Coal mining machine posture correction method and device

Abstract

The present invention provides a method and device for correcting the posture of a coal mining machine, including: obtaining the posture information of the coal mining machine; determining the posture information of the scraper conveyor of the coal mining machine according to the posture information of the coal mining machine; determining the posture information of each scraper section according to the posture information of the scraper conveyor; and correcting the posture of the coal mining machine according to the determined posture information of each scraper section. The present invention determines the posture information of the coal mining machine using the posture information of the coal mining machine scraper, determines the precise coal mining machine trajectory through inertial mileage fusion navigation technology, and then generates a digital bottom plate of the scraper conveyor, automatically determines the hydraulic support advancement amount and cutting curve in combination with the working face end point position information, and realizes the straightening of the working face and the coal mining machine mining height control.

Description

Technical Field

[0001] The invention relates to mining technology, in particular to a method and a device for correcting the posture of a coal mining machine. Background Art

[0002] At present, intelligent coal mining technology generally adopts the mode of "automatic following of hydraulic support + memory cutting of coal mining machine" for intelligent production. In memory cutting, the coal mining machine driver operates the coal mining machine to cut along the ups and downs of the coal seam at the working face, and the control system stores the operation information of the coal mining machine in the computer. After entering the memory cutting mode, the operation actions and instructions of the coal mining machine reproduce the stored operation information, so it is suitable for mines with good geological conditions and small changes in coal seams. However, in actual application, there are generally problems such as inability to continuously advance automatically and poor self-adjustment ability, and the working face at the underground coal mining site cannot keep the coal wall straight, the chute straight, the pillar straight, and the top and bottom flat.

[0003] Because the memory cutting technology can only achieve precise control when the mining height and position sensor monitoring data of the coal mining machine are absolutely accurate and the coal mining machine posture remains unchanged. In the complex and changeable working environment underground, the posture of the coal mining machine body at the working face will always change with the changes in the coal seam floor and human intervention control adjustment. Therefore, the mining height and position data actually monitored by the coal mining machine will undergo displacement changes in the horizontal and vertical directions compared with the memorized curve data, and this change will accumulate as the working face moves forward. This makes it impossible for the memory cutting technology to achieve precise control of the coal mining machine, let alone normal application. Summary of the invention

[0004] In view of the defects existing in the control of coal mining machines in the prior art, in order to overcome at least one of the defects, the present invention provides a method for correcting the posture of a coal mining machine, comprising:

[0005] Obtain coal mining machine position information;

[0006] Determining the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine;

[0007] Determine the posture information of each scraper section according to the posture information of the scraper conveyor;

[0008] The coal mining machine is corrected in terms of its posture according to the determined posture information of each scraper section.

[0009] In the embodiment of the present invention, the coal mining machine posture information includes: coal mining machine angular motion data, acceleration data and coal mining machine distance data.

[0010] In the embodiment of the present invention, the acquisition of coal mining machine posture information includes:

[0011] Use a three-axis gyroscope to obtain angular motion data;

[0012] Using a three-axis accelerometer to obtain acceleration data;

[0013] The mileage data of the coal mining machine is determined based on the rotation angle and wheel diameter of the coal mining machine wheels.

[0014] In an embodiment of the present invention, the step of determining the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine includes:

[0015] Obtaining the relative position relationship parameters between the coal mining machine and the scraper conveyor;

[0016] The position information of the scraper conveyor of the coal mining machine is determined according to the relative position relationship parameters and the position information of the coal mining machine.

[0017] In the embodiment of the present invention, the step of determining the posture information of each scraper section according to the posture information of the scraper conveyor includes:

[0018] Obtaining scraper parameters of the scraper conveyor; the scraper parameters include scraper quantity and scraper size data;

[0019] The posture information of each scraper section is determined according to the posture information of the scraper conveyor and the acquired scraper parameters of the scraper conveyor.

[0020] At the same time, the present invention also provides a coal mining machine posture correction device, comprising:

[0021] A coal mining machine posture information acquisition module is used to obtain the coal mining machine posture information;

[0022] A conversion module, used to determine the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine;

[0023] A scraper information determination module is used to determine the position information of each scraper section according to the position information of the scraper conveyor;

[0024] The correction module is used to correct the posture of the coal mining machine according to the determined posture information of each scraper section.

[0025] In an embodiment of the present invention, the coal mining machine posture information acquisition module includes:

[0026] Use a three-axis gyroscope to obtain angular motion data;

[0027] Using a three-axis accelerometer to obtain acceleration data;

[0028] The mileage data of the coal mining machine is determined based on the rotation angle and wheel diameter of the coal mining machine wheels.

[0029] In an embodiment of the present invention, the scraper information determination module includes:

[0030] A parameter acquisition unit, used to acquire scraper parameters of the scraper conveyor; the scraper parameters include the number of scrapers and scraper size data;

[0031] The determination unit is used to determine the posture information of each scraper section according to the posture information of the scraper conveyor and the acquired scraper parameters of the scraper conveyor.

[0032] At the same time, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the above method is implemented when the processor executes the computer program.

[0033] At the same time, the present invention also provides a computer-readable storage medium, which stores a computer program for executing the above method.

[0034] The coal mining machine posture correction method and device provided by the present invention obtains the coal mining machine posture information, determines the posture information of the coal mining machine's scraper conveyor according to the coal mining machine posture information, determines the posture information of each scraper section according to the posture information of the scraper conveyor, and corrects the coal mining machine's posture according to the determined posture information of each scraper section. A fully automated coal mining control scheme is provided, which determines the precise coal mining machine trajectory through inertial mileage fusion navigation technology, and then generates a digital bottom plate of the scraper conveyor. Combined with the working face end point position information, the hydraulic support advancement amount and cutting curve are automatically determined to achieve working face straightening and coal mining machine height adjustment control.

[0035] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A flow chart of the method for correcting the coal mining machine posture information provided by the present invention;

[0038] Figure 2 A schematic diagram of a digital base plate generated in one embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of an embodiment of the present invention;

[0040] Figure 4 Schematic diagram of the inertial navigation coordinate system of the coal mining machine in this embodiment;

[0041] Figure 5 is a flow chart in an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of updating a cutting reference direction in an embodiment of the present invention;

[0043] Figure 7 A block diagram of the coal mining machine posture information correction device provided by the present invention;

[0044] Figure 8 Schematic diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The existing technology uses GPS-RTK to obtain the real-time absolute high-precision coordinates of the coal mining machine as the basis for the coal mining machine calibration method. However, since this method uses the high-precision carrier phase differential positioning data of GPS-RTK, it will not be available when the satellite fails. In underground coal mining, there is no satellite signal underground, so this method cannot be used. In addition, this method has many limitations. For example, the coal mining machine needs to move in a straight line quickly, otherwise the inertial integral error will reduce the calibration accuracy. This method cannot complete the calibration work autonomously under actual working conditions. This method requires additional equipment such as differential stations, and the system is complex and inconvenient to implement.

[0047] In addition, the coal mining machine will vibrate violently when working, resulting in attitude cone motion, which reduces the accuracy of direct numerical integration calculation based on attitude differential equation. The simple integral attitude solution directly based on Rodrigues parameter differential equation cannot effectively compensate for the cone motion error and will produce significant attitude calculation error.

[0048] The present invention provides a method for correcting the attitude information of a coal mining machine. Figure 1 As shown, the method of the present invention comprises:

[0049] Step S101, obtaining coal mining machine position information;

[0050] Step S102, determining the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine;

[0051] Step S103, determining the posture information of each scraper section according to the posture information of the scraper conveyor;

[0052] Step S104, correcting the coal mining machine's posture according to the determined posture information of each scraper section.

[0053] The method for correcting the attitude information of a coal mining machine provided by the present invention determines the attitude information of a scraper conveyor of the coal mining machine according to the attitude information of the coal mining machine; determines the attitude information of each scraper section according to the attitude information of the scraper conveyor; corrects the attitude of the coal mining machine according to the determined attitude information of each scraper section, determines the precise trajectory of the coal mining machine through inertial mileage fusion navigation technology, and then generates a digital base plate of the scraper conveyor, automatically determines the advancement amount and cutting curve of the hydraulic support in combination with the end point position information of the working face, and realizes working face straightening and coal mining machine mining height control.

[0054] In the embodiment of the present invention, the coal mining machine posture information includes: coal mining machine angular motion data, acceleration data and coal mining machine distance data.

[0055] In the embodiment of the present invention, the acquisition of coal mining machine posture information includes:

[0056] Use a three-axis gyroscope to obtain angular motion data;

[0057] Using a three-axis accelerometer to obtain acceleration data;

[0058] The mileage data of the coal mining machine is determined based on the rotation angle and wheel diameter of the coal mining machine wheels.

[0059] In this embodiment, the angular motion and acceleration information of the sensitive carrier is obtained by using three-axis gyroscopes and three-axis accelerometers that are orthogonal to each other (the gyroscope and accelerometer of each axis are kept in the same direction), and the angular motion and acceleration information obtained by measurement are integrated with the odometer information of the coal mining machine using four elements and Kalman filtering to calculate the three-axis angle and position information of the coal mining machine; according to the relationship between the coal mining machine and the scraper conveyor, the posture information of the coal mining machine is mapped into the posture information of the scraper conveyor; and then, the scraper conveyor is a continuous and rigid object composed of multiple sections, and the overall posture information of the scraper is obtained by using the mechanical characteristics of two adjacent sections to obtain the optimal solution, and the posture information of each section of the scraper conveyor is calculated in segments.

[0060] The present invention describes the three-dimensional spatial state of the working surface bottom plate by adopting a modular rigid body method, that is, the three-dimensional spatial position of the working surface bottom plate is determined by determining the spatial three-dimensional position of the rigid body. Figure 2 FIG. 1 is a schematic diagram of a digitized base plate in one embodiment of the present invention.

[0061] In an embodiment of the present invention, the step of determining the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine includes:

[0062] Obtaining the relative position relationship parameters between the coal mining machine and the scraper conveyor;

[0063] The position information of the scraper conveyor of the coal mining machine is determined according to the relative position relationship parameters and the position information of the coal mining machine.

[0064] Wherein, the determining of the posture information of each scraper section according to the posture information of the scraper conveyor includes:

[0065] Obtaining scraper parameters of the scraper conveyor; the scraper parameters include scraper quantity and scraper size data;

[0066] The posture information of each scraper section is determined according to the posture information of the scraper conveyor and the acquired scraper parameters of the scraper conveyor.

[0067] Specifically, in the embodiment of the present invention, the length of the rigid body used is the center distance of the working face hydraulic support, the width of the rigid body is the normal cutting depth of the coal machine of the applicable working face, and the rigid bodies with the same number as the working face supports are connected together by mechanical connection, and the three-dimensional spatial state of this group of rigid bodies is used as the three-dimensional spatial state of the working face bottom plate.

[0068] The three-dimensional state of the rigid body comes from the inertial navigation installed on the coal mining machine on the working face. It integrates and solves high-precision three-dimensional position and posture information, gives the rigid body its own degree of freedom state information in its discrete state, and combines the working face endpoint information to form an interconnected surface to describe the three-dimensional state of the working face floor, automatically adjust the working face reference direction, complete path planning, and control the straightness and height adjustment of the comprehensive mining working face.

[0069] Inertial technology generates high-precision coal mining machine motion information: using a non-degenerate inertial odometer fusion algorithm to avoid the degradation problem that cannot be corrected by the gain attenuation of the Kalman filter after long-term operation, and suppress the error integral drift of the inertial device; providing high-precision attitude information through iterative estimation; designing an autonomous online installation deflection calibration algorithm for the inertial odometer to reduce the position error of the dead reckoning algorithm.

[0070] In the embodiment of the present invention, the system hardware for realizing the posture correction of the coal mining machine includes: an inertial measurement unit, an odometer, and a comprehensive solution control computer. The heading axis (Y axis) of the inertial measurement unit coincides with the direction of the coal mining machine body, that is, the speed direction of the odometer, which is ensured by a mechanical installation interface. The residual installation error of the two is calibrated online by a software algorithm. The installation and axial diagram of the inertial measurement unit and the coal mining machine are shown in FIG. Figure 3 shown.

[0071] Among them, Xb, Yb, and Zb are the coordinate systems of the coal mining machine body, and the three-axis gyroscope and accelerometer are installed in this direction, such as Figure 4 Shown is a schematic diagram of the inertial navigation coordinate system of the coal mining machine in this embodiment.

[0072] In this embodiment, the inertial measurement unit obtains the angular motion and acceleration information of the sensitive carrier through two mutually orthogonal three-axis gyroscopes and three-axis accelerometers (each axis gyroscope and accelerometer maintain the same direction), and uses four elements and Kalman filtering to fuse the inertial measurement unit and the coal mining machine odometer information to calculate the three-axis angle and position information of the coal mining machine; according to the relationship between the coal mining machine and the scraper conveyor, the position information of the coal mining machine is mapped into the position information of the scraper conveyor; then, the scraper conveyor is a continuous and rigid object composed of multiple sections, and the overall position information of the scraper is obtained by using the mechanical characteristics of two adjacent sections to obtain the optimal solution, and the position information of each section of the scraper conveyor is calculated in segments.

[0073] The odometer measures the angle of rotation of the shearer wheel and the wheel diameter to calculate the mileage, and the differential can also be used to obtain the instantaneous omnidirectional speed of the shearer. Usually, the inertial navigation system establishes the navigation coordinate system {O} based on the "east-north-sky" as the reference, and establishes the carrier coordinate system {b} with the geometric center of the shearer as the origin, such as Figure 4 The carrier coordinate system adopts the "right-hand rule" and takes the direction of the coal wall as the pitch axis X b , the direction of travel of the coal mining machine is the rolling axis Y b , the heading axis Z is pointing to the top plate b The inertial navigation device obtains the motion parameters in the carrier coordinate system {b}, and transforms the position and posture in the carrier coordinate system into the navigation coordinate system {O} through the navigation analysis algorithm to obtain high-precision three-dimensional information (roll angle, heading angle, pitch angle). At the same time, the mileage information is used to suppress the inertial integration drift error and maintain high-precision attitude information. The speed and position information in the navigation coordinate system are obtained through solution.

[0074] The coal mining machine posture correction method provided in this embodiment is that the inertial measurement unit obtains the angular motion and acceleration information of the sensitive carrier through two mutually orthogonal three-axis gyroscopes and three-axis accelerometers (each axis gyroscope and accelerometer maintain the same direction), and uses four elements and Kalman filtering to fuse the inertial measurement unit and the coal mining machine odometer information to calculate the three-axis angle and position information of the coal mining machine; according to the relationship between the coal mining machine and the scraper conveyor, the posture information of the coal mining machine is mapped into the posture information of the scraper conveyor; then, the scraper conveyor is a continuous and rigid object composed of multiple sections, and the overall posture information of the scraper is obtained by using the mechanical characteristics of two adjacent sections to obtain the optimal solution, and the posture information of each section of the scraper conveyor is calculated in sections. The posture information of each scraper section is used to correct the posture of the coal mining machine, which overcomes the problem in the prior art that the mining height and position data actually monitored by the coal mining machine are used to correct the posture of the coal mining machine. Since the mining height and position data actually monitored by the coal mining machine will undergo lateral and longitudinal displacement changes compared with the memorized curve data, and such changes will accumulate as the working face advances forward, the memory cutting technology cannot achieve precise control of the coal mining machine, let alone normal application.

[0075] The coal mining machine's posture correction is achieved by determining the posture information of the scraper conveyor and utilizing the posture correction system of the prior art. The system software includes: inertial self-alignment software module, inertial / odometer motion alignment software module, inertial / odometer non-degenerate fusion algorithm software module, iterative inertial / odometer secondary fusion algorithm software module, dead reckoning inertial odometer positioning function algorithm software module, inertial / odometer installation deflection online autonomous calibration function software module, digital base plate generation software module, and working face straightness monitoring and control software module.

[0076] The inertial self-alignment software module and the inertial / odometer motion alignment software module work before the system navigation, complete the north search and leveling through the compass effect, and establish a digital navigation coordinate system. In the navigation analysis process, the inertial / odometer non-degenerate fusion algorithm software and iterative inertial / odometer secondary fusion algorithm software modules use the navigation parameters as a reference to accurately estimate the inertial error and improve the attitude accuracy.

[0077] At the same time, the core components of inertial navigation, fiber optic gyroscopes and accelerometers, are precision instruments. During the operation of the coal mining machine, vibration and other reasons can easily cause navigation position drift, thus forming cumulative errors. Through the dead reckoning inertial odometer positioning function algorithm software module, three-dimensional position information is generated after projection, thereby realizing the calibration of cumulative errors. Figure 5 As shown, the interactive relationship between the various software modules of the system.

[0078] The solid line in the figure represents the system state switching, and the dotted line represents the information interaction between software modules.

[0079] The inertial / odometer non-degenerate fusion algorithm software and the iterative inertial / odometer secondary fusion algorithm software module run in the navigation solution process. The iterative inertial / odometer secondary fusion algorithm software module runs on the basis of the output information of the inertial / odometer non-degenerate fusion algorithm software, and uses its navigation parameters as a benchmark to accurately estimate the inertial error again and improve the attitude accuracy.

[0080] The dead reckoning inertial odometer positioning function algorithm software module runs simultaneously on the basis of the inertial / odometer non-degenerate fusion algorithm software and the iterative inertial / odometer secondary fusion algorithm software attitude information, and generates three-dimensional position information after projection.

[0081] The inertial / odometer installation deflection online self-calibration function software automatically determines the calibration timing during navigation, and uses acceleration matching to complete the installation deflection self-calibration. The calibration results calculated after the calibration conditions are met are used in the inertial / odometer fusion software module. The iterative inertial / odometer secondary fusion algorithm software module is used for post-data processing and high-precision navigation information solution. Both real-time and post-navigation information are used to generate a digital base plate. When the post-navigation information of the same location is solved, it will replace the previous data in the digital base plate to improve the accuracy of the digital base plate information.

[0082] The length of the rigid body is the center distance of the hydraulic support of the working face, and the width of the rigid body is the normal cutting depth of the coal machine of the applicable working face. The rigid body is segmented to obtain the posture information of each rigid body, including the roll angle, heading angle, and pitch angle. Combined with the position correction algorithm, the position and speed in the navigation coordinate system are obtained.

[0083] The inertial self-alignment software module consists of non-latitude anti-disturbance coarse alignment and Kalman filter fine alignment. The non-latitude anti-disturbance coarse alignment is applied to both the inertial self-alignment software module and the inertial / odometer motion alignment software module, isolating the influence of angular motion and having a certain ability to suppress linear disturbances; the Kalman filter fine alignment adopts the usual EKF filter algorithm.

[0084] Due to the rotation of the earth, gravity has an apparent motion relative to the inertial space, and the apparent rotation rate of gravity at different latitudes of the earth is different. The non-latitude anti-disturbance coarse alignment projects the acceleration-sensitive "gravity" through the gyro-sensitive angular velocity relative to the inertial system, and calculates the apparent motion parameters of gravity on the earth's surface, as follows:

[0085]

[0086] Among them, a_x, b_x, a_y, b_y, a_z, b_z are the primary and secondary parameters of the apparent motion of each axis in the initial coordinate system, and wie is the angular rate of the earth's rotation.

[0087] When the Kalman filter runs for a long time, the system variance matrix parameters converge and the values ​​become very small. The Kalman filter gain is calculated based on the variance matrix. The larger the variance matrix, the greater the gain under the same observation conditions. After a long time of operation, the variance matrix converges, resulting in a smaller gain. The ordinary Kalman filter cannot effectively estimate the system error, resulting in filter degradation.

[0088] The inertial / odometer non-degenerate fusion algorithm sets the filter gain according to the inertial error model and the odometer measurement model, which can effectively estimate the system error, form a closed-loop feedback correction, and maintain the inertial navigation accuracy.

[0089] The software module for the online autonomous calibration of the inertial / odometer installation deflection angle can autonomously determine the calibration conditions during the movement of the coal mining machine. When the speed of the coal mining machine changes significantly, the online calibration of the installation deflection angle is realized by using acceleration matching. After the calibration is completed, the calibration results are sent to the inertial / odometer fusion module and the dead reckoning module to improve the accuracy of the navigation parameters.

[0090] The odometer can measure the full speed of the carrier with high precision, and then calculate the acceleration by differentiation. This acceleration reflects the acceleration of the coal mining machine relative to the earth. The inertial navigation system directly measures the specific force of the coal mining machine relative to the inertial space. After compensating for the gravity acceleration and the Coriolis acceleration, it is the acceleration of the carrier relative to the earth. The two are the same physical quantity. When the inertial navigation body coordinate system and the odometer coordinate system completely coincide, the components of the inertial navigation and odometer accelerations should be the same.

[0091] When there is an installation deflection, the acceleration components of the inertial navigation and odometer should be different, and there is a difference between the two. Based on this, the installation deflection can be calibrated and calculated. The installation deflection is calculated using the iterative least squares algorithm:

[0092] P=P-(I+HPH T ) -1 PH T HP

[0093]

[0094] Where P is the installation angle variance matrix; φ x ,φ y ,φ z is the installation deflection angle of the inertial navigation body coordinate system relative to the odometer body coordinate system along the X, Y, and Z axes; P is the installation deflection angle variance matrix, Z = a ins -a o is the measurement vector, which is the difference between the acceleration calculated by the inertial navigation and the mileage acceleration; H is the observation matrix.

[0095] The working face straightness monitoring and control software module uses the inertial / odometer fusion position and the working face endpoint information to calculate the hydraulic support advancement. Due to the difference in the bottom plate geological conditions and the connection gap between the scraper and the hydraulic support, each support has a different pushing distance under the same pushing mode, resulting in poor straightness of the conveyor. The purpose of maintaining and straightening the fully mechanized working face is to make the working face advance synchronously along the measuring tunnel. At the two ends of the cutting, that is, the first support and the last support, the left and right tunnel positions P are obtained respectively. TL and P TR , the new operating reference direction is:

[0096] in L is the length of the entire working surface; H is the heading after the inertial navigation is aligned after the machine is turned on, and the following is the previous working reference direction. Figure 6 The figure shows the schematic diagram of updating the cutting reference direction.

[0097] P TL , P TR The position of the intersection of the old reference direction and the left and right ends of the roadway is solved by the roadway position of the conveyor end scraper direction and the reference and scraper heading information. The digital base plate position parameters are updated according to the new reference direction to determine the propulsion control amount of each scraper.

[0098] The present invention provides a fully automated coal mining control solution, which determines the precise trajectory of the coal mining machine through inertial mileage fusion navigation technology, and then generates a digital bottom plate of the scraper conveyor. Combined with the end point position information of the working face, the hydraulic support advancement and cutting curve are automatically determined to achieve working face straightening and coal mining machine height adjustment control.

[0099] The present invention overcomes the problems in the prior art that the underground is in a completely closed state, cannot receive satellite navigation system signals, has many obstacles in the working space, and is prone to blocking of wireless signals. The positioning measures such as total stations or wireless base stations do not change the layout, and the reliability is poor. The present invention is based on transparent geological big data intelligent and precise mining. It uses geophysical exploration methods such as drilling, tunnel measurement, and slot wave exploration to build a more accurate three-dimensional position space model of the working surface, plan the coal mining machine cutting template in advance, and then combine inertial navigation technology, radar positioning technology, and big data analysis and decision-making technology to continuously correct the cutting template. Finally, the underground precision control center is used to complete the precise control of the coal mining machine and hydraulic support.

[0100] like Figure 7 As shown, the present invention also provides a coal mining machine posture correction device, comprising:

[0101] A coal mining machine posture information acquisition module 701 is used to acquire coal mining machine posture information;

[0102] A conversion module 702 is used to determine the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine;

[0103] The scraper information determination module 703 is used to determine the position information of each scraper according to the position information of the scraper conveyor;

[0104] The correction module 704 is used to correct the posture of the coal mining machine according to the determined posture information of each scraper section.

[0105] For those skilled in the art, the implementation method of the coal mining machine posture correction device provided by the present invention can be clearly known from the description of the above embodiments, and will not be repeated here.

[0106] This embodiment also provides an electronic device, which may be a desktop computer, a tablet computer, a mobile terminal, etc., but this embodiment is not limited thereto. In this embodiment, the electronic device may refer to the embodiments of the aforementioned method and device, the contents of which are incorporated herein, and the repeated parts are not repeated.

[0107] Figure 8 FIG. 6 is a schematic block diagram of a system structure of an electronic device 600 according to an embodiment of the present invention. Figure 8 As shown, the electronic device 600 may include a central processor 100 and a memory 140; the memory 140 is coupled to the central processor 100. It should be noted that this figure is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0108] In one embodiment, the coal mining machine posture correction function may be integrated into the central processor 100. The central processor 100 may be configured to perform the following control:

[0109] Obtain coal mining machine position information;

[0110] Determining the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine;

[0111] Determine the posture information of each scraper section according to the posture information of the scraper conveyor;

[0112] The coal mining machine is corrected in terms of its posture according to the determined posture information of each scraper section.

[0113] In another embodiment, the coal mining machine posture correction device can be configured separately from the central processor 100. For example, the coal mining machine posture correction device can be configured as a chip connected to the central processor 100, and the coal mining machine posture correction function can be realized through the control of the central processor.

[0114] like Figure 8As shown, the electronic device 600 may further include: a communication module 110, an input unit 120, an audio processing unit 130, a display 160, and a power supply 170. It is worth noting that the electronic device 600 does not necessarily have to include Figure 8 In addition, the electronic device 600 may also include Figure 8 For components not shown, reference may be made to the prior art.

[0115] like Figure 8 As shown, the central processor 100 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor devices and / or logic devices. The central processor 100 receives inputs and controls the operations of various components of the electronic device 600.

[0116] The memory 140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure may be stored, and a program for executing the relevant information may also be stored. The CPU 100 may execute the program stored in the memory 140 to implement information storage or processing.

[0117] The input unit 120 provides input to the CPU 100. The input unit 120 is, for example, a key or a touch input device. The power supply 170 is used to provide power to the electronic device 600. The display 160 is used to display display objects such as images and text. The display may be, for example, an LCD display, but is not limited thereto.

[0118] The memory 140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 140 may also be some other type of device. The memory 140 includes a buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application / function storage unit 142, which is used to store application programs and function programs or processes for executing the operation of the electronic device 600 through the central processor 100.

[0119] The memory 140 may also include a data storage unit 143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 144 of the memory 140 may include various drivers for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0120] The communication module 110 is a transmitter / receiver 110 that transmits and receives signals via an antenna 111. The communication module (transmitter / receiver) 110 is coupled to the central processor 100 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0121] Based on different communication technologies, multiple communication modules 110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module and / or a wireless LAN module. The communication module (transmitter / receiver) 110 is also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide an audio output via the speaker 131 and receive an audio input from the microphone 132, thereby realizing a common telecommunication function. The audio processor 130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 130 is also coupled to the central processor 100, so that the sound can be recorded on the local machine through the microphone 132, and the sound stored on the local machine can be played through the speaker 131.

[0122] An embodiment of the present invention further provides a computer-readable program, wherein when the program is executed in an electronic device, the program enables a computer to execute the coal mining machine posture correction method as described in the above embodiment in the electronic device.

[0123] An embodiment of the present invention further provides a storage medium storing a computer-readable program, wherein the computer-readable program enables a computer to execute the coal mining machine posture correction described in the above embodiment in an electronic device.

[0124] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings. Many features and advantages of these embodiments are clear from this detailed description, and therefore the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. In addition, since many modifications and changes are readily apparent to those skilled in the art, the embodiments of the present invention are not intended to be limited to the precise structure and operation illustrated and described, but all suitable modifications and equivalents that fall within their scope may be included.

[0125] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0126] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0129] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for correcting the posture of a coal mining machine, characterized in that: The method includes: Obtain coal mining machine position information; Determining the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine; Determine the posture information of each scraper section according to the posture information of the scraper conveyor; Correct the coal mining machine's posture according to the determined posture information of each scraper section; The method of determining the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine includes: Obtaining the relative position relationship parameters between the coal mining machine and the scraper conveyor; Determining the position information of the scraper conveyor of the coal mining machine according to the relative position relationship parameters and the position information of the coal mining machine; Determining the posture information of each scraper section according to the posture information of the scraper conveyor includes: Obtaining scraper parameters of the scraper conveyor; the scraper parameters include: scraper quantity and scraper size data; The posture information of each scraper section is determined according to the posture information of the scraper conveyor and the acquired scraper parameters of the scraper conveyor.

2. The method for correcting the posture of a coal mining machine according to claim 1, characterized in that: The coal mining machine posture information includes: coal mining machine angular motion data, acceleration data and coal mining machine distance data.

3. The method for correcting the posture of a coal mining machine according to claim 2, characterized in that: The method of obtaining the coal mining machine position information includes: Use a three-axis gyroscope to obtain angular motion data; Using a three-axis accelerometer to obtain acceleration data; The mileage data of the coal mining machine is determined based on the rotation angle and wheel diameter of the coal mining machine wheels.

4. A coal mining machine posture correction device, characterized in that: The device comprises: A coal mining machine posture information acquisition module is used to obtain the coal mining machine posture information; A conversion module, used to determine the position information of the scraper conveyor of the coal mining machine according to the position information of the coal mining machine; A scraper information determination module is used to determine the position information of each scraper section according to the position information of the scraper conveyor; A correction module, used for correcting the posture of the coal mining machine according to the determined posture information of each scraper section; The conversion module is specifically used to perform the following steps: obtaining relative position relationship parameters between the coal mining machine and the scraper conveyor; Determining the position information of the scraper conveyor of the coal mining machine according to the relative position relationship parameters and the position information of the coal mining machine; Determining the posture information of each scraper section according to the posture information of the scraper conveyor includes: Obtaining scraper parameters of the scraper conveyor; the scraper parameters include: scraper quantity and scraper size data; The posture information of each scraper section is determined according to the posture information of the scraper conveyor and the acquired scraper parameters of the scraper conveyor.

5. The coal mining machine posture correction device according to claim 4, characterized in that: The coal mining machine posture information includes: coal mining machine angular motion data, acceleration data and coal mining machine distance data; The coal mining machine posture information acquisition module includes: Use a three-axis gyroscope to obtain angular motion data; Using a three-axis accelerometer to obtain acceleration data; The mileage data of the coal mining machine is determined based on the rotation angle and wheel diameter of the coal mining machine wheels.

6. The coal mining machine posture correction device according to claim 4, characterized in that: The scraper information determination module includes: A parameter acquisition unit, used to acquire scraper parameters of the scraper conveyor; the scraper parameters include the number of scrapers and scraper size data; The determination unit is used to determine the posture information of each scraper section according to the posture information of the scraper conveyor and the acquired scraper parameters of the scraper conveyor.

7. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 3 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the method according to any one of claims 1 to 3.

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