Coal mining machine cutting path planning control system and method for fully mechanized coal mining working face

Abstract

The present application provides a control system and method for coal mining machine cutting path planning in a fully mechanized coal mining face. The system includes a host computer, a switch, a coal mining machine control system, and a coal mining machine cutting unit height adjustment mechanism. The host computer is used to store the coal mining machine cutting path information and to update the cutting path information for the next cut of the coal mining machine based on input instruction information. After storage, the host computer generates a cutting path planning execution instruction for planning and executing the next cut of the coal mining machine. The host computer sends the cutting path planning execution instruction to the coal mining machine control system via the switch. The coal mining machine control system obtains the cutting path information about the next cut of the coal mining machine from the cutting path planning execution instruction and controls the coal mining machine cutting unit height adjustment mechanism according to the cutting path information when the coal mining machine cuts coal for the next cut. The present application has the effect of realizing intelligent control of coal mining machine cutting path planning, reducing personnel workload, and improving personnel working environment.

Description

Technical Field

[0001] The present application relates to the field of coal mining technology, and in particular to a coal mining machine cutting path planning control system and method for a fully mechanized coal mining face. Background Art

[0002] Coal has long played a vital role in human economic and social development. To further increase the supply of coal resources, a large number of shearers have been deployed in fully mechanized mining operations. Most fully mechanized mining face shearer control methods rely on manual on-site control. Due to the harsh and complex working environment, the underground fully mechanized mining work area often experiences high dust levels and extremely poor visibility. This makes it difficult for operators to accurately and timely assess the direction and thickness of the coal seam. Consequently, relying on on-site control of the shearer to control the cutting path can lead to lag and inaccuracy. This can cause the shearer to cut into the roof rock during mining, resulting in a large amount of coal gangue mixed into the coal. This not only affects coal quality, reduces mining efficiency, and significantly shortens the shearer's service life, but can also lead to adjustments to the shearer's fully mechanized mining route before the coal is completely mined, leaving a large amount of coal on the coal wall and causing a significant waste of resources. Therefore, to meet the requirements of underground fully mechanized mining operations, developing intelligent shearer cutting path planning and control solutions is a trend in coal mine production. Summary of the Invention

[0003] The present application provides a coal mining machine cutting path planning control system and method for a fully mechanized coal mining face, which is used to solve the problems mentioned in the above background technology.

[0004] In a first aspect, the present application provides a coal mining machine cutting path planning and control system for a fully mechanized coal mining working face, comprising a host computer, a switch, a coal mining machine control system, and a coal mining machine cutting part height adjustment mechanism;

[0005] The host computer is connected to the switch, and the switch is connected to the coal mining machine control system; the host computer is used to store the coal mining machine cutting path information, and is also used to update the cutting path information of the next cut of the coal mining machine according to the input instruction information, and after storing the updated cutting path information, generate a cutting path planning execution instruction for planning and executing the cutting path of the next cut of the coal mining machine, and the host computer sends the cutting path planning execution instruction to the coal mining machine control system through the switch;

[0006] The shearer control system is fixedly mounted on the body of the shearer, and is configured to receive the cutting path planning execution instruction sent by the switch, obtain cutting path information about the next cut of the shearer in the cutting path planning execution instruction, and control the shearer cutting unit height adjustment mechanism when the shearer cuts coal for the next time according to the cutting path information;

[0007] The shearer cutting part height adjustment mechanism is controlled by the shearer control system, and is used to adjust the cutting height of the shearer's cutting part when the shearer is cutting coal.

[0008] In one possible implementation, the coal mining machine cutting part height adjustment mechanism includes a solenoid valve and a coal mining machine rocker arm height adjustment cylinder, the coal mining machine control system is connected to the solenoid valve and is connected to the coal mining machine rocker arm height adjustment cylinder through the solenoid valve, and the output end of the coal mining machine rocker arm height adjustment cylinder is rotatably connected to the cutting part of the coal mining machine.

[0009] In a possible implementation, the host computer establishes a visual three-dimensional model of the coal mining face established by three-dimensional simulation software, and the visual three-dimensional model is used to reflect the working environment and working status of the coal mining machine in real time.

[0010] In a possible implementation, the visualized three-dimensional model includes a three-dimensional model of the coal seam to be mined and a three-dimensional model of the coal mining machine.

[0011] In one possible implementation, it also includes a rocker arm height sensor, which is arranged in the rocker arm cylinder of the coal mining machine. The rocker arm height sensor is connected to the coal mining machine control system. The rocker arm height sensor is used to obtain the actual cutting height of the coal mining machine cutting part. The coal mining machine control system controls the target cutting height of the coal mining machine cutting part height adjustment mechanism at various positions on the working surface when the coal mining machine cuts coal according to the actual cutting height of the coal mining machine cutting part obtained by the rocker arm height sensor.

[0012] In one possible implementation, in the process of the upper computer updating the cutting path information of the next cut of the coal mining machine according to the input command information, the upper computer obtains the cutting height information of the next cut of the coal mining machine at the target range position of the coal mining working face according to the input command information, and merges the obtained cutting height information of the next cut of the coal mining machine at the target range position of the coal mining working face with the cutting path information of the current coal cutting cut, and then updates the cutting path information to obtain the updated cutting path information of the next cut of the coal mining machine.

[0013] In a possible implementation, the shearer control system includes a controller and a shearer position detection unit;

[0014] The coal mining machine position detection unit is connected to the controller and is used to perform real-time detection of the position of the coal mining machine on the coal mining working face. The coal mining machine cutting part height adjustment mechanism is controlled by the controller and connected to the controller. The host computer is connected to the controller through the switch. The controller is also respectively connected to the arm height sensor and the solenoid valve of the coal mining machine cutting part height adjustment mechanism.

[0015] In one possible implementation, the coal mining machine control system controls the coal mining machine cutting part height adjustment mechanism according to the cutting path information when the coal mining machine cuts coal for the next time, and the coal mining machine position detection unit detects the position of the coal mining machine on the coal mining working face in real time. When the coal mining machine reaches the starting position of the next cut on the coal mining working face, the controller of the coal mining machine control system controls the coal mining machine cutting part height adjustment mechanism to execute the cutting path planning execution instruction sent by the switch. The controller controls the target cutting height of the coal mining machine cutting part height adjustment mechanism at various positions on the working face when the coal mining machine cuts coal according to the actual cutting height of the coal mining machine cutting part obtained by the rocker arm height sensor, so that the coal mining machine cuts coal according to the updated cutting path information at the target range position of the coal mining working face.

[0016] In one possible implementation, the coal mining machine position detection unit adopts a positioning device that combines a pulse encoder with an inertial navigation positioning system. The coal mining machine position detection unit includes an inertial navigation positioning system and a pulse encoder. The inertial navigation positioning system and the pulse encoder are respectively connected to the controller. The inertial navigation positioning system is fixedly installed on the body of the coal mining machine, and the pulse encoder is installed above the traction part of the coal mining machine.

[0017] In a second aspect, the present application provides a method for planning and controlling a coal machine cutting path in a fully-mechanized coal mining working face. The method adopts the above-mentioned coal machine cutting path planning and control system in the fully-mechanized coal mining working face to plan and control the coal machine cutting path during the coal mining process. The method includes:

[0018] During the coal cutting process of the shearer, the user inputs command information containing the cutting height information of the next cut of the shearer at the target range position of the coal mining working face to the upper computer;

[0019] The upper computer updates the cutting path information of the next cut of the coal mining machine according to the input instruction information, and generates a cutting path planning execution instruction for planning and executing the cutting path of the next cut of the coal mining machine after storing the updated cutting path information;

[0020] The host computer sends the cutting path planning execution instruction to the coal mining machine control system through the switch;

[0021] The coal mining machine control system receives the cutting path planning execution instruction sent by the switch to obtain the cutting path information about the next cut of the coal mining machine in the cutting path planning execution instruction, and controls the coal mining machine cutting part height adjustment mechanism when the coal mining machine cuts coal for the next time according to the cutting path information.

[0022] The present application provides a coal mining machine cutting path planning control system and method for a coal mining comprehensive mining face, which adopts a coal mining machine cutting path planning control system composed of a host computer, a switch, a coal mining machine control system and a coal mining machine cutting part height adjustment mechanism, so as to be better and more practically applicable to coal mining comprehensive mining faces and convenient for operators to use. In the present application, through the setting of the host computer, it can be used to store the coal mining machine cutting path information, and can facilitate the operator to input the instruction information containing the cutting height information of the next cut of the coal mining machine at the target range position of the coal mining face through the host computer in a timely and accurate manner when the coal mining machine cutting path needs to be changed during the coal mining process. The host computer can also be used to update the cutting path information of the next cut of the coal mining machine according to the input instruction information, and generate a cutting path planning execution instruction for the next cut of the coal mining machine to plan and execute it after storage. The host computer sends the cutting path planning execution instruction to the switch. The instruction is sent to the coal mining machine control system, and the coal mining machine control system obtains the cutting path information about the next cut of the coal mining machine in the cutting path planning execution instruction, and controls the cutting part height adjustment mechanism of the coal mining machine when the coal mining machine cuts coal in the next cut according to the cutting path information, thereby realizing intelligent control of the cutting height of the next cut of the coal mining machine at the target range position of the coal mining working face, avoiding the occurrence of delays and inaccuracies caused by relying on the staff to control the coal mining machine on-site for cutting path control, so as to realize the effect of intelligent control of the coal mining machine cutting path planning, reduce the workload of personnel and improve the working environment of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 A schematic diagram of a coal mining machine cutting path planning and control system for a fully mechanized coal mining face provided in one embodiment of the present application;

[0025] Figure 2 A schematic diagram of a coal mining machine cutting path planning and control system for a fully mechanized coal mining face provided by an embodiment of the present application;

[0026] Figure 3This is a flow chart of a coal mining machine cutting path planning and control method for a fully mechanized coal mining face provided in one embodiment of the present application.

[0027] Description of reference numerals:

[0028] 101. Host computer;

[0029] 1011. Visualization of 3D models;

[0030] 102. Switch;

[0031] 103. Coal mining machine control system;

[0032] 1031, controller;

[0033] 1032. Coal mining machine position detection unit;

[0034] 104. Coal mining machine cutting part height adjustment mechanism;

[0035] 1041, solenoid valve;

[0036] 1042. Coal mining machine rocker arm height adjustment cylinder;

[0037] 105. Rocker arm height sensor. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application are clearly and completely described below. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts also fall within the scope of protection of this application.

[0039] First, let’s explain the terms involved in this application:

[0040] Comprehensive mining face: The full name is comprehensive mechanized mining face, which refers to a mining face equipped with hydraulic supports, high-power scraper conveyors, double-drum coal mining machines and other machinery.

[0041] Coal shearer rocker arm height adjustment cylinder: referred to as the height adjustment cylinder, is an important actuator of the coal shearer height adjustment mechanism. It converts hydraulic energy into mechanical energy, provides torque and motion for the coal shearer, and drives the coal shearer cutting part to rise and fall to complete the coal cutting task.

[0042] The following is a detailed description with reference to the accompanying drawings.

[0043] See also Figure 1 and Figure 2The embodiment of the present application provides a coal mining machine cutting path planning and control system for a fully mechanized coal mining working face, including a host computer 101, a switch 102, a coal mining machine control system 103, and a coal mining machine cutting part height adjustment mechanism 104.

[0044] In an embodiment of the present application, the host computer 101 is connected to the switch 102, and the switch 102 is connected to the coal mining machine control system 103; the host computer 101 is used to store the cutting path information of the coal mining machine, and is also used to update the cutting path information of the next cut of the coal mining machine according to the input instruction information, and after storing the updated cutting path information, generate a cutting path planning execution instruction for planning and executing the next cutting path of the coal mining machine. The host computer 101 sends the cutting path planning execution instruction to the coal mining machine control system 103 through the switch 102.

[0045] The coal mining machine control system 103 is fixedly installed on the body of the coal mining machine. The coal mining machine control system 103 is used to receive the cutting path planning execution instruction sent by the switch 102 to obtain the cutting path information about the next cut of the coal mining machine in the cutting path planning execution instruction, and control the coal mining machine cutting part height adjustment mechanism 104 when the coal mining machine cuts coal in the next cut according to the cutting path information.

[0046] The shearer cutting part height adjustment mechanism 104 is controlled by the shearer control system 103 and is used to adjust the cutting height of the shearer's cutting part when the shearer is cutting coal.

[0047] As an optional embodiment of the present application, the shearer cutting section height adjustment mechanism 104 includes a solenoid valve 1041 and a shearer rocker arm height adjustment cylinder 1042. The shearer control system 103 is connected to the solenoid valve 1041 and is connected to the shearer rocker arm height adjustment cylinder 1042 through the solenoid valve 1041. The output end of the shearer rocker arm height adjustment cylinder 1042 is rotatably connected to the shearer cutting section. When the shearer control system 103 controls the shearer cutting section height adjustment mechanism 104, the solenoid valve 1041 is opened and closed by the shearer control system 103 to activate the operation of the shearer rocker arm height adjustment cylinder 1042. By controlling the extension and retraction of the output end of the shearer rocker arm height adjustment cylinder 1042, the height of the shearer cutting section, which is rotatably connected to the rocker arm height adjustment cylinder 1042, is adjusted. This facilitates control of the shearer's cutting height and bottoming amount, thereby achieving intelligent control of the shearer's blade lifting and lowering during the coal cutting process.

[0048] The embodiment of the present application adopts a coal mining machine cutting path planning and control system for a coal mining comprehensive mining working face, which includes a host computer 101, a switch 102, a coal mining machine control system 103, and a coal mining machine cutting part height adjustment mechanism 104, so as to be better and more practically applicable to the coal mining comprehensive mining working face and convenient for operators to use. In the present application, through the setting of the host computer 101, it can be used to store the coal mining machine cutting path information, and can facilitate the operator to input the instruction information containing the cutting height information of the next cut of the coal mining machine at the target range position of the coal mining working face through the host computer 101 in a timely and accurate manner when the coal mining machine cutting path needs to be changed during the coal mining process. The host computer 101 can also be used to update the cutting path information of the next cut of the coal mining machine according to the input instruction information, and generate a cutting path planning execution instruction for the next cut of the coal mining machine to plan and execute the cutting path after storage. The host computer 101 transmits the cutting path planning instruction to the switch 102. The planning execution instruction is sent to the coal mining machine control system 103, and the coal mining machine control system 103 obtains the cutting path information about the next cut of the coal mining machine in the cutting path planning execution instruction, and controls the coal mining machine cutting part height adjustment mechanism 104 when the coal mining machine cuts coal in the next cut according to the cutting path information, thereby realizing intelligent control of the cutting height of the next cut of the coal mining machine at the target range position of the coal mining working face, avoiding the occurrence of delays and inaccuracies caused by relying on the staff to control the coal mining machine on-site for cutting path control, so as to realize the effect of intelligent control of the coal mining machine cutting path planning, reduce the workload of personnel and improve the working environment of personnel.

[0049] As an optional method in this embodiment of the present application, host computer 101 establishes a visual 3D model 1011 of the coal mining face using 3D simulation software. Visual 3D model 1011 is used to reflect the working environment and operating status of the coal mining machine in real time. In this embodiment of the present application, host computer 101 establishes a visual 3D model 1011 of the coal mining face, and this visual 3D model 1011 can be run by host computer 101. In practical applications, a visual 3D model 1011 of the initial working face can be generated using 3D simulation software such as Matlab / Simulink based on the two chute data, the working face roof and floor data, and existing geographic information data. During the operation of the visual 3D model 1011, the host computer can use the visual 3D model 1011 to reflect the working environment and working status of the coal mining machine in real time, allowing workers to understand the working environment and working status of the coal mining machine without having to be on site at the coal mining face. This facilitates workers to timely and accurately understand the distribution of the coal seam based on the learned working environment and working status of the coal mining machine. For example, if the coal seam is moving upward, the shearer can be ordered to raise the shearer blade; if the coal seam is moving downward, the shearer can be ordered to lower the blade. When the worker decides to raise or lower the shearer blade, the host computer 101 can send corresponding instruction information, which can include information about the cutting height of the next shearer cut at the target range of the coal mining face.

[0050] As an optional embodiment of the present application, the visualized 3D model 1011 includes a 3D model of the coal seam to be mined and a 3D model of the shearer. The 3D model of the coal seam to be mined is used to reflect the working environment of the shearer in real time, and the 3D model of the shearer is used to reflect the working status of the shearer in real time.

[0051] As an optional method of the embodiment of the present application, the coal mining machine cutting path planning and control system of the coal mining comprehensive mining working face provided in the embodiment of the present application also includes a rocker arm height sensor 105, wherein the rocker arm height sensor 105 is arranged in the coal mining machine rocker arm cylinder, and the rocker arm height sensor 105 is connected to the coal mining machine control system 103. The rocker arm height sensor 105 is used to obtain the actual cutting height of the coal mining machine cutting part. The coal mining machine control system 103 controls the target cutting height of the coal mining machine cutting part heightening mechanism 104 at various positions on the working face when the coal mining machine cuts coal according to the actual cutting height of the coal mining machine cutting part obtained by the rocker arm height sensor 105. By setting up a rocker arm height sensor 105, the present application can facilitate the coal mining machine control system 103 to obtain the actual cutting height of the coal mining machine cutting part in real time when controlling the coal mining machine cutting part height adjustment mechanism 104, and accurately control the coal mining machine cutting part height adjustment mechanism 104 according to the actual cutting height of the coal mining machine cutting part, so as to achieve the target cutting height of the coal mining machine cutting part height adjustment mechanism 104 at various positions on the working face when the coal mining machine cuts coal, so as to meet the requirements of the cutting path information.

[0052] As an optional method of an embodiment of the present application, during the process of updating the cutting path information of the next cut of the coal mining machine according to the input command information, the upper computer 101 obtains the cutting height information of the next cut of the coal mining machine at the target range position of the coal mining working face according to the input command information, and merges the obtained cutting height information of the next cut of the coal mining machine at the target range position of the coal mining working face with the cutting path information of the current coal cutting cut, and then updates the cutting path information to obtain the updated cutting path information of the next cut of the coal mining machine.

[0053] As an optional embodiment of the present application, the coal mining machine control system 103 includes a controller 1031 and a coal mining machine position detection unit 1032 .

[0054] Among them, the coal mining machine position detection unit 1032 is connected to the controller 1031, which is used to perform real-time detection of the position of the coal mining machine on the coal mining working face. The coal mining machine cutting part height adjustment mechanism 104 is controlled by the controller 1031 and connected to the controller 1031. The host computer 101 is connected to the controller 1031 through the switch 102, so that the host computer 101 sends the cutting path planning execution instruction to the controller 1031 through the switch 102. The controller 1031 is also connected to the rocker arm height sensor 105 and the solenoid valve 1041 of the coal mining machine cutting part height adjustment mechanism 104 respectively. The coal mining machine control system 103 can obtain the actual cutting height of the coal mining machine cutting part detected by the rocker arm height sensor 105 through the controller 1031. The solenoid valve 1041 can also be controlled by the controller 1031, and then the coal mining machine rocker arm height adjustment cylinder 1042 of the coal mining machine cutting part height adjustment mechanism 104 is controlled to realize the adjustment control of the coal mining machine mining height and the amount of undercover.

[0055] As an optional method of the embodiment of the present application, during the process of controlling the shearer cutting part height adjustment mechanism 104 when the shearer cuts the coal for the next time according to the cutting path information, the shearer position detection unit 1032 detects the position of the shearer on the coal mining face in real time. When the shearer reaches the starting position of the next cut on the coal mining face, the controller 1031 of the shearer control system 103 controls the shearer cutting part height adjustment mechanism 104 to execute the cutting path planning execution instruction sent by the switch 102. The execution instruction is generated by the upper computer 101 before a new coal mining cut begins, so it is more timely when executing the cutting path planning execution instruction. The controller 1031 controls the target cutting height of the coal mining machine cutting part height adjustment mechanism 104 at various positions of the working face when the coal mining machine cuts coal according to the actual cutting height of the coal mining machine cutting part obtained by the rocker arm height sensor 105, so that the coal mining machine cuts coal according to the updated cutting path information at the target range position of the coal mining working face, thereby achieving the purpose of the coal mining machine cutting coal according to the required cutting path information.

[0056] In the embodiment of the present application, the shearer position detection unit 1032 employs a positioning device that combines a pulse encoder with an inertial navigation and positioning system. Specifically, the shearer position detection unit 1032 includes an inertial navigation and positioning system and a pulse encoder. The inertial navigation and positioning system and the pulse encoder are each connected to the controller 1031. The inertial navigation and positioning system is fixedly mounted on the body of the shearer, and the pulse encoder is mounted above the traction unit of the shearer. In the embodiment of the present application, the use of a pulse encoder combined with an inertial navigation and positioning system as the shearer position detection unit 1032 of the present application enables more accurate determination of the shearer's location, facilitating the shearer control system 103 to control the shearer's cutting height when the shearer is at different positions on the working surface. It should also be noted that the shearer position detection unit 1032, while serving as a detection unit for determining the shearer's location, may also employ other types of positioning devices for determining the shearer's location, such as infrared sensors.

[0057] See also Figure 3 The present application also provides a method for planning and controlling a coal mining machine cutting path in a fully-mechanized coal mining working face. The method uses the coal mining machine cutting path planning and control system in the fully-mechanized coal mining working face in the above embodiment to plan and control the coal mining machine cutting path during the coal mining process. The method is performed in the following steps:

[0058] S101: During the coal cutting process of the shearer, the user inputs command information including cutting height information of the next cut of the shearer at a target range position of the coal mining working face to the host computer 101;

[0059] S102: The host computer 101 updates the cutting path information of the next cut of the coal mining machine according to the input instruction information, stores the updated cutting path information, and generates a cutting path planning execution instruction for planning and executing the cutting path of the next cut of the coal mining machine;

[0060] S103: The host computer 101 sends the cutting path planning execution instruction to the coal mining machine control system 103 via the switch 102;

[0061] S104: The coal mining machine control system 103 receives the cutting path planning execution instruction sent by the switch 102 to obtain the cutting path information about the next cut of the coal mining machine in the cutting path planning execution instruction, and controls the coal mining machine cutting part height adjustment mechanism 104 when the coal mining machine cuts coal for the next time according to the cutting path information.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A coal mining machine cutting path planning and control system for a fully mechanized coal mining face, characterized in that: It includes a host computer, a switch, a coal shearer control system, and a coal shearer cutting part height adjustment mechanism; The host computer is connected to the switch, and the switch is connected to the coal mining machine control system; the host computer is used to store the coal mining machine cutting path information, and is also used to update the cutting path information of the next cut of the coal mining machine according to the input instruction information, and after storing the updated cutting path information, generate a cutting path planning execution instruction for planning and executing the cutting path of the next cut of the coal mining machine, and the host computer sends the cutting path planning execution instruction to the coal mining machine control system through the switch; The shearer control system is fixedly mounted on the body of the shearer, and is configured to receive the cutting path planning execution instruction sent by the switch, obtain cutting path information about the next cut of the shearer in the cutting path planning execution instruction, and control the shearer cutting unit height adjustment mechanism when the shearer cuts coal for the next time according to the cutting path information; The shearer cutting part height adjustment mechanism is controlled by the shearer control system and is used to adjust the cutting height of the shearer cutting part when the shearer is cutting coal. The shearer cutting part height adjustment mechanism includes a solenoid valve and a shearer rocker arm height adjustment cylinder. The shearer control system is connected to the solenoid valve and is connected to the shearer rocker arm height adjustment cylinder through the solenoid valve. The output end of the shearer rocker arm height adjustment cylinder is rotatably connected to the shearer cutting part. The host computer establishes a visual three-dimensional model of the coal mining face established by three-dimensional simulation software, and the visual three-dimensional model is used to reflect the working environment and working status of the coal mining machine in real time; The visual three-dimensional model includes a three-dimensional model of the coal seam to be mined and a three-dimensional model of the coal mining machine; The coal mining machine cutting path planning and control system of the fully-mechanized coal mining working face further includes a rocker arm height sensor, the rocker arm height sensor is arranged in the rocker arm cylinder of the coal mining machine, the rocker arm height sensor is connected to the coal mining machine control system, the rocker arm height sensor is used to obtain the actual cutting height of the coal mining machine cutting part, and the coal mining machine control system controls the target cutting height of the coal mining machine cutting part height adjustment mechanism at various positions of the working face when the coal mining machine cuts coal according to the actual cutting height of the coal mining machine cutting part obtained by the rocker arm height sensor; In the process of updating the cutting path information of the next cut of the coal mining machine according to the input command information, the upper computer obtains the cutting height information of the next cut of the coal mining machine at the target range position of the coal mining working face according to the input command information, and merges the obtained cutting height information of the next cut of the coal mining machine at the target range position of the coal mining working face with the cutting path information of the current coal cutting cut, and then updates the cutting path information to obtain the updated cutting path information of the next cut of the coal mining machine; The coal shearer control system includes a controller and a coal shearer position detection unit; The coal mining machine position detection unit is connected to the controller and is used to perform real-time detection of the position of the coal mining machine on the coal mining working face. The coal mining machine cutting part height adjustment mechanism is controlled by the controller and connected to the controller. The host computer is connected to the controller through the switch. The controller is also respectively connected to the rocker arm height sensor and the solenoid valve of the coal mining machine cutting part height adjustment mechanism.

2. The coal mining machine cutting path planning and control system for a fully mechanized coal mining face according to claim 1 is characterized in that: During the process of the coal mining machine control system controlling the cutting part height adjustment mechanism of the coal mining machine when the coal mining machine cuts coal for the next time according to the cutting path information, the coal mining machine position detection unit detects the position of the coal mining machine on the coal mining working face in real time. When the coal mining machine reaches the starting position of the next cut on the coal mining working face, the controller of the coal mining machine control system controls the coal mining machine cutting part height adjustment mechanism to execute the cutting path planning execution instruction sent by the switch. The controller controls the target cutting height of the coal mining machine cutting part height adjustment mechanism at various positions on the working face when the coal mining machine cuts coal according to the actual cutting height of the coal mining machine cutting part obtained by the rocker arm height sensor, so that the coal mining machine cuts coal according to the updated cutting path information at the target range position of the coal mining working face.

3. The coal mining machine cutting path planning and control system for a fully mechanized coal mining working face according to claim 2 is characterized in that: The coal mining machine position detection unit adopts a positioning device combining a pulse encoder with an inertial navigation positioning system. The coal mining machine position detection unit includes an inertial navigation positioning system and a pulse encoder. The inertial navigation positioning system and the pulse encoder are respectively connected to the controller. The inertial navigation positioning system is fixedly installed on the body of the coal mining machine, and the pulse encoder is installed above the traction part of the coal mining machine.

4. A method for planning and controlling the cutting path of a coal mining machine in a fully mechanized coal mining face, characterized in that: The method adopts the coal machine cutting path planning and control system of any one of claims 1 to 3 for coal mining fully mechanized working face to plan and control the coal machine cutting path during coal mining, and the method comprises: During the coal cutting process of the shearer, the user inputs command information containing the cutting height information of the next cut of the shearer at the target range position of the coal mining working face to the upper computer; The upper computer updates the cutting path information of the next cut of the coal mining machine according to the input instruction information, and generates a cutting path planning execution instruction for planning and executing the cutting path of the next cut of the coal mining machine after storing the updated cutting path information; The host computer sends the cutting path planning execution instruction to the coal mining machine control system through the switch; The coal mining machine control system receives the cutting path planning execution instruction sent by the switch to obtain the cutting path information about the next cut of the coal mining machine in the cutting path planning execution instruction, and controls the coal mining machine cutting part height adjustment mechanism when the coal mining machine cuts coal for the next time according to the cutting path information.

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