Automatic coal cutting method, device and electronic equipment of coal mining machine

Abstract

The application provides an automatic coal cutting method, device and electronic equipment of a coal mining machine. The method comprises the following steps: acquiring a cutting track of a demonstration cutter of the coal mining machine, wherein the demonstration cutter refers to a cutter that cuts coal in advance on a coal seam as a standard; acquiring a lifting amount, wherein the lifting amount is a parameter related to a cutting thickness in a coal cutting process of the coal mining machine; determining a cutting track of a next cutter of the demonstration cutter according to the lifting amount and the cutting track of the demonstration cutter, and controlling the coal mining machine to automatically cut coal according to the cutting track of the next cutter. In the scheme, in the automatic coal mining process, the cutting track of the next cutter after the demonstration cutter can be optimized according to the cutting track of the demonstration cutter, so that the filtering can be continuously eliminated in the filtering process to adapt to the change of the coal seam floor and eliminate the accumulated error, and thus the coal cutting effect of the coal mining machine is ensured to be good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, in particular to an automatic coal cutting method and device of a coal mining machine, a computer readable storage medium and an electronic device. BACKGROUND

[0002] During the coal mining process, the coal mining machine often learns through a demonstration cut. The demonstration cut is actually a cut made by an operator along a coal seam in a working face before the relevant parameters in the coal cutting process are inputted, and the automatic coal cutting is repeatedly performed according to the demonstration cut.

[0003] However, in the subsequent automatic coal cutting process, the coal seam also changes, and the coal mining machine is difficult to adapt to the change of the coal seam floor. In the case of deviation in a cut, the subsequent automatic coal cutting is still continued at the same deviation position, which will cause cumulative errors. The above will result in poor coal cutting effect of the coal mining machine. SUMMARY

[0004] The main purpose of the present application is to provide an automatic coal cutting method and device of a coal mining machine, a computer readable storage medium and an electronic device, so as to solve the problem of poor coal cutting effect of the coal mining machine in the prior art.

[0005] According to one aspect of the embodiment of the present application, an automatic coal cutting method of a coal mining machine is provided, comprising: obtaining a cutting track of a demonstration cut of the coal mining machine, the demonstration cut being a cut made on a coal seam in advance as a standard; obtaining a lifting amount, the lifting amount being a parameter related to a cutting thickness in the coal cutting process of the coal mining machine; determining a cutting track of a next cut of the demonstration cut according to the lifting amount and the cutting track of the demonstration cut, and controlling the coal mining machine to automatically cut coal according to the cutting track of the next cut.

[0006] Optionally, obtaining the lifting amount comprises: obtaining a floor curvature radius of the coal seam; obtaining a predetermined multiple of the floor curvature radius to obtain a target floor curvature radius; obtaining a cutting thickness when the demonstration cut is made; obtaining a square of the cutting thickness to obtain a target cutting thickness; and obtaining a quotient of the target cutting thickness and the target floor curvature radius to obtain the lifting amount.

[0007] Optionally, obtaining the lifting amount comprises: obtaining a first height difference value, the first height difference value being a difference value between a height of a left side point and a height of a right side point of a coal cutting area in a previous cut coal cutting process; obtaining a second height difference value, the second height difference value being a difference value between a height of a left side point and a height of a right side point of the coal cutting area in a current cut coal cutting process; and obtaining a target difference value of the first height difference value and the second height difference value to determine the target difference value as the lifting amount.

[0008] Optionally, the determining the cutting coal track of the next cutting of the exemplary cutter according to the heave amount and the cutting coal track of the exemplary cutter comprises: obtaining a sum of the heave amount and the cutting coal track of the exemplary cutter to obtain an initial cutting coal track of the next cutting of the exemplary cutter; obtaining a first covariance of the cutting coal track of the exemplary cutter; determining a second covariance of the initial cutting coal track of the next cutting according to the first covariance; determining a gain coefficient according to the second covariance; and determining a target cutting coal track of the next cutting according to at least the initial cutting coal track of the next cutting and the gain coefficient.

[0009] Optionally, the determining the target cutting coal track of the next cutting according to at least the initial cutting coal track of the next cutting and the gain coefficient comprises: obtaining an actual cutting coal track of a drum of the coal mining machine; obtaining a difference between the actual cutting coal track and the initial cutting coal track of the next cutting; obtaining a product of the difference and the gain coefficient to obtain an initial calculation result; and obtaining a sum of the initial calculation result and the initial cutting coal track of the next cutting to obtain the target cutting coal track of the next cutting.

[0010] Optionally, before the obtaining the heave amount, the method further comprises: determining whether the coal mining machine will pass through a fault during the coal mining process, the fault being a region where the coal seam is broken and rock is displaced; and in the case that the coal mining machine will pass through the fault during the coal mining process, obtaining a heave starting point and determining a distance between the heave starting point and the fault.

[0011] Optionally, after the determining the cutting coal track of the next cutting of the exemplary cutter according to the heave amount and the cutting coal track of the exemplary cutter, the method further comprises: generating a first curve of a position of the coal seam; generating a second curve of the cutting coal track of the next cutting; and controlling a display device to display the first curve and the second curve.

[0012] According to another aspect of the embodiment of the present application, an automatic coal cutting device of a coal mining machine is further provided, which comprises: a first obtaining unit configured to obtain a cutting coal track of an exemplary cutter of the coal mining machine, the exemplary cutter being a cutting of a coal seam as a standard in advance; a second obtaining unit configured to obtain a heave amount, the heave amount being a parameter related to a cutting thickness during a coal cutting process of the coal mining machine; and a first processing unit configured to determine a cutting coal track of a next cutting of the exemplary cutter according to the heave amount and the cutting coal track of the exemplary cutter, and control the coal mining machine to automatically cut coal according to the cutting coal track of the next cutting.

[0013] According to still another aspect of the embodiment of the present application, a computer readable storage medium is further provided, which comprises a stored program, wherein the program performs any one of the methods.

[0014] According to a further aspect of the embodiments of the present application, an electronic device is also provided, which includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include any of the methods described above.

[0015] In the embodiments of the present application, the cutting coal track of the demonstration cutter of the coal mining machine is first acquired, then the lifting amount is acquired, and finally the cutting coal track of the next cutter of the demonstration cutter is determined according to the lifting amount and the cutting coal track of the demonstration cutter, and the coal mining machine is controlled to automatically cut coal according to the cutting coal track of the next cutter. In the scheme, in the automatic coal mining process, the cutting coal track of the next cutter after the demonstration cutter can be optimized according to the cutting coal track of the demonstration cutter, so that the filtering can be continuously eliminated in the filtering process to adapt to the change of the coal seam floor and eliminate the accumulated error, thereby ensuring that the coal cutting effect of the coal mining machine is good. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and are used to interpret the illustrative embodiments of the present application and their descriptions, and do not constitute improper limitations to the present application. In the drawings:

[0017] Figure 1 A flowchart of an automatic coal cutting method of a coal mining machine according to an embodiment of the present application is shown;

[0018] Figure 2 A floor curve diagram of a coal seam is shown;

[0019] Figure 3 A diagram for correcting the lifting amount is shown;

[0020] Figure 4 A diagram for fault transition is shown;

[0021] Figure 5 A diagram of the cutting coal track of the demonstration cutter of the coal mining machine is shown;

[0022] Figure 6 A diagram of the cutting coal track of the memory cutting of the coal mining machine is shown;

[0023] Figure 7 A structural diagram of an automatic coal cutting device of a coal mining machine according to an embodiment of the present application is shown.

[0024] Among the above drawings, the following reference signs are included:

[0025] 11, actual roof or floor of a coal seam; 12, cutting coal track of a demonstration cutter; 13, cutting coal track of a next cutter. DETAILED DESCRIPTION

[0026] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0027] In order for those skilled in the technical field to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] It should be understood that when an element (such as a layer, film, region, or substrate) is described as "on" another element, it can be directly on the other element, or there can be an intermediate element. Also, in the specification and claims, when an element is described as "connected to" another element, it can be "directly connected to" the other element, or "connected to" the other element through a third element.

[0030] For the convenience of description, the following describes some nouns or terms related to the embodiments of the present application:

[0031] Demonstration cutter learning: the coal winning machine learns through the demonstration cutter, the coal machine central controller calculates the drum position by monitoring the angle change of the rocker arm sensor, records the drum height parameter corresponding to any position of the coal machine in the working face, and automatically calculates the position and direction of the coal machine according to the speed sensor on the left and right traction gear. When memory cutting, the coal machine automatically adjusts the drum height according to the recorded drum trajectory to realize automatic cutting, and can compensate for the regular changes of the working face through parameter setting.

[0032] Automatic coal cutting: After the demonstration cut is completed, by activating the automatic cutting program, the coal mining machine will repeatedly perform automatic coal cutting based on the cutting data stored during the demonstration cut and according to the historical operating status of the coal mining machine at the time of the demonstration cut. The following parameters need to be entered in the working face parameters: working face zero point, working face length, slow-moving section, maximum speed, and the current position of the coal mining machine. The following parameters need to be entered in the automation parameters: maximum mining height, maximum undercut, minimum undercut, mining height limit, and undercut limit in inactive areas. Additional parameters, calibrations, waiting drum, mining height, and undercut limit values ​​can also be selected. After completing the settings, the automatic coal cutting function can be started.

[0033] Manual feed at the end: At the working face end, you can choose between automatic or manual operation. If you choose manual, you can manually operate the cutting mechanism at the working face end. After cutting the triangular coal face, activate the automatic function to enter the automatic coal cutting program.

[0034] Hydraulic support and coal mining machine linkage technology: By linking the support with the coal mining machine, the support will lag behind by a certain distance after the coal mining machine passes, and automatically move the support and push the scraper conveyor according to the set program; at both ends of the working face, the support will cooperate with the coal mining machine to achieve oblique cutting.

[0035] Remote intervention technology for hydraulic supports and coal mining machines: To further optimize the automation of coal mining, ensure personnel safety during automatic support relocation, and reduce the labor intensity of workers, a remote control system is added to the working face control system, while achieving memory-based coal cutting. The coal mining machine remote controller is moved to the control console via optical fiber. When personnel move from the working face to the control console, the operator can remotely intervene in the coal mining machine and supports based on the data and relevant information provided by the main control console video monitoring computer, the JOS (roadway control computer, which is a control computer installed in the roadway at the end of the fully mechanized mining face; the JOS communicates with the coal mining machine via carrier wave or optical fiber and with the ground computer via optical fiber; the roadway is generally in the intake airway) and the support main controller.

[0036] Data filtering: Data filtering is a data processing technique that removes noise and restores accurate data. Kalman filtering, when the measurement variance is known, can estimate the state of a dynamic system from a series of data containing measurement noise. Because Kalman filtering is easy to implement in computer programming and can update and process field-acquired data in real time, it is currently the most widely used filtering method and has found good applications in communication, navigation, guidance, and control, among other fields.

[0037] Kalman filtering: Kalman filtering is an algorithm that uses the state equations of a linear system to make an optimal estimate of the system state using system input and output observation data. Since the observation data includes the effects of noise and interference in the system, the optimal estimation can also be regarded as a filtering process.

[0038] At present, the following problems exist in the coal mining process of the coal mining machine:

[0039] 1. The quality of the demonstration cutter depends on the skill level of the driver. In the memory coal cutting process, the most critical step is the coal cutting by the demonstration cutter of the coal mining machine, which will directly affect the memory coal cutting effect of the coal mining machine. In the memory coal cutting process, the driver first completes the demonstration of cutting coal by one cutter, and then uses the coal mining machine to cut coal in memory mode. The coal mining machine driver only provides the coal mining machine reversing trigger, and the rest of the time is spent observing the machine. In the real-time observation memory coal cutting mode, the working face engineering quality is observed, the bending of the coal mining machine cable is observed, and the coal mining machine is stopped in an emergency.

[0040] 2. The memory coal cutting cannot adapt to the changes in the coal seam. The biggest difference between the memory coal cutting of the coal mining machine through the single demonstration cutter and the memory spraying in the factory building is that the position of the body of the coal mining machine is not fixed and does not absolutely coincide with the floor. The conditions of the coal seam underground are also changing. Thus, due to the change in the position of the body of the coal mining machine, such as the inclination and undulation, the coal cutting effect cannot return to the position of the demonstration cutter, and even the one-way deterioration, such as cutting the roof rock or cutting the floor rock, is intensified, the body of the coal mining machine will be more inclined or undulated, resulting in the failure of memory coal cutting.

[0041] 3. Cumulative errors are generated. During the coal cutting process of the demonstration cutter, the drum of the coal mining machine does not completely coincide with the top and bottom of the coal seam, and there will be deviations at many places in the working face, resulting in slight bottoming or roof cutting. In the memory coal cutting of the coal mining machine, the same deviation position in the working face will continue to perform one-way operation, resulting in an increase in the amount of bottoming or roof cutting. Therefore, an automatic coal cutting method, device, computer readable storage medium and electronic equipment are provided in a typical embodiment of the present application, which are used for solving the above problems.

[0042] As mentioned in the background, the coal cutting effect of the coal mining machine in the prior art is poor. In order to solve the above problems, in a typical embodiment of the present application, an automatic coal cutting method, device, computer readable storage medium and electronic equipment of a coal mining machine are provided.

[0043] According to the embodiments of the present application, an automatic coal cutting method of a coal mining machine is provided.

[0044] Figure 1 is a flowchart of the automatic coal cutting method of the coal mining machine according to the embodiments of the present application. As shown in Figure 1 , the method comprises the following steps:

[0045] Step S101, obtaining the coal cutting trajectory of the demonstration cutter of the coal mining machine, wherein the demonstration cutter refers to a cutter that cuts coal in the coal seam in advance as a standard;

[0046] Specifically, at the starting position of the working face, a demonstration cut is first made, and a coal cutting demonstration is completed. When the coal mining machine moves back and forth to cut coal in the working face, the front and rear rollers move along the roof and floor of the coal seam respectively. During the demonstration cut, the coal mining machine can timely raise and lower the front and rear rollers according to the changes of the roof or floor of the coal seam, so as to control the amount of cutting roof or lying floor within the allowable range, so as to ensure the coal quality and the flatness of the roof and floor, and therefore the positions of the rollers can conform to the normal distribution.

[0047] During the demonstration cut, the central controller or the remote computer of the coal mining machine records the heights of the front and rear rollers at each position of the coal mining machine in the working face (such as according to the speed sensors on the gears of the left and right traction parts).

[0048] Specifically, a Kalman filter can be installed on the coal mining machine, or the remote computer of the coal mining machine can be programmed to calculate the heights of the rollers at each position of the demonstration cut by Kalman filtering, and the calculation result is a new demonstration cut.

[0049] In the demonstration cut, there are two key measurement parameters. One is the position measurement of the coal mining machine in the working face, which can be measured in various ways, such as the number of teeth of the walking sprocket of the coal mining machine, inertial navigation measurement, and the installation of a transmitting device on the support to be received by the coal mining machine. If some small errors have little effect, they can be ignored. The other is the height measurement of the rear roller (bottom roller) corresponding to each position of the coal mining machine. The height of the roller seriously affects the quality of the floor of the working face, and thus has a serious impact on the attitude and mutual interference of the three machines (coal mining machine, scraper and support) and the control distance from the roof, so the height of the roller is an important parameter in intelligent coal mining.

[0050] In step S102, the lifting amount is obtained. The lifting amount is related to the cutting thickness of the coal mining machine during the coal cutting process.

[0051] Specifically, the lifting amount can be obtained by establishing a transparent geological mathematical model of the coal seam. The constructed model can be a neural network model, and the model can be constructed in any feasible way of constructing a neural network model. During the tunneling and mining operations in the working face, the coal seam floor is measured, and the model of the coal seam floor is corrected according to the measurement results.

[0052] More specifically, the fluctuation curve of the coal seam floor can be fitted according to the transparent geological mathematical model of the coal seam. The fitting method can be a geometric drawing method or a numerical fitting method. The geometric drawing method can be a least squares method. The drawing fitting method is to fit different radius arcs with each fluctuation segment of the coal seam floor. The curvature radius of each segment arc is the curvature radius of the coal seam floor.

[0053] To obtain a more accurate lifting amount, ensuring that the cutting trajectory of the next cut can be more accurately determined based on the lifting amount, and further guaranteeing a better coal cutting effect of the coal mining machine, in one embodiment of this application, obtaining the lifting amount includes: obtaining the radius of curvature of the coal seam floor; obtaining a predetermined multiple of the radius of curvature of the floor to obtain a target radius of curvature of the floor; obtaining the coal cutting thickness during the demonstration cut; obtaining the square of the coal cutting thickness to obtain a target coal cutting thickness; and obtaining the quotient of the target coal cutting thickness and the target radius of curvature of the floor to obtain the lifting amount.

[0054] Specifically, the formula for obtaining the lifting volume is: M is the coal cutting thickness, and r is the radius of curvature of the bottom plate.

[0055] Specifically, it is also possible to identify the turning points (inflection points) of the undulations of the coal seam floor. The radius of curvature of the coal seam floor, calculated based on the difference, has positive and negative values, representing two types of curves: rising and falling. The inflection point is the intersection of two circular arc segments in opposite directions.

[0056] When the coal mining machine is raised and lowered, the bottom plate of the working face will change in an arc shape, from which a bottom plate curve diagram can be obtained, as shown below. Figure 2 As shown, according to Figure 2 Based on the geometric relationships, the formula for the radius of curvature of the coal mining machine's floor plate can be obtained as follows: A represents the width of the coal mining machine (body + drum), in mm; T represents the lifting and lowering capacity, in mm.

[0057] By fitting the changes in the base plate with the radius of curvature and calculating the value of U(k), the changes in the base plate undulations are substituted into the calculation formula, enabling the coal mining machine to intelligently adapt to changes in the base plate and perform memory-based coal cutting. This eliminates the need for remote manual intervention and completely realizes autonomous and intelligent coal cutting by the coal mining machine.

[0058] To obtain a more accurate lifting amount, so as to ensure that the cutting trajectory of the next cut can be determined more accurately based on the lifting amount, and to further ensure better coal cutting effect of the coal mining machine, in another embodiment of this application, obtaining the lifting amount includes: obtaining a first height difference, which refers to the difference between the height of the left and right points of the coal cutting area during the previous cutting process; obtaining a second height difference, which refers to the difference between the height of the left and right points of the coal cutting area during the current cutting process; obtaining a target difference between the first height difference and the second height difference, and determining the target difference as the lifting amount.

[0059] Specifically, the coal seam can be divided into several equal slices at certain intervals (e.g., every coal cutting thickness) along the direction of the working face advance. In this way, the thickness of each slice is equal to the thickness of one cut of coal. The height difference between the two sides of each slice and the height difference between every two adjacent slices are calculated. Then, the difference between the two height differences is calculated. When the coal mining machine advances along the bottom plate of the coal seam, the difference between the two height differences is the lifting amount.

[0060] Specifically, the formula for obtaining the lifting amount is: U(k)=Δh1-Δh2, where Δh1 is the first height difference and Δh2 is the second height difference.

[0061] Because the coal seam undulates in all directions, after the coal mining machine cuts a section of coal along the seam floor (demonstration cut or memory cut), the scraper conveyor will also undulate. This means that at the lowest points, the scraper conveyor cannot completely remove the loose coal in the depressions, thus failing to contact the solid bottom of the working face; that is, loose coal remains at the bottom of the scraper conveyor. The thickness of the loose coal is thickest at the lowest point and gradually thins out towards the sides until it disappears. When the support passes through, loose coal will also remain at the bottom of the support, preventing the support from contacting the solid bottom. This will reduce the support pressure and cause insufficient initial support force. Therefore, the lifting and lowering amount can be corrected.

[0062] The correction method for the lifting amount is as follows: Figure 3 As shown, the thickness of the floating coal in front of the working face support is measured every certain distance the working face advances, obtaining the maximum thickness h of the floating coal, its location, and its length b. Following the principle of peak shaving and valley filling, the valley is raised by a height of 0.5h and a floating coal zone length of 0.5b at the maximum point. That is, the correction value of U(k) at the maximum point of the valley is 0.5h, and equal arithmetic corrections are made to the floating coal zone lengths of 0.25b on both sides, until the correction value is 0 at the 0.25b position. Similarly, the peaks on both sides are shaving corrections of -0.5h, and equal arithmetic corrections are made to the areas of 0.25b length on both sides of the peak until the correction value is 0 at the 0.25b position.

[0063] Step S103: Based on the above lifting and lowering amount and the cutting trajectory of the above demonstration cutter, determine the cutting trajectory of the next cut of the above demonstration cutter, and control the above coal mining machine to automatically cut coal according to the cutting trajectory of the next cut.

[0064] In order to further efficiently and accurately determine the target cutting coal track of the next cut of the demonstration cutter, so as to further ensure that the cutting effect of the coal mining machine is better, in another embodiment of the application, the cutting coal track of the next cut of the demonstration cutter is determined according to the above lifting amount and the cutting coal track of the demonstration cutter, and includes: obtaining the sum of the lifting amount and the cutting coal track of the demonstration cutter to obtain the initial cutting coal track of the next cut of the demonstration cutter; obtaining the first covariance of the cutting coal track of the demonstration cutter; determining the second covariance of the initial cutting coal track of the next cut according to the first covariance; determining the gain coefficient according to the second covariance; and determining the target cutting coal track of the next cut according to at least the initial cutting coal track of the next cut and the gain coefficient.

[0065] After the initial cutting coal track and the gain number are obtained, in order to further efficiently and accurately determine the target cutting coal track of the next cut of the demonstration cutter according to at least the two parameters, in another specific embodiment of the application, the target cutting coal track of the next cut is determined according to at least the initial cutting coal track of the next cut and the gain coefficient, and includes: obtaining the actual cutting coal track of the drum of the coal mining machine; obtaining the difference between the actual cutting coal track and the initial cutting coal track of the next cut; obtaining the product of the difference and the gain coefficient to obtain an initial calculation result; and obtaining the sum of the initial calculation result and the initial cutting coal track of the next cut to obtain the target cutting coal track of the next cut.

[0066] Specifically, in step S103, the specific formula for determining the cutting coal track of the next cut is as follows:

[0067] The coal mining machine is in the k state in the current cut, the demonstration cutter is set to the k-1 state, and according to the Kalman filtering formula, the formula for determining the drum height X(k|k-1) (the initial cutting coal track of the next cut) of the coal mining machine in the current state according to the state of the demonstration cutter is: formula one: X(k|k-1) = A x X(k-1|k-1) + B x U(k), wherein the unit of the drum height can be mm, X(k-1|k-1) is the drum height of the demonstration cutter, the unit is mm, U(k) is the lifting amount, the unit is mm, and A and B are both system parameters. Since the drum height is a single element and continuously changes, A and B are both 1.

[0068] The formula for determining the second covariance is: Formula Two: P(k|k-1)=A×P(k-1|k-1)×A'+Q, wherein P(k|k-1) is the second covariance corresponding to X(k|k-1), P(k-1|k-1) is the first covariance corresponding to X(k-1|k-1), A' represents the transpose matrix of A, A is 1, A' is also 1, Q is the system covariance in the system process, which is not the first covariance nor the second covariance, and is obtained from human experience, for example, can be 20%, but generally cannot be 0, so as to prevent P(k|k-1) from being 0.

[0069] The formula for determining the gain coefficient is: Formula Three: wherein H' is the transpose matrix of H, H' and H are both 1, and R is the system covariance in the system process, which is not the first covariance nor the second covariance, and is obtained from human experience, so as to prevent Kg from approaching 1.

[0070] The formula for determining the target coal cutting trajectory of the next cut is: Formula Four: X(k|k)=X(k|k-1)+Kg(k)×(Z(k)-H×X(k|k-1)), wherein X(k|k) represents the target coal cutting trajectory of the next cut, Z(k) represents the actual coal cutting trajectory, for the drum height of the coal mining machine, if there is no measurement value, the drum height value at the same position of the last cut can be used, and the measurement value of the inertial navigation system can also be used, and H is a system parameter and is 1.

[0071] After the target trajectory is obtained, the covariance of X(k|k) under the state k can also be updated, and the formula is: Formula Five: P(k|k)=(1-Kg(k)×H)×P(k|k-1).

[0072] In order to make the calculation formula more concise and clear, the above five formulas can be converted, wherein the first formula can be converted to: X(k|k-1)=X(k-1|k-1)+U(k), the second formula can be converted to: P(k|k-1)=P(k-1|k-1)+Q, the third formula can be converted to: the fourth formula can be converted to: X(k|k)=X(k|k-1)+Kg(k)×(Z(k)-X(k|k-1)), and the fifth formula can be converted to: P(k|k)=(1-Kg(k))×P(k|k-1).

[0073] The roller height is calculated by Kalman filtering, and the shearer overcomes the accumulated error of the existing demonstration cutter during automatic coal cutting, the coal face floor is smoother and more level, and the convergence of the coal seam roof and floor is higher, which can reduce the amount of rock at the bottom of the coal seam, and make the scraper and support more easily contact the real bottom, prevent the initial support force from being discharged due to the floating debris at the bottom. Kalman filtering has small calculation amount, easy to realize machine automatic calculation and intelligent coal cutting, can also reduce the labor intensity of employees, especially solve the problem of manual operation in thin coal seam, which has extremely important significance.

[0074] In the above method, the coal cutting track of the demonstration cutter of the shearer is first obtained, then the lifting amount is obtained, and finally the coal cutting track of the next cut of the demonstration cutter is determined according to the lifting amount and the coal cutting track of the demonstration cutter, and the shearer is controlled to cut coal automatically according to the coal cutting track of the next cut. In this scheme, during automatic coal mining, the coal cutting track of the next cut after the demonstration cutter can be filtered and optimized according to the coal cutting track of the demonstration cutter. In this way, the filter can be continuously eliminated during the filtering process to adapt to the change of the coal seam floor and eliminate the accumulated error, thereby ensuring that the coal cutting effect of the shearer is good.

[0075] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown.

[0076] When the working face passes through the fault, the lifting amount can also be updated again, and the updating step needs to re-determine the lifting starting point and the distance between the lifting starting point and the fault, so that the lifting amount can be optimized subsequently. In another embodiment of the present application, before obtaining the lifting amount, the above method further comprises: determining whether the shearer will pass through the fault during coal mining, wherein the fault refers to a region where the coal seam is disconnected and the rock is displaced; in the case that the shearer will pass through the fault during coal mining, obtaining the lifting starting point and determining the distance between the lifting starting point and the fault.

[0077] Specifically, as shown in Figure 4 , the total amount of lifting and the total amount of lying down can be taken as 50% of the fault drop. When the working face passes through the fault upwards, the shearer is first lifted to 50% of the fault drop, and then lies down to 50% of the fault drop, so that the transition with the fault is realized. Since the fault pushed by the fully mechanized coal face is generally a fault with small drop, the drop is less than the lifting radius of the shearer, and the floor curvature radius of the shearer can be used for calculation. Thus, the formula for the distance between the lifting starting point and the fault is obtained as follows: Wherein C represents the distance between the lifting starting point and the fault, and the unit is mm, H represents the fault drop, and the unit is mm.

[0078] In order to facilitate the staff to view the coal cutting track of the coal mining machine in time, in another embodiment of the present application, after the cutting track of the next cutting of the exemplary cutter is determined according to the above-mentioned cutting amount and the cutting track of the above-mentioned exemplary cutter, the method further comprises: generating a first curve of the position of the coal seam; generating a second curve of the cutting track of the next cutting; and controlling a display device to display the first curve and the second curve.

[0079] The exemplary cutter stored by the coal mining machine can be considered as a track wave, as shown in FIG. 1. Figure 5 During the cutting of the exemplary cutter by the driver, the actual roof or floor 11 of the coal seam is variable, the cutting track 12 of the exemplary cutter is operated along the actual roof or floor of the coal seam, and is generally in line with the ideal requirements, but may deviate from the ideal exemplary cutter at different positions, that is, the deviation is in line with the normal distribution characteristics. Thus, the deviation can be considered as noise and interference in the track wave, and the exemplary cutter in a more ideal state can be obtained by performing Kalman filtering on the track wave.

[0080] It should be noted that the ideal exemplary cutter is smooth and closest to the floor of the coal seam, that is, the floor roller neither follows the floor of the coal seam nor coincides with the floor of the coal seam as much as possible.

[0081] Specifically, the cutting track of the exemplary cutter, the cutting amount and other parameters are substituted into the above-mentioned formula one, formula two, formula three, formula four and formula five, the cutting track 13 of the next cutting can be obtained, and a track wave can be generated, as shown in FIG. 2. Figure 6 As compared with the track wave of the exemplary cutter before optimization, it can be found that the smoothness and convergence of the curve of the optimized track are good, and Q and R in the adjustment process are generally accurate after one adjustment, and basically do not need to be adjusted subsequently. Then, since the cutting track of the next cutting is relatively accurate, the cutting track of the next cutting can be used as the cutting track of the exemplary cutter to determine the cutting track of the next next cutting.

[0082] The embodiment of the present application further provides an automatic coal cutting device of a coal mining machine. It should be noted that the automatic coal cutting device of the coal mining machine in the embodiment of the present application can be used to execute the automatic coal cutting method for the coal mining machine provided in the embodiment of the present application. The automatic coal cutting device of the coal mining machine provided in the embodiment of the present application is introduced as follows.

[0083] Figure 7 FIG. 3 is a schematic diagram of an automatic coal cutting device of a coal mining machine according to the embodiment of the present application. As shown in FIG. 3, the device comprises: Figure 7

[0084] A first acquisition unit 10 is configured to acquire the cutting track of an exemplary cutter of a coal mining machine, wherein the exemplary cutter refers to a cutting of a coal seam as a standard in advance; ​

[0085] The second acquisition unit 20 is configured to acquire the lifting amount, which is a parameter related to the cutting thickness during the coal cutting process of the coal mining machine.

[0086] In order to obtain a more accurate lifting amount, so as to more accurately determine the coal cutting track of the next cutting according to the lifting amount, and further ensure that the coal cutting effect of the coal mining machine is better, in an embodiment of the present application, the second acquisition unit comprises a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module and a fifth acquisition module. The first acquisition module is configured to acquire the floor curvature radius of the coal seam. The second acquisition module is configured to acquire a predetermined multiple of the floor curvature radius to obtain a target floor curvature radius. The third acquisition module is configured to acquire the cutting thickness when the exemplary cutter cuts coal. The fourth acquisition module is configured to acquire the square of the cutting thickness to obtain a target cutting thickness. The fifth acquisition module is configured to acquire the quotient of the target cutting thickness and the target floor curvature radius to obtain the lifting amount.

[0087] In order to obtain a more accurate lifting amount, so as to more accurately determine the coal cutting track of the next cutting according to the lifting amount, and further ensure that the coal cutting effect of the coal mining machine is better, in another embodiment of the present application, the second acquisition unit comprises a sixth acquisition module, a seventh acquisition module and an eighth acquisition module. The sixth acquisition module is configured to acquire a first height difference value, which is the difference between the height of the left point and the height of the right point of the coal cutting area during the previous cutting process. The seventh acquisition module is configured to acquire a second height difference value, which is the difference between the height of the left point and the height of the right point of the coal cutting area during the current cutting process. The eighth acquisition module is configured to acquire a target difference value of the first height difference value and the second height difference value, and determine the target difference value as the lifting amount.

[0088] The first processing unit 30 is configured to determine the coal cutting track of the next cutting of the exemplary cutter according to the lifting amount and the coal cutting track of the exemplary cutter, and control the coal mining machine to automatically cut coal according to the coal cutting track of the next cutting.

[0089] In order to further efficiently and accurately determine the target cutting coal track of the next cutting of the demonstration cutter, and further ensure that the cutting effect of the coal winning machine is better, in another embodiment of the application, the first processing unit comprises a ninth acquisition module, a tenth acquisition module, a first determination module, a second determination module and a third determination module, the ninth acquisition module is configured to acquire the sum of the above-mentioned heave and the cutting coal track of the above-mentioned demonstration cutter, to obtain the initial cutting coal track of the above-mentioned next cutting of the above-mentioned demonstration cutter; the tenth acquisition module is configured to acquire the first covariance of the cutting coal track of the above-mentioned demonstration cutter; the first determination module is configured to determine the second covariance of the initial cutting coal track of the above-mentioned next cutting according to the above-mentioned first covariance; the second determination module is configured to determine the gain coefficient according to the above-mentioned second covariance; and the third determination module is configured to determine the target cutting coal track of the above-mentioned next cutting according to at least the initial cutting coal track of the above-mentioned next cutting and the gain coefficient.

[0090] After the initial cutting coal track and the gain times are obtained, in order to further efficiently and accurately determine the target cutting coal track of the next cutting of the demonstration cutter according to at least the two parameters, in another specific embodiment of the application, the third determination module comprises a first acquisition submodule, a second acquisition submodule, a third acquisition submodule and a fourth acquisition submodule, the first acquisition submodule is configured to acquire the actual cutting coal track of the drum of the coal winning machine; the second acquisition submodule is configured to acquire the difference between the actual cutting coal track and the initial cutting coal track of the next cutting; the third acquisition submodule is configured to acquire the product of the difference and the gain coefficient, to obtain an initial calculation result; and the fourth acquisition submodule is configured to acquire the sum of the initial calculation result and the initial cutting coal track of the next cutting, to obtain the target cutting coal track of the next cutting.

[0091] In the above-mentioned device, the first acquisition unit acquires the cutting coal track of the demonstration cutter of the coal winning machine, the second acquisition unit acquires the heave, and the first processing unit determines the cutting coal track of the next cutting of the demonstration cutter according to the heave and the cutting coal track of the demonstration cutter, and controls the coal winning machine to automatically cut coal according to the cutting coal track of the next cutting. In this scheme, in the automatic coal mining process, the cutting coal track of the next cutting after the demonstration cutter can be optimized according to the filtering of the cutting coal track of the demonstration cutter, so that the filtering can be continuously eliminated in the filtering process to adapt to the change of the coal seam floor and eliminate the cumulative error, and thus the cutting effect of the coal winning machine is better.

[0092] When the working face passes through the fault, the lifting amount can also be updated again, and the updating step needs to re-determine the lifting starting point and the distance between the lifting starting point and the fault, so that the lifting amount can be optimized subsequently. In another embodiment of the application, the device further comprises a determination unit and a second processing unit. The determination unit is used to determine whether the coal winning machine will pass through the fault during the coal winning process before the lifting amount is obtained. The fault refers to a region where the coal seam is broken and the rock is displaced. The second processing unit is used to obtain the lifting starting point and determine the distance between the lifting starting point and the fault when the coal winning machine will pass through the fault during the coal winning process.

[0093] In order to facilitate the staff to view the coal cutting track of the coal winning machine in time, in another embodiment of the application, the device further comprises a first generation unit, a second generation unit and a control unit. The first generation unit is used to generate a first curve of the position of the coal seam after determining the coal cutting track of the next cut of the demonstration cutter according to the lifting amount and the coal cutting track of the demonstration cutter. The second generation unit is used to generate a second curve of the coal cutting track of the next cut. The control unit is used to control the display device to display the first curve and the second curve.

[0094] The automatic coal cutting device of the coal winning machine comprises a processor and a memory. The first acquisition unit, the second acquisition unit, the first processing unit and the like are stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory.

[0095] The processor contains a core, and the core calls the corresponding program units from the memory. The core can be set to one or more, and the coal cutting effect of the coal winning machine can be improved by adjusting the core parameters.

[0096] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0097] The embodiment of the application provides a computer readable storage medium, which stores a program. The program is executed by a processor to realize the automatic coal cutting method of the coal winning machine.

[0098] The embodiment of the application provides a processor. The processor is used to run a program. When the program is run, the automatic coal cutting method of the coal winning machine is executed.

[0099] The application also provides an electronic device, comprising one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a program for executing any of the above methods.

[0100] The application provides a device, comprising a processor, a memory, and a program stored in the memory and executable on the processor, and the processor executes the program to implement at least the following steps:

[0101] In step S101, a cutting coal track of a demonstration cutter of a coal mining machine is acquired, wherein the demonstration cutter refers to a standard cutter for cutting coal in advance on a coal seam.

[0102] In step S102, a lifting amount is acquired, wherein the lifting amount is a parameter related to a cutting coal thickness in a coal cutting process of the coal mining machine.

[0103] In step S103, a cutting coal track of a next cutter of the demonstration cutter is determined according to the lifting amount and the cutting coal track of the demonstration cutter, and the coal mining machine is controlled to automatically cut coal according to the cutting coal track of the next cutter.

[0104] The device herein can be a server, a PC, a PAD, a mobile phone, or the like.

[0105] The application also provides a computer program product, when executed on a data processing device, is adapted to execute a program initialized with at least the following method steps:

[0106] In step S101, a cutting coal track of a demonstration cutter of a coal mining machine is acquired, wherein the demonstration cutter refers to a standard cutter for cutting coal in advance on a coal seam.

[0107] In step S102, a lifting amount is acquired, wherein the lifting amount is a parameter related to a cutting coal thickness in a coal cutting process of the coal mining machine.

[0108] In step S103, a cutting coal track of a next cutter of the demonstration cutter is determined according to the lifting amount and the cutting coal track of the demonstration cutter, and the coal mining machine is controlled to automatically cut coal according to the cutting coal track of the next cutter.

[0109] In the above embodiments of the application, the description of each embodiment has its own focus, and the part not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0110] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented by other manners. Among them, the above-described device embodiments are only illustrative, for example, the division of the above-mentioned units can be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection between the units or modules through some interfaces, and can be electrical or other forms.

[0111] The units described above as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0112] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0113] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application or the whole or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the above-mentioned method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various program code storage media.

[0114] From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

[0115] 1) The automatic coal cutting method of the coal mining machine of this application first obtains the coal cutting trajectory of the demonstration cutter of the coal mining machine, then obtains the lifting and lowering amount, and finally determines the coal cutting trajectory of the next cut of the demonstration cutter based on the lifting and lowering amount and the coal cutting trajectory of the demonstration cutter, and controls the coal mining machine to automatically cut coal according to the coal cutting trajectory of the next cut. In this scheme, during the automatic coal mining process, filtering can be performed based on the coal cutting trajectory of the demonstration cutter to optimize the coal cutting trajectory of the next cut after the demonstration cutter. In this way, the filtering process can continuously eliminate the filtering to adapt to changes in the coal seam floor and eliminate accumulated errors, thereby ensuring a better coal cutting effect of the coal mining machine.

[0116] 2) The automatic coal cutting device of the coal mining machine of this application comprises a first acquisition unit acquiring the coal cutting trajectory of the demonstration cutter of the coal mining machine, a second acquisition unit acquiring the lifting amount, and a first processing unit determining the coal cutting trajectory of the next cut of the demonstration cutter based on the lifting amount and the coal cutting trajectory of the demonstration cutter, and controlling the coal mining machine to automatically cut coal according to the next cut's coal cutting trajectory. In this scheme, during the automatic coal mining process, filtering can be performed based on the coal cutting trajectory of the demonstration cutter to optimize the coal cutting trajectory of the next cut after the demonstration cutter. In this way, the filtering process can continuously eliminate the filtering to adapt to changes in the coal seam floor and eliminate accumulated errors, thereby ensuring a better coal cutting effect of the coal mining machine.

[0117] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic coal cutting method for a coal mining machine, characterized in that, include: Obtain the coal cutting trajectory of the demonstration cutter of the coal mining machine, wherein the demonstration cutter refers to a standard cut that has been used to cut coal in the coal seam beforehand; The lifting and lowering amount is obtained, which is a parameter related to the coal cutting thickness during the coal cutting process of the coal mining machine; Based on the lifting and lowering amount and the cutting trajectory of the demonstration cutter, the cutting trajectory of the next cut of the demonstration cutter is determined, and the coal mining machine is controlled to automatically cut coal according to the cutting trajectory of the next cut. Obtaining the lifting amount includes: obtaining the radius of curvature of the coal seam floor; obtaining a predetermined multiple of the radius of curvature of the floor to obtain the target radius of curvature of the floor; obtaining the coal cutting thickness during the demonstration cutting; obtaining the square of the coal cutting thickness to obtain the target coal cutting thickness; and obtaining the quotient of the target coal cutting thickness and the target radius of curvature of the floor to obtain the lifting amount. Alternatively, the method for obtaining the lifting amount includes: obtaining a first height difference, which refers to the difference between the height of the left and right points of the coal cutting area during the previous coal cutting process; obtaining a second height difference, which refers to the difference between the height of the left and right points of the coal cutting area during the current coal cutting process; obtaining a target difference between the first height difference and the second height difference, and determining the target difference as the lifting amount; Determining the cutting trajectory of the next cut of the demonstration cutter based on the lifting amount and the cutting trajectory of the demonstration cutter includes: obtaining the sum of the lifting amount and the cutting trajectory of the demonstration cutter to obtain the initial cutting trajectory of the next cut of the demonstration cutter; obtaining the first covariance of the cutting trajectory of the demonstration cutter; determining the second covariance of the initial cutting trajectory of the next cut based on the first covariance; determining the gain coefficient based on the second covariance; and determining the target cutting trajectory of the next cut based at least on the initial cutting trajectory of the next cut and the gain coefficient. Determining the target coal cutting trajectory of the next cut based at least on the initial coal cutting trajectory of the next cut and the gain coefficient includes: obtaining the actual coal cutting trajectory of the drum of the coal mining machine; obtaining the difference between the actual coal cutting trajectory and the initial coal cutting trajectory of the next cut; obtaining the product of the difference and the gain coefficient to obtain an initial calculation result; obtaining the sum of the initial calculation result and the initial coal cutting trajectory of the next cut to obtain the target coal cutting trajectory of the next cut.

2. The method according to claim 1, characterized in that, Before obtaining the lifting volume, the method further includes: Determine whether the coal mining machine will pass through a fault during the coal mining process; the fault refers to a region where the coal seam is broken and the rock is displaced. When the coal mining machine passes through the fault during the coal mining process, the starting point for lifting and lowering is obtained, and the distance between the starting point for lifting and lowering and the fault is determined.

3. The method according to claim 1, characterized in that, After determining the cutting trajectory of the next cut of the demonstration cutter based on the lifting amount and the cutting trajectory of the demonstration cutter, the method further includes: Generate a first curve indicating the location of the coal seam; Generate a second curve of the coal cutting trajectory for the next cut; The control display device displays the first curve and the second curve.

4. An automatic coal cutting device for a coal mining machine, characterized in that, include: The first acquisition unit is used to acquire the coal cutting trajectory of the demonstration cutter of the coal mining machine, wherein the demonstration cutter refers to a standard cut that has been used to cut coal in the coal seam in advance. The second acquisition unit is used to acquire the lifting and lowering amount, which is a parameter related to the coal cutting thickness during the coal cutting process of the coal mining machine; The first processing unit is used to determine the next cutting trajectory of the demonstration cutter based on the lifting amount and the cutting trajectory of the demonstration cutter, and to control the coal mining machine to automatically cut coal according to the next cutting trajectory. The second acquisition unit includes a first acquisition module, a second acquisition module, a third acquisition module, a fourth acquisition module, and a fifth acquisition module. The first acquisition module is used to acquire the radius of curvature of the coal seam floor. The second acquisition module is used to acquire a predetermined multiple of the radius of curvature of the floor to obtain a target radius of curvature of the floor. The third acquisition module is used to acquire the coal cutting thickness during the demonstration cutting. The fourth acquisition module is used to acquire the square of the coal cutting thickness to obtain a target coal cutting thickness. The fifth acquisition module is used to obtain the quotient of the target coal cutting thickness and the radius of curvature of the target bottom plate, and to obtain the lifting amount; Alternatively, the second acquisition unit includes a sixth acquisition module, a seventh acquisition module, and an eighth acquisition module. The sixth acquisition module is used to acquire a first height difference, which refers to the difference between the height of the left and right points of the coal cutting area during the previous coal cutting process. The seventh acquisition module is used to acquire a second height difference, which refers to the difference between the height of the left and right points of the coal cutting area during the current coal cutting process. The eighth acquisition module is used to acquire a target difference between the first height difference and the second height difference, and determine the target difference as the lifting amount. The first processing unit includes a ninth acquisition module, a tenth acquisition module, a first determination module, a second determination module, and a third determination module. The ninth acquisition module is used to acquire the sum of the lifting amount and the coal cutting trajectory of the demonstration cutter to obtain the initial coal cutting trajectory of the next cut of the demonstration cutter. The tenth acquisition module is used to acquire the first covariance of the coal cutting trajectory of the demonstration cutter. The first determination module is used to determine the second covariance of the initial coal cutting trajectory of the next cut based on the first covariance. The second determination module is used to determine the gain coefficient based on the second covariance. The third determination module is used to determine the target coal cutting trajectory of the next cut based at least on the initial coal cutting trajectory of the next cut and the gain coefficient. The third determining module includes a first acquisition submodule, a second acquisition submodule, a third acquisition submodule, and a fourth acquisition submodule. The first acquisition submodule is used to acquire the actual coal cutting trajectory of the drum of the coal mining machine. The second acquisition submodule is used to acquire the difference between the actual coal cutting trajectory and the initial coal cutting trajectory of the next cut. The third acquisition submodule is used to acquire the product of the difference and the gain coefficient to obtain the initial calculation result; the fourth acquisition submodule is used to acquire the sum of the initial calculation result and the initial coal cutting trajectory of the next cut to obtain the target coal cutting trajectory of the next cut.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program performs the method according to any one of claims 1 to 3.

6. An electronic device, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 3.

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