Continuous miner autonomous tunneling control method, electronic device and storage medium

Abstract

The application discloses a continuous miner autonomous tunneling control method, electronic equipment and a storage medium. The method comprises the following steps: obtaining current parameter information of a continuous miner to be controlled and preset initialization parameter information; obtaining a preset autonomous tunneling process, and initializing the equipment, wherein the autonomous tunneling process comprises an automatic cutting groove process, an autonomous machine moving process and an automatic wall sweeping process, and the autonomous machine moving process moves the continuous miner in a V-shaped track; after the initialization is completed, the automatic cutting groove process, the autonomous machine moving process and / or the automatic wall sweeping process are executed according to the autonomous tunneling process. The application fully combines the tunneling process of the continuous miner, manual operation experience, mechanical properties of the equipment and characteristics of the electrical and hydraulic systems, has the ability to adapt to working condition changes, does not need frequent intervention of workers, and can independently and stably operate for a long time.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to an autonomous tunneling control method, electronic equipment, and storage medium for a continuous coal mining machine. Background Technology

[0002] Continuous mining machines are one of the main pieces of equipment for mechanized tunneling in coal mines in Shaanxi and Inner Mongolia. Together with shuttle cars, feed crushers, bolt drilling rigs, and belt conveyors, they form a roadway tunneling system. The tunneling face is also an area in coal mine production characterized by numerous pieces of equipment, harsh environments, and complex working conditions. The harsh working environment, including gas, water hazards, roof collapses, and equipment malfunctions, can easily lead to injuries and fatalities. Furthermore, harmful gases and respirable dust pose a serious challenge to the occupational health and safety of miners. Continuous mining machine operators occupy the most challenging positions in the tunneling face.

[0003] Continuous mining machines are tunneling equipment that integrates various technologies. They have high requirements for the quality of roadway formation. The conventional operation process is cutting the groove, moving the machine, and sweeping the sides. The operation is complicated, the control is difficult, the degree of automation is low, and the experience of the operators is highly required. They are not easy to replace and the training period is long. For a long time, they have relied on experienced operators to operate manually and have been stuck in the stage of mechanization.

[0004] With the development of sensor technology, video surveillance technology, and network technology and their application in the field of coal mining, continuous coal mining machines have gradually been equipped with attitude sensors, various types of video imaging devices, and wired or wireless data transmission systems, enabling the continuous coal mining machine's operating data and real-time working conditions to be displayed in real time in the central control center or ground dispatch room.

[0005] However, existing technologies still rely on manual control for mining, which is highly dependent on human experience and cannot achieve autonomous tunneling by continuous mining machines. Summary of the Invention

[0006] Therefore, it is necessary to provide a control method, electronic equipment, and storage medium for autonomous tunneling of continuous coal mining machines to address the technical problem that existing technologies have failed to achieve autonomous tunneling of continuous coal mining machines.

[0007] This invention provides an autonomous tunneling control method for a continuous coal mining machine, comprising:

[0008] Obtain the current parameter information and preset initialization parameter information of the continuous coal mining machine to be controlled;

[0009] The preset autonomous tunneling process is obtained and the equipment is initialized. The autonomous tunneling process includes an automatic slotting process, an autonomous machine moving process, and an automatic side sweeping process. The autonomous machine moving process adopts a V-shaped trajectory to move the continuous coal mining machine.

[0010] After initialization, the automatic grooving process, automatic machine relocation process, and / or automatic side cleaning process are executed according to the autonomous tunneling process.

[0011] Furthermore, the autonomous machine relocation process specifically includes:

[0012] Control the continuous coal mining machine to retreat to the starting position;

[0013] The continuous coal mining machine is controlled to move along one or more V-shaped trajectories. In each V-shaped trajectory, the continuous coal mining machine is first controlled to deflect in the first direction and retreat to a preset moving distance. Then, the continuous coal mining machine is controlled to deflect in the second direction and advance to a preset moving distance. The first direction is away from the target direction, and the second direction is towards the target direction.

[0014] Furthermore:

[0015] The control of the continuous coal mining machine to deflect in the first direction and retreat a preset distance specifically includes: during the movement along a V-shaped trajectory close to the coal wall of the roadway, repeatedly controlling the continuous coal mining machine to perform multiple segments of retreat displacement until it retreats to a preset movement distance; during each segment of retreat displacement, controlling the continuous coal mining machine to deflect in the first direction by a preset variable deflection angle and retreat by a preset segment distance; or during the movement along a V-shaped trajectory away from the coal wall of the roadway, controlling the continuous coal mining machine to deflect in the first direction by a preset fixed deflection angle and retreat to a preset movement distance.

[0016] The control of the continuous coal mining machine to deflect in the second direction and advance a preset distance specifically includes: during the movement along a V-shaped trajectory close to the coal wall of the roadway, repeatedly controlling the continuous coal mining machine to perform multiple forward displacements until it advances to the preset movement distance; during each forward displacement, controlling the continuous coal mining machine to deflect in the second direction by a preset variable deflection angle and advance a preset segment distance; or during the movement along a V-shaped trajectory away from the coal wall of the roadway, controlling the continuous coal mining machine to deflect in the second direction by a preset fixed deflection angle and advance to the preset movement distance.

[0017] Furthermore, the variable deflection angle and / or fixed deflection angle are calculated based on the relocation method, the roadway width, and the relocation distance.

[0018] Furthermore, the control of the continuous coal mining machine employs one or more V-shaped trajectory movements. In each V-shaped trajectory, the continuous coal mining machine is first controlled to deflect in a first direction and retreat to a preset moving distance, and then controlled to deflect in a second direction and advance to a preset moving distance. Specifically, this includes:

[0019] The continuous coal mining machine is controlled to move in a three-segment V-shaped trajectory.

[0020] In the first V-shaped trajectory, the continuous mining machine is repeatedly controlled to perform multiple backward displacements until it retreats to the preset moving distance. In each backward displacement, the heading angle between the axis of the continuous mining machine body and the axis of the roadway is controlled to deflect by a preset variable deflection angle in the first direction, and the machine retreats by a preset segment distance. Then, the continuous mining machine is repeatedly controlled to perform multiple forward displacements until it advances to the preset moving distance. In each forward displacement, the heading angle between the axis of the continuous mining machine body and the axis of the roadway is controlled to deflect by a preset variable deflection angle in the second direction, and the machine advances by a preset segment distance.

[0021] In the second V-shaped trajectory, the heading angle between the continuous coal mining machine's body axis and the roadway axis is controlled to deflect in the first direction by a preset fixed deflection angle, and then moves to a preset moving distance. Then, the heading angle between the continuous coal mining machine's body axis and the roadway axis is controlled to deflect in the second direction by a preset fixed deflection angle, and then moves forward to a preset moving distance.

[0022] In the third V-shaped trajectory, the continuous mining machine is repeatedly controlled to perform multiple backward displacements until it retreats to the preset relocation distance. In each backward displacement, the heading angle between the continuous mining machine's body axis and the roadway axis is controlled to deflect by a preset variable deflection angle in the first direction, and the machine retreats by a preset segment distance. Then, the continuous mining machine is repeatedly controlled to perform multiple forward displacements until it advances to the preset relocation distance. In each forward displacement, the heading angle between the continuous mining machine's body axis and the roadway axis is controlled to deflect by a preset variable deflection angle in the second direction, and the machine advances by a preset segment distance.

[0023] Furthermore:

[0024] In the first and third V-shaped trajectories, the variable deflection angle α1 of the first backward displacement is the initial angle, and the variable deflection angle of the i-th backward displacement is... Where i is a natural number greater than or equal to 2, R is the distance from the upper left corner of the continuous coal mining machine cutting head to the axis of the continuous coal mining machine, L is the preset segment distance, β is the angle between the line connecting the upper left corner of the continuous coal mining machine cutting head and the axis of the machine shaft and the axis of the continuous coal mining machine body, and γ is the variable deflection angle of the j-th segment's forward displacement. j =α N-j+1 , where j is a natural number greater than or equal to 1, and N is the total number of backward displacements;

[0025] In the second V-shaped trajectory, the fixed deflection angle Where M is the relocation distance, W1 = WW m -2W v Where W is the width of the tunnel, W m W is the width of the continuous coal mining machine body. v This represents the lateral movement distance of the continuous coal mining machine's axis during the first V-shaped trajectory.

[0026] Furthermore, the automatic grooving process specifically includes:

[0027] Perform multiple single-cycle grooving operations until the set grooving depth is reached. Each single-cycle grooving operation includes:

[0028] Control the movement of the cutting arm of the continuous coal mining machine to place the cutting drum at a preset first height position above the ground, control the left and right tracks of the continuous coal mining machine to move forward simultaneously, so that the cutting drum of the continuous coal mining machine cuts into the coal wall to a depth of L, and control the left and right tracks of the continuous coal mining machine to move backward a distance of L / 2.

[0029] The cutting arm of the continuous coal mining machine is controlled to move upward from the preset height position to cut coal. During the coal cutting process, the current of the cutting motor is monitored. When the cutting current is greater than the preset current threshold, the movement speed of the cutting arm decreases stepwise. The cutting arm of the continuous coal mining machine is controlled to move until the cutting drum of the continuous coal mining machine is at the second height from the target height.

[0030] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm, raise the cutting drum to the target height, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0031] Control the continuous coal mining machine's cutting arm to descend from the target height to the second height, keep the cutting arm height constant, control the left and right tracks of the continuous coal mining machine to advance by L / 2 distance, control the cutting arm of the continuous coal mining machine to cut coal downwards until the cutting drum of the continuous coal mining machine is at the first preset height above the ground, monitor the cutting motor current during the coal cutting process, and when the cutting current exceeds the preset current threshold, the cutting arm's movement speed decreases stepwise;

[0032] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm to lower the height of the cutting drum to 0, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0033] Furthermore, the automatic side-sweeping process specifically includes:

[0034] Multiple single-cycle continuous side-sweeping operations are performed until the set sweeping depth is reached. During the operation, the position coordinates and direction of the continuous coal mining machine are compared with the preset trajectory in real time. If a deviation is detected, correction is performed. Each single-cycle continuous side-sweeping operation includes:

[0035] Control the movement of the cutting arm of the continuous coal mining machine to place the cutting drum at a preset first height position above the ground, control the left and right tracks of the continuous coal mining machine to move forward simultaneously, so that the cutting drum of the continuous coal mining machine cuts into the coal wall to a depth of L, and control the left and right tracks of the continuous coal mining machine to move backward a distance of L / 2.

[0036] The cutting arm of the continuous coal mining machine is controlled to move upward from the preset height position to cut coal. During the coal cutting process, the current of the cutting motor is monitored. When the cutting current is greater than the preset current threshold, the movement speed of the cutting arm decreases stepwise. The cutting arm of the continuous coal mining machine is controlled to move until the cutting drum of the continuous coal mining machine is at the second height from the target height.

[0037] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm, raise the cutting drum to the target height, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0038] Control the continuous coal mining machine's cutting arm to descend from the target height to the second height, keep the cutting arm height constant, control the left and right tracks of the continuous coal mining machine to advance by L / 2 distance, control the cutting arm of the continuous coal mining machine to cut coal downwards until the cutting drum of the continuous coal mining machine is at the first preset height above the ground, monitor the cutting motor current during the coal cutting process, and when the cutting current exceeds the preset current threshold, the cutting arm's movement speed decreases stepwise;

[0039] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm to lower the height of the cutting drum to 0, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0040] This invention provides an electronic device, comprising:

[0041] At least one processor; and,

[0042] A memory communicatively connected to at least one of the processors; wherein,

[0043] The memory stores instructions that can be executed by at least one of the processors, which enable at least one of the processors to perform the autonomous tunneling control method for continuous coal mining machines as described above.

[0044] This invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all steps of the autonomous tunneling control method for continuous coal mining machines as described above.

[0045] This invention fully integrates the tunneling process of continuous coal mining machines, human operating experience, equipment mechanical properties, and the characteristics of electro-hydraulic systems. It possesses the ability to adapt to changing working conditions, requiring no frequent intervention from operators and enabling independent, long-term stable operation. Control is achieved by the autonomous tunneling control device of the continuous coal mining machine, realizing intelligent equipment operation. Operators can be transferred to the centralized control center at the tunneling face or the ground control room, ensuring the personal safety and occupational health of the operators. Attached Figure Description

[0046] Figure 1 This is a flowchart illustrating the autonomous tunneling control method for a continuous coal mining machine according to the present invention.

[0047] Figure 2 This is a schematic diagram of a single-cycle slotting in one embodiment of the present invention;

[0048] Figure 3 This is a system schematic diagram of the autonomous tunneling control device for a continuous coal mining machine, which is the preferred embodiment of the present invention.

[0049] Figure 4 This is a schematic diagram of the autonomous relocation process of the continuous coal mining machine according to the preferred embodiment of the present invention;

[0050] Figure 5 A flowchart illustrating the workflow of an autonomous tunneling control method for a continuous coal mining machine, representing the preferred embodiment of the present invention.

[0051] Figure 6 This is a schematic diagram illustrating the calculation of the variable deflection angle for autonomous movement of a continuous coal mining machine according to an embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram illustrating the calculation of the fixed deflection angle for autonomous movement of a continuous coal mining machine according to an embodiment of the present invention;

[0053] Figure 8 This is a schematic diagram of the hardware structure of an electronic device according to the present invention. Detailed Implementation

[0054] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0055] like Figure 1 The diagram shown is a flowchart of an autonomous tunneling control method for a continuous coal mining machine according to the present invention, comprising:

[0056] Step S101: Obtain the current parameter information and preset initialization parameter information of the continuous coal mining machine to be controlled;

[0057] Step S102: Obtain the preset autonomous tunneling process and initialize the equipment. The autonomous tunneling process includes an automatic slotting process, an autonomous machine moving process, and an automatic side sweeping process. The autonomous machine moving process adopts a V-shaped trajectory to move the continuous coal mining machine.

[0058] Step S103: After initialization, according to the autonomous tunneling process, execute the automatic grooving process, the autonomous machine relocation process, and / or the automatic side cleaning process.

[0059] Specifically, the autonomous tunneling control method for a continuous coal mining machine according to the present invention can be completed by an autonomous tunneling control device for a continuous coal mining machine. Step S101 acquires the current parameter information and preset initialization parameter information of the continuous coal mining machine to be controlled. The parameter information of the continuous coal mining machine to be controlled may include current parameter information and preset initialization parameter information. The continuous coal mining machine controller and the autonomous tunneling control device can acquire the current parameter values ​​of multiple actuators through sensors and display these values ​​on a host computer interface. Users can set the initialization parameter information of the continuous coal mining machine on a host computer (e.g., a computer) interface according to the actual working conditions and the needs of the autonomous tunneling process.

[0060] It should be noted that the current parameter information may include the current parameter values ​​of multiple actuators in the continuous coal mining machine; the initialization parameter information may include the initialization parameter values ​​of each actuator in the continuous coal mining machine to be initialized. Actuators may include, but are not limited to, the left track, right track, cutting arm, shovel, conveyor tail, pump station motor, cutting motor, loading motor, dust removal fan, and water valves of the continuous coal mining machine.

[0061] Then, step S102 obtains the preset automatic grooving, automatic machine relocation, and automatic side-sweeping process flows involved in autonomous tunneling, and initializes the equipment. Specifically, according to the executed automatic grooving, automatic machine relocation, and automatic side-sweeping process flows, the first instruction in the initialization instruction sequence is obtained, and the first instruction is sent to the continuous coal mining machine autonomous tunneling control device to initialize the continuous coal mining machine, and the initialization result of the first execution component corresponding to the first instruction in the continuous coal mining machine autonomous tunneling control device is obtained; when the first execution component is successfully initialized, the second instruction in the initialization instruction sequence is obtained, until initialization is completed. See the description of the subsequent embodiments for details.

[0062] Finally, step S103 arranges each step sequentially according to the process flow and designs the instruction set corresponding to each step, controlling each action of the continuous coal mining machine in sequence to achieve autonomous tunneling operation of the continuous coal mining machine. Preferably, the automatic grooving, autonomous machine relocation, and automatic side-sweeping processes are executed cyclically, with each cycle executing these processes sequentially.

[0063] The automatic grooving process includes multiple single-cycle grooving steps. Each single-cycle grooving step consists of four processes: feed, upper cut, top sweep, lower cut, and bottom pull. A schematic diagram of the single-cycle grooving process is shown below. Figure 2 Multiple single-cycle grooving operations continue until the set grooving depth is reached, completing the automatic grooving process. During this process, the target direction of the continuous coal mining machine is corrected in real time to ensure that its directional error is always less than 0.1°. The autonomous tunneling control device of the continuous coal mining machine is designed with a corresponding instruction set, which sequentially arranges and executes the actions of the corresponding actuators of the continuous coal mining machine according to the requirements of the process steps.

[0064] The autonomous relocation process adopts the "V-type relocation method," which can be divided into "V"-type, "triple V"-type, and "multiple V"-type autonomous relocation control methods depending on the specific conditions of the working face. The autonomous tunneling control device of the continuous coal mining machine is designed with a corresponding instruction set. According to the requirements of the process steps, the control of the left and right tracks of the continuous coal mining machine is sequentially arranged and executed. Combined with the real-time position and posture information of the continuous coal mining machine, closed-loop control is performed to achieve precise autonomous relocation.

[0065] The automatic side-sweeping process control method is similar to that of automatic grooving, also consisting of four steps: feed, upper cut, top sweep, lower cut, and bottom pull. The difference is that automatic side-sweeping is performed after the automatic grooving process. Since one side of the continuous mining machine is not constrained by the coal wall, lateral displacement is prone to occur. Therefore, the autonomous tunneling control device for the continuous mining machine compares the machine's position coordinates and direction with the preset trajectory in real time when designing the control command set. When a deviation is detected, a correction subroutine is triggered promptly, thereby ensuring correct direction and no positional deviation during automatic side-sweeping.

[0066] The autonomous tunneling process control method relies on the autonomous tunneling control device of the continuous coal mining machine to formulate strategies, and its structural diagram is shown below. Figure 3 The system includes: a host computer 31, a controller 32, a sensor group 33, a motor group 34, and a solenoid valve group 35. The sensor group 33, the motor group 34, and the solenoid valve group 35 are connected to the controller 32 for data acquisition, algorithm processing, and instruction execution. The autonomous tunneling control method for continuous coal mining machines of the present invention can be executed by the host computer 31 and the controller 32 in cooperation.

[0067] The host computer 31 is connected to the controller 32 for data communication regarding operation commands and operating status. The sensor group 33 includes multiple sensors, each corresponding to one of the actuators 36, to detect the position and orientation of the corresponding actuator. The solenoid valve group 35 includes multiple solenoid valves to control the actuators, enabling them to move towards a preset target direction. The motor group 34 includes multiple motors to drive the actuators, providing power or facilitating the continuous coal mining machine's approach towards the preset target direction.

[0068] The autonomous tunneling control method for continuous coal mining machines of the present invention differs from manual operation that relies on experience. It is a control strategy designed for automatic operation of equipment and is applicable to the execution of machine instruction sets of autonomous tunneling control devices for continuous coal mining machines.

[0069] This invention fully integrates the tunneling process of continuous coal mining machines, human operating experience, equipment mechanical properties, and the characteristics of electro-hydraulic systems. It possesses the ability to adapt to changing working conditions, requiring no frequent intervention from operators and enabling independent, long-term stable operation. Control is achieved by the autonomous tunneling control device of the continuous coal mining machine, realizing intelligent equipment operation. Operators can be transferred to the centralized control center at the tunneling face or the ground control room, ensuring the personal safety and occupational health of the operators.

[0070] In one embodiment, the autonomous relocation process specifically includes:

[0071] Control the continuous coal mining machine to retreat to the starting position;

[0072] The continuous coal mining machine is controlled to move along one or more V-shaped trajectories. In each V-shaped trajectory, the continuous coal mining machine is first controlled to deflect in the first direction and retreat to a preset moving distance. Then, the continuous coal mining machine is controlled to deflect in the second direction and advance to a preset moving distance. The first direction is away from the target direction, and the second direction is towards the target direction.

[0073] Specifically, such as Figure 4 As shown, after controlling the continuous coal mining machine 41 to retreat to the starting position of the automatic grooving process, the continuous coal mining machine 41 is controlled to move in one or more segments of V-shaped trajectory 42.

[0074] If it is necessary to control the continuous mining machine to move to the right, first control the continuous mining machine to veer to the left and retreat to the preset moving distance, then control the continuous mining machine to veer to the right and advance to the preset moving distance. If it is necessary to control the continuous mining machine to move to the left, first control the continuous mining machine to veer to the right and retreat to the preset moving distance, then control the continuous mining machine to veer to the left and advance to the preset moving distance.

[0075] In one embodiment:

[0076] The control of the continuous coal mining machine to deflect in the first direction and retreat a preset distance specifically includes: during the movement along a V-shaped trajectory close to the coal wall of the roadway, repeatedly controlling the continuous coal mining machine to perform multiple segments of retreat displacement until it retreats to a preset movement distance; during each segment of retreat displacement, controlling the continuous coal mining machine to deflect in the first direction by a preset variable deflection angle and retreat by a preset segment distance; or during the movement along a V-shaped trajectory away from the coal wall of the roadway, controlling the continuous coal mining machine to deflect in the first direction by a preset fixed deflection angle and retreat to a preset movement distance.

[0077] The control of the continuous coal mining machine to deflect in the second direction and advance a preset distance specifically includes: during the movement along a V-shaped trajectory close to the coal wall of the roadway, repeatedly controlling the continuous coal mining machine to perform multiple forward displacements until it advances to the preset movement distance; during each forward displacement, controlling the continuous coal mining machine to deflect in the second direction by a preset variable deflection angle and advance a preset segment distance; or during the movement along a V-shaped trajectory away from the coal wall of the roadway, controlling the continuous coal mining machine to deflect in the second direction by a preset fixed deflection angle and advance to the preset movement distance.

[0078] Because the coal mining machine is limited in its deflection angle due to the constraints of the coal face on both sides of the roadway when moving along the sides, this embodiment uses a segmented angle adjustment method for movement. However, in the V-shaped trajectory away from the coal face, since there is no constraint from the coal face, a fixed deflection angle method can be used for movement.

[0079] In one embodiment, the variable deflection angle and / or fixed deflection angle are calculated based on the relocation method, the roadway width, and the relocation distance.

[0080] In one embodiment, the continuous coal mining machine is controlled to move along one or more V-shaped trajectories. In each V-shaped trajectory, the continuous coal mining machine is first controlled to deflect in a first direction and retreat to a preset moving distance, and then controlled to deflect in a second direction and advance to a preset moving distance. Specifically, this includes:

[0081] The continuous coal mining machine is controlled to move in a three-segment V-shaped trajectory.

[0082] In the first V-shaped trajectory, the continuous mining machine is repeatedly controlled to perform multiple backward displacements until it retreats to the preset moving distance. In each backward displacement, the heading angle between the axis of the continuous mining machine body and the axis of the roadway is controlled to deflect by a preset variable deflection angle in the first direction, and the machine retreats by a preset segment distance. Then, the continuous mining machine is repeatedly controlled to perform multiple forward displacements until it advances to the preset moving distance. In each forward displacement, the heading angle between the axis of the continuous mining machine body and the axis of the roadway is controlled to deflect by a preset variable deflection angle in the second direction, and the machine advances by a preset segment distance.

[0083] In the second V-shaped trajectory, the heading angle between the continuous coal mining machine's body axis and the roadway axis is controlled to deflect in the first direction by a preset fixed deflection angle, and then moves to a preset moving distance. Then, the heading angle between the continuous coal mining machine's body axis and the roadway axis is controlled to deflect in the second direction by a preset fixed deflection angle, and then moves forward to a preset moving distance.

[0084] In the third V-shaped trajectory, the continuous mining machine is repeatedly controlled to perform multiple backward displacements until it retreats to the preset relocation distance. In each backward displacement, the heading angle between the continuous mining machine's body axis and the roadway axis is controlled to deflect by a preset variable deflection angle in the first direction, and the machine retreats by a preset segment distance. Then, the continuous mining machine is repeatedly controlled to perform multiple forward displacements until it advances to the preset relocation distance. In each forward displacement, the heading angle between the continuous mining machine's body axis and the roadway axis is controlled to deflect by a preset variable deflection angle in the second direction, and the machine advances by a preset segment distance.

[0085] Specifically, such as Figure 4 As shown, in the first V-shaped trajectory, the continuous mining machine is close to the left side of the coal face; therefore, the first V-shaped trajectory uses a variable deflection angle, moving by adjusting the angle in segments. In the second V-shaped trajectory, the continuous mining machine is away from the left and right sides of the coal face; therefore, the second V-shaped trajectory uses a fixed deflection angle. In the third V-shaped trajectory, the continuous mining machine is close to the right side of the coal face; therefore, the third V-shaped trajectory uses a variable deflection angle, moving by adjusting the angle in segments.

[0086] In one embodiment:

[0087] In the first and third V-shaped trajectories, the variable deflection angle α1 of the first backward displacement is the initial angle, and the variable deflection angle of the i-th backward displacement is... Where i is a natural number greater than or equal to 2, R is the distance from the upper left corner of the continuous coal mining machine cutting head to the axis of the continuous coal mining machine, L is the preset segment distance, β is the angle between the line connecting the upper left corner of the continuous coal mining machine cutting head and the axis of the machine shaft and the axis of the continuous coal mining machine body, and γ is the variable deflection angle of the j-th segment's forward displacement. j =α N-j+1 , where j is a natural number greater than or equal to 1, and N is the total number of backward displacements;

[0088] In the second V-shaped trajectory, the fixed deflection angle Where M is the relocation distance, W1 = WW m -2W v Where W is the width of the tunnel, W m W is the width of the continuous coal mining machine body. v This represents the lateral movement distance of the continuous coal mining machine's axis during the first V-shaped trajectory.

[0089] Specifically, such as Figure 6 As shown, the continuous coal mining machine 41 begins to move laterally to the right from its initial position against the left side of the coal face. During the i-th interval retreat, before retreating, the upper left corner of the continuous mining machine's cutting head is pressed against the left side of the coal face, at which point the heading angle between the machine's axis and the roadway axis is α. i At this moment, the coordinates of the coal mining machine's center point are:

[0090]

[0091] Where R is the distance from the upper left corner of the continuous coal mining machine cutting head to the axis of the continuous coal mining machine, which can be obtained through the external dimensions of the continuous coal mining machine, and β is the angle between the line connecting the upper left corner of the continuous coal mining machine cutting head and the center of the machine axis and the axis of the continuous coal mining machine body.

[0092] After the continuous coal mining machine retreats a distance L along the roadway axis in the above state, it rotates again so that the upper left corner of its cutting head is once again pressed against the left side of the coal face. At this time, the heading angle between the axis of the continuous coal mining machine and the axis of the roadway is α. i+1 Therefore, we can conclude that:

[0093]

[0094] Given y i+1 -y i =L, then we have:

[0095]

[0096] As described above, α1 = 0.1°. Then, using the above formula, we can obtain the heading angle (or deflection angle) of the continuous mining machine corresponding to each subsequent 500mm retreat.

[0097] At the same time, given α i Under these circumstances, the current lateral movement distance of the continuous coal mining machine is x. i =Rsin(α) i +β).

[0098] During the forward displacement, the variable deflection angle γ... j The variable deflection angle α of the backward displacement i Symmetrical. That is, γ1 = α N γ2=α N-1 γ3=α N-2 , ..., γ j =α N-j+1 γ N =α1=0.1°.

[0099] like Figure 7As shown, in the second V-shaped trajectory, the fixed deflection angle for lateral movement is: Where M is the relocation distance, W1 = WW m -2W v Where W is the width of the tunnel, W m W is the width of the continuous coal mining machine body. v This represents the lateral movement distance of the continuous coal mining machine's axis during the first V-shaped trajectory.

[0100] W v The value can be obtained by measuring the displacement of the first V-shaped trajectory, or by summing the distances of multiple consecutive lateral movements.

[0101] The displacement of the third V-shaped trajectory is the same as that of the first V-shaped trajectory, and the final displacement distance is W2.

[0102] In one embodiment, the automatic grooving process specifically includes:

[0103] Perform multiple single-cycle grooving operations until the set grooving depth is reached. Each single-cycle grooving operation includes:

[0104] Control the movement of the cutting arm of the continuous coal mining machine to place the cutting drum at a preset first height position above the ground, control the left and right tracks of the continuous coal mining machine to move forward simultaneously, so that the cutting drum of the continuous coal mining machine cuts into the coal wall to a depth of L, and control the left and right tracks of the continuous coal mining machine to move backward a distance of L / 2.

[0105] The cutting arm of the continuous coal mining machine is controlled to move upward from the preset height position to cut coal. During the coal cutting process, the current of the cutting motor is monitored. When the cutting current is greater than the preset current threshold, the movement speed of the cutting arm decreases stepwise. The cutting arm of the continuous coal mining machine is controlled to move until the cutting drum of the continuous coal mining machine is at the second height from the target height.

[0106] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm, raise the cutting drum to the target height, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0107] Control the continuous coal mining machine's cutting arm to descend from the target height to the second height, keep the cutting arm height constant, control the left and right tracks of the continuous coal mining machine to advance by L / 2 distance, control the cutting arm of the continuous coal mining machine to cut coal downwards until the cutting drum of the continuous coal mining machine is at the first preset height above the ground, monitor the cutting motor current during the coal cutting process, and when the cutting current exceeds the preset current threshold, the cutting arm's movement speed decreases stepwise;

[0108] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm to lower the height of the cutting drum to 0, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0109] Specifically, such as Figure 2 As shown, it includes:

[0110] Step S201: Control the movement of the continuous coal mining machine's cutting arm to position the cutting drum at a preset first height above the ground;

[0111] Step S202: Control the left and right tracks of the continuous coal mining machine to move forward simultaneously, so that the cutting drum of the continuous coal mining machine cuts into the coal wall to a depth L.

[0112] Step S203: Control the left and right tracks of the continuous coal mining machine to move backward by a distance of L / 2;

[0113] Step S204: Control the continuous coal mining machine to start cutting coal from the preset height position. During the coal cutting process, monitor the current of the cutting motor. When the cutting current is greater than the preset current threshold, the cutting arm movement speed decreases step by step. Control the continuous coal mining machine to move the cutting arm until the continuous coal mining machine cutting drum is at the second height from the target height.

[0114] Step S205: Keep the height of the continuous coal mining machine cutting arm still, control the left and right tracks of the continuous coal mining machine to move back a distance of L / 2, and further control the movement of the continuous coal mining machine cutting arm to raise the cutting drum to the target height;

[0115] Step S206: Keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to advance a distance of L / 2.

[0116] Step S207: Control the continuous coal mining machine to lower the cutting arm height from the target height to the second height;

[0117] Step S208: Keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to advance a distance of L / 2.

[0118] Step S209: Control the continuous coal mining machine cutting arm to cut coal downwards until the continuous coal mining machine cutting drum is at a preset first height position above the ground. During the coal cutting process, monitor the cutting motor current. If the cutting current is greater than the preset current threshold, the cutting arm movement speed will decrease stepwise.

[0119] Step S210: Keep the height of the continuous coal mining machine cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move back a distance of L / 2, and further control the movement of the continuous coal mining machine cutting arm to lower the height of the cutting drum to 0.

[0120] Step S211: Keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to advance a distance of L / 2.

[0121] In one embodiment, the automatic side-sweeping process specifically includes:

[0122] Multiple single-cycle continuous side-sweeping operations are performed until the set sweeping depth is reached. During the operation, the position coordinates and direction of the continuous coal mining machine are compared with the preset trajectory in real time. If a deviation is detected, correction is performed. Each single-cycle continuous side-sweeping operation includes:

[0123] Control the movement of the cutting arm of the continuous coal mining machine to place the cutting drum at a preset first height position above the ground, control the left and right tracks of the continuous coal mining machine to move forward simultaneously, so that the cutting drum of the continuous coal mining machine cuts into the coal wall to a depth of L, and control the left and right tracks of the continuous coal mining machine to move backward a distance of L / 2.

[0124] The cutting arm of the continuous coal mining machine is controlled to move upward from the preset height position to cut coal. During the coal cutting process, the current of the cutting motor is monitored. When the cutting current is greater than the preset current threshold, the movement speed of the cutting arm decreases stepwise. The cutting arm of the continuous coal mining machine is controlled to move until the cutting drum of the continuous coal mining machine is at the second height from the target height.

[0125] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm, raise the cutting drum to the target height, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0126] Control the continuous coal mining machine's cutting arm to descend from the target height to the second height, keep the cutting arm height constant, control the left and right tracks of the continuous coal mining machine to advance by L / 2 distance, control the cutting arm of the continuous coal mining machine to cut coal downwards until the cutting drum of the continuous coal mining machine is at the first preset height above the ground, monitor the cutting motor current during the coal cutting process, and when the cutting current exceeds the preset current threshold, the cutting arm's movement speed decreases stepwise;

[0127] Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm to lower the height of the cutting drum to 0, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

[0128] The automatic side-sweeping process control method for continuous coal mining machines is similar to that of automatic grooving, also consisting of four process steps: feed, top cutting, top sweeping, bottom cutting, and bottom pulling. The difference is that automatic side-sweeping is performed after the automatic grooving process. Figure 4As shown, after completing the automatic grooving process on the left side, the continuous mining machine 41 moves to the right side along a V-shaped trajectory 42 via an autonomous relocation process, and then begins the automatic side-sweeping process. In some cases, due to the limited relocation distance, there is no coal wall constraint on one side of the continuous mining machine, making it prone to lateral displacement. Therefore, the autonomous tunneling control device for the continuous mining machine compares the position coordinates and direction of the continuous mining machine with the preset trajectory in real time when designing the control command set. When a deviation is detected, a correction subroutine is triggered in time to ensure that the direction is correct and the position is not deviated during automatic side-sweeping. Specifically, the correction subroutine compares the position coordinates and direction of the continuous mining machine with the preset trajectory in real time. When there is a discrepancy between the position coordinates of the continuous mining machine and the preset trajectory, it controls the continuous mining machine to move in the opposite direction until the position coordinates of the continuous mining machine are consistent with the preset trajectory.

[0129] like Figure 5 The diagram shows a flowchart of an autonomous tunneling control method for a continuous coal mining machine according to the preferred embodiment of the present invention. This method can be executed by the autonomous tunneling control device provided by the present invention, or by a control device with similar functions. The control device with similar functions may include, but is not limited to, programmable controllers, industrial control computers, microcontroller systems, etc.

[0130] The autonomous tunneling process control method for continuous coal mining machines includes the following steps:

[0131] Step S501: Obtain the current parameter information and preset initialization parameter information of the continuous coal mining machine to be controlled.

[0132] The continuous mining machine controller and autonomous tunneling control device can acquire the current parameter values ​​of multiple actuators through sensors and display these values ​​on the host computer interface. The continuous mining machine parameter information is as follows: Figure 2 As shown. Current parameter information includes system voltage, oil temperature and level, operating status of each motor, current in each circuit, motor winding temperature, and operating status of solenoid valves.

[0133] Users can set the initialization parameters of the continuous coal mining machine on the host computer (e.g., computer) interface according to the actual working conditions and the needs of the autonomous tunneling process. Figure 3 As shown. The basic parameters for autonomous tunneling settings include the vertical height of the cutting drum of the continuous coal mining machine, the coal mining mode selection, the coal mining slope, the number of cycles, the coal cutting distance, the single-blade advance, the lateral distance of the machine movement, the maximum distance of the machine movement, the height correction angle, the navigation correction angle, and the allowable deviation of the x-axis. These parameters are used to control the continuous coal mining machine to perform autonomous tunneling according to the predetermined target.

[0134] Step S502: Obtain the preset process flow of automatic grooving, automatic machine relocation, and automatic side cleaning involved in autonomous tunneling;

[0135] Step S503: Initialize the continuous coal mining machine. The host computer and the autonomous tunneling control device of the continuous coal mining machine cooperate to execute the initialization command.

[0136] 1) Positioning system initialization

[0137] The first step is to move the laser guidance device to a location where it has a line of sight with the continuous coal mining machine, ensuring that the laser guidance direction is not obstructed.

[0138] The second step is to place both the continuous coal mining machine and the laser guidance device in a static, energized state.

[0139] The third step is to set the longitude, latitude, and altitude parameters in the host computer configuration software and press the "Inertial Navigation Power On" button.

[0140] The fourth step involves the positioning system sequentially completing self-checks, startup, and automatic tracking, and acquiring the direction, position, and attitude information of the continuous coal mining machine, thus completing the positioning system initialization.

[0141] 2) Autonomous tunneling initialization

[0142] The first step is to start the pump station motor, operate the left and right track movements to place the continuous coal mining machine in the initial position of autonomous cutting, and straighten it, with the directional deviation angle error between the machine and the target direction being <0.3°.

[0143] The second step is to remove loose coal and compare the slope of the continuous coal mining machine with the mining slope set in the parameters, and correct the parameters so that the deviation between the two is less than 0.1°.

[0144] The third step is to control the continuous coal mining machine's cutting drum to the ground, compare the height of the continuous coal mining machine's cutting drum, and adjust the "height correction angle" until the obtained height of the continuous coal mining machine's cutting drum is less than 20mm.

[0145] The fourth step is to turn on the loading motor, cutting motor, dust removal motor, spray valve, etc. in sequence, and place the shovel and conveyor tail in the appropriate positions.

[0146] Step S504: Obtain the sequential arrangement of each step in the job flow, and design the instruction set corresponding to each step;

[0147] Step S505: Control each action of the continuous coal mining machine in sequence to realize the autonomous tunneling operation of the continuous coal mining machine.

[0148] 1) Automatic grooving process

[0149] Single-cycle grooving consists of four process steps: feed, top cutting, top sweeping, bottom cutting, and bottom pulling. See the schematic diagram of single-cycle grooving. Figure 2Multiple single-cycle grooving operations continue until the set grooving depth is reached, completing the automatic grooving process. During this process, the target direction of the continuous coal mining machine is corrected in real time to ensure that its directional error is always less than 0.1°. The autonomous tunneling control device of the continuous coal mining machine is designed with a corresponding instruction set, which sequentially arranges and executes the actions of the corresponding actuators of the continuous coal mining machine according to the requirements of the process steps.

[0150] The sequence of actions for the cutting process is as follows: The continuous coal mining machine is placed in operation; the cutting arm of the continuous coal mining machine is controlled to position the cutting drum 200mm above the ground; further, the left and right tracks of the continuous coal mining machine are simultaneously moved forward, causing the cutting drum to cut into the coal wall to a depth L (L is the single-blade advance parameter); further, the left and right tracks of the continuous coal mining machine are controlled to retreat a distance of L / 2; this completes the cutting process.

[0151] The sequence of actions for the upper cutting subroutine is as follows: Based on the feed subroutine, the cutting arm of the continuous coal mining machine is controlled to move upwards from a height of 200mm to begin cutting coal; during the cutting process, the current of the cutting motor is monitored, and the cutting arm speed decreases in a stepwise manner after the cutting current exceeds 135A; further, the cutting arm of the continuous coal mining machine is controlled to move until the cutting drum of the continuous coal mining machine is 200mm away from the target height; at this point, the upper cutting step is completed.

[0152] The sequence of actions for the top-sweeping subroutine is as follows: Based on the upper cutting subroutine, keep the height of the continuous coal mining machine's cutting arm stationary and control the left and right tracks of the continuous coal mining machine to retreat a distance of L / 2; further, control the movement of the continuous coal mining machine's cutting arm to raise the cutting drum to the target height; further, keep the height of the continuous coal mining machine's cutting arm stationary and control the left and right tracks of the continuous coal mining machine to advance a distance of L / 2; at this point, the top-sweeping step is completed.

[0153] The sequence of actions for the cutting subroutine is as follows: Based on the top-sweeping subroutine, control the continuous coal mining machine's cutting arm to descend 200mm from the target height; further, while keeping the cutting arm height constant, control the left and right tracks of the continuous coal mining machine to advance a distance of L / 2; further, control the cutting arm to cut coal downwards until the cutting drum is at a height of 200mm; during the cutting process, monitor the cutting motor current, and when the cutting current exceeds 135A, the cutting arm's movement speed decreases in a stepwise manner; thus, the cutting step is completed.

[0154] The sequence of actions for the bottom-pulling subroutine is as follows: Based on the lower cutting subroutine, keep the height of the continuous coal mining machine's cutting arm stationary and control the left and right tracks of the continuous coal mining machine to move backward by a distance of L / 2; further, control the movement of the continuous coal mining machine's cutting arm to lower the height of the cutting drum to 0; further, keep the height of the continuous coal mining machine's cutting arm stationary and control the left and right tracks of the continuous coal mining machine to move forward by a distance of L / 2; at this point, the bottom-pulling step is completed.

[0155] 2) Autonomous machine relocation process

[0156] The autonomous relocation process adopts the "V-type relocation method." This embodiment describes the "three-V" type autonomous relocation control method. A schematic diagram of the "three-V" type autonomous relocation process can be found here. Figure 4 .

[0157] Step S401: When the cutting drum, shovel, and rear stabilizing components of the continuous coal mining machine allow the continuous coal mining machine to move, control the left and right tracks of the continuous coal mining machine to deviate to the left of the target direction by 0.1° and move back L; continue to turn left by α degrees and move back L; repeat the steps of turning left by α degrees and moving back L until the cumulative backward displacement of the continuous coal mining machine reaches the set moving distance.

[0158] Step S402: Operate the left and right tracks of the continuous coal mining machine to deflect to the right and move forward, and reverse the first step process until the cumulative forward displacement of the continuous coal mining machine reaches the set moving distance.

[0159] Step S403: Control the left and right tracks of the continuous coal mining machine to deviate to the left by θ degrees in the target direction and move backward until the cumulative backward displacement of the continuous coal mining machine reaches the set moving distance.

[0160] Step S404: Operate the left and right tracks of the continuous coal mining machine to deflect to the right and move forward, and reverse the third step process until the cumulative forward displacement of the continuous coal mining machine reaches the set moving distance.

[0161] Step S405, repeat step S401, step S406, repeat step S402, the continuous coal mining machine 41 moves from the left side of the roadway to the right side according to the set trajectory.

[0162] 3) Automatic side-sweeping process

[0163] The automatic side-sweeping process control method for continuous coal mining machines is similar to that of automatic grooving, also consisting of four steps: feed, top cutting, top sweeping, bottom cutting, and bottom pulling. The difference is that automatic side-sweeping is performed after the automatic grooving process. Since one side of the continuous coal mining machine is not constrained by the coal wall, lateral displacement is prone to occur. Therefore, the autonomous tunneling control device for continuous coal mining machines compares the machine's position coordinates and direction with the preset trajectory in real time when designing the control command set. When a deviation is detected, a correction subroutine is triggered promptly, thereby ensuring correct direction and no positional deviation during automatic side-sweeping.

[0164] This embodiment addresses the current state of the technology, considers variations in geological conditions, and formulates a process control method for autonomous tunneling of continuous coal mining machines based on the characteristics of continuous coal mining machine tunneling. This method addresses, to some extent, one of the key technical problems in the autonomous tunneling process of continuous coal mining machines. According to the method of this embodiment, a corresponding control program is designed. By pre-setting the equipment parameter information, the process control of the continuous coal mining machine's automatic slotting, autonomous machine movement, and automatic side-sweeping continuous operation is performed to meet the intelligent requirements of autonomous tunneling of continuous coal mining machines.

[0165] This embodiment presents an autonomous tunneling process control method for a continuous coal mining machine. Unlike manual operation that relies on experience, this method is a control strategy designed for automatic equipment operation and is applicable to the execution of machine instruction sets by the autonomous tunneling control device of the continuous coal mining machine. This embodiment fully integrates the tunneling process of the continuous coal mining machine, human operating experience, the mechanical properties of the equipment, and the characteristics of the electro-hydraulic system. It has the ability to adapt to changes in working conditions, requires no frequent intervention from operators, and can operate independently and stably for a long period of time. Finally, this embodiment is completed by the autonomous tunneling control device of the continuous coal mining machine, realizing intelligent operation of the equipment. It allows operators to be transferred to the centralized control center at the tunneling face or the ground control room, ensuring the personal safety and occupational health and safety of the operators.

[0166] like Figure 8 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising:

[0167] At least one processor 801; and,

[0168] A memory 802 is communicatively connected to at least one of the processors 801; wherein,

[0169] The memory 802 stores instructions that can be executed by at least one of the processors, which enable the at least one processor to perform the autonomous tunneling control method for continuous coal mining machines as described above.

[0170] Figure 8 Take the 801 processor as an example.

[0171] The electronic device may also include an input device 803 and a display device 804.

[0172] The processor 801, memory 802, input device 803 and display device 804 can be connected by a bus or other means. The figure shows an example of connection by bus.

[0173] The memory 802, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the autonomous tunneling control method for continuous coal mining machines in the embodiments of this application, for example, Figure 1 The method flow is shown. The processor 801 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 802, thereby realizing the autonomous tunneling control method for continuous coal mining machines in the above embodiments.

[0174] The memory 802 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the autonomous tunneling control method of the continuous coal mining machine. Furthermore, the memory 802 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 802 may optionally include memory remotely located relative to the processor 801, and these remote memories may be connected via a network to the apparatus executing the autonomous tunneling control method of the continuous coal mining machine. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0175] The input device 803 can receive user clicks and generate signal inputs related to user settings and function control of the autonomous tunneling control method of the continuous coal mining machine. The display device 804 may include display screens or other display devices.

[0176] The one or more modules are stored in the memory 802, and when run by the one or more processors 801, the autonomous tunneling control method of the continuous coal mining machine in any of the above method embodiments is executed.

[0177] The autonomous tunneling control method for continuous coal mining machines of this invention differs from manual operation, which relies on experience. It is a control strategy designed for automatic equipment operation and is applicable to the execution of machine instruction sets by the autonomous tunneling control device of the continuous coal mining machine. This invention fully integrates the tunneling process of the continuous coal mining machine, human operating experience, the mechanical properties of the equipment, and the characteristics of the electro-hydraulic system. It has the ability to adapt to changes in working conditions, requires no frequent intervention from operators, and can operate independently and stably for a long period. This invention is controlled by the autonomous tunneling control device of the continuous coal mining machine, realizing intelligent operation of the equipment. It allows operators to be transferred to the centralized control center at the tunneling face or the ground control room, ensuring the personal safety and occupational health and safety of the operators.

[0178] One embodiment of the present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the autonomous tunneling control method for a continuous coal mining machine as described above.

[0179] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for autonomous tunneling control of a continuous coal mining machine, characterized in that, include: Obtain the current parameter information and preset initialization parameter information of the continuous coal mining machine to be controlled; The preset autonomous tunneling process is obtained and the equipment is initialized. The autonomous tunneling process includes an automatic slotting process, an autonomous machine moving process, and an automatic side sweeping process. The autonomous machine moving process adopts a V-shaped trajectory to move the continuous coal mining machine. After initialization, according to the autonomous tunneling process, the automatic grooving process, the autonomous machine relocation process, and / or the automatic side cleaning process are executed; The autonomous relocation process specifically includes: Control the continuous coal mining machine to retreat to the starting position; The continuous coal mining machine is controlled to move in one or more V-shaped trajectories. In each V-shaped trajectory, the continuous coal mining machine is first controlled to deflect in the first direction and retreat to a preset moving distance. Then, the continuous coal mining machine is controlled to deflect in the second direction and advance to a preset moving distance. The first direction is away from the target direction, and the second direction is towards the target direction. The control of the continuous coal mining machine employs one or more V-shaped trajectory movements. Within each V-shaped trajectory, the continuous coal mining machine is first controlled to deflect in a first direction and retreat to a preset movement distance. Then, the continuous coal mining machine is controlled to deflect in a second direction and advance to a preset movement distance. Specifically, this includes: The continuous coal mining machine is controlled to move in a three-segment V-shaped trajectory. In the first V-shaped trajectory, the continuous mining machine is repeatedly controlled to perform multiple backward displacements until it retreats to the preset moving distance. In each backward displacement, the heading angle between the axis of the continuous mining machine body and the axis of the roadway is controlled to deflect by a preset variable deflection angle in the first direction, and the machine retreats by a preset segment distance. Then, the continuous mining machine is repeatedly controlled to perform multiple forward displacements until it advances to the preset moving distance. In each forward displacement, the heading angle between the axis of the continuous mining machine body and the axis of the roadway is controlled to deflect by a preset variable deflection angle in the second direction, and the machine advances by a preset segment distance. In the second V-shaped trajectory, the heading angle between the continuous coal mining machine body axis and the roadway axis is controlled to deflect in the first direction by a preset fixed deflection angle, and then retreats to a preset moving distance. Then, the heading angle between the continuous coal mining machine body axis and the roadway axis is controlled to deflect in the second direction by a preset fixed deflection angle, and then advances to a preset moving distance. In the third V-shaped trajectory, the continuous mining machine is repeatedly controlled to perform multiple backward displacements until it retreats to the preset relocation distance. In each backward displacement, the heading angle between the continuous mining machine's body axis and the roadway axis is controlled to deflect by a preset variable deflection angle in the first direction, and the machine retreats by a preset segment distance. Then, the continuous mining machine is repeatedly controlled to perform multiple forward displacements until it advances to the preset relocation distance. In each forward displacement, the heading angle between the continuous mining machine's body axis and the roadway axis is controlled to deflect by a preset variable deflection angle in the second direction, and the machine advances by a preset segment distance.

2. The autonomous tunneling control method for continuous coal mining machines according to claim 1, characterized in that: The control of the continuous coal mining machine to deflect in the first direction and retreat a preset distance specifically includes: during the movement along a V-shaped trajectory close to the coal wall of the roadway, repeatedly controlling the continuous coal mining machine to perform multiple segments of retreat displacement until it retreats to the preset distance; during each segment of retreat displacement, controlling the continuous coal mining machine to deflect in the first direction by a preset variable deflection angle and retreat by a preset segment distance; or during the movement along a V-shaped trajectory away from the coal wall of the roadway, controlling the continuous coal mining machine to deflect in the first direction by a preset fixed deflection angle and retreat to the preset distance. The control of the continuous coal mining machine to deflect in the second direction and advance a preset distance specifically includes: during the movement along a V-shaped trajectory close to the coal wall of the roadway, repeatedly controlling the continuous coal mining machine to perform multiple forward displacements until it advances to the preset distance; during each forward displacement, controlling the continuous coal mining machine to deflect in the second direction by a preset variable deflection angle and advance a preset segment distance; or during the movement along a V-shaped trajectory away from the coal wall of the roadway, controlling the continuous coal mining machine to deflect in the second direction by a preset fixed deflection angle and advance to the preset distance.

3. The autonomous tunneling control method for continuous coal mining machines according to claim 2, characterized in that, The preset variable deflection angle and / or preset fixed deflection angle are calculated based on the relocation method, roadway width, and relocation distance.

4. The autonomous tunneling control method for continuous coal mining machines according to claim 1, characterized in that: In the first and third V-shaped trajectories, the variable deflection angle α1 of the first backward displacement is the initial angle, and the variable deflection angle of the i-th backward displacement is... Where i is a natural number greater than or equal to 2, R is the distance from the upper left corner of the continuous coal mining machine cutting head to the axis of the continuous coal mining machine, L is the preset segment distance, β is the angle between the line connecting the upper left corner of the continuous coal mining machine cutting head and the axis of the machine shaft and the axis of the continuous coal mining machine body, and γ is the variable deflection angle of the j-th segment's forward displacement. j =α N-j+1 , where j is a natural number greater than or equal to 1, and N is the total number of backward displacements; In the second V-shaped trajectory, the fixed deflection angle Where M is the relocation distance, W1 = WW m -2W v Where W is the width of the tunnel, W m W is the width of the continuous coal mining machine body. v This represents the lateral movement distance of the continuous coal mining machine's axis during the first V-shaped trajectory.

5. The autonomous tunneling control method for a continuous coal mining machine according to any one of claims 1 to 4, characterized in that, The automatic grooving process specifically includes: Perform multiple single-cycle grooving operations until the set grooving depth is reached. Each single-cycle grooving operation includes: Control the movement of the cutting arm of the continuous coal mining machine to place the cutting drum at a preset first height position above the ground, control the left and right tracks of the continuous coal mining machine to move forward simultaneously, so that the cutting drum of the continuous coal mining machine cuts into the coal wall to a depth of L, and control the left and right tracks of the continuous coal mining machine to move backward a distance of L / 2. The cutting arm of the continuous coal mining machine is controlled to move upward from the preset first height position to cut coal. During the coal cutting process, the current of the cutting motor is monitored. When the cutting current is greater than the preset current threshold, the speed of the cutting arm decreases stepwise. The cutting arm of the continuous coal mining machine is controlled to move until the cutting drum of the continuous coal mining machine is at the second height from the target height. Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm, raise the cutting drum to the target height, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2. Control the continuous coal mining machine's cutting arm to descend from the target height to the second height, keep the cutting arm height constant, control the left and right tracks of the continuous coal mining machine to advance by L / 2 distance, control the cutting arm of the continuous coal mining machine to cut coal downwards until the cutting drum of the continuous coal mining machine is at the first preset height above the ground, monitor the cutting motor current during the coal cutting process, and when the cutting current exceeds the preset current threshold, the cutting arm's movement speed decreases stepwise; Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm to lower the height of the cutting drum to 0, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

6. The autonomous tunneling control method for a continuous coal mining machine according to any one of claims 1 to 4, characterized in that, The automatic side-sweeping process specifically includes: Multiple single-cycle continuous side-sweeping operations are performed until the set sweeping depth is reached. During the operation, the position coordinates and direction of the continuous coal mining machine are compared with the preset trajectory in real time. If a deviation is detected, correction is performed. Each single-cycle continuous side-sweeping operation includes: Control the movement of the cutting arm of the continuous coal mining machine to place the cutting drum at a preset first height position above the ground, control the left and right tracks of the continuous coal mining machine to move forward simultaneously, so that the cutting drum of the continuous coal mining machine cuts into the coal wall to a depth of L, and control the left and right tracks of the continuous coal mining machine to move backward a distance of L / 2. The cutting arm of the continuous coal mining machine is controlled to move upward from the preset first height position to cut coal. During the coal cutting process, the current of the cutting motor is monitored. When the cutting current is greater than the preset current threshold, the speed of the cutting arm decreases stepwise. The cutting arm of the continuous coal mining machine is controlled to move until the cutting drum of the continuous coal mining machine is at the second height from the target height. Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm, raise the cutting drum to the target height, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2. Control the continuous coal mining machine's cutting arm to descend from the target height to the second height, keep the cutting arm height constant, control the left and right tracks of the continuous coal mining machine to advance by L / 2 distance, control the cutting arm of the continuous coal mining machine to cut coal downwards until the cutting drum of the continuous coal mining machine is at the first preset height above the ground, monitor the cutting motor current during the coal cutting process, and when the cutting current exceeds the preset current threshold, the cutting arm's movement speed decreases stepwise; Keep the height of the continuous coal mining machine's cutting arm stationary, control the left and right tracks of the continuous coal mining machine to move backward by L / 2, control the movement of the continuous coal mining machine's cutting arm to lower the height of the cutting drum to 0, keep the height of the continuous coal mining machine's cutting arm stationary, and control the left and right tracks of the continuous coal mining machine to move forward by L / 2.

7. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the autonomous tunneling control method for a continuous coal mining machine as described in any one of claims 1 to 6.

8. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all the steps of the autonomous tunneling control method for a continuous coal mining machine as described in any one of claims 1 to 6.

Images