Method and device for fitting a coal face floor of a coal mining machine and electronic device

Abstract

The application provides a fitting method and device for a coal face floor of a coal mining machine and an electronic device. The method comprises the following steps: obtaining a fluctuation curve of a coal seam floor of a coal mine; after the coal mining machine cuts a coal, obtaining a minimum radius of a stope floor, wherein the stope floor is a floor of a model corresponding to a lowermost coal seam in a space formed after the coal mining machine mines coal, and the minimum radius is a radius of a circular arc formed by up and down fluctuations of a drum of the coal mining machine; generating a circle according to the minimum radius of the stope floor, fitting the circle along the fluctuation curve of the coal seam floor until a curve generated by the circle coincides with the fluctuation curve. In the method, the circle obtained by the minimum radius of the stope floor is fitted in the fluctuation curve of the coal seam floor, so that the curve generated by the circle can be fitted with the fluctuation curve of the coal seam floor as much as possible, and the fitted stope floor can adapt to the change of the coal seam, thereby improving the efficiency of coal mining.

Description

Technical Field

[0001] This application relates to the field of intelligent coal mining technology, and more specifically, to a fitting method, apparatus, computer-readable storage medium, and electronic device for the working face bottom plate of a coal mining machine. Background Technology

[0002] With the development of mechanized and automated coal mining technology, intelligent coal mining technology has received increasing attention. Current intelligent coal mining technologies mainly include coal cutting machine demonstration cutter memory technology, inertial navigation coal cutting technology, and coal and rock identification technology. However, because the coal seam floor in current coal mining faces is always uneven, i.e., undulating, current intelligent coal mining technologies cannot adapt to these changes, resulting in low mining efficiency. Summary of the Invention

[0003] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, and electronic device for fitting the working face floor of a coal mining machine, so as to at least solve the problem that current intelligent coal mining technology cannot adapt to changes in coal seams, resulting in low coal mining efficiency.

[0004] To achieve the above objectives, according to one aspect of this application, a method for fitting the working face floor of a coal mining machine is provided, comprising: obtaining the undulation curve of the coal seam floor of a coal mine, wherein the coal seam floor is the floor of a model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine; after the coal mining machine has cut a piece of coal, obtaining the minimum radius of the mining area floor, wherein the mining area floor is the floor of a model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined coal, and the minimum radius is the radius of the arc formed by the up-and-down undulation of the drum of the coal mining machine; generating a circle based on the minimum radius of the mining area floor, and fitting the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0005] Optionally, obtaining the undulation curve of the coal seam floor includes: obtaining the contour lines and coal seam thickness of the coal seam floor; constructing a geological model based on the contour lines and coal seam thickness of the coal seam floor; cutting the geological model into multiple segments using the coal cutting thickness of the coal mining machine as the unit; selecting one segment from the multiple segments as the target segment; and constructing the undulation curve of the target segment.

[0006] Optionally, obtaining the minimum radius of the mining floor includes: obtaining the chord length and arc height of a target area, wherein the target area refers to the area with floating coal at the bottom of the scraper conveyor, and the scraper conveyor and the coal mining machine are set up accordingly; obtaining the product of the arc height and a first parameter to obtain a first calculation result; obtaining the product of the arc height and a second parameter to obtain a second calculation result; obtaining the quotient of the chord length and the second calculation result to obtain a third calculation result; and obtaining the sum of the first calculation result and the third calculation result to obtain the minimum radius of the mining floor.

[0007] Optionally, fitting the circle along the undulating curve of the coal seam floor includes: rolling the circle along the undulating curve to determine whether the circle intersects with the undulating curve; if the circle intersects with the undulating curve, using the undulating curve as the fitted curve; if the circle does not intersect with the undulating curve, updating the undulating curve with the arc of the circle based on the non-intersecting portion to obtain the fitted curve.

[0008] Optionally, the method further includes: when a first fitting curve corresponding to the undulation curve in the first direction is obtained, flipping the undulation curve in the first direction by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitting curve is the fitted curve in the first direction; fitting the circle along the undulation curve in the second direction of the coal seam floor to obtain a second fitting curve, wherein the second fitting curve is the fitted curve in the second direction; and fitting the first fitting curve and the second fitting curve to obtain a target fitting curve.

[0009] Optionally, the method further includes: obtaining the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine; determining the maximum lifting and lowering amount of the coal mining machine based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine, wherein, during the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

[0010] Optionally, the method further includes: obtaining the product of the maximum lifting amount and the third parameter to obtain a fourth calculation result; obtaining the square of the width of the coal mining machine to obtain a fifth calculation result; obtaining the quotient of the fifth calculation result and the fourth calculation result to obtain the lifting radius of the coal mining machine, wherein, during the operation of the coal mining machine, the drum of the coal mining machine is controlled to work according to the circle formed by the lifting radius.

[0011] According to another aspect of this application, a fitting device for the working face floor of a coal mining machine is provided, comprising: a first acquisition unit for acquiring the undulation curve of the coal seam floor of a coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine; a second acquisition unit for acquiring the minimum radius of the mining area floor after the coal mining machine has cut a cut of coal, wherein the mining area floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined coal, and the minimum radius is the radius of the arc formed by the up-and-down undulation of the drum of the coal mining machine; and a first fitting unit for generating a circle based on the minimum radius of the mining area floor, and fitting the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0013] According to another aspect of this application, an electronic device is provided, 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, the one or more programs including methods for performing any one of the methods described.

[0014] Applying the technical solution of this application, the undulation curve of the coal seam floor is first obtained. Then, after the coal mining machine cuts one section of coal, the minimum radius of the mining floor is obtained. Finally, a circle is generated based on the minimum radius of the mining floor, and this circle is fitted along the undulation curve of the coal seam floor until the generated curve coincides with the undulation curve. In this solution, by fitting the circle obtained from the minimum radius of the mining floor to the undulation curve of the coal seam floor, the generated curve can be made to fit the undulation curve of the coal seam floor as closely as possible. The fitted mining floor can adapt to changes in the coal seam, thereby improving the efficiency of coal mining. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a fitting method for the working face bottom plate of a coal mining machine, according to an embodiment of this application, is shown.

[0017] Figure 2A schematic flowchart of a fitting method for the working face bottom plate of a coal mining machine according to an embodiment of this application is shown.

[0018] Figure 3 A schematic diagram showing the chord length and arc height of the target region is provided;

[0019] Figure 4 This diagram illustrates the relationship between the horizontal displacement of the drum during the lifting and lowering of the coal mining machine.

[0020] Figure 5 A schematic diagram of the circle formed based on the radius of the lifting section is shown;

[0021] Figure 6 A structural block diagram of a fitting device for the working face bottom plate of a coal mining machine according to an embodiment of this application is shown.

[0022] The above figures include the following reference numerals:

[0023] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] When the coal mining machine is cutting coal, whether it is along the direction of the coal mining machine's movement or along the direction of the working face's advance (the direction between multiple coal cuts), that is, when the coal mining machine cuts one coal cut, the bottom plate of the mining area (the bottom plate of the working face) should be basically flat, and when the coal mining machine cuts multiple coal cuts, the bottom plate of the mining area between adjacent coal cuts should be basically without steps.

[0028] The following examples illustrate this:

[0029] Example 1: When cutting a piece of coal, if the undulation of the bottom roller exceeds the allowable degree of undulation and bending of the scraper conveyor, there may be floating coal at the bottom of part of the scraper conveyor, and there will also be a lot of floating slag at the bottom of the support (the support is not in contact with the solid bottom). In this case, the initial support force of the support will be difficult to meet the requirements.

[0030] Example 2: When cutting multiple coal cutters, if the step between adjacent coal cutters exceeds the specified limit, the control top distance of the working face must exceed the specified limit, resulting in leakage of coal in front of the support; or if the control top distance is too small, the upper drum of the coal mining machine may cut the top beam of the support.

[0031] Therefore, the current working face floor must be as consistent as possible with the coal seam floor, and also meet the requirements of the three working machines (coal mining machine, support, and scraper conveyor) (meeting their respective working needs during operation).

[0032] As described in the background section, existing intelligent coal mining technologies cannot adapt to the unevenness of the coal seam floor in current coal mining faces, resulting in low mining efficiency. To address the problem of low mining efficiency caused by the inability of current intelligent coal mining technologies to adapt to coal seam changes, embodiments of this application provide a method, apparatus, computer-readable storage medium, and electronic device for fitting the working face floor of a coal mining machine.

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of fitting the working face bottom plate of a coal mining machine according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0035] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0036] This embodiment provides a fitting method for the working face bottom plate of a coal mining machine that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0037] Figure 2 This is a flowchart of a fitting method for the working face floor plate of a coal mining machine according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0038] Step S201: Obtain the undulation curve of the coal seam floor of the coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine.

[0039] Specifically, the coal seam floor during the coal mining process is not actually completely flat; it is an undulating curve. In practical applications, a model can be constructed based on the undulating curve of the coal seam floor. This model can be used to characterize the actual changes in the coal seam, thus obtaining a simulated undulating curve of the coal seam floor. This can then be used for fitting.

[0040] Step S202: After the coal mining machine cuts a piece of coal, the minimum radius of the mining floor is obtained. The mining floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined the coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the drum of the coal mining machine.

[0041] Specifically, after the coal mining machine cuts through the coal seam, it creates a space. The lowermost coal seam in this space is the one the machine did not collect. This part may contain coal slag. Since the coal mining machine's direction of travel is fixed, the lower coal slag will not be collected. The coal mining machine's drum is circular and therefore has a radius. To fit the mining floor of the coal mining machine to the coal seam floor, we can first determine the minimum radius of the mining floor, which is the minimum radius of the coal mining machine's drum. Of course, the mining floor can also be simulated by building a model to represent the actual situation.

[0042] Step S203: Generate a circle based on the minimum radius of the mining floor, and fit the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0043] Specifically, a circle can be generated based on the minimum radius corresponding to the mining floor. By fitting this circle multiple times onto the undulation curve of the coal seam floor, the fitted mining floor can be made to adapt as closely as possible to the changes in the coal seam floor.

[0044] The above method first obtains the undulation curve of the coal seam floor. Then, after the coal mining machine cuts one section of coal, the minimum radius of the stope floor is obtained. Finally, a circle is generated based on the minimum radius of the stope floor, and this circle is fitted along the undulation curve of the coal seam floor until the generated curve coincides with the undulation curve. In this scheme, by fitting the circle obtained from the minimum radius of the stope floor to the undulation curve of the coal seam floor, the generated curve can be made to fit the undulation curve of the coal seam floor as closely as possible. The fitted stope floor can adapt to changes in the coal seam, thereby improving the efficiency of coal mining.

[0045] To obtain the undulation curve of the coal seam floor, one method is to construct a geological model and slice it. Specifically, obtaining the undulation curve of the coal seam floor can be achieved through the following steps: obtaining the contour lines and coal seam thickness of the coal seam floor; constructing a geological model based on the contour lines and coal seam thickness; slicing the geological model into multiple segments using the coal cutting thickness of the mining machine as the unit; selecting one segment from the multiple segments as the target segment; and constructing the undulation curve of the target segment.

[0046] There are no restrictions on the method of constructing the geological model. Any feasible method can be used to construct the geological model, such as interpolation or topological methods. Of course, any other feasible method can also be used.

[0047] The fitted coal seam floor provides an ideal geological model for intelligent coal cutting. This model satisfies both the undulating requirements of the coal mining machine's travel direction and the lifting and lowering requirements of the machine's bottom roller as the working face advances. This resolves the contradiction in intelligent coal cutting where the machine must follow the coal seam floor as closely as possible, yet not completely. Relying on the fully digital coal seam geological model, the model allows for convenient and arbitrary cutting characteristics and circular rolling simulation fitting, avoiding complex curve fitting calculations and providing a more intuitive fitting process.

[0048] In this scheme, a digital geological model of the coal seam can be constructed based on the contour lines of the coal seam floor and the coal seam thickness. This model, known as transparent geology, allows for a fully digital representation of the coal seam floor contour lines and thickness. Then, using the cutting thickness of each cut by the coal mining machine as the cutting unit, the digital geological model is divided into multiple segments along the coal mining face. Each segment corresponds to one cut of coal by the coal mining machine. This yields the undulation curve of the coal seam floor for each segment. By constructing a geological model to represent the real undulation curve in the coal mine, it is ensured that subsequent coal mining machine cutting can be controlled based on the geological model. Furthermore, the minimum radius of the mining floor can be obtained using a relatively accurate undulation curve of the coal seam floor.

[0049] In the specific implementation process, obtaining the minimum radius of the mining floor includes: obtaining the chord length and arc height of the target area, where the target area refers to the area with floating coal at the bottom of the scraper conveyor, and the scraper conveyor and the coal mining machine are set up accordingly; obtaining the product of the arc height and the first parameter to obtain the first calculation result; obtaining the product of the arc height and the second parameter to obtain the second calculation result; obtaining the quotient of the chord length and the second calculation result to obtain the third calculation result; and obtaining the sum of the first calculation result and the third calculation result to obtain the minimum radius of the mining floor.

[0050] The chord length and arc height of the target area can be obtained through manual observation or through detection by specific sensors at the working face in a coal mine.

[0051] Specifically, after the coal mining machine has traveled and cut coal, if the bottom roller of the coal mining machine undulates more than or equal to the minimum radius, then the scraper conveyor will contact the bottom plate of the coal seam (coinciding with the bottom plate of the coal seam), and there will be no loose slag at the bottom of the support.

[0052] In one embodiment, the formula for calculating the minimum radius of the sampling base plate is: R = H / 2 + L2 / (8 × H), where R represents the minimum radius, H represents the arc height, 1 / 2 is the first parameter, L2 is the chord length, and 8 is the second parameter. The chord length and arc height of the target area are as follows: Figure 3 As shown, the minimum radius can be the minimum radius of the arc segment.

[0053] In this scheme, the minimum radius of the sampling floor along the direction of the coal mining machine can be obtained. By obtaining the chord length and arc height of the target area, a concave arc segment of the sampling floor is obtained. The radius of this arc segment is calculated. This radius is the minimum radius of the undulation of the drum (which can be the lower drum) after the coal mining machine moves to cut coal. The measured chord length and arc height of the target area can determine the actual undulation deformation capacity of the scraper conveyor, and can also determine the actual slag removal capacity of the scraper conveyor at the concave area. Through the calculation method of this scheme, a relatively accurate minimum radius of the mining floor can be obtained, so as to ensure that the circle can be more accurately generated and fitted to the undulation curve of the coal seam floor based on the minimum radius of the mining floor.

[0054] To ensure that the fitted curve can substantially intersect the undulation curve of the coal seam floor, the generated circle can be rolled along the undulation curve to continuously fit the coal seam floor and the mining area floor. The fitting of this circle along the undulation curve of the coal seam floor can be achieved through the following steps: rolling the circle along the undulation curve to determine whether the circle intersects with the undulation curve; if the circle intersects with the undulation curve, using the undulation curve as the fitted curve; if the circle does not intersect with the undulation curve, updating the undulation curve with the arc of the circle based on the non-intersecting portion to obtain the fitted curve.

[0055] In this scheme, a circle with the minimum radius can be generated in the geological model constructed above. The circle is rolled along the undulation curve of the coal seam floor of each slice. When the circle intersects (contacts) the undulation curve, the undulation curve of the slice can be retained. When the circle does not intersect (does not contact) the undulation curve, the non-contact part is replaced by an arc, thus generating a fitted curve. This ensures that the fitting efficiency of this scheme is high and can fit the coal seam floor and the mining floor more efficiently.

[0056] Specifically, each time a fitted curve is obtained, the circle can be rolled along the curve again from the bottom edge of the new fitted curve to obtain the final fitted curve.

[0057] To further ensure the high accuracy of the fitted curve and thus the high fitting efficiency of this scheme, one embodiment of this application further includes the following steps: Given a first fitted curve corresponding to the undulation curve in the first direction, the undulation curve in the first direction is flipped by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitted curve is the fitted curve in the first direction; the circle is fitted along the undulation curve in the second direction of the coal seam floor to obtain a second fitted curve, wherein the second fitted curve is the fitted curve in the second direction; the first fitted curve and the second fitted curve are fitted to obtain a target fitted curve.

[0058] Specifically, the predetermined degree can be 180°, so that the fluctuation curves in the first direction and the fluctuation curves in the second direction are actually symmetrical from top to bottom, and are mirror images.

[0059] In this scheme, the curve is first fitted based on the fluctuation curve in the first direction to obtain the fitted curve in the first direction. Then, the fluctuation curve in the first direction can be flipped to obtain the fitted curve in the second direction. The fitted curve in the first direction and the fitted curve in the second direction are fitted again to obtain the target fitted curve. Since this scheme performs multiple fitting processes, the accuracy of the fitted curve can be guaranteed to be high, thus ensuring that the fitting efficiency of this scheme is high.

[0060] Once the target fitting curve is obtained, the target fitting curves of multiple slices can be combined to update the previously obtained geological model and obtain an updated geological model.

[0061] Based on the height of the fully mechanized mining face in the coal mine and the required distance between the coal mining machine and the roof of the coal seam, the maximum lifting and lowering amount of the coal mining machine can be calculated. Based on the maximum lifting and lowering amount, the minimum lifting and lowering curvature radius (i.e., lifting and lowering radius) between adjacent coal seams of the coal mining machine can be calculated.

[0062] In some embodiments, this application further includes the following steps: obtaining the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine; determining the maximum lifting and lowering amount of the coal mining machine based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine, wherein, during the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

[0063] When the coal mining machine is raised or lowered, the top of the front drum will move horizontally. From this, a triangular relationship can be obtained regarding the horizontal displacement of the drum during the raising or lowering of the coal mining machine, such as... Figure 4 As shown, according to Figure 4 Based on the trigonometric relationship between the lifting and lowering amount and the offset of the top edge of the drum, the formula for calculating the maximum lifting and lowering amount can be obtained as: T=ΔL2×A / K, where T represents the maximum lifting and lowering amount, ΔL2 represents the maximum horizontal displacement of the top edge of the front drum of the coal mining machine (in mm), A represents the width of the coal mining machine (in mm), and K represents the mining height (in mm).

[0064] In this scheme, since the top of the front drum will move horizontally when the coal mining machine is raised and lowered, the accurate maximum raising and lowering amount can be calculated through the calculation method of this scheme. This ensures that the operation of the coal mining machine can be controlled according to the maximum raising and lowering amount, thus ensuring that the coal mining efficiency of this scheme is high.

[0065] Since the coal mining machine is raised and lowered to adapt to the undulations of the coal seam floor, and the curve of the undulations of the coal seam floor has a radius of curvature (raising and lowering radius), in order to make a direct comparison between the raising and lowering amount and the undulation curve of the coal seam floor, the raising and lowering amount can be converted into the raising and lowering radius. In some embodiments, this application also includes the following steps: obtaining the product of the above-mentioned maximum raising and lowering amount and the third parameter to obtain a fourth calculation result; obtaining the square of the above-mentioned width of the coal mining machine to obtain a fifth calculation result; obtaining the quotient of the above-mentioned fifth calculation result and the above-mentioned fourth calculation result to obtain the raising and lowering radius of the coal mining machine, wherein, in the process of controlling the operation of the coal mining machine, the working of the drum of the coal mining machine is controlled according to the circle formed by the above-mentioned raising and lowering radius.

[0066] When the coal mining machine is raised and lowered, the floor of the mining area will change in an arc shape, from which the curve of the mining area floor can be plotted, such as... Figure 5 As shown, according to Figure 5 Based on the geometric relationships, the formula for the lifting radius of the coal mining machine can be obtained as follows:

[0067]

[0068] r represents the lifting radius in mm, A represents the width of the coal mining machine (body + drum width) in mm, and T represents the maximum lifting amount in mm.

[0069] In this scheme, a relatively accurate lifting radius of the coal mining machine can be obtained according to the calculation method of this scheme. This allows for a direct comparison between the lifting radius and the fluctuating curve, thereby ensuring that the subsequent fitting can be performed more efficiently and ensuring that the fitting efficiency of this scheme is high.

[0070] In the above scheme, a curve can be constructed based on the geological model in the direction of the coal mining machine's movement for fitting. Alternatively, the geological model can be sliced ​​again along the working face advancement direction (perpendicular to the direction of the coal mining machine's movement) according to a given thickness, cutting it into several slices. The slice thickness can not exceed 500mm, obtaining multiple undulating curves. Similarly, a circle is drawn with the lifting radius, and the circle is rolled once above and once below each undulating curve to obtain the final slice.

[0071] After obtaining fitted slices along the direction of the coal mining machine's travel and along the direction of the working face's advance, these two slices are combined to obtain the final fitted curve of the coal seam floor. It can be determined that the fitted mining floor not only closely matches the coal seam floor but also fully meets the requirements of the three machines (machine, equipment, and machinery) for the coal seam floor in a fully mechanized mining face. Specifically, when the coal mining machine cuts coal entirely along this fitted coal seam floor, the scraper conveyor will be completely flush with the floor, and the supports will receive sufficient initial support force due to contact with the solid floor. Furthermore, the roof control distance of the working face is appropriate, preventing problems such as excessive roof control distance or the coal mining machine cutting the support's top beam. Using this fitted coal seam floor as the basis for the change in the lower drum height of the coal mining machine for inertial navigation and memory-based coal cutting enables intelligent coal cutting that adapts to changes in the coal seam.

[0072] In one specific embodiment, a fully mechanized longwall face in a certain mine employs inertial navigation for automatic coal cutting, and a fully digital coal seam geological model was created according to the requirements of the inertial navigation. Before fitting, due to the large variations in the coal seam floor, the inertial navigation mechanically controlled the coal cutting machine drum to cut coal along the coal seam floor, making it difficult to meet the requirements for roof control distance and initial support force of the supports. After fitting the coal seam geological model of the longwall face, the floor of the longwall face transitions smoothly and gradually, the scraper conveyor and supports are in contact with the solid floor, and the roof control distance and initial support force of the supports both meet the requirements.

[0073] This application also provides a fitting device for the working face floor of a coal mining machine. It should be noted that the fitting device for the working face floor of a coal mining machine in this application can be used to execute the fitting method for the working face floor of a coal mining machine provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0074] The following describes the fitting device for the working face bottom plate of the coal mining machine provided in the embodiments of this application.

[0075] Figure 6 This is a schematic diagram of a fitting device for the working face bottom plate of a coal mining machine according to an embodiment of this application. Figure 6 As shown, the device includes:

[0076] The first acquisition unit 10 is used to acquire the undulation curve of the coal seam floor of the coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine.

[0077] Specifically, the coal seam floor during the coal mining process is not actually completely flat; it is an undulating curve. In practical applications, a model can be constructed based on the undulating curve of the coal seam floor. This model can be used to characterize the actual changes in the coal seam, thus obtaining a simulated undulating curve of the coal seam floor. This can then be used for fitting.

[0078] The second acquisition unit 20 is used to acquire the minimum radius of the mining floor after the coal mining machine has cut a piece of coal. The mining floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the drum of the coal mining machine.

[0079] Specifically, after the coal mining machine cuts through the coal seam, it creates a space. The lowermost coal seam in this space is the one the machine did not collect. This part may contain coal slag. Since the coal mining machine's direction of travel is fixed, the lower coal slag will not be collected. The coal mining machine's drum is circular and therefore has a radius. To fit the mining floor of the coal mining machine to the coal seam floor, we can first determine the minimum radius of the mining floor, which is the minimum radius of the coal mining machine's drum. Of course, the mining floor can also be simulated by building a model to represent the actual situation.

[0080] The first fitting unit 30 is used to generate a circle based on the minimum radius of the mining floor, and fit the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0081] Specifically, a circle can be generated based on the minimum radius corresponding to the mining floor. By fitting this circle multiple times onto the undulation curve of the coal seam floor, the fitted mining floor can be made to adapt as closely as possible to the changes in the coal seam floor.

[0082] In the aforementioned apparatus, the first acquisition unit acquires the undulation curve of the coal seam floor, and the second acquisition unit acquires the minimum radius of the mining floor after the coal mining machine has cut one section of coal. The first fitting unit generates a circle based on the minimum radius of the mining floor and fits the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve. In this scheme, by fitting the circle obtained from the minimum radius of the mining floor onto the undulation curve of the coal seam floor, the curve generated by the circle can be made to fit the undulation curve of the coal seam floor as closely as possible. The fitted mining floor can adapt to changes in the coal seam, thereby improving the efficiency of coal mining.

[0083] The method for obtaining the undulation curve of the coal seam floor can be achieved by constructing a geological model and slicing it. In the specific implementation process, the first acquisition unit includes a first acquisition module, a second acquisition module, and a first processing module. The first acquisition module is used to acquire the contour lines and coal seam thickness of the coal seam floor. The second acquisition module is used to construct a geological model based on the contour lines and coal seam thickness of the coal seam floor. The first processing module is used to slice the geological model in units of the coal cutting thickness of the coal mining machine to obtain multiple slices, select one slice as the target slice from the multiple slices, and construct the undulation curve of the target slice.

[0084] There are no restrictions on the method of constructing the geological model. Any feasible method can be used to construct the geological model, such as interpolation or topological methods. Of course, any other feasible method can also be used.

[0085] The fitted coal seam floor provides an ideal geological model for intelligent coal cutting. This model satisfies both the undulating requirements of the coal mining machine's travel direction and the lifting and lowering requirements of the machine's bottom roller as the working face advances. This resolves the contradiction in intelligent coal cutting where the machine must follow the coal seam floor as closely as possible, yet not completely. Relying on the fully digital coal seam geological model, the model allows for convenient and arbitrary cutting characteristics and circular rolling simulation fitting, avoiding complex curve fitting calculations and providing a more intuitive fitting process.

[0086] In this scheme, a digital geological model of the coal seam can be constructed based on the contour lines of the coal seam floor and the coal seam thickness. This model, known as transparent geology, allows for a fully digital representation of the coal seam floor contour lines and thickness. Then, using the cutting thickness of each cut by the coal mining machine as the cutting unit, the digital geological model is divided into multiple segments along the coal mining face. Each segment corresponds to one cut of coal by the coal mining machine. This yields the undulation curve of the coal seam floor for each segment. By constructing a geological model to represent the real undulation curve in the coal mine, it is ensured that subsequent coal mining machine cutting can be controlled based on the geological model. Furthermore, the minimum radius of the mining floor can be obtained using a relatively accurate undulation curve of the coal seam floor.

[0087] In the specific implementation process, the second acquisition unit includes a third acquisition module, a fourth acquisition module, a fifth acquisition module, a sixth acquisition module, and a seventh acquisition module. The third acquisition module is used to acquire the chord length and arc height of the target area, which refers to the area with floating coal at the bottom of the scraper conveyor. The scraper conveyor and the coal mining machine are set up accordingly. The fourth acquisition module is used to acquire the product of the arc height and the first parameter to obtain a first calculation result. The fifth acquisition module is used to acquire the product of the arc height and the second parameter to obtain a second calculation result. The sixth acquisition module is used to acquire the quotient of the chord length and the second calculation result to obtain a third calculation result. The seventh acquisition module is used to acquire the sum of the first calculation result and the third calculation result to obtain the minimum radius of the bottom plate of the mining area.

[0088] The chord length and arc height of the target area can be obtained through manual observation or through detection by specific sensors at the working face in a coal mine.

[0089] Specifically, after the coal mining machine has traveled and cut coal, if the bottom roller of the coal mining machine undulates more than or equal to the minimum radius, then the scraper conveyor will contact the bottom plate of the coal seam (coinciding with the bottom plate of the coal seam), and there will be no loose slag at the bottom of the support.

[0090] In one embodiment, the formula for calculating the minimum radius of the sampling base plate is: R = H / 2 + L2 / (8 × H), where R represents the minimum radius, H represents the arc height, 1 / 2 is the first parameter, L2 is the chord length, and 8 is the second parameter. The chord length and arc height of the target area are as follows: Figure 3 As shown, the minimum radius can be the minimum radius of the arc segment.

[0091] In this scheme, the minimum radius of the sampling floor along the direction of the coal mining machine can be obtained. By obtaining the chord length and arc height of the target area, a concave arc segment of the sampling floor is obtained. The radius of this arc segment is calculated. This radius is the minimum radius of the undulation of the drum (which can be the lower drum) after the coal mining machine moves to cut coal. The measured chord length and arc height of the target area can determine the actual undulation deformation capacity of the scraper conveyor, and can also determine the actual slag removal capacity of the scraper conveyor at the concave area. Through the calculation method of this scheme, a relatively accurate minimum radius of the mining floor can be obtained, so as to ensure that the circle can be more accurately generated and fitted to the undulation curve of the coal seam floor based on the minimum radius of the mining floor.

[0092] To ensure that the fitted curve can substantially intersect the undulating curve of the coal seam floor, the generated circle can be rolled along the undulating curve to continuously fit the coal seam floor and the mining area floor. The first fitting unit of this application includes a second processing module, a third processing module, and a fourth processing module. The second processing module is used to roll the circle along the undulating curve to determine whether the circle intersects with the undulating curve. The third processing module is used to use the undulating curve as the fitted curve when the circle intersects with the undulating curve. The fourth processing module is used to update the undulating curve with the arc of the circle based on the non-intersecting part when the circle does not intersect with the undulating curve to obtain the fitted curve.

[0093] In this scheme, a circle with the minimum radius can be generated in the geological model constructed above. The circle is rolled along the undulation curve of the coal seam floor of each slice. When the circle intersects (contacts) the undulation curve, the undulation curve of the slice can be retained. When the circle does not intersect (does not contact) the undulation curve, the non-contact part is replaced by an arc, thus generating a fitted curve. This ensures that the fitting efficiency of this scheme is high and can fit the coal seam floor and the mining floor more efficiently.

[0094] Specifically, each time a fitted curve is obtained, the circle can be rolled along the curve again from the bottom edge of the new fitted curve to obtain the final fitted curve.

[0095] To further ensure the high accuracy of the fitted curve and thus the high fitting efficiency of this scheme, in one embodiment of this application, the above-mentioned device further includes a processing unit, a second fitting unit, and a third fitting unit. The processing unit is used to flip the first-direction undulation curve by a predetermined degree to obtain the second-direction undulation curve when a first fitting curve corresponding to the first-direction undulation curve is obtained, wherein the first fitting curve is the fitted curve in the first direction. The second fitting unit is used to fit the circle along the second-direction undulation curve of the coal seam floor to obtain a second fitting curve, wherein the second fitting curve is the fitted curve in the second direction. The third fitting unit is used to fit the first fitting curve and the second fitting curve to obtain a target fitting curve.

[0096] Specifically, the predetermined degree can be 180°, so that the fluctuation curves in the first direction and the fluctuation curves in the second direction are actually symmetrical from top to bottom, and are mirror images.

[0097] In this scheme, the curve is first fitted based on the fluctuation curve in the first direction to obtain the fitted curve in the first direction. Then, the fluctuation curve in the first direction can be flipped to obtain the fitted curve in the second direction. The fitted curve in the first direction and the fitted curve in the second direction are fitted again to obtain the target fitted curve. Since this scheme performs multiple fitting processes, the accuracy of the fitted curve can be guaranteed to be high, thus ensuring that the fitting efficiency of this scheme is high.

[0098] Once the target fitting curve is obtained, the target fitting curves of multiple slices can be combined to update the previously obtained geological model and obtain an updated geological model.

[0099] Based on the height of the fully mechanized mining face in the coal mine and the required distance between the coal mining machine and the roof of the coal seam, the maximum lifting and lowering amount of the coal mining machine can be calculated. Based on the maximum lifting and lowering amount, the minimum lifting and lowering curvature radius (i.e., lifting and lowering radius) between adjacent coal seams of the coal mining machine can be calculated.

[0100] In some embodiments, the above-mentioned device further includes a third acquisition unit and a determination unit. The third acquisition unit is used to acquire the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine. The determination unit is used to determine the maximum lifting and lowering amount of the coal mining machine based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine. In the process of controlling the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

[0101] When the coal mining machine is raised or lowered, the top of the front drum will move horizontally. From this, a triangular relationship can be obtained regarding the horizontal displacement of the drum during the raising or lowering of the coal mining machine, such as... Figure 4 As shown, according to Figure 4 Based on the trigonometric relationship between the lifting and lowering amount and the offset of the top edge of the drum, the formula for calculating the maximum lifting and lowering amount can be obtained as: T=ΔL2×A / K, where T represents the maximum lifting and lowering amount, ΔL2 represents the maximum horizontal displacement of the top edge of the front drum of the coal mining machine (in mm), A represents the width of the coal mining machine (in mm), and K represents the mining height (in mm).

[0102] In this scheme, since the top of the front drum will move horizontally when the coal mining machine is raised and lowered, the accurate maximum raising and lowering amount can be calculated through the calculation method of this scheme. This ensures that the operation of the coal mining machine can be controlled according to the maximum raising and lowering amount, thus ensuring that the coal mining efficiency of this scheme is high.

[0103] Since the coal mining machine is raised and lowered to adapt to the undulations of the coal seam floor, and the curve of the undulations of the coal seam floor has a radius of curvature (raising and lowering radius), in order to make a direct comparison between the raising and lowering amount and the undulation curve of the coal seam floor, the raising and lowering amount can be converted into the raising and lowering radius. In some embodiments, the above-mentioned device further includes a fourth acquisition unit, a fifth acquisition unit, and a sixth acquisition unit. The fourth acquisition unit is used to obtain the product of the maximum raising and lowering amount and the third parameter to obtain a fourth calculation result; the fifth acquisition unit is used to obtain the square of the width of the coal mining machine to obtain a fifth calculation result; the sixth acquisition unit is used to obtain the quotient of the fifth calculation result and the fourth calculation result to obtain the raising and lowering radius of the coal mining machine. In the process of controlling the operation of the coal mining machine, the working of the drum of the coal mining machine is controlled according to the circle formed by the raising and lowering radius.

[0104] When the coal mining machine is raised and lowered, the floor of the mining area will change in an arc shape, from which the curve of the mining area floor can be plotted, such as... Figure 5 As shown, according to Figure 5 Based on the geometric relationships, the formula for the lifting radius of the coal mining machine can be obtained as follows:

[0105]

[0106] r represents the lifting radius in mm, A represents the width of the coal mining machine (body + drum width) in mm, and T represents the maximum lifting amount in mm.

[0107] In this scheme, a relatively accurate lifting radius of the coal mining machine can be obtained according to the calculation method of this scheme. This allows for a direct comparison between the lifting radius and the fluctuating curve, thereby ensuring that the subsequent fitting can be performed more efficiently and ensuring that the fitting efficiency of this scheme is high.

[0108] In the above scheme, a curve can be constructed based on the geological model in the direction of the coal mining machine's movement for fitting. Alternatively, the geological model can be sliced ​​again along the working face advancement direction (perpendicular to the direction of the coal mining machine's movement) according to a given thickness, cutting it into several slices. The slice thickness can not exceed 500mm, obtaining multiple undulating curves. Similarly, a circle is drawn with the lifting radius, and the circle is rolled once above and once below each undulating curve to obtain the final slice.

[0109] After obtaining fitted slices along the direction of the coal mining machine's travel and along the direction of the working face's advance, these two slices are combined to obtain the final fitted curve of the coal seam floor. It can be determined that the fitted mining floor not only closely matches the coal seam floor but also fully meets the requirements of the three machines (machine, equipment, and machinery) for the coal seam floor in a fully mechanized mining face. Specifically, when the coal mining machine cuts coal entirely along this fitted coal seam floor, the scraper conveyor will be completely flush with the floor, and the supports will receive sufficient initial support force due to contact with the solid floor. Furthermore, the roof control distance of the working face is appropriate, preventing problems such as excessive roof control distance or the coal mining machine cutting the support's top beam. Using this fitted coal seam floor as the basis for the change in the lower drum height of the coal mining machine for inertial navigation and memory-based coal cutting enables intelligent coal cutting that adapts to changes in the coal seam.

[0110] In one specific embodiment, a fully mechanized longwall face in a certain mine employs inertial navigation for automatic coal cutting, and a fully digital coal seam geological model was created according to the requirements of the inertial navigation. Before fitting, due to the large variations in the coal seam floor, the inertial navigation mechanically controlled the coal cutting machine drum to cut coal along the coal seam floor, making it difficult to meet the requirements for roof control distance and initial support force of the supports. After fitting the coal seam geological model of the longwall face, the floor of the longwall face transitions smoothly and gradually, the scraper conveyor and supports are in contact with the solid floor, and the roof control distance and initial support force of the supports both meet the requirements.

[0111] The fitting device for the working face floor of the aforementioned coal mining machine includes a processor and a memory. The first acquisition unit, the second acquisition unit, and the first fitting unit are all stored as program units in the memory, and the processor executes the program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0112] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem of low mining efficiency in current intelligent coal mining technologies due to their inability to adapt to changes in coal seams.

[0113] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0114] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the fitting method for the working face bottom plate of the coal mining machine.

[0115] Specifically, the fitting methods for the working face floor of the coal mining machine include:

[0116] Step S201: Obtain the undulation curve of the coal seam floor of the coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine.

[0117] Specifically, the coal seam floor during the coal mining process is not actually completely flat; it is an undulating curve. In practical applications, a model can be constructed based on the undulating curve of the coal seam floor. This model can be used to characterize the actual changes in the coal seam, thus obtaining a simulated undulating curve of the coal seam floor. This can then be used for fitting.

[0118] Step S202: After the coal mining machine cuts a piece of coal, the minimum radius of the mining floor is obtained. The mining floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined the coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the drum of the coal mining machine.

[0119] Specifically, after the coal mining machine cuts through the coal seam, it creates a space. The lowermost coal seam in this space is the one the machine did not collect. This part may contain coal slag. Since the coal mining machine's direction of travel is fixed, the lower coal slag will not be collected. The coal mining machine's drum is circular and therefore has a radius. To fit the mining floor of the coal mining machine to the coal seam floor, we can first determine the minimum radius of the mining floor, which is the minimum radius of the coal mining machine's drum. Of course, the mining floor can also be simulated by building a model to represent the actual situation.

[0120] Step S203: Generate a circle based on the minimum radius of the mining floor, and fit the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0121] Specifically, a circle can be generated based on the minimum radius corresponding to the mining floor. By fitting this circle multiple times onto the undulation curve of the coal seam floor, the fitted mining floor can be made to adapt as closely as possible to the changes in the coal seam floor.

[0122] Optionally, obtaining the undulation curve of the coal seam floor of the coal mine includes: obtaining the contour lines and coal seam thickness of the coal seam floor; constructing a geological model based on the contour lines and coal seam thickness of the coal seam floor; cutting the geological model into multiple segments using the coal cutting thickness of the coal mining machine as the unit; selecting one of the multiple segments as the target segment; and constructing the undulation curve of the target segment.

[0123] Optionally, obtaining the minimum radius of the mining floor includes: obtaining the chord length and arc height of the target area, wherein the target area refers to the area with floating coal at the bottom of the scraper conveyor, and the scraper conveyor and the coal mining machine are set up accordingly; obtaining the product of the arc height and the first parameter to obtain a first calculation result; obtaining the product of the arc height and the second parameter to obtain a second calculation result; obtaining the quotient of the chord length and the second calculation result to obtain a third calculation result; and obtaining the sum of the first calculation result and the third calculation result to obtain the minimum radius of the mining floor.

[0124] Optionally, fitting the circle along the undulating curve of the coal seam floor includes: rolling the circle along the undulating curve to determine whether the circle intersects with the undulating curve; if the circle intersects with the undulating curve, using the undulating curve as the fitted curve; if the circle does not intersect with the undulating curve, updating the undulating curve with the arc of the circle based on the non-intersecting portion to obtain the fitted curve.

[0125] Optionally, the above method further includes: when a first fitting curve corresponding to the undulation curve in the first direction is obtained, flipping the undulation curve in the first direction by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitting curve is the fitted curve in the first direction; fitting the circle along the undulation curve in the second direction of the coal seam floor to obtain a second fitting curve, wherein the second fitting curve is the fitted curve in the second direction; and fitting the first fitting curve and the second fitting curve to obtain a target fitting curve.

[0126] Optionally, the above method further includes: obtaining the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine; determining the maximum lifting and lowering amount of the coal mining machine based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine, wherein, during the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

[0127] Optionally, the above method further includes: obtaining the product of the maximum lifting amount and the third parameter to obtain a fourth calculation result; obtaining the square of the width of the coal mining machine to obtain a fifth calculation result; obtaining the quotient of the fifth calculation result and the fourth calculation result to obtain the lifting radius of the coal mining machine, wherein, during the operation of the coal mining machine, the drum of the coal mining machine is controlled to work according to the circle formed by the lifting radius.

[0128] This invention provides a processor for running a program, wherein the program executes the fitting method for the working face bottom plate of the coal mining machine.

[0129] Specifically, the fitting methods for the working face floor of the coal mining machine include:

[0130] Step S201: Obtain the undulation curve of the coal seam floor of the coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine.

[0131] Specifically, the coal seam floor during the coal mining process is not actually completely flat; it is an undulating curve. In practical applications, a model can be constructed based on the undulating curve of the coal seam floor. This model can be used to characterize the actual changes in the coal seam, thus obtaining a simulated undulating curve of the coal seam floor. This can then be used for fitting.

[0132] Step S202: After the coal mining machine cuts a piece of coal, the minimum radius of the mining floor is obtained. The mining floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined the coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the drum of the coal mining machine.

[0133] Specifically, after the coal mining machine cuts through the coal seam, it creates a space. The lowermost coal seam in this space is the one the machine did not collect. This part may contain coal slag. Since the coal mining machine's direction of travel is fixed, the lower coal slag will not be collected. The coal mining machine's drum is circular and therefore has a radius. To fit the mining floor of the coal mining machine to the coal seam floor, we can first determine the minimum radius of the mining floor, which is the minimum radius of the coal mining machine's drum. Of course, the mining floor can also be simulated by building a model to represent the actual situation.

[0134] Step S203: Generate a circle based on the minimum radius of the mining floor, and fit the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0135] Specifically, a circle can be generated based on the minimum radius corresponding to the mining floor. By fitting this circle multiple times onto the undulation curve of the coal seam floor, the fitted mining floor can be made to adapt as closely as possible to the changes in the coal seam floor.

[0136] Optionally, obtaining the undulation curve of the coal seam floor of the coal mine includes: obtaining the contour lines and coal seam thickness of the coal seam floor; constructing a geological model based on the contour lines and coal seam thickness of the coal seam floor; cutting the geological model into multiple segments using the coal cutting thickness of the coal mining machine as the unit; selecting one of the multiple segments as the target segment; and constructing the undulation curve of the target segment.

[0137] Optionally, obtaining the minimum radius of the mining floor includes: obtaining the chord length and arc height of the target area, wherein the target area refers to the area with floating coal at the bottom of the scraper conveyor, and the scraper conveyor and the coal mining machine are set up accordingly; obtaining the product of the arc height and the first parameter to obtain a first calculation result; obtaining the product of the arc height and the second parameter to obtain a second calculation result; obtaining the quotient of the chord length and the second calculation result to obtain a third calculation result; and obtaining the sum of the first calculation result and the third calculation result to obtain the minimum radius of the mining floor.

[0138] Optionally, fitting the circle along the undulating curve of the coal seam floor includes: rolling the circle along the undulating curve to determine whether the circle intersects with the undulating curve; if the circle intersects with the undulating curve, using the undulating curve as the fitted curve; if the circle does not intersect with the undulating curve, updating the undulating curve with the arc of the circle based on the non-intersecting portion to obtain the fitted curve.

[0139] Optionally, the above method further includes: when a first fitting curve corresponding to the undulation curve in the first direction is obtained, flipping the undulation curve in the first direction by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitting curve is the fitted curve in the first direction; fitting the circle along the undulation curve in the second direction of the coal seam floor to obtain a second fitting curve, wherein the second fitting curve is the fitted curve in the second direction; and fitting the first fitting curve and the second fitting curve to obtain a target fitting curve.

[0140] Optionally, the above method further includes: obtaining the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine; determining the maximum lifting and lowering amount of the coal mining machine based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine, wherein, during the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

[0141] Optionally, the above method further includes: obtaining the product of the maximum lifting amount and the third parameter to obtain a fourth calculation result; obtaining the square of the width of the coal mining machine to obtain a fifth calculation result; obtaining the quotient of the fifth calculation result and the fourth calculation result to obtain the lifting radius of the coal mining machine, wherein, during the operation of the coal mining machine, the drum of the coal mining machine is controlled to work according to the circle formed by the lifting radius.

[0142] This application also provides an electronic device including 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 methods for performing any of the above-described methods.

[0143] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0144] Step S201: Obtain the undulation curve of the coal seam floor of the coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine.

[0145] Specifically, the coal seam floor during the coal mining process is not actually completely flat; it is an undulating curve. In practical applications, a model can be constructed based on the undulating curve of the coal seam floor. This model can be used to characterize the actual changes in the coal seam, thus obtaining a simulated undulating curve of the coal seam floor. This can then be used for fitting.

[0146] Step S202: After the coal mining machine cuts a piece of coal, the minimum radius of the mining floor is obtained. The mining floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined the coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the drum of the coal mining machine.

[0147] Specifically, after the coal mining machine cuts through the coal seam, it creates a space. The lowermost coal seam in this space is the one the machine did not collect. This part may contain coal slag. Since the coal mining machine's direction of travel is fixed, the lower coal slag will not be collected. The coal mining machine's drum is circular and therefore has a radius. To fit the mining floor of the coal mining machine to the coal seam floor, we can first determine the minimum radius of the mining floor, which is the minimum radius of the coal mining machine's drum. Of course, the mining floor can also be simulated by building a model to represent the actual situation.

[0148] Step S203: Generate a circle based on the minimum radius of the mining floor, and fit the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0149] Specifically, a circle can be generated based on the minimum radius corresponding to the mining floor. By fitting this circle multiple times onto the undulation curve of the coal seam floor, the fitted mining floor can be made to adapt as closely as possible to the changes in the coal seam floor.

[0150] Optionally, obtaining the undulation curve of the coal seam floor of the coal mine includes: obtaining the contour lines and coal seam thickness of the coal seam floor; constructing a geological model based on the contour lines and coal seam thickness of the coal seam floor; cutting the geological model into multiple segments using the coal cutting thickness of the coal mining machine as the unit; selecting one of the multiple segments as the target segment; and constructing the undulation curve of the target segment.

[0151] Optionally, obtaining the minimum radius of the mining floor includes: obtaining the chord length and arc height of the target area, wherein the target area refers to the area with floating coal at the bottom of the scraper conveyor, and the scraper conveyor and the coal mining machine are set up accordingly; obtaining the product of the arc height and the first parameter to obtain a first calculation result; obtaining the product of the arc height and the second parameter to obtain a second calculation result; obtaining the quotient of the chord length and the second calculation result to obtain a third calculation result; and obtaining the sum of the first calculation result and the third calculation result to obtain the minimum radius of the mining floor.

[0152] Optionally, fitting the circle along the undulating curve of the coal seam floor includes: rolling the circle along the undulating curve to determine whether the circle intersects with the undulating curve; if the circle intersects with the undulating curve, using the undulating curve as the fitted curve; if the circle does not intersect with the undulating curve, updating the undulating curve with the arc of the circle based on the non-intersecting portion to obtain the fitted curve.

[0153] Optionally, the above method further includes: when a first fitting curve corresponding to the undulation curve in the first direction is obtained, flipping the undulation curve in the first direction by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitting curve is the fitted curve in the first direction; fitting the circle along the undulation curve in the second direction of the coal seam floor to obtain a second fitting curve, wherein the second fitting curve is the fitted curve in the second direction; and fitting the first fitting curve and the second fitting curve to obtain a target fitting curve.

[0154] Optionally, the above method further includes: obtaining the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine; determining the maximum lifting and lowering amount of the coal mining machine based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine, wherein, during the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

[0155] Optionally, the above method further includes: obtaining the product of the maximum lifting amount and the third parameter to obtain a fourth calculation result; obtaining the square of the width of the coal mining machine to obtain a fifth calculation result; obtaining the quotient of the fifth calculation result and the fourth calculation result to obtain the lifting radius of the coal mining machine, wherein, during the operation of the coal mining machine, the drum of the coal mining machine is controlled to work according to the circle formed by the lifting radius.

[0156] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0157] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0158] Step S201: Obtain the undulation curve of the coal seam floor of the coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine.

[0159] Specifically, the coal seam floor during the coal mining process is not actually completely flat; it is an undulating curve. In practical applications, a model can be constructed based on the undulating curve of the coal seam floor. This model can be used to characterize the actual changes in the coal seam, thus obtaining a simulated undulating curve of the coal seam floor. This can then be used for fitting.

[0160] Step S202: After the coal mining machine cuts a piece of coal, the minimum radius of the mining floor is obtained. The mining floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined the coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the drum of the coal mining machine.

[0161] Specifically, after the coal mining machine cuts through the coal seam, it creates a space. The lowermost coal seam in this space is the one the machine did not collect. This part may contain coal slag. Since the coal mining machine's direction of travel is fixed, the lower coal slag will not be collected. The coal mining machine's drum is circular and therefore has a radius. To fit the mining floor of the coal mining machine to the coal seam floor, we can first determine the minimum radius of the mining floor, which is the minimum radius of the coal mining machine's drum. Of course, the mining floor can also be simulated by building a model to represent the actual situation.

[0162] Step S203: Generate a circle based on the minimum radius of the mining floor, and fit the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve.

[0163] Specifically, a circle can be generated based on the minimum radius corresponding to the mining floor. By fitting this circle multiple times onto the undulation curve of the coal seam floor, the fitted mining floor can be made to adapt as closely as possible to the changes in the coal seam floor.

[0164] Optionally, obtaining the undulation curve of the coal seam floor of the coal mine includes: obtaining the contour lines and coal seam thickness of the coal seam floor; constructing a geological model based on the contour lines and coal seam thickness of the coal seam floor; cutting the geological model into multiple segments using the coal cutting thickness of the coal mining machine as the unit; selecting one of the multiple segments as the target segment; and constructing the undulation curve of the target segment.

[0165] Optionally, obtaining the minimum radius of the mining floor includes: obtaining the chord length and arc height of the target area, wherein the target area refers to the area with floating coal at the bottom of the scraper conveyor, and the scraper conveyor and the coal mining machine are set up accordingly; obtaining the product of the arc height and the first parameter to obtain a first calculation result; obtaining the product of the arc height and the second parameter to obtain a second calculation result; obtaining the quotient of the chord length and the second calculation result to obtain a third calculation result; and obtaining the sum of the first calculation result and the third calculation result to obtain the minimum radius of the mining floor.

[0166] Optionally, fitting the circle along the undulating curve of the coal seam floor includes: rolling the circle along the undulating curve to determine whether the circle intersects with the undulating curve; if the circle intersects with the undulating curve, using the undulating curve as the fitted curve; if the circle does not intersect with the undulating curve, updating the undulating curve with the arc of the circle based on the non-intersecting portion to obtain the fitted curve.

[0167] Optionally, the above method further includes: when a first fitting curve corresponding to the undulation curve in the first direction is obtained, flipping the undulation curve in the first direction by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitting curve is the fitted curve in the first direction; fitting the circle along the undulation curve in the second direction of the coal seam floor to obtain a second fitting curve, wherein the second fitting curve is the fitted curve in the second direction; and fitting the first fitting curve and the second fitting curve to obtain a target fitting curve.

[0168] Optionally, the above method further includes: obtaining the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine; determining the maximum lifting and lowering amount of the coal mining machine based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine, wherein, during the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

[0169] Optionally, the above method further includes: obtaining the product of the maximum lifting amount and the third parameter to obtain a fourth calculation result; obtaining the square of the width of the coal mining machine to obtain a fifth calculation result; obtaining the quotient of the fifth calculation result and the fourth calculation result to obtain the lifting radius of the coal mining machine, wherein, during the operation of the coal mining machine, the drum of the coal mining machine is controlled to work according to the circle formed by the lifting radius.

[0170] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0171] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0173] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0174] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0175] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0176] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0177] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0178] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0179] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0180] 1) The fitting method for the working face floor of the coal mining machine in this application first obtains the undulation curve of the coal seam floor. Then, after the coal mining machine cuts one slice of coal, the minimum radius of the mining face floor is obtained. Finally, a circle is generated based on the minimum radius of the mining face floor, and the circle is fitted along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve. In this scheme, by fitting the circle obtained from the minimum radius of the mining face floor to the undulation curve of the coal seam floor, the curve generated by the circle can be made to fit the undulation curve of the coal seam floor as closely as possible. The fitted mining face floor can adapt to changes in the coal seam, thereby improving the efficiency of coal mining.

[0181] 2) The fitting device for the working face floor of the coal mining machine of this application comprises a first acquisition unit acquiring the undulation curve of the coal seam floor, and a second acquisition unit acquiring the minimum radius of the mining face floor after the coal mining machine has cut one cut of coal. The first fitting unit generates a circle based on the minimum radius of the mining face floor and fits the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve. In this scheme, by fitting the circle obtained from the minimum radius of the mining face floor to the undulation curve of the coal seam floor, the curve generated by the circle can be made to fit the undulation curve of the coal seam floor as closely as possible. The fitted mining face floor can adapt to changes in the coal seam, thereby improving the efficiency of coal mining.

[0182] 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. A method for fitting the bottom plate of a coal mining machine's working face, characterized in that, include: Obtain the undulation curve of the coal seam floor in a coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine. After the coal mining machine cuts a layer of coal, the minimum radius of the mining floor is obtained. The mining floor is the base of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined the coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the coal mining machine's drum. A circle is generated based on the minimum radius of the mining floor. This circle is then fitted along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve. Fitting the circle along the undulating curve of the coal seam floor includes: rolling the circle along the undulating curve to determine whether the circle intersects with the undulating curve; if the circle intersects with the undulating curve, using the undulating curve as the fitted curve; if the circle does not intersect with the undulating curve, updating the undulating curve with the arc of the circle based on the non-intersecting portion to obtain the fitted curve. The method further includes: after obtaining a first fitted curve corresponding to the undulation curve in the first direction, flipping the undulation curve in the first direction by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitted curve is the fitted curve in the first direction; fitting the circle along the undulation curve in the second direction of the coal seam floor to obtain a second fitted curve, wherein the second fitted curve is the fitted curve in the second direction; and fitting the first fitted curve and the second fitted curve to obtain a target fitted curve.

2. The method according to claim 1, characterized in that, Obtain the undulation curve of the coal seam floor in a coal mine, including: Obtain the contour lines of the coal seam floor and the coal seam thickness; A geological model is constructed based on the contour lines of the coal seam floor and the coal seam thickness; The geological model is cut into multiple segments based on the coal cutting thickness of the coal mining machine. One segment is selected from the multiple segments as the target segment, and the fluctuation curve of the target segment is constructed.

3. The method according to claim 1, characterized in that, To obtain the minimum radius of the stope floor, including: Obtain the chord length and arc height of the target area, where the target area refers to the area with floating coal at the bottom of the scraper conveyor, and the scraper conveyor and the coal mining machine are set up accordingly; Obtain the product of the arc height and the first parameter to get the first calculation result; The product of the arc height and the second parameter is obtained to get the second calculation result; The third calculation result is obtained by taking the quotient of the chord length and the second calculation result. The minimum radius of the mining area floor is obtained by summing the first calculation result and the third calculation result.

4. The method according to claim 1, characterized in that, The method further includes: Obtain the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine; The maximum lifting and lowering amount of the coal mining machine is determined based on the width of the coal mining machine, the coal mining height, and the maximum horizontal displacement of the drum of the coal mining machine. During the operation of the coal mining machine, the lifting and lowering amount of the coal mining machine is less than or equal to the maximum lifting and lowering amount.

5. The method according to claim 4, characterized in that, The method further includes: The product of the maximum lifting amount and the third parameter is obtained to get the fourth calculation result; The square of the width of the coal mining machine is obtained to get the fifth calculation result; The quotient of the fifth calculation result and the fourth calculation result is obtained to obtain the lifting radius of the coal mining machine. During the operation of the coal mining machine, the drum of the coal mining machine is controlled to work according to the circle formed by the lifting radius.

6. A fitting device for the working face bottom plate of a coal mining machine, characterized in that, include: The first acquisition unit is used to acquire the undulation curve of the coal seam floor in a coal mine, wherein the coal seam floor is the floor of the model corresponding to the lowest coal seam in the coal mining area of ​​the coal mine. The first acquisition unit includes a first acquisition module, a second acquisition module, and a first processing module. The first acquisition module is used to acquire the contour lines and coal seam thickness of the coal seam floor. The second acquisition module is used to construct a geological model based on the contour lines and coal seam thickness of the coal seam floor. The first processing module is used to cut the geological model into multiple segments based on the coal cutting thickness of the coal mining machine, select one segment from the multiple segments as the target segment, and construct the undulation curve of the target segment. The second acquisition unit is used to acquire the minimum radius of the mining floor after the coal mining machine has cut a piece of coal. The mining floor is the floor of the model corresponding to the lowest coal seam in the space formed after the coal mining machine has mined coal. The minimum radius is the radius of the arc formed by the up-and-down movement of the drum of the coal mining machine. The first fitting unit is used to generate a circle based on the minimum radius of the mining floor, and fit the circle along the undulation curve of the coal seam floor until the curve generated by the circle coincides with the undulation curve. The first fitting unit includes a second processing module, a third processing module, and a fourth processing module. The second processing module is used to roll the circle along the undulating curve to determine whether the circle intersects with the undulating curve. The third processing module is used to use the undulating curve as the fitted curve when the circle intersects with the undulating curve. The fourth processing module is used to update the undulating curve with the arc of the circle based on the non-intersecting portion when the circle does not intersect with the undulating curve, thereby obtaining the fitted curve. The device further includes a processing unit, a second fitting unit, and a third fitting unit. The processing unit is used to, upon obtaining a first fitting curve corresponding to the undulation curve in the first direction, flip the undulation curve in the first direction by a predetermined degree to obtain the undulation curve in the second direction, wherein the first fitting curve is the fitted curve in the first direction. The second fitting unit is used to fit the circle along the undulation curve in the second direction of the coal seam floor to obtain a second fitting curve, which is the fitted curve in the second direction. The third fitting unit is used to fit the first fitting curve and the second fitting curve to obtain a target fitting curve.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 5.

8. 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 5.

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