A continuous miner out-of-rib and into-rib trajectory planning method
By obtaining the coordinates of the center point of the continuous mining machine through the navigation and positioning device, establishing the trajectory models for exiting and entering the slab, and decomposing the arc trajectory into a combination of straight lines and rotations, the problem of designing the exiting and entering slab trajectory of the continuous mining machine was solved, realizing intelligent control and precise trajectory planning of the continuous mining machine.
Patent Information
- Application Number
- CN202211240430.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-11
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2042-10-11
AI Technical Summary
In existing technologies, continuous mining machines experience large-scale lateral movement when switching between grooving and stacking processes. In particular, the design challenges of the exit and entry trajectories have not been effectively addressed, resulting in a lack of precision in trajectory planning during the intelligentization research of continuous mining machines.
The coordinates of the center point of the continuous mining machine are obtained by the navigation and positioning device, the coordinates of the leftmost and rightmost cutting teeth are derived, the trajectory model of the continuous mining machine exiting and entering the slab is established, and the continuous arc trajectory is divided into a combination of in-situ rotation and straight retreat/advance trajectory to design the segmented straight trajectory of exiting and entering the slab.
It enables the modeling and quantitative description of the continuous mining machine's exit and entry trajectories, facilitating intelligent control, simplifying the implementation of continuous arc trajectories, and improving the accuracy of trajectory planning and automated control capabilities.
Smart Images
Figure CN115539034B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a trajectory planning method for a continuous mining machine, specifically a trajectory planning method for a continuous mining machine entering and exiting the slab. Background Technology
[0002] To ensure safe production and reduce costs and increase efficiency in coal mines, the country is vigorously promoting the construction of smart mines that "reduce manpower through mechanization, replace manpower through automation, and achieve unmanned operation through intelligent technology." Among these initiatives, the intelligentization of tunneling faces is the foundation for realizing intelligent coal mines. In particular, the position measurement, path planning, and automatic control of tunneling equipment are prerequisites for achieving intelligent tunneling faces. For large roadways and large cross-section coal roadways, the use of continuous mining equipment can effectively improve tunneling efficiency. Therefore, research on intelligent continuous mining machine technology is of great value for the intelligent construction of efficient tunneling faces.
[0003] Current research on the intelligentization of continuous mining machines largely references the research results of traditional cantilever tunneling machines, focusing on the equipment's own navigation and positioning direction, providing the coordinates of the tunneling machine's axis of motion. However, the tunneling process of continuous mining machines differs significantly from that of traditional cantilever tunneling machines, specifically in the following ways:
[0004] (1) The width of the roadway is greater than the width of the cutting section of the continuous mining machine. The roadway needs to be formed twice, through grooving and stacking.
[0005] (2) When switching between grooving and stacking processes, the continuous mining machine undergoes a large-scale relocation process in the front-to-back and lateral directions.
[0006] (3) Double-lane excavation, the continuous mining machine has a large-scale adjustment process between the two lanes.
[0007] Therefore, based on accurate navigation and positioning, trajectory planning for continuous mining machines combined with continuous mining technology is another important direction in the research of intelligent continuous mining machines, but there are currently few related reports. Current research on trajectory planning for tunneling equipment focuses on single-roadway straight-line cutting conditions, primarily addressing trajectory adjustment methods after the tunneling machine deviates from the roadway centerline, which differs significantly from the large-scale movement trajectory of continuous mining machines. This is especially true when continuous mining machines undergo large-scale lateral movement during the switching between grooving and stacking processes. This large-scale lateral movement of continuous mining machines includes five stages: exiting the sidewall, retracting, turning, advancing, and entering the sidewall. Exiting the sidewall and entering the sidewall are the most challenging and unresolved aspects of trajectory design. Summary of the Invention
[0008] The purpose of this invention is to provide a method for planning the entry and exit trajectories of a continuous mining machine to solve the problems mentioned in the background art.
[0009] To achieve the above objectives, the present invention provides the following technical solution:
[0010] A method for planning the entry and exit trajectories of a continuous mining machine includes the following steps:
[0011] S1. First, obtain the coordinates of the center point of the continuous mining machine based on the navigation and positioning device installed on the continuous mining machine itself; then, derive the coordinates of the leftmost and rightmost cutting teeth of the continuous mining machine based on the coordinates of the center point.
[0012] Based on the trajectory characteristics of the continuous mining machine exiting and entering the slab, and assuming that the horizontal coordinate of the leftmost cutting tooth is consistent with the horizontal coordinate of the left slab and the horizontal coordinate of the rightmost cutting tooth is consistent with the horizontal coordinate of the right slab, a trajectory model of the continuous mining machine exiting and entering the slab is established.
[0013] S2. The planning method for the continuous mining machine's exit trajectory is as follows:
[0014] The preset coordinates of the center point of the continuous mining machine are (x0, y0). The lateral distance of the leftmost cutting tooth from the center point of the continuous mining machine body is m, and the longitudinal distance from the center point of the continuous mining machine body is n. When exiting the wall, the yaw rate of the heading angle of the continuous mining machine is K, and the corresponding yaw angle of the continuous mining machine after time t is Kt.
[0015] Throughout the entire process of exiting the rock face, the path trajectory of the central point of the continuous mining machine is determined by the following formula:
[0016] x0 = mcos(Kt) - m - nsin(Kt)
[0017]
[0018] S3. The planning method for the continuous mining machine's entry trajectory is as follows:
[0019] The coordinates of the center point of the continuous mining machine are preset to (x0, y0). The lateral distance of the rightmost cutting tooth from the center point of the continuous mining machine body is m, and the longitudinal distance from the center point of the continuous mining machine body is n. The heading angle of the continuous mining machine at the beginning of entering the rock is α'. The yaw rate of the heading angle of the continuous mining machine at the beginning of entering the rock is K. The corresponding yaw angle of the continuous mining machine after time t is α'+Kt.
[0020] The path trajectory of the central point of the continuous mining machine during the entire entry process can be determined by the following formula:
[0021] x0=-m[cos(α'+Kt)-cos(α')]-n[sin(α'+Kt)-sin(α')]
[0022]
[0023] As a further aspect of the present invention: In step S2, the theoretical arc trajectory of the continuous mining machine exiting the wall is divided into a combination of stationary rotation and straight retreat trajectory; specifically, the continuous mining machine retreats a certain distance in a straight line at a specific angle, then rotates in place to increase the heading angle, and then retreats a certain distance in a straight line according to the increased heading angle, and this pattern is repeated several times until the continuous mining machine reaches the preset lateral movement distance.
[0024] As a further aspect of the present invention: In step S3, the theoretical arc trajectory of the continuous mining machine entering the slope is divided into a combination of in-situ rotation and straight-line retreat trajectory; specifically, after the continuous mining machine moves forward a certain distance in a straight line at a specific angle, it rotates in place to reduce the heading angle, and then moves forward a certain distance in a straight line according to the reduced heading angle, and repeats this pattern several times until the continuous mining machine gets close to the right slope.
[0025] Compared with the prior art, the beneficial effects of the present invention are:
[0026] After employing the above method, this invention obtains the coordinates of the centerline point of the continuous mining machine through its navigation and positioning equipment, and derives the coordinates of the upper left and upper right cutting teeth. Then, assuming that the horizontal coordinate of the leftmost cutting tooth matches the horizontal coordinate of the left side slope, and the horizontal coordinate of the rightmost cutting tooth matches the horizontal coordinate of the right side slope, a trajectory model for the continuous mining machine's entry and exit from the slope slope is provided. In practical use, to facilitate control implementation, the continuous arc trajectory corresponding to the model is broken down into segmented straight-line trajectories, resulting in the actual design scheme for the entry and exit trajectory curves.
[0027] The continuous mining machine's exit and entry trajectory model provided by this invention presents the previously unquantifiable exit and entry trajectories of the continuous mining machine in a model-based and quantitative manner, facilitating intelligent control. Furthermore, the continuous arc trajectory corresponding to the model is broken down into a combination of segmented straight lines representing the continuous mining machine's fixed-point rotation, simplifying the implementation of intelligent control. Attached Figure Description
[0028] Figure 1 This is a schematic diagram of the continuous mining machine entering and exiting the rock face.
[0029] Figure 2 A diagram illustrating the parameters used in modeling the trajectory of a continuous mining machine exiting the slab.
[0030] Figure 3 This is the theoretical trajectory curve of the continuous mining machine exiting the slab.
[0031] Figure 4 This is a simplified exit trajectory curve for the continuous mining machine.
[0032] In the diagram: 1. Continuous mining machine body; 2. Leftmost cutting tooth; 3. Rightmost cutting tooth; 4. Central axis point of continuous mining machine; 5. Trajectory curve of continuous mining machine exiting the sidewall; 6. Trajectory curve of continuous mining machine entering the sidewall; 7. Central axis of the roadway; 8. Left sidewall of the roadway; 9. Right sidewall of the roadway; 10. Axis of continuous mining machine body; 11. Angle. Detailed Implementation
[0033] The technical solution of this patent will be further described in detail below with reference to specific embodiments.
[0034] Please see Figure 1-4 A method for planning the entry and exit trajectories of a continuous mining machine includes the following steps:
[0035] S1. First, obtain the coordinates of the center point of the continuous mining machine based on the navigation and positioning device installed on the continuous mining machine itself; then, derive the coordinates of the leftmost and rightmost cutting teeth of the continuous mining machine based on the coordinates of the center point.
[0036] Based on the trajectory characteristics of the continuous mining machine exiting and entering the slab, and assuming that the horizontal coordinate of the leftmost cutting tooth is consistent with the horizontal coordinate of the left slab and the horizontal coordinate of the rightmost cutting tooth is consistent with the horizontal coordinate of the right slab, a trajectory model of the continuous mining machine exiting and entering the slab is established.
[0037] S2. The planning method for the continuous mining machine's exit trajectory is as follows:
[0038] The preset coordinates of the center point of the continuous mining machine are (x0, y0). The lateral distance of the leftmost cutting tooth from the center point of the continuous mining machine body is m, and the longitudinal distance from the center point of the continuous mining machine body is n. When exiting the wall, the yaw rate of the heading angle of the continuous mining machine is K, and the corresponding yaw angle of the continuous mining machine after time t is Kt.
[0039] Throughout the entire process of exiting the rock face, the path trajectory of the central point of the continuous mining machine is determined by the following formula:
[0040] x0 = mcos(Kt) - m - nsin(Kt)
[0041]
[0042] To facilitate the automation of continuous mining machine travel control, the theoretical arc trajectory of the continuous mining machine leaving the wall is broken down into a combination of stationary rotation and straight retreat trajectory. Specifically, the continuous mining machine retreats a certain distance in a straight line at a specific angle, then rotates in place to increase the heading angle, and then retreats a certain distance in a straight line according to the increased heading angle. This pattern is repeated several times until the continuous mining machine reaches the preset lateral movement distance.
[0043] S3. The planning method for the continuous mining machine's entry trajectory is as follows:
[0044] The coordinates of the center point of the continuous mining machine are set to (x0, y0). The horizontal distance of the rightmost cutting tooth (3) from the center point of the continuous mining machine body is m, and the vertical distance from the center point of the continuous mining machine body is n. The heading angle of the continuous mining machine at the beginning of entering the slab is α'. The yaw rate of the heading angle of the continuous mining machine at the beginning of entering the slab is K. After a time t, the yaw angle of the continuous mining machine is α'+Kt.
[0045] The path trajectory of the central point of the continuous mining machine during the entire entry process can be determined by the following formula:
[0046] x0=-m[cos(α'+Kt)-cos(α')]-n[sin(α'+Kt)-sin(α')]
[0047]
[0048] To facilitate the automation of continuous mining machine movement, the theoretical arc trajectory of the continuous mining machine entering the slope is broken down into a combination of stationary rotation and straight retreat trajectory. Specifically, the continuous mining machine moves forward in a straight line at a specific angle for a certain distance, then rotates in place to reduce the heading angle, and then moves forward in a straight line along the reduced heading angle for a certain distance. This pattern is repeated several times until the continuous mining machine gets close to the right slope.
[0049] Example 1
[0050] A schematic diagram of the continuous mining machine entering and exiting the rock face is shown below. Figure 1 As shown, during the exit process, the continuous mining machine body 1 rotates continuously to the left while the machine body moves backward. The trajectory curve traced by the central axis point 4 of the continuous mining machine during this process is the exit trajectory curve 5 of the continuous mining machine. Ideally, during the exit process, the leftmost cutting tooth 2 of the continuous mining machine always falls on the left side 8 of the roadway (i.e., the horizontal coordinate of the leftmost cutting tooth 2 is consistent with the horizontal coordinate of the left side 8). Based on this constraint, the expression for the ideal exit trajectory of the continuous mining machine can be obtained as follows:
[0051] x0=mcos(Kt)-m-nsin(Kt) (1)
[0052]
[0053] The coordinates of the center point 4 of the continuous miner are (x0, y0). The lateral distance of the leftmost cutting tooth 2 of the continuous miner from the center point 4 is m, and the longitudinal distance from the center point of the machine body is n. The yaw rate of the continuous miner's heading angle when exiting the rock face is K. After time t, the angle 11 between the machine body axis 10 and the roadway center axis 7 (i.e., the heading deflection angle of the continuous miner) is Kt. Figure 2 As shown.
[0054] Similarly, during the entry into the roadway, the continuous mining machine body 1 rotates continuously to the left while the machine body moves forward. The trajectory curve traced by the central axis point 4 of the continuous mining machine during this process is the entry trajectory curve 6 of the continuous mining machine. Ideally, during the entry into the roadway, the rightmost cutting tooth 3 of the continuous mining machine always falls on the right side 9 of the roadway (i.e., the horizontal coordinate of the rightmost cutting tooth of the continuous mining machine is consistent with the horizontal coordinate of the right side 9). Based on this constraint, the ideal entry trajectory expression of the continuous mining machine can be obtained as follows:
[0055] x0=-m[cos(α'+Kt)-cos(α')]-n[sin(α'+Kt)-sin(α')] (3)
[0056]
[0057] Among them, the heading angle of the continuous mining machine at the beginning of entering the rock is α', the yaw rate of the heading angle of the continuous mining machine at the beginning of entering the rock is K, and the corresponding yaw angle of the continuous mining machine after time t is α'+Kt.
[0058] Taking the exit trajectory of the continuous mining machine as an example, according to the given expressions (1) and (2) for the exit trajectory of the continuous mining machine, the ideal exit curve of the continuous mining machine can be obtained through simulation, as shown in the figure. Figure 3 As shown, the width of the continuous mining machine is set to 3.3 meters (corresponding to...). Figure 2 The distance from the center point 4 of the continuous mining machine to the foremost tip of the cutting tooth is 4.9 meters (corresponding to 2m). Figure 2 (n). Using the roadway centerline 7 as the Y-axis of the coordinate system, with the excavation direction as the positive Y-axis, and the roadway transverse direction as the X-axis, with the rightward direction as the positive X-axis. The origin of the coordinate system is the center point of the excavation face. At the initial state of the outgoing side process, the coordinates of the continuous miner's centerline are (-1.35m, -4.9m). Subsequently, it rotates at a step rotation rate of K = 0.2°, while the continuous miner continuously retracts, and the leftmost cutting tooth 2 remains firmly against the left sidewall 8 of the roadway. The simulation yields the trajectory curve of the continuous miner's centerline 4 as shown below. Figure 3 As shown, through continuous rotation and retraction, after retracting 11.5 meters, the central axis point 4 of the continuous mining machine shifted laterally by 1.57 meters, and the deflection angle 11 of the continuous mining machine was 20° to the left. Simulation results show that the ideal exit trajectory 5 is a continuously changing arc.
[0059] In practical applications, achieving continuous, high-precision control of a continuous mining machine to rotate and retract at a specific rate presents significant challenges. Therefore, an optimized trajectory control method is proposed, such as... Figure 4 As shown. Taking the exit trajectory as an example, the continuous arc trajectory is broken down into a combination of in-situ rotation and segmented straight-line retreat trajectories (as shown by the dotted lines in the figure). That is, based on the original continuous trajectory curve, a specific rotation point is extracted every 10 rotation steps (e.g., Figure 4(As shown by the dot in the diagram), at this position, the continuous mining machine rotates to the left in 2° increments based on its existing fuselage heading angle. It then reverses in a straight line along the rotated heading, while simultaneously... Figure 4 The difference in longitudinal distance between the two rotation points is taken as the retraction distance for this stage, and whether the retraction reaches this distance is used as the criterion for judging the end of this retraction stage.
[0060] The preferred embodiments of this patent have been described in detail above. However, this patent is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this patent.
Claims
1. A method for planning the entry and exit trajectories of a continuous mining machine, characterized in that, Includes the following steps: S1. First, obtain the coordinates of the center point of the continuous mining machine based on the navigation and positioning device installed on the continuous mining machine itself; then, derive the coordinates of the leftmost and rightmost cutting teeth of the continuous mining machine based on the coordinates of the center point. Based on the trajectory characteristics of the continuous mining machine exiting and entering the slab, and assuming that the horizontal coordinate of the leftmost cutting tooth is consistent with the horizontal coordinate of the left slab and the horizontal coordinate of the rightmost cutting tooth is consistent with the horizontal coordinate of the right slab, a trajectory model of the continuous mining machine exiting and entering the slab is established. S2. The planning method for the continuous mining machine's exit trajectory is as follows: The preset coordinates of the center point of the continuous mining machine are (x0, y0). The lateral distance of the leftmost cutting tooth from the center point of the continuous mining machine body is m, and the longitudinal distance from the center point of the continuous mining machine body is n. When exiting the wall, the yaw rate of the heading angle of the continuous mining machine is K, and the corresponding yaw angle of the continuous mining machine after time t is Kt. Throughout the entire process of exiting the rock face, the path trajectory of the central point of the continuous mining machine is determined by the following formula: x0 = mcos(Kt) - m - nsin(Kt) S3. The planning method for the continuous mining machine's entry trajectory is as follows: The coordinates of the center point of the continuous mining machine are preset to (x0, y0). The lateral distance of the rightmost cutting tooth from the center point of the continuous mining machine body is m, and the longitudinal distance from the center point of the continuous mining machine body is n. The heading angle of the continuous mining machine at the beginning of entering the rock is α'. The yaw rate of the heading angle of the continuous mining machine at the beginning of entering the rock is K. The corresponding yaw angle of the continuous mining machine after time t is α'+Kt. The path trajectory of the continuous mining machine's central point during the entire entry process is determined by the following formula: x0=-m[cos(a′+Kt)-cos(a′)]-n[sin(a′+Kt)-sin(a′)] 2. The method for planning the entry and exit trajectories of a continuous mining machine according to claim 1, characterized in that, In step S2, the theoretical arc trajectory of the continuous mining machine exiting the wall is broken down into a combination of stationary rotation and straight retreat trajectory. Specifically, the continuous mining machine retreats a certain distance in a straight line at a specific angle, then rotates in place to increase the heading angle, and then retreats a certain distance in a straight line according to the increased heading angle. This pattern is repeated several times until the continuous mining machine reaches the preset lateral movement distance.
3. The method for planning the entry and exit trajectories of a continuous mining machine according to claim 1, characterized in that, In step S3, the theoretical arc trajectory of the continuous mining machine entering the slope is broken down into a combination of in-situ rotation and straight-line forward movement. Specifically, the continuous mining machine moves a certain distance in a straight line at a specific angle, then rotates in place to reduce the heading angle, and then moves a certain distance in a straight line according to the reduced heading angle. This pattern is repeated several times until the continuous mining machine gets close to the right slope.