operation areas that need to be divided is determined, and then K nodes are randomly selected as the initial cluster centers; the distance from each node to each cluster center is calculated (the distance is calculated comprehensively based on the attributes of the edges and the topological relationship between the nodes), and the nodes are divided into the class where the nearest cluster center is located; then the center of each class is recalculated, and it is continuously iterated until the clustering result is stable; finally, each cluster set corresponds to an operation area, and when dividing, it is assumed that the road characteristics in each operation area (such as the roughness and slope of the tunnel, and other factors that affect the travel of the tunnel boring machine) are the same by default.

[0027] Furthermore, step S100 also includes step S110, obtaining several coal mining areas and several access paths of the target coal mine, wherein the access paths are marked with road information, and the road information includes road curvature, road slope and road width; step S120, performing graph mapping with coal mining areas as nodes and access paths as edges to build a coal mine operation map network.

[0028] Preferably, by analyzing the geological exploration data and mining design drawings of the coal mine, different coal mining areas are divided according to the coal seam distribution, geological structure, and mining plan. For example, based on the strike and thickness variation of the coal seam, the area where the coal seam is relatively continuous and the thickness is relatively stable is designated as a coal mining area. The access path is the passage connecting each coal mining area and other functional areas of the coal mine, including roadways, ramps, etc. By analyzing the engineering drawings of the coal mine and actual measurement, the orientation, length, etc. of the access path are determined, and the key features on each access path, such as bends, gradients, width changes, etc., are recorded. Among them, the road curvature, road gradient, and road width constitute the road information, which is used to mark the access path. Specifically, the road curvature represents the degree of bending of the access path bend, and the curvature is quantified by measuring the central angle, radius, etc. of the bend; the road gradient represents the ratio of the vertical height to the horizontal distance of the access path, and is measured using equipment such as a level and a total station; the road width represents the width of the access path, which is used to limit the passage of the roadheader and plan the path, and ensure that the tunneling process does not collide with the roadway. Finally, the coal mining area is abstracted as a node, and each node represents a specific coal mining area, with a unique identifier and related attributes (such as position coordinates, coal production, etc.). The access path is used as the edge in the graph to connect the relevant coal mining area nodes. The attributes of the edge include the road curvature, gradient, width, etc. information marked above, as well as the length of the edge (i.e., the actual length of the access path). Furthermore, a coal mine operation graph network is constructed. The graph network can be stored using an adjacency matrix. In the adjacency matrix, if there is an edge between two nodes (i.e., there is an access path connection between the corresponding coal mining areas), the corresponding element value in the matrix is the attribute information of the edge (such as the road length, etc.), otherwise it is 0. By means of graph mapping, the complex physical space structure of the coal mine is transformed into an abstract graph network model, which is conducive to the efficient planning of the roadheader path.

[0029] Further, step S100 further includes step S130 of setting a gradient division step size and a curvature division step size; step S140 of performing a first division on the coal mine operation graph network according to the gradient division step size to obtain a plurality of first operation areas; step S150 of respectively performing a second division on the plurality of first operation areas according to the curvature division step size to obtain a plurality of operation areas, and calculating the average gradient and average curvature of each operation area, and marking the operation areas.

[0030] Preferably, the slope division step size is a preset slope interval value based on the actual situation of the coal mine, the performance of the roadheader, and the accuracy requirements of path planning. It is used to group sections with different slopes in the coal mine operation map network. If the step size is set too large, it may lead to excessive slope differences in the divided operation areas, which is not conducive to the analysis of the travel control error of the roadheader; if the step size is set too small, the number of divided operation areas will be too large, increasing the complexity of subsequent processing. Similar to the slope division step size, the curvature division step size is an interval value set for the road curvature, used to group sections with different curvatures. A reasonable curvature division step size can ensure that the road curvature within each operation area is relatively consistent, helping to more accurately evaluate the steering performance and control error of the roadheader in different operation areas.

[0031] Preferably, the coal mine operation map network is segmented according to the set slope division step size, that is, grouped according to the slope information recorded by each edge (passage path). For example, the passage paths with a slope of 0% - 5% are divided into one group, and those with a slope of 5% - 10% are divided into another group, thus obtaining multiple groups. The area corresponding to each group forms an operation area once, and the passage path slopes within each primary operation area are roughly within the same interval. Then, for the passage paths within each primary operation area, secondary segmentation is performed according to their curvature information and the set curvature division step size, further dividing each primary operation area into multiple smaller operation areas, so that the road slopes and curvatures within each operation area are relatively concentrated. Finally, for each operation area, the slope values and curvature values of all passage paths are statistically analyzed, and the average values are calculated respectively. The slope average value and curvature average value can represent the overall slope and curvature characteristics of the roads within the operation area, and identifiers are assigned to each operation area based on the slope average value and curvature average value, facilitating the query and use of the corresponding slope and curvature information according to the identifier of the operation area, improving the accuracy of path planning and the safety of roadheader operation.

[0032] Step S200, perform the travel control error analysis of the roadheader according to the multiple operation areas respectively, and determine multiple travel control error distributions.

[0033] Preferably, geological conditions (such as coal seam hardness, rock distribution, faults, etc.), equipment performance (tool wear degree, drive stability, sensor accuracy, etc.) and road characteristics of the operation area (road curvature, slope and width of each operation area, etc.) may cause errors in the travel control of the roadheader. Based on the possible travel control errors, an error analysis model for the operation area is established by combining the dynamic model and kinematic model of the roadheader. Specifically, during the actual operation of the roadheader, various sensors installed on the roadheader (such as position sensors, speed sensors, attitude sensors, etc.) collect the actual operation data in each operation area, including travel position, speed, attitude (such as pitch angle, yaw angle), etc. Then, the collected actual operation data is compared with the pre-planned path, speed and other parameters, such as calculating the deviation between the actual travel position and the planned position, the difference between the actual travel speed and the planned speed, etc., to obtain the travel control errors of the roadheader at different times in each operation area. Then, statistical analysis is performed on the error data obtained in each operation area, and the mean, variance, standard deviation, etc. of the errors are calculated, and the error distribution curve is fitted according to the statistical analysis results, and finally multiple travel control error distributions are determined.

[0034] Further, as Figure 2 shown, step S200 further includes step S210 of randomly selecting a first operation area and obtaining the first slope mean value and the first curvature mean value of the first operation area; step S220 of using the first slope mean value and the first curvature mean value as comparison constraints to retrieve the historical travel records of similar roadheaders, and collecting a sample travel speed set and a sample travel control error set, where the travel control error is the route deviation ratio; step S230 of configuring multiple travel speed intervals, clustering the sample travel control error set based on the sample travel speed set, and calculating the error mean value of each clustering result to obtain multiple first travel control errors; step S240 of establishing the mapping relationship among the first operation area, multiple travel speed intervals and multiple first travel control errors, constructing the first travel control error distribution, and sequentially analyzing to obtain multiple travel control error distributions.

[0035] Preferably, randomly select one from multiple operation areas as the first operation area, and obtain the first slope mean value and the first curvature mean value of this area. Then, using the first slope mean value and the first curvature mean value as comparison constraint conditions, retrieve the historical travel records of similar roadheaders under similar slope and curvature conditions, and collect the sample travel speed set and the sample travel control error set from the historical records. The travel control error specifically refers to the route deviation ratio, that is, the deviation degree between the actual travel route and the preset route. For example, in some historical records, when the slope mean value is 5% and the curvature mean value is 30°, there are various travel speeds of the roadheader, and the corresponding route deviation ratios are also different, which constitute the sample travel speed set and the sample travel control error set.

[0036] Preferably, multiple travel speed intervals are configured, such as dividing the travel speed into different intervals such as 0~5m / min, 5~10m / min, 10~15m / min, etc., and then based on the sample travel speed set, the sample travel control error set is clustered according to different travel speed intervals, that is, the travel control errors in the same speed interval are classified into one category, and then the error mean of each clustering result is calculated. For example, in the speed interval of 0~5m / min, there are multiple sample travel control error data, and the average value is calculated to obtain a first travel control error; in the speed interval of 5~10m / min, another first travel control error is obtained, and so on, multiple first travel control errors are obtained. Then, a mapping relationship between the first operating area, multiple travel speed intervals and multiple first travel control errors is established, that is, a first travel control error distribution is constructed to clearly show the travel control error situation at different travel speeds in the first operating area. According to the same method, other operating areas are analyzed in turn to obtain multiple travel control error distributions.

[0037] Step S300: marking the multiple operation areas according to the multiple travel control error distributions, and constructing a marked operation graph network.

[0038] Preferably, identification rules are formulated according to the distribution of multiple travel control errors. For example, the operating area is divided into different levels according to the size of the error. The area with a smaller error is marked as green, indicating that the control accuracy of the tunnel boring machine is high when traveling in the area, and the operation is relatively safe and stable; the area with a larger error is marked as red, indicating that the area may have a greater risk; the area with an error in the middle range is marked as yellow, indicating that certain monitoring and adjustment are required. Then, according to the determined identification rules, each operating area is identified, and various information of the operating area, such as location, shape, road characteristics (slope, curvature, width) and identification information, are integrated and represented in the form of an operating graph network, in which nodes represent each operating area, and edges represent the passage paths between operating areas. Finally, the identification operation graph network is obtained, which is convenient for coal mine workers to quickly understand the distribution of the entire coal mine operating area and the risk level of different areas, so as to rationally plan the operating path of the tunnel boring machine, arrange personnel and equipment, and improve operating efficiency and safety.

[0039] Step S400, using the identified operation diagram network, with the goal of minimizing the overall empty running path and the overall operation time, collaborative optimization of multiple tunneling paths is performed according to the coal mining operation objectives and the current equipment distribution, and the optimal tunneling path planning is output. In the optimization process, a travel safety range is set according to the travel control error distribution and the travel speed of the tunneling machine, and the sum of the safety range diameters is less than the road width as an optimization constraint.

[0040] Preferably, the optimization objectives are clearly defined as the shortest overall non-cutting path and the shortest overall operation duration. Among them, the non-cutting path refers to the path that the roadheader travels during non-coal-mining operation states. For example, after completing the task in one coal-mining area and moving to another area to be mined, when planning the paths of multiple roadheaders, the movement of all roadheaders is comprehensively considered to minimize the sum of non-cutting distances, so as to reduce unnecessary energy consumption and time waste; the operation duration includes the coal-mining operation time of the roadheader in the coal-mining area and the movement time between different areas. The geological conditions and road characteristics of different operation areas will affect the coal-mining efficiency and movement speed of the roadheader. By reasonably planning the paths, the total duration for all roadheaders to complete the coal-mining operation objectives is minimized. In addition, during the optimization process, the travel safety range is set according to the distribution of travel control errors and the travel speed of the roadheader, and the sum of the diameters of the safety ranges being less than the road width is used as the optimization constraint. Specifically, the safety distance is set in combination with the distribution of travel control errors (the degree to which the actual travel route of the roadheader in different operation areas deviates from the preset route) and the travel speed of the roadheader. Among them, in the operation areas with large error distributions and high-speed travel of the roadheader, the safety range is relatively large; in the areas with small errors and low-speed travel of the roadheader, the safety range is appropriately reduced. The safety range is represented by a circle, and its diameter is the diameter of the safety range. When planning the paths of multiple roadheaders, at any time, when multiple roadheaders are on a certain passage path at the same time, the sum of the diameters of their respective safety ranges cannot exceed the width of the path, so as to prevent accidents such as collisions due to the overlap of the safety ranges during the travel of the roadheader.

[0041] Preferably, the collaborative optimization of multiple tunneling paths is carried out according to the coal-mining operation objectives and the current equipment distribution. Among them, the coal-mining operation objectives include the total amount of coal to be mined, the mining priorities of different areas, etc., and the current equipment distribution refers to the positions of each roadheader in the operation areas at the initial moment. Then, based on the genetic algorithm or ant colony algorithm, according to the objectives of the shortest overall non-cutting path and the shortest overall operation duration, as well as the constraint condition that the sum of the diameters of the safety ranges is less than the road width, the optimization search is carried out in the marked operation map network. Through continuous iteration, different path combinations are tried, the advantages and disadvantages of each path combination are evaluated, and finally the optimal tunneling path plan is output, which can meet the coal-mining operation objectives, make the overall non-cutting path the shortest and the overall operation duration the shortest, and at the same time meet the safety range constraint conditions, and is used to guide the tunneling operation of the coal mine roadheader and ensure the operation efficiency and safety.

[0042] Preferably, for the collaborative optimization of multiple tunneling paths based on the genetic algorithm, an initial population is first randomly generated, including the path planning schemes of multiple tunneling machines. Then, according to the objectives of the shortest overall idle running path and the shortest overall operation duration, and the constraint condition that the sum of the safety range diameters is less than the road width, the fitness of each individual is calculated. Specifically, for the overall idle running path, the sum of the idle running path lengths of each tunneling machine is calculated; for the overall operation duration, the total operation duration of all tunneling machines is calculated by combining the mining time (related to geological conditions, tunneling machine performance, etc.) and the moving time (related to the path length and traveling speed) of each operation area. At the same time, it is checked whether each individual meets the constraint condition that the sum of the safety range diameters is less than the road width. If it meets, the fitness is comprehensively calculated according to factors such as the idle running path and the operation duration. For example, the shorter the idle running path and the operation duration, the higher the fitness value. Then, according to the fitness ratio of the individuals, the probability of their being selected is determined, and the roulette wheel selection method is used to select a certain number of individuals from the initial population as parent individuals for generating the next generation of individuals. Among them, the higher the fitness of an individual, the greater the probability of being selected. It includes performing crossover operations or mutation operations on the selected parent individuals, and then continuously iterating to generate a new population. Furthermore, the individuals in the population gradually evolve towards a better path planning scheme. When the termination conditions are met (such as reaching the maximum number of iterations, the fitness value tends to be stable, etc.), the iteration stops, and the individual with the highest fitness is selected from the last generation of the population, and its corresponding path planning scheme is the optimal multi-tunneling path planning scheme.

[0043] Further, step S400 further includes step S410 of building a tunneling path simulation space based on the marked operation diagram network; step S420 of obtaining the variable threshold of the traveling speed of the tunneling machine; step S430 of using the tunneling path simulation space to perform multi-tunneling path simulation according to the coal mining operation target, the current equipment distribution, and the variable threshold of the traveling speed, and outputting the first feasible tunneling path plan based on the multiple traveling control error distributions; step S440 of constructing a planning evaluation function with the shortest overall idle running path and the shortest overall operation duration as the objectives, evaluating the first feasible tunneling path plan, and obtaining the first planning fitness; step S450 of continuing to perform iterative generation and evaluation of the feasible tunneling path plan until the predetermined convergence number is reached, and outputting the feasible tunneling path plan with the maximum planning fitness as the optimal tunneling path plan.

[0044] Preferably, according to the identification operation diagram network, a tunneling path simulation space is constructed using simulation software, including simulating the operation area as an area object with a specific shape and attributes, simulating the passing path as a line connecting these areas, and endowing them with corresponding attributes such as length, slope, and curvature. For example, for a path with a steep slope, a simulation effect of generating corresponding resistance to the tunneling machine's advancement is set in the simulation space; for an operation area with a high-risk error label, interference factors that may cause the tunneling machine to advance unstably are set, such as random small-scale path offsets. The advancement speed of the tunneling machine is restricted by geological conditions, road characteristics, etc. For example, in areas with high coal seam hardness and many rocks, the tunneling machine needs to reduce its advancement speed to ensure operation safety and equipment life; in terms of road characteristics, paths with large slopes and sharp bends will limit the speed of the tunneling machine. Then, by analyzing a large amount of actual operation data and combining with the technical parameters of the tunneling machine, the variable range (i.e., variable threshold) of its advancement speed is determined.

[0045] Preferably, the coal mining operation objectives (such as coal mining volume requirements and mining priorities for each area), the current equipment distribution (the initial operation area where each tunneling machine is located), and the variable threshold of the advancement speed are used as input parameters for simulation in the tunneling path simulation space. Specifically, multiple tunneling machines start from their respective initial positions, select operation areas according to the coal mining operation objectives, and adjust their speeds within the variable threshold range according to the path conditions (slope, curvature, etc.) during the advancement process. At the same time, considering the distribution of advancement control errors in different operation areas, the possible path deviation situations when the tunneling machine actually advances are simulated. When all tunneling machines complete the simulated coal mining operation process, the corresponding paths are recorded, and these paths are checked to eliminate paths that are significantly inconsistent with the actual situation (such as safety range conflicts and inability to achieve the coal mining target), and the first feasible tunneling path plan is obtained.

[0046] Preferably, an evaluation function is constructed with the objectives of the shortest overall empty-running path and the shortest overall operation duration to evaluate the fitness of the empty-running path and the operation duration, indicating the performance of the path plan in meeting the objectives. Then, the length of the empty-running path and the operation duration in the first feasible tunneling path plan are substituted into the evaluation function to calculate the corresponding function value, which is the first plan fitness. The lower the fitness value, the better the path plan performs in meeting the objectives. Then, change the parameters of the first feasible path plan, such as the starting order of the tunneling machines and the speed selection on different paths, and conduct multi-tunneling path simulations again to generate new feasible tunneling path plans, and then perform the same evaluation calculation of the plan fitness; continuously iterate until the predetermined convergence number is reached. Among all the generated feasible tunneling path plans and their corresponding plan fitness values, find the feasible tunneling path plan with the smallest fitness value (i.e., the most in line with the objectives of the shortest overall empty-running path and the shortest overall operation duration), and output it as the optimal tunneling path plan.

[0047] Further, step S420 further includes step S421, segmenting several passage paths in the tunneling path simulation space according to a predetermined distance step length to obtain several sets of passage sections; step S422, taking the coal mining operation target as the operation requirement, performing path planning according to the current equipment distribution, and outputting a first initial path planning result, where the first initial path planning result includes multiple planned travel paths of multiple roadheaders; step S423, according to the variable travel speed threshold, configuring the speeds of the multiple planned travel paths respectively according to the several sets of passage sections, and outputting a first path planning result; step S424, based on the multiple travel control error distributions, determining whether the first path planning result meets the road width constraint. If it meets, setting the first path planning result as the first feasible tunneling path plan; step S425, if it does not meet, continue to perform path planning until the road width constraint is met, and output the first feasible tunneling path plan.

[0048] Preferably, the predetermined distance step length is a length value set according to the accuracy requirements of actual coal mine operations, and is used to divide the passage paths in the tunneling path simulation space. Then, for the several passage paths in the simulation space, starting from the starting point of the path, they are divided in sequence according to the predetermined distance step length. Each divided path segment is a passage section, and all the divided passage sections are integrated to form a set of passage sections. Taking the coal mining operation target as the operation requirement includes the coal quantity of each operation area, the mining priority of different areas, the sequence of mining, etc. Then, according to the current distribution positions of each roadheader (i.e., the current equipment distribution), plan a travel path for each roadheader starting from its initial position and capable of completing the coal mining operation target, that is, find a suitable path combination in the tunneling path simulation space according to path planning, and output a first initial path planning result, including multiple planned travel paths of multiple roadheaders.

[0049] Preferably, according to the variable travel speed threshold of the roadheader (i.e., the speed range that the roadheader can reach under different conditions), and according to the specific characteristics of each passage section (such as slope, curvature, whether there are obstacles, etc.), reasonably configure the speed for the passage sections on each planned travel path. For example, on a passage section with a gentle slope, the roadheader travels at a higher speed (close to the upper limit of the speed threshold), while on a section with a steep slope or many curves, the speed is set to a lower value (close to the lower limit of the speed threshold); after completing the speed configuration, output a first path planning result, including the travel path of the roadheader and the speed information of each passage section.

[0050] Preferably, the path planning result is then judged according to the traveling control error distribution to check whether it meets the road width constraint, that is, to check whether the sum of the diameters of the safety ranges of multiple roadheaders when traveling at the configured speeds on each passing section in the first path planning result is less than the road width of that section. If this condition is met on all sections, that is, the sum of the safety range diameters is less than the road width, it means that the path planning result is feasible in actual operation, and it is set as the first feasible roadheader path planning; if the sum of the safety range diameters of the roadheaders is greater than the road width on some sections, that is, the road width constraint is not met, then path planning needs to be carried out again, including adjusting parameters such as the traveling paths and speed configurations of the roadheaders, and performing path planning again until a path planning result that meets the road width constraint is found and output as the first feasible roadheader path planning.

[0051] Further, step S423 further includes step A1 of randomly configuring the speeds of the multiple planned traveling paths respectively according to the variable traveling speed threshold and the multiple sets of passing sections, and outputting the first configured path planning result; step A2 of judging the first configured path planning result according to the adjacent section speed deviation threshold. If the speed deviation of each adjacent section is less than the adjacent section speed deviation threshold, the first configured path planning result is set as the first path planning result.

[0052] Preferably, for the planned traveling path of each roadheader, the speed of each section is randomly set within the variable traveling speed threshold according to the set of passing sections it passes through. After the random speed configuration is completed for all sections on all planned traveling paths, the first configured path planning result is output, including multiple planned traveling paths of roadheaders and the randomly configured speed information on each section; if the speed deviation between adjacent sections is too large, it may affect the performance and lifespan of the equipment itself and does not conform to the actual operating conditions. Therefore, an adjacent section speed deviation threshold is set to measure the allowable range of speed changes between two adjacent passing sections. Specifically, the planned traveling paths of each roadheader in the first configured path planning result are checked to view the speed deviation of each group of adjacent sections. If the speed deviation of each adjacent section is less than the adjacent section speed deviation threshold among all adjacent sections, it means that the speed configuration is reasonable and conforms to the actual operating conditions, and the first configured path planning result is set as the first path planning result; if there is at least one group of adjacent sections with a speed deviation greater than or equal to the adjacent section speed deviation threshold, that is, the speed deviation requirement is not met, the speed in the first configured path planning result is randomly configured again until the speed configuration meets the requirement of the adjacent section speed deviation threshold, and finally the configuration result that meets the requirement is set as the first path planning result.

[0053] Step S424 further includes step B1: arbitrarily select the first section position, the first section width, the number of first roadheaders, and the first travel speed set within the same time of the first section from the first path planning result; step B2: based on the multiple travel control error distributions, obtain the adapted travel control error distribution according to the matching of the first section position; step B3: based on the adapted travel control error distribution, obtain the adapted travel control error set according to the matching of the first travel speed set; step B4: calculate the first travel safety range set according to the adapted travel control error set and the first travel speed set, where the travel safety range is the product of the adapted travel control error and the travel speed; step B5: determine whether the sum of the diameters of the first travel safety range set is less than the first section width, and if so, the first section width constraint is satisfied; step B6: if all sections in the first path planning result satisfy the section width constraint, set the first path planning result as the first feasible roadheader tunneling path planning.

[0054] Preferably, arbitrarily select the first section position, the first section width, the number of first roadheaders, and the first travel speed set within the same time of the first section from the first path planning result, where the first section position records the specific position of the section in the entire coal mine operation area and is determined by geographical coordinates and the node connection relationship in the operation map network; the first section width is the width for the roadheader to pass through; the number of first roadheaders is the number of roadheaders passing through the first section within the same time, and different numbers of roadheaders running on the section at the same time have different impacts on the safety range; the first travel speed set includes the travel speed of each roadheader passing through the first section within the same time, and different roadheaders may have different speeds on the same section due to equipment performance and load.

[0055] Preferably, obtain the adapted travel control error distribution by matching from multiple travel error distributions according to the position information of the first section. For example, if the first section is located in operation area C, and the travel control error distribution in operation area C shows the characteristic of a relatively large route deviation ratio at a specific speed, it is the travel control error distribution adapted to the first section position; then match the specific adapted travel control error according to the first travel speed set. For example, the adapted travel control error distribution shows that when the roadheader speed is in the range of 8 - 10 m / min, the corresponding travel control error (i.e., the route deviation ratio) is 3% - 5%. For v1 = 8 m / min, v2 = 10 m / min, v3 = 9 m / min in the first travel speed set, the corresponding specific error values can be found from the adapted error distribution to form the adapted travel control error set.

[0056] Preferably, calculate the product of the adapted travel control error and the travel speed as the travel safety range. Then, calculate the first travel safety range set based on the set of adapted travel control errors and the first travel speed set, which includes the travel safety range corresponding to each tunneling machine, that is, the maximum range within which the tunneling machine can deviate from the preset route during travel. Then, regard the travel safety range of each tunneling machine in the first travel safety range set as a circular area, calculate the sum of the diameters of all tunneling machines, and compare it with the width of the first section. If the sum of the diameters is less than the width of the first section, it means that when multiple tunneling machines operate simultaneously on this section, the maximum range within which they may deviate from the preset route is still within the range allowed by the section width, that is, the first section width constraint is satisfied. Calculate the travel safety range for each section in the first path planning result and determine whether the section width constraint is satisfied. When all sections in the first path planning result satisfy the section width constraint, it means that the path planning result is feasible considering the travel control error and the actual section width limitation. Then, set the first path planning result as the first feasible tunneling path planning.

[0057] Based on the foregoing embodiments, the embodiments of the present application further provide an electronic device and a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor of the electronic device, it can implement the method described in any previous embodiment.

[0058] Figure 3 It is a schematic structural diagram of the electronic device provided by the embodiment of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing the embodiment of the present invention. Figure 3 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention. The electronic device is presented in the form of a general computing device, and its components may include, but are not limited to, an input device 401, a processor 402, a memory 403, and an output device 404. Among them, the processor 402 may be one or more; the memory 403 may include a computer-readable medium and at least one program product, and this program product has a set (at least one) of program modules, and these program modules are configured to execute the functions of the embodiments of the present application.

[0059] The memory 403 shown in the embodiment of the present invention may adopt any combination of one or more computer-readable media; the computer-readable storage medium may be, but is not limited to, infrared rays, semiconductor systems, devices or components, or any combination of the above, for storing software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the path planning method for tunneling machines in the embodiments of the present invention. The processor 402 executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 403, that is, implements the above-mentioned path planning method for tunneling machines.

[0060] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application. In some cases, the actions or steps recited in the present application can be executed in an order different from that in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A path planning method for a roadheader, characterized in that The method comprises: Constructing a coal mine operation map network, and segmenting the coal mine operation map network to obtain multiple operation areas, wherein the road features of each operation area are the same by default; Performing travel control error analysis on the tunnel boring machine according to the plurality of operation areas respectively to determine a plurality of travel control error distributions; Identify the multiple operation areas according to the multiple travel control error distributions, and construct an identification operation graph network; By utilizing the identified operation graph network, with the goal of minimizing the overall empty running path and the overall operation time, collaborative optimization of multiple tunneling paths is performed according to the coal mining operation objectives and the current equipment distribution, and the optimal tunneling path planning is output. In the optimization process, a travel safety range is set according to the travel control error distribution and the travel speed of the tunneling machine, and the sum of the safety range diameters is less than the road width as an optimization constraint.

2. The path planning method for a roadheader according to claim 1, characterized in that Construct a coal mine operation map network, including: Acquire several coal mining areas and several access paths of the target coal mine, wherein the access paths are marked with road information, and the road information includes road curvature, road slope and road width; The coal mining areas are used as nodes and the travel paths are used as edges to map the graph and build a coal mine operation graph network.

3. The path planning method for a roadheader according to claim 2, wherein The coal mine operation map network is segmented to obtain multiple operation areas, including: Set the slope division step size and the curvature division step size; According to the slope division step length, the coal mine operation map network is segmented once to obtain multiple primary operation areas; According to the curvature division step, the multiple primary working areas are divided twice to obtain multiple working areas, and the average slope and the average curvature of each working area are calculated to mark the working areas.

4. The path planning method for a roadheader according to claim 1, characterized in that, Performing travel control error analysis on the tunnel boring machine according to the multiple operating areas respectively to determine multiple travel control error distributions, including: Randomly select a first operating area, and obtain a first slope average and a first curvature average of the first operating area; Taking the first slope mean and the first curvature mean as comparison constraints, searching historical travel records of similar roadheaders, collecting sample travel speed sets and sample travel control error sets, wherein the travel control error is a route deviation ratio; configuring a plurality of travel speed intervals, clustering the sample travel control error set based on the sample travel speed set, and calculating the error mean of each clustering result to obtain a plurality of first travel control errors; A mapping relationship among the first operating area, multiple travel speed intervals, and multiple first travel control errors is established, a first travel control error distribution is constructed, and multiple travel control error distributions are analyzed in sequence to obtain.

5. The path planning method for a roadheader according to claim 1, characterized in that, Coordinated optimization of multiple tunneling paths based on coal mining operation objectives and current equipment distribution, including: Building a tunneling path simulation space based on the identified operation diagram network; Obtaining a variable threshold value of the traveling speed of the tunnel boring machine; Using the tunneling path simulation space, multiple tunneling path simulations are performed according to the coal mining operation objectives, current equipment distribution, and variable travel speed thresholds, and a first feasible tunneling path plan is output based on the multiple travel control error distributions; With the goal of the shortest overall idle running path and the shortest overall operation duration, a planning evaluation function is constructed to evaluate the first feasible tunneling path plan and obtain the first planning fitness; Continue the iterative generation and evaluation of the feasible tunneling path plan until the predetermined convergence number is reached, and output the feasible tunneling path plan with the maximum planning fitness as the optimal tunneling path plan.

6. The path planning method for a roadheader according to claim 5, wherein Using the tunneling path simulation space, multiple tunneling path simulations are performed according to the coal mining operation target, the current equipment distribution, and the variable travel speed threshold, and a first feasible tunneling path plan is output based on the multiple travel control error distributions, including: According to a predetermined distance step, several passage paths in the tunneling path simulation space are segmented to obtain several passage section sets; Taking the coal mining operation target as the operation requirement, path planning is performed according to the current equipment distribution, and a first initial path planning result is output, where the first initial path planning result includes the planned travel paths of multiple roadheaders; According to the variable travel speed threshold, speed configuration is respectively performed on the multiple planned travel paths according to the several passage section sets, and a first path planning result is output; Based on the multiple travel control error distributions, it is judged whether the first path planning result meets the road width constraint. If it meets, the first path planning result is set as the first feasible tunneling path plan; If it does not meet, continue the path planning until the road width constraint is met, and output the first feasible tunneling path plan.

7. The path planning method for a roadheader according to claim 6, characterized in that, According to the variable travel speed threshold, speed configuration is respectively performed on the multiple planned travel paths according to the several passage section sets, and it also includes: According to the variable travel speed threshold, speed random configuration is respectively performed on the multiple planned travel paths according to the several passage section sets, and a first configured path planning result is output; The first configured path planning result is judged according to the adjacent section speed deviation threshold. If the speed deviation of each adjacent section is less than the adjacent section speed deviation threshold, the first configured path planning result is set as the first path planning result.

8. The path planning method for a roadheader according to claim 6, characterized in that, Based on the multiple travel control error distributions, judging whether the first path planning result meets the road width constraint also includes: Arbitrarily select the first section position, the first section width, the number of the first roadheaders, and the first travel speed set within the same time of the first section in the first path planning result; Based on the multiple travel control error distributions, an adapted travel control error distribution is obtained by matching according to the first section position; Based on the adapted travel control error distribution, an adapted travel control error set is obtained by matching according to the first travel speed set; A first travel safety range set is calculated according to the adapted travel control error set and the first travel speed set, where the travel safety range is the product of the adapted travel control error and the travel speed; Judge whether the sum of the diameters of the first travel safety range set is less than the first section width. If so, the first section width constraint is met; If all the road sections in the first path planning result meet the road section width constraint, set the first path planning result as the first feasible tunneling path planning.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the path planning method for a tunneling machine according to any one of claims 1-8.

10. An electronic device, characterized in that, The electronic device includes: a memory for storing executable instructions; a processor for implementing the path planning method for a tunneling machine according to any one of claims 1-8 when executing the executable instructions stored in the memory.

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