A method for determining the cutting starting point of a coal mining machine

Abstract

The present invention provides a method for determining the cutting starting point of a coal mining machine, comprising: constructing a virtual picture of a coal mining environment; marking the real-time position of a three-dimensional model of a coal mining machine in the virtual picture; determining the best entry point of a drum of the three-dimensional model of the coal mining machine in the coal seam; marking the best entry point in the virtual picture, and determining the cutting starting point of the coal mining machine according to the best entry point. The present invention uses a high-precision inertial navigation module to locate the coal mining machine in real time, uses a positioning module to collect the position information of the cutting mechanism in real time, constructs a virtual picture of the coal mining environment on a computer, and uses the virtual picture to find the cutting starting point.

Description

Technical Field

[0001] The invention relates to the field of coal mining machine navigation, and in particular to a method for determining a cutting starting point of a coal mining machine. Background Art

[0002] Coal mining machine autonomous positioning and navigation is one of the key technologies to realize intelligent unmanned coal mining system. During coal production, the dust volume of fully mechanized mining working face is huge, and laser positioning technology cannot be used; due to the limitation of coal mining process, satellite positioning technology such as Beidou and GPS cannot be used. Therefore, most of the current design schemes for coal mining machine autonomous positioning and navigation use high-precision inertial navigation modules.

[0003] The cutting mechanism is the working part of the coal mining machine. Its main components include: rocker arm reduction box, cutting motor, spray device and cutting drum. The cutting mechanism is located at both ends of the coal mining machine body, and is hinged to the body through a pin shaft. With the pin shaft as the rotation center, the left and right drums are lifted and lowered by the extension and retraction of the piston rod of the height adjustment cylinder. The rocker arm and the height adjustment cylinder are connected by a pin shaft, and the left and right rocker arms are driven by motors respectively. After deceleration by a 2-3 level rocker arm reduction box and a 1-2 level planetary deceleration, the drum is driven to rotate through the square drum seat to complete coal cutting and loading.

[0004] When the coal mining machine cuts to the end of the working face, the position of the rollers is swapped, the front roller is lowered, the rear roller is raised, and the coal wall is cut in the reverse direction along the curved section of the conveyor until the conveyor becomes a straight section. Then the upper and lower positions of the two rollers are swapped, and the coal is returned to the head of the conveyor. The triangular coal is cut off, and after the coal wall is cut straight, the upper and lower rollers are swapped again, and the coal is cut normally on the return journey.

[0005] When a coal mining machine mines coal autonomously, how to determine the cutting starting point of the coal mining machine in the virtual screen becomes a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0006] The purpose of the present invention is to provide a method for determining the cutting starting point of a coal mining machine, using a high-precision inertial navigation module to locate the coal mining machine in real time, using a positioning module to collect the position information of the cutting mechanism in real time, constructing a virtual picture of the coal mining environment on a computer, and using the virtual picture to find the cutting starting point.

[0007] The technical solution for achieving the purpose of the present invention is as follows:

[0008] A method for determining a cutting starting point of a coal mining machine, comprising:

[0009] Construct a virtual picture of the coal mining environment;

[0010] Mark the real-time position of the coal mining machine 3D model in the virtual screen;

[0011] Determining the best entry point of the drum of the three-dimensional model of the coal mining machine in the coal seam;

[0012] The optimal entry point is marked on the virtual screen, and the cutting starting point of the coal mining machine is determined according to the optimal entry point.

[0013] As a further improvement of the present invention, the construction of a virtual picture of the coal mining environment includes:

[0014] Acquire three-dimensional environmental data around the coal mining machine;

[0015] Extracting the reference object contour around the coal mining machine based on the three-dimensional environmental data;

[0016] Matching the reference object contour with pre-collected coal seam information and tunnel information to obtain matching information;

[0017] Construct a virtual picture of the coal mining environment based on the matching information.

[0018] As a further improvement of the present invention, the marking of the real-time position of the three-dimensional model of the coal mining machine in the virtual picture includes:

[0019] Build a 3D model of the coal mining machine;

[0020] Placing a three-dimensional model of a coal mining machine on the virtual screen;

[0021] Extract data information of coal mining machine;

[0022] The real-time position of the three-dimensional model of the coal mining machine is marked in the virtual screen according to the data information.

[0023] As a further improvement of the present invention, the three-dimensional model of the coal mining machine is constructed, including:

[0024] Build a coal mining machine model;

[0025] Construct a dynamic compensation model for coal mining machines;

[0026] The real-time output parameters of the coal mining machine dynamic compensation model are imported into the coal mining machine model to obtain a three-dimensional model of the coal mining machine.

[0027] As a further improvement of the present invention, determining the best entry point of the drum of the three-dimensional model of the coal mining machine in the coal seam includes:

[0028] Get the size information of the coal mining machine itself;

[0029] Obtaining current position information of the three-dimensional model of the coal mining machine in the virtual environment;

[0030] Taking the current position information as a reference, obtaining a plurality of entry points based on the size information;

[0031] Select the best entry point from multiple entry points.

[0032] As a further improvement of the present invention, the method of obtaining multiple entry points based on the size information and taking the current position information as a reference includes:

[0033] The current position information is the coordinate center (X 0 ,Y 0 );

[0034] The size information includes the length L of the coal mining machine;

[0035] According to the coordinate center (X 0 ,Y 0 ) and the length L of the coal mining machine to construct multiple trajectories for the cutting mechanism to cut into the coal seam in reverse;

[0036] Multiple tracks correspond to multiple entry points of the coal seam, that is, multiple entry points.

[0037] As a further improvement of the present invention, the method for determining multiple trajectories is:

[0038] Get the relative coordinate center of the cutting mechanism (X 0 ,Y 0 )’s cutting coordinates (X,Y);

[0039] Along the cutting coordinates (X,Y) and the coordinate center (X 0 ,Y 0 ) constructs a straight line, which is the preset trajectory line when it extends to the coal seam;

[0040] The predicted motion trajectory can be obtained by translating the center line by half the width of the cutting mechanism;

[0041] Draw a reference line along the edge of the expected motion trajectory, which is the maximum offset edge of the shearer drum cutting mechanism;

[0042] A plurality of straight lines are constructed in the region between the maximum offset edge and the predicted motion trajectory, and a plurality of directly corresponding motion trajectories are the plurality of trajectories.

[0043] As a further improvement of the present invention, marking the best entry point on the virtual screen includes:

[0044] Get multiple coordinate information corresponding to multiple entry points;

[0045] Select one of the multiple coordinate information that is closest to the cutting coordinate (X, Y);

[0046] Extract the coordinate information closest to the cutting coordinate (X, Y) as the best coordinate information;

[0047] The best coordinate information is marked in the virtual picture as the best entry point.

[0048] As a further improvement of the present invention, the method of determining the cutting starting point of the coal mining machine according to the optimal entry point includes:

[0049] Obtaining the location information of the best entry point from the virtual screen;

[0050] According to the location information of the best entry point, a number of 10-25 mm segmented broken lines are used to connect the predicted motion trajectory and the reference line into a curve;

[0051] When the curve is x meters away from the optimal entry point, the curve is marked with a marking line;

[0052] Run parallel to the tunnel and bring the cutting mechanism close to the coal body, and move the shearer slowly from back to front at a speed of 0.05±0.02m / s using an angle of attack;

[0053] The coal mining machine moves to the edge of the expected motion trajectory, and the three-dimensional model of the coal mining machine at this time corresponds to the virtual screen;

[0054] At this time, the center of the coal mining machine three-dimensional model is connected with the optimal entry point and extended to form an extension line;

[0055] The intersection of the extension line and the media is the cutting starting point of the coal mining machine.

[0056] As a further improvement of the present invention, the method of determining the cutting starting point of the coal mining machine according to the optimal entry point further includes:

[0057] When part of the cutting mechanism is not on the edge line, the lane is straightened in the virtual screen, and the predicted motion trajectory is matched with the actual trajectory line of the cutting mechanism again until the actual trajectory line of the cutting mechanism coincides with the edge line of the predicted motion trajectory;

[0058] In the virtual screen, the section where the coal mining machine moves forward less than 1 meter is trimmed into a smooth curve with a broken line of 20-80mm to obtain the real-time edge line of the expected movement trajectory.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] The present invention uses a high-precision inertial navigation module to locate the coal mining machine in real time, uses a positioning module to collect position information of a cutting mechanism in real time, constructs a virtual picture of the coal mining environment on a computer, and uses the virtual picture to find the cutting starting point. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A flow chart of a method for determining the cutting starting point of a coal mining machine;

[0062] Figure 2 for Figure 1Flow chart of step S110;

[0063] Figure 3 for Figure 1 Flow chart of step S120;

[0064] Figure 4 for Figure 1 Flow chart of step S130;

[0065] Figure 5 for Figure 1 Flowchart of step S140 in FIG. DETAILED DESCRIPTION

[0066] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0067] The average depth of coal mines in my country is over 700 meters, while the average depth of coal mines in Australia and the United States is 350 meters. The biggest problem in my country's coal mining is the "three highs", namely high casualties, high damage, and high emissions. It is difficult to achieve the goal of green coal mining with zero casualties, zero damage, and zero emissions by general mechanized mining alone, and a solution must be found from intelligent mining.

[0068] Intelligent mining is the anthropomorphic production of machines, with multiple robots working together, and having the functions of autonomous positioning, automatic perception, and adaptive operation, realizing the digitization and Internet of Things of the entire mining process, and the unmanned and visualized operation of equipment. The robotized mining technology system includes coal mining robots, unmanned scraper conveyors, unmanned hoists, and unmanned vehicles.

[0069] Coal mining robots are one of the factors that make manned mining change to unmanned mining. The so-called change from manned mining to unmanned mining is from primitive human mining to robot mining. Although they are still human, "human" is no longer the original biological person, but a fusion of machine and intelligence. Robotic mining originated from bionics and will move towards anthropomorphism in the future. The roadheader imitates the function of pangolins, the coal mining machine imitates the function of gopher digging, and the belt conveyor imitates the function of ant colonies moving. Each roller is equivalent to an ant. Robotic mining in coal mines should be realized through the embedding or grafting of artificial intelligence.

[0070] Coal mining machine in the conventional sense is one of the main equipment of comprehensive mining equipment. It is a coal mining machine that uses a cutting mechanism to break coal from the coal body (breaking coal) and load it into the working face conveyor (loading coal) in the longwall coal mining working face. The coal mining machine travels (hauling) at the set hauling speed so that the coal breaking and loading processes can be carried out continuously. Coal mining machine generally consists of cutting mechanism, loading mechanism, walking mechanism (hauling mechanism), motor, operation control system and auxiliary devices. The general term for working mechanism and its mechanical transmission or drive device. When the cutting part is driven by a special motor, the cutting mechanism also includes the cutting motor. The cutting mechanism is a component that directly realizes the main functions such as cutting and crushing. It is equipped with cutting teeth, which break coal from the coal body. In order to form the required cutting section shape, the cutting mechanism of some coal mining machines has one or more auxiliary cutting mechanisms in addition to a main cutting mechanism. The mechanical transmission device of the cutting mechanism is used to transmit power to the cutting mechanism to meet the requirements of its movement mode, movement direction and cutting speed. The mechanical transmission device usually adopts gear transmission, which generally cannot change speed during use, but is equipped with a special speed-changing gear pair for replacement during installation to meet the requirements of cutting speed. The loading mechanism is a component that loads the coal blocks broken off by the cutting mechanism into the working face conveyor. The loading mechanism generally includes a loading component and a mechanical transmission device. When the loading mechanism has a dedicated motor, it also includes a loading motor, and the loading mechanism can also be driven by the mechanical transmission device of the cutting part.

[0071] The cutting mechanism is the working part of the coal mining machine. Its main components include: rocker arm reduction box, cutting motor, spray device and cutting drum. The cutting mechanism is located at both ends of the coal mining machine body, and is hinged to the body through a pin shaft. With the pin shaft as the rotation center, the left and right drums are lifted and lowered by the extension and retraction of the piston rod of the height adjustment cylinder. The rocker arm and the height adjustment cylinder are connected by a pin shaft, and the left and right rocker arms are driven by motors respectively. After deceleration by a 2-3 level rocker arm reduction box and a 1-2 level planetary deceleration, the drum is driven to rotate through the square drum seat to complete coal cutting and loading.

[0072] When the coal mining machine cuts to the end of the working face, the position of the rollers is swapped, the front roller is lowered, the rear roller is raised, and the coal wall is cut in the reverse direction along the curved section of the conveyor until the conveyor becomes a straight section. Then the upper and lower positions of the two rollers are swapped, and the coal is returned to the head of the conveyor. The triangular coal is cut off, and after the coal wall is cut straight, the upper and lower rollers are swapped again, and the coal is cut normally on the return journey.

[0073] The end of the working face is where the working face is connected to the track lane and the transport lane. It is located at the intersection of the mining working face and the drift. The trajectory of the coal mining machine during coal cutting is Z-shaped. The first coal mining machine cuts through the entire working face to form a triangular coal bending section. The coal mining machine cuts in at an angle and then returns to eat the triangular coal, completing a complete coal mining process. The coal mining machine automatically cuts coal from the middle to the head, pulls to the first turning point, stops, and lowers the left drum; initial state: the left drum cuts the top knife, the right drum cuts the bottom knife; the first turning point: the left drum cuts the bottom knife, the right drum cuts the bottom knife; the coal mining machine automatically cuts coal from the middle to the head, and each section of the bracket automatically moves in sequence with the coal mining machine. The present invention determines the cutting starting point when the coal mining machine cuts in at an angle.

[0074] The embodiment of the present invention provides a method for determining the cutting starting point of a coal mining machine. Figure 1 , the method for determining the cutting starting point of the coal mining machine includes:

[0075] Step S110, constructing a virtual picture of the coal mining environment;

[0076] Step S120, marking the real-time position of the three-dimensional model of the coal mining machine in the virtual picture;

[0077] Step S130, determining the best entry point of the drum of the three-dimensional model of the coal mining machine in the coal seam;

[0078] Step S140: mark the best entry point on the virtual screen, and determine the cutting starting point of the coal mining machine according to the best entry point.

[0079] The coal mining environment of the embodiment of the present invention includes coal seam information and tunnel information. First, it is based on the coal seam information explored in the coal mine. For example, in order to reveal the coal series and collect coal samples, tunnel exploration technology is used to excavate various tunnels to detect coal seam information. The coal seam information includes the stratigraphic structure of the coal seam, coal type, coal quality and changes, coal seam occurrence, faults with a drop greater than 20m, etc.

[0080] The three-dimensional model of the coal mining machine in the embodiment of the present invention is constructed in the server, and the three-dimensional model of the coal mining machine is constructed based on the inertial navigation platform.

[0081] The cutting starting point of the coal mining machine in the embodiment of the present invention is the coordinate point when the coal mining machine cuts in obliquely. Since the end of the working face is where the working face is connected to the track lane and the transport lane, and is located at the intersection of the return working face and the drift, the coal mining machine's coal cutting process trajectory is Z-shaped. The first coal mining machine cuts through the entire working face to form a triangular coal bending section. The coal mining machine cuts in obliquely and then returns to eat the triangular coal, completing a complete coal mining process.

[0082] In the embodiments of the present invention, please refer to Figure 2 In step S110, a virtual image of the coal mining environment is constructed, including:

[0083] Step S110a, obtaining three-dimensional environmental data around the coal mining machine;

[0084] Step S110b, extracting the reference object contour around the coal mining machine based on the three-dimensional environmental data;

[0085] Step S110c, matching the reference object contour with the pre-collected coal seam information and tunnel information to obtain matching information;

[0086] Step S110d: construct a virtual image of the coal mining environment according to the matching information.

[0087] The three-dimensional environment data of the embodiment of the present invention is scanned by a high-definition camera, which is a high-precision and high-resolution camera that can be used in an explosive gas environment.

[0088] The coal seam information and tunnel information collected in advance in the embodiment of the present invention are firstly based on the coal seam information explored in the coal mine. For example, in order to reveal the coal series and collect coal samples, tunnel exploration technology is used to excavate various tunnels to detect coal seam information. The coal seam information includes the stratigraphic structure of the coal seam, coal type, coal quality and changes, coal seam occurrence, faults with a drop greater than 20m, etc.

[0089] The reference object profile of the embodiment of the present invention includes but is not limited to a coal mining machine head, a coal mining machine tail, a coal mining machine front drum, a coal mining machine rear drum, a coal shovel board, a tunnel support, a coal mining machine scraper conveyor, and the like.

[0090] In the embodiments of the present invention, please refer to Figure 3 In step S120, marking the real-time position of the three-dimensional model of the coal mining machine in the virtual picture includes:

[0091] Step S120a, constructing a three-dimensional model of the coal mining machine;

[0092] Step S120b, placing the three-dimensional model of the coal mining machine on the virtual screen;

[0093] Step S120c, extracting data information of the coal mining machine;

[0094] Step S120d: Mark the real-time position of the three-dimensional model of the coal mining machine in the virtual screen according to the data information.

[0095] The virtual image of the embodiment of the present invention includes coal seam information and tunnel information. First, it is based on the coal seam information explored in the coal mine. For example, in order to reveal the coal series and collect coal samples, tunnel exploration technology is used to excavate various tunnels to detect coal seam information. The coal seam information includes the stratigraphic structure of the coal seam, coal type, coal quality and changes, coal seam occurrence, faults with a drop greater than 20m, etc.

[0096] In an embodiment of the present invention, in step S120a, constructing a three-dimensional model of a coal mining machine includes:

[0097] Step S120a1, constructing a coal mining machine model;

[0098] Step S120a2, constructing a dynamic compensation model of the coal mining machine;

[0099] Step S120a3: Import the real-time output parameters of the coal mining machine dynamic compensation model into the coal mining machine model to obtain a three-dimensional model of the coal mining machine.

[0100] Since there is a relatively complex nonlinear relationship between the vectors of the coal mining machine body, coal seam, tunnel, advance amount, and coal block cutting amount, the variables forming the nonlinear relationship constitute a nonlinear system, and a quantitative compensation model is constructed based on the nonlinear system. Therefore, the present invention also constructs a coal mining machine dynamic compensation model based on the construction of the coal mining machine model.

[0101] In the coal mining machine dynamic compensation model of the embodiment of the present invention, each compensation parameter is completed through training and learning. The training and learning of the coal mining machine dynamic compensation model is based on the environmental feature learning of the minimum deviation range. When observing the virtual position of the cutting mechanism on the three-dimensional model of the coal mining machine, there is a relatively complex nonlinear relationship between the vectors of the coal mining machine body, coal seam, tunnel, excavation amount, and cut coal block amount. The goal of discriminant learning is to reduce the number of misclassifications by minimizing the average cost function. (1) Define the discriminant function, (2) Define the misclassification measure (3) Define the cost function (4) Average cost function (5) Minimize the average cost function. In this way, the environmental features can be continuously iterated and optimized along the gradient descent direction of the average cost function. After estimating the deviation features, the deviation position of the cutting mechanism can be estimated on this basis, and the estimated deviation position can be used for training and recognition.

[0102] The above-mentioned compensation data of at least three dimensions of the coal mining machine include the coal mining machine hydraulic system data, the coal mining machine sprocket chain tension data, the coal mining machine drum swing hydraulic data, the roadway direction data and the roadway bottom surface flatness data. The above-mentioned non-compensation data of the coal mining machine include the coal mining machine's own size data, the coal mining machine's cutting mechanism components data, the coal mining machine's transportation system components data, etc.

[0103] The embodiment of the present invention expands the compensation data according to parameters such as coal seam changes, tunnel orientation, coal mining machine specification changes, and cutting mechanism changes.

[0104] In the embodiments of the present invention, please refer to Figure 4 In step S130, determining the best entry point of the drum of the three-dimensional model of the coal mining machine in the coal seam includes:

[0105] Step S130a, obtaining the size information of the coal mining machine itself;

[0106] Step S130b, obtaining the current position information of the three-dimensional model of the coal mining machine in the virtual environment;

[0107] Step S130c uses the current position information as a reference and obtains multiple entry points based on the size information;

[0108] Step S130d: Select the best entry point from multiple entry points.

[0109] The size information of the coal mining machine itself, including mining height (m), cutting depth (m), adaptive inclination angle, drum diameter (m), drum speed (r / min), rocker arm length (mm), rocker arm swing center distance (mm), traction force (KN), traction speed (m / min), machine face height (mm) and coal mining machine length (m).

[0110] The present invention selects the length (m) of the coal mining machine as important size information among many size information, and determines the entry point based on the length (m) of the coal mining machine. Since there is a relatively complex nonlinear relationship between the vectors of the coal mining machine body, coal seam, tunnel, advance amount, and cut coal block amount, the variables forming the nonlinear relationship constitute a nonlinear system, and the embodiment of the present invention also determines the best entry point based on the nonlinear system.

[0111] The above-mentioned compensation data of at least three dimensions of the coal mining machine include the coal mining machine hydraulic system data, the coal mining machine sprocket chain tension data, the coal mining machine drum swing hydraulic data, the roadway direction data and the roadway bottom surface flatness data. The above-mentioned non-compensation data of the coal mining machine include the coal mining machine's own size data, the coal mining machine's cutting mechanism components data, the coal mining machine's transportation system components data, etc.

[0112] The embodiment of the present invention expands the compensation data according to parameters such as coal seam changes, tunnel orientation, coal mining machine specification changes, and cutting mechanism changes.

[0113] In the embodiment of the present invention, in step S130c, multiple entry points are obtained based on the size information and the current position information, including:

[0114] Step S130c1: Current location information is the coordinate center (X 0 ,Y 0 );

[0115] Step S130c2, the size information includes the length L of the coal mining machine;

[0116] Step S130c3, according to the coordinate center (X 0 ,Y 0) and the length L of the coal mining machine to construct multiple trajectories for the cutting mechanism to cut into the coal seam in reverse;

[0117] Step S130c4: The multiple entry points corresponding to the multiple trajectories of the coal seam are the multiple entry points.

[0118] In an embodiment of the present invention, in the above step S130c4, the method for determining the multiple trajectories is:

[0119] Step S130c41, obtain the relative coordinate center (X 0 ,Y 0 )’s cutting coordinates (X,Y);

[0120] Step S130c42: along the cutting coordinates (X, Y) and the coordinate center (X 0 ,Y 0 ) constructs a straight line, and the straight line extending to the coal seam is the preset trajectory line;

[0121] Step S130c43, the center line is translated by half the width of the cutting mechanism to obtain the expected motion trajectory;

[0122] Step S130c44, draw a reference line along the edge of the expected motion trajectory, the reference line being the maximum offset edge of the shearer drum cutting mechanism;

[0123] Step S130c45: construct multiple straight lines in the area between the maximum offset edge line and the predicted motion trajectory. Multiple directly corresponding motion trajectories are multiple trajectories.

[0124] In the embodiments of the present invention, please refer to Figure 5 In step S140, marking the best entry point on the virtual screen includes:

[0125] Step S140a, obtaining multiple coordinate information corresponding to multiple entry points;

[0126] Step S140b, selecting a coordinate information closest to the cutting coordinate (X, Y) from the multiple coordinate information;

[0127] Step S140c, extracting the coordinate information closest to the cutting coordinate (X, Y) as the best coordinate information;

[0128] Step S140d: Mark the best coordinate information in the virtual picture as the best entry point.

[0129] In the embodiments of the present invention, please refer to Figure 5 In step S140, the cutting starting point of the coal mining machine is determined according to the optimal entry point, including:

[0130] Step S140e, obtaining the position information of the best entry point from the virtual picture;

[0131] Step S140f, according to the position information of the best entry point, use a number of 10-25 mm segmented broken lines to connect the predicted motion trajectory and the reference line into a curve;

[0132] Step S140g, when the curve is x meters away from the best entry point, mark the curve with a marking line;

[0133] Step S140h, moving the cutting mechanism close to the coal body along the tunnel in parallel, and moving the coal mining machine slowly from back to front at a speed of 0.05±0.02m / s using an angle of attack;

[0134] Step S140i: The coal mining machine moves to the edge of the expected motion trajectory, and the three-dimensional model of the coal mining machine at this time corresponds to the virtual screen;

[0135] Step S140j, connecting the center of the coal mining machine three-dimensional model with the optimal entry point and extending them to form an extension line;

[0136] Step S140k: The intersection of the extension line and the medium is the cutting starting point of the coal mining machine.

[0137] The three-dimensional model of the coal mining machine in the embodiment of the present invention also includes: matching real-time state parameters and virtual state parameters one by one; calculating the deviation of each parameter; obtaining the relative error between the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation; compensating the maximum positioning error of the position and posture of the coal mining machine in the three-dimensional model of the coal mining machine according to the relative error, and obtaining the compensated three-dimensional positioning information of the coal mining machine; and obtaining the three-dimensional positioning information of the coal mining machine according to the compensated three-dimensional positioning information of the coal mining machine.

[0138] In the embodiments of the present invention, please refer to Figure 5 In step S140, the cutting starting point of the coal mining machine is determined according to the optimal entry point, and further includes:

[0139] When part of the cutting mechanism is not on the edge line, the lane is straightened in the virtual screen, and the predicted motion trajectory is matched with the actual trajectory line of the cutting mechanism again until the actual trajectory line of the cutting mechanism coincides with the edge line of the predicted motion trajectory;

[0140] In the virtual screen, the section where the coal mining machine moves forward less than 1 meter is trimmed into a smooth curve with a broken line of 20-80mm to obtain the real-time edge line of the expected movement trajectory.

[0141] The embodiment of the present invention straightens the tunnel by straightening parameters. Specifically, the determination of the straightening parameters depends not only on the cutting drum but also on the coal loading mechanism. Specifically, after the coal loading mechanism is in place, the coal loading machine body and the rocker arm start to move. When the coal loading machine body starts to move, it starts from the coal body area curve and approaches the rocker arm direction. Before the movement, the cutting width is divided into multiple points, and the number of equal points is set as M. Then the width of the curve area is divided according to M points, and then the points are marked accordingly. During the movement, the rocker arm is first installed on the coal mining machine. The driving device pulls the cutting drum off the ground to a certain height, runs parallel to the tunnel and pushes the coal mining machine to move. The driving device drives to the coal body and starts the next round of movement. Thereafter, the distance of movement to the coal body increases by 0.1-0.3 meters each time until it moves to the edge line of the expected movement trajectory of the cutting drum. When part of the edge is not on the edge line, the tunnel is straightened again in the virtual screen until the edge line of the sleeper coincides with the edge line of the expected movement trajectory of the cutting drum, and the movement of the coal loading machine body ends.

[0142] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0143] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0144] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for determining the cutting starting point of a coal mining machine, It is characterized in that include: Construct a virtual picture of the coal mining environment; Mark the real-time position of the coal mining machine 3D model in the virtual screen; Determining the best entry point of the drum of the three-dimensional model of the coal mining machine in the coal seam; Mark the optimal entry point on the virtual screen, and determine the cutting starting point of the coal mining machine according to the optimal entry point; Determining the best entry point of the drum of the three-dimensional model of the coal mining machine in the coal seam includes: Get the size information of the coal mining machine itself; Obtaining current position information of the three-dimensional model of the coal mining machine in the virtual environment; Taking the current position information as a reference, a plurality of entry points are obtained based on the size information; Select the best entry point from multiple entry points; The method of obtaining multiple entry points based on the size information and taking the current position information as a reference includes: The current position information is the coordinate center (X 0 ,Y 0 ); The size information includes the length L of the coal mining machine; According to the coordinate center (X 0 ,Y 0 ) and the length L of the coal mining machine to construct multiple trajectories for the cutting mechanism to cut into the coal seam in reverse; The multiple entry points corresponding to the multiple tracks of the coal seam are multiple entry points; The method for determining the multiple trajectories is: Get the relative coordinate center of the cutting mechanism (X 0 ,Y 0 )’s cutting coordinates (X,Y); Along the cutting coordinates (X,Y) and the coordinate center (X 0 ,Y 0 ) constructs a straight line, which is the preset trajectory line when it extends to the coal seam; The predicted motion trajectory can be obtained by translating the center line by half the width of the cutting mechanism; Draw a reference line along the edge of the expected motion trajectory, which is the maximum offset edge of the shearer drum cutting mechanism; Construct multiple straight lines in the area between the maximum offset edge and the expected motion trajectory, and multiple directly corresponding motion trajectories are multiple trajectories; The step of marking the best entry point on the virtual screen includes: Get multiple coordinate information corresponding to multiple entry points; Select one of the multiple coordinate information that is closest to the cutting coordinate (X, Y); Extract the coordinate information closest to the cutting coordinate (X, Y) as the best coordinate information; Marking the best coordinate information in the virtual picture as the best entry point; Determining the cutting starting point of the coal mining machine according to the optimal entry point includes: Obtaining the location information of the best entry point from the virtual screen; According to the location information of the best entry point, a number of 10-25 mm segmented broken lines are used to connect the predicted motion trajectory and the reference line into a curve; When the curve is x meters away from the optimal entry point, the curve is marked with a marking line; Run parallel to the tunnel and bring the cutting mechanism close to the coal body, and move the shearer slowly from back to front at a speed of 0.05±0.02m / s using an angle of attack; The coal mining machine moves to the edge of the expected motion trajectory, and the three-dimensional model of the coal mining machine at this time corresponds to the virtual screen; At this time, the center of the coal mining machine three-dimensional model is connected with the optimal entry point and extended to form an extension line; The intersection of the extension line and the media is the cutting starting point of the coal mining machine.

2. The method for determining the cutting starting point of a coal mining machine according to claim 1, It is characterized in that The virtual picture of the coal mining environment is constructed, including: Acquire three-dimensional environmental data around the coal mining machine; Extracting the reference object contour around the coal mining machine based on the three-dimensional environmental data; Matching the reference object contour with pre-collected coal seam information and tunnel information to obtain matching information; Construct a virtual picture of the coal mining environment based on the matching information.

3. The method for determining the cutting starting point of a coal mining machine according to claim 1, It is characterized in that The marking of the real-time position of the three-dimensional model of the coal mining machine in the virtual screen includes: Build a 3D model of the coal mining machine; Placing a three-dimensional model of a coal mining machine on the virtual screen; Extract data information of coal mining machine; The real-time position of the three-dimensional model of the coal mining machine is marked in the virtual screen according to the data information.

4. The method for determining the cutting starting point of a coal mining machine according to claim 3, It is characterized in that The three-dimensional model of the coal mining machine is constructed, comprising: Build a coal mining machine model; Construct a dynamic compensation model for coal mining machines; The real-time output parameters of the coal mining machine dynamic compensation model are imported into the coal mining machine model to obtain a three-dimensional model of the coal mining machine.

5. The method for determining the cutting starting point of a coal mining machine according to claim 1, It is characterized in that The step of determining the cutting starting point of the coal mining machine according to the optimal entry point also includes: When part of the cutting mechanism is not on the edge line, the lane is straightened in the virtual screen, and the predicted motion trajectory is matched with the actual trajectory line of the cutting mechanism again until the actual trajectory line of the cutting mechanism coincides with the edge line of the predicted motion trajectory; In the virtual screen, the section where the coal mining machine moves forward less than 1 meter is trimmed into a smooth curve with a broken line of 20-80mm to obtain the real-time edge line of the expected movement trajectory.

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