Method and device for correcting a cutting path of a rear drum of a coal mining machine and coal mining system

Abstract

The application provides a coal cutter rear roller cutting path correction method and device and a coal mining system. The method comprises the following steps: acquiring a plurality of planned advancing paths of the rear roller, the planned advancing paths corresponding to the scraper trough one by one; connecting the control points belonging to the same cutter in all the planned advancing paths in sequence to obtain a plurality of planned cutting paths of the rear roller, one planned cutting path corresponding to one cutter, and the control point being the starting point of the first advancing section; determining the control point as an abnormal point in the case that the scraper trough included angle corresponding to the control point is less than a predetermined included angle; correcting the height of the abnormal point to obtain a corrected abnormal point, so that the scraper trough included angles corresponding to all the control points are greater than or equal to the predetermined included angle; and connecting the control points and the corrected abnormal points belonging to the same cutter in sequence to obtain a plurality of corrected cutting paths of the rear roller, one corrected cutting path corresponding to one cutter, thereby solving the problem of waste of part of the coal caused by the fact that the rear roller cutting path is not corrected in the prior art.

Description

Technical Field

[0001] This application relates to the field of coal mining cutting technology, and more specifically, to a method, apparatus, computer-readable storage medium, and coal mining system for correcting the cutting path of the rear drum of a coal mining machine. Background Technology

[0002] Currently, the vast majority of coal mines in China have achieved fully mechanized coal mining, with manual on-site control of coal mining machines to complete the mining operations. Only a small number of intelligent mines have achieved an intelligent coal mining mode of "memory-based coal cutting, supplemented by manual intervention, unmanned machine operation, and manned inspection," but the level of intelligence is not high and it is still in its initial stage.

[0003] In traditional manual, on-site controlled coal cutting, the presence of loose coal on the floor obstructs the view of the coal seam floor line, preventing precise cutting and resulting in numerous under-cut areas and wasted resources. Similarly, the coal seam memory cutting technology requires a manual cut as a demonstration cut for the machine to learn from. During the memory cutting process, if the coal seam undulates, manual guidance is needed to readjust the cutting path. Therefore, both traditional manual on-site controlled cutting and coal seam memory cutting lack an accurate floor cutting path, resulting in the following disadvantages:

[0004] 1. In the traditional manual on-site control of coal mining machines, the bottom coal is obscured, making it impossible to see the bottom line of the coal seam for precise cutting. As a result, there are a large number of under-mined areas on the bottom, which leads to a waste of resources.

[0005] 2. In the coal cutting memory technology of coal mining machines, a manual cut is also required as a demonstration cut for the coal mining machine to learn and memorize. However, there is no method to correct the cutting path of the rear drum. At the same time, during the automatic cutting process, the rear drum cuts with a fixed drum height based on the information memorized by the controller, which cannot adapt to the changes in coal seam undulations, resulting in a large amount of bottom coal wastage.

[0006] The information disclosed above in the background section is only intended to enhance the understanding of the background art of the art described herein. Therefore, the background art may contain certain information that does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0007] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, and coal mining system for correcting the cutting path of the rear drum of a coal mining machine, so as to solve the problem of partial coal waste caused by the lack of correction of the cutting path of the rear drum in the prior art.

[0008] According to one aspect of the present invention, a method for correcting the cutting path of a rear drum of a coal mining machine is provided. The coal mining machine includes a rear drum, which cuts a cut of coal from the coal seam to be mined during the process of the coal mining machine moving from the head to the tail of a scraper conveyor. The scraper conveyor includes a plurality of scraper troughs connected in sequence. During the coal mining process, the coal cut by the rear drum falls into the scraper trough directly below the rear drum. The method includes: obtaining multiple planned advance paths of the rear drum, wherein each planned advance path corresponds one-to-one with a scraper trough, and each planned advance path includes multiple first advance segments, each first advance segment corresponding to one cut; and sequentially connecting the control points belonging to the same cut in all the planned advance paths to obtain multiple planned cutting paths of the rear drum, wherein each planned cutting path corresponds to one cut. The control point is the starting point of the first advancing section. If the included angle of the scraper groove corresponding to the control point is less than a predetermined angle, the control point is determined to be an abnormal point. The included angle of the scraper groove is the maximum angle between the control point and the lines connecting two adjacent control points. The predetermined angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum angle between two adjacent scraper grooves of the scraper conveyor in the vertical plane. The height of the abnormal point is corrected to obtain a corrected abnormal point, such that the included angle of the scraper groove corresponding to all control points is greater than or equal to the predetermined angle. The control points belonging to the same cutter and the corrected abnormal points are connected sequentially to obtain multiple corrected cutting paths for the rear roller, with one corrected cutting path corresponding to one cutter.

[0009] Optionally, the height of the abnormal point is corrected to obtain the corrected abnormal point, such that the included angle of the scraper groove corresponding to all the control points is greater than or equal to the predetermined angle. This includes: in a planned cutting path, when neither of the two adjacent control points of the target abnormal point is an abnormal point, calculating the intersection of a first height interval, a second height interval, a third height interval, and a fourth height interval to obtain the corrected height interval of the target abnormal point. The first height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the target abnormal point. The second height interval is the height interval of the target abnormal point when the included angle of the scraper groove corresponding to the first adjacent control point is greater than or equal to the predetermined angle. The third height interval is the height interval of the second... The height range of the target anomaly point when the included angle of the scraper groove corresponding to the adjacent control point is greater than or equal to the predetermined angle, the fourth height range is the height range of the target anomaly point when the included angle of the scraper groove corresponding to the target anomaly point is greater than or equal to the predetermined angle, the first adjacent control point and the second adjacent control point are both control points adjacent to the target anomaly point, the target anomaly point is one of the anomalies in the planned cutting path; the propulsion path of the rear roller corresponding to the target anomaly point is replanned according to the corrected height range of the target anomaly point to obtain the first corrected propulsion path, one first corrected propulsion path includes multiple second propulsion segments, one second propulsion segment corresponds to one cut; the starting point of the second propulsion segment intersecting with the planned cutting path is determined as the corrected target anomaly point.

[0010] Optionally, if the corrected height interval of the target anomaly is an empty set, the method further includes: if the second height interval and the fourth height interval do not intersect, correcting the height of the first adjacent control point to obtain a corrected first adjacent control point, and correcting the height of the target anomaly based on the corrected first adjacent control point; if the third height interval and the fourth height interval do not intersect, correcting the height of the second adjacent control point to obtain a corrected second adjacent control point, and correcting the height of the target anomaly based on the corrected second adjacent control point; if both the second height interval and the third height interval do not intersect with the fourth height interval, correcting the heights of the first adjacent control point and the second adjacent control point to obtain corrected first adjacent control point and corrected second adjacent control point, and correcting the height of the target anomaly based on the corrected first adjacent control point and corrected second adjacent control point.

[0011] Optionally, the height of the abnormal point is corrected to obtain a corrected abnormal point, such that the included angle of the scraper groove corresponding to all control points is greater than or equal to the predetermined included angle. This further includes: in a planned cutting path, when two consecutive control points are abnormal points, calculating the intersection of the fifth, sixth, and seventh height intervals to obtain the corrected height interval of the first abnormal point; calculating the intersection of the eighth, ninth, and tenth height intervals to obtain the corrected height interval of the second abnormal point; the fifth height interval is defined as the distance at which the bottom of the rear roller is located when the cutting path reaches the position of the first abnormal point. The sixth height interval is the height interval of the first abnormal point when the scraper groove angle corresponding to the third adjacent control point is greater than or equal to the predetermined angle. The third adjacent control point is the control point adjacent to the first abnormal point other than the second abnormal point. The seventh height interval is the height interval of the first abnormal point when the scraper groove angle corresponding to the second abnormal point is greater than or equal to the predetermined angle. The eighth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the second abnormal point. The ninth height interval is the height interval of the second abnormal point when the included angle of the scraper groove corresponding to the fourth adjacent control point is greater than or equal to the predetermined included angle. The fourth adjacent control point is the control point adjacent to the second abnormal point other than the first abnormal point. The tenth height interval is the height interval of the second abnormal point when the included angle of the scraper groove corresponding to the first abnormal point is greater than or equal to the predetermined included angle. The first abnormal point and the second abnormal point are adjacent, and both the first abnormal point and the second abnormal point are adjacent to one of the abnormal points in the planned cutting path. The first abnormal point is replanned according to the corrected height interval of the first abnormal point. The corresponding rear roller's propulsion path is used to obtain a second corrected propulsion path. Based on the corrected height range of the second anomaly point, the propulsion path of the rear roller corresponding to the second anomaly point is replanned to obtain a third corrected propulsion path. One second corrected propulsion path includes multiple third propulsion segments, and one third corrected propulsion path includes multiple fourth propulsion segments. One third propulsion segment corresponds to one cut, and one fourth propulsion segment corresponds to one cut. The starting point of the third propulsion segment that intersects with the planned cutting path is determined as the corrected first anomaly point, and the starting point of the fourth propulsion segment that intersects with the planned cutting path is determined as the corrected second anomaly point.

[0012] Optionally, after determining the starting point of the third advancement segment intersecting the planned cut-off path as the corrected first anomaly point and the starting point of the fourth advancement segment intersecting the planned cut-off path as the corrected second anomaly point, the method further includes: if the corrected first anomaly point is the anomaly point and the corrected second anomaly point is not the anomaly point, performing a second correction on the height of the first anomaly point according to the corrected height range of the first anomaly point to obtain a second-corrected first anomaly point; if the corrected second anomaly point is the anomaly point and the corrected first anomaly point is not the anomaly point, performing a second correction on the height of the second anomaly point according to the corrected height range of the second anomaly point to obtain a second-corrected second anomaly point; if both the corrected first anomaly point and the corrected second anomaly point are the anomaly points, performing a second correction on the height of the first anomaly point according to the corrected height range of the first anomaly point to obtain a second-corrected first anomaly point, or performing a second correction on the height of the second anomaly point according to the corrected height range of the second anomaly point to obtain a second-corrected second anomaly point.

[0013] Optionally, the height of the abnormal point is corrected to obtain a corrected abnormal point, such that the included angle of the scraper groove corresponding to all control points is greater than or equal to the predetermined included angle. This further includes: in a planned cutting path where three consecutive control points are abnormal points, calculating the intersection of the eleventh and twelfth height intervals to obtain a first-corrected height interval for the third abnormal point; calculating the intersection of the thirteenth and fourteenth height intervals to obtain the first-corrected height interval for the fifth abnormal point. The eleventh height interval is the height at which the bottom of the rear roller is in production when the cutting path reaches the position of the third abnormal point. The twelfth height interval is the height interval of the third abnormal point when the scraper groove angle corresponding to the fifth adjacent control point is greater than or equal to the predetermined angle. The fifth adjacent control point is the control point adjacent to the third abnormal point other than the fourth abnormal point. The thirteenth height interval is the interval between the maximum and minimum height of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fifth abnormal point. The fourteenth height interval is the height interval of the fifth abnormal point when the scraper groove angle corresponding to the sixth adjacent control point is greater than or equal to the predetermined angle. In this context, the sixth adjacent control point is the control point adjacent to the fifth anomaly point (excluding the fourth anomaly point). Both the third and fifth anomalies are adjacent to the fourth anomaly point, and each of these three points is one of the anomalies in the planned cut-off path. A first possible height range for the fourth anomaly point is determined based on the first-correction height range of the third anomaly point, and a second possible height range for the fourth anomaly point is determined based on the first-correction height range of the fifth anomaly point. For any first possible point, there exists at least one first-correction third anomaly point that satisfies the first-correction third anomaly point. The included angle of the scraper groove corresponding to the point is greater than or equal to the predetermined included angle. For any second possible point, there is at least one first-corrected fifth abnormal point that satisfies that the included angle of the scraper groove corresponding to the first-corrected fifth abnormal point is greater than or equal to the predetermined included angle. The first possible point is the fourth abnormal point whose height satisfies the first possible height range. The second possible point is the fourth abnormal point whose height satisfies the second possible height range. The first-corrected third abnormal point is the third abnormal point that satisfies the first-corrected height range of the third abnormal point. The first-corrected fifth abnormal point is the fifth abnormal point that satisfies the first-corrected height range of the fifth abnormal point.Calculate the intersection of the first possible height interval, the second possible height interval, and the fifteenth height interval to obtain the first corrected height interval of the fourth anomaly point. The fifteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fourth anomaly point. Perform a second correction on the first corrected height intervals of the third and fifth anomalies to obtain the second corrected height intervals of the third and fifth anomalies. Correct the height of the third anomaly point based on the second corrected height interval of the third anomaly point to obtain the corrected third anomaly point. Then, based on the fifth anomaly point... The height of the fifth anomaly is corrected using the secondary correction height interval of the constant point to obtain the corrected fifth anomaly. The height of the fourth anomaly is then corrected based on the corrected fifth anomaly to obtain the corrected fourth anomaly. Alternatively, the height of the third anomaly is corrected using the primary correction height interval of the third anomaly to obtain the corrected third anomaly. The height of the fifth anomaly is then corrected using the primary correction height interval of the fifth anomaly to obtain the corrected fifth anomaly. Finally, the height of the fourth anomaly is corrected using the primary correction height interval of the fourth anomaly to obtain the corrected fourth anomaly.

[0014] Optionally, the height intervals of the first correction for the third and fifth anomalies are further corrected to obtain the second correction height intervals for the third and fifth anomalies. The height of the third anomaly is then corrected based on these second correction height intervals to obtain the corrected third anomaly. Similarly, the height of the fifth anomaly is corrected based on these second correction height intervals to obtain the corrected fifth anomaly. Finally, the height of the fourth anomaly is corrected based on the corrected fifth anomaly and the corrected fifth anomaly to obtain the corrected fourth anomaly. This process includes: Based on the first-correction height interval of the fourth anomaly point, the third possible height interval of the third anomaly point and the fourth possible height interval of the fifth anomaly point are determined. For any third possible point, there exists at least one first-correction fourth anomaly point satisfying that the scraper groove angle corresponding to the first-correction fourth anomaly point is greater than or equal to the predetermined angle. Similarly, for any fourth possible point, there exists at least one first-correction fourth anomaly point satisfying that the scraper groove angle corresponding to the first-correction fourth anomaly point is greater than or equal to the predetermined angle. The third possible point is the third anomaly point whose height satisfies the third possible height interval, and the fourth possible point is the fifth anomaly point whose height satisfies the fourth possible height interval. Anomalies are identified, with the fourth anomaly point being the one that satisfies the first-correction height interval of the fourth anomaly point. The intersection of the first-correction height interval and the third possible height interval of the third anomaly point is calculated to obtain the second-correction height interval of the third anomaly point. Similarly, the intersection of the first-correction height interval and the fourth possible height interval of the fifth anomaly point is calculated to obtain the second-correction height interval of the fifth anomaly point. Based on the second-correction height interval of the third anomaly point, the propulsion path of the rear roller corresponding to the third anomaly point is replanned to obtain the fourth-corrected propulsion path. The propulsion path is then replanned based on the second-correction height interval of the fifth anomaly point. Draw the propulsion path of the rear roller corresponding to the fifth anomaly point to obtain the fifth corrected propulsion path. One fourth corrected propulsion path includes multiple fifth propulsion segments, and one fifth corrected propulsion path includes multiple sixth propulsion segments. One fifth propulsion segment corresponds to one cut, and one sixth propulsion segment corresponds to one cut. The starting point of the fifth propulsion segment that intersects with the planned cutting path is determined as the corrected third anomaly point, and the starting point of the sixth propulsion segment that intersects with the planned cutting path is determined as the corrected fifth anomaly point. The height of the fourth anomaly point is corrected based on the corrected third anomaly point and the corrected fifth anomaly point to obtain the corrected fourth anomaly point.

[0015] Optionally, the height of the third anomaly point is corrected according to the first correction height range of the third anomaly point to obtain a corrected third anomaly point; the height of the fifth anomaly point is corrected according to the first correction height range of the fifth anomaly point to obtain a corrected fifth anomaly point; and the height of the fourth anomaly point is corrected according to the first correction height range of the fourth anomaly point to obtain a corrected fourth anomaly point. This includes: replanning the propulsion path of the rear roller corresponding to the third anomaly point according to the first correction height range of the third anomaly point to obtain a sixth corrected propulsion path; replanning the propulsion path of the rear roller corresponding to the fifth anomaly point according to the first correction height range of the fifth anomaly point to obtain a seventh corrected propulsion path; and so on. The first correction height interval of the fourth anomaly point replans the propulsion path of the rear roller corresponding to the fourth anomaly point, resulting in an eighth corrected propulsion path. A sixth corrected propulsion path includes multiple seventh propulsion segments, a seventh corrected propulsion path includes multiple eighth propulsion segments, and an eighth corrected propulsion path includes multiple ninth propulsion segments. Each seventh propulsion segment corresponds to one cut, each eighth propulsion segment corresponds to one cut, and each ninth propulsion segment corresponds to one cut. The starting point of the seventh propulsion segment intersecting the planned cutting path is determined as the corrected third anomaly point, the starting point of the eighth propulsion segment intersecting the planned cutting path is determined as the corrected fifth anomaly point, and the starting point of the ninth propulsion segment intersecting the planned cutting path is determined as the corrected fourth anomaly point.

[0016] Optionally, after determining the starting point of the seventh advancement segment intersecting the planned cut-off path as the corrected third anomaly point, the starting point of the eighth advancement segment intersecting the planned cut-off path as the corrected fifth anomaly point, and the starting point of the ninth advancement segment intersecting the planned cut-off path as the corrected fourth anomaly point, the method further includes: if one or two of the corrected anomaly points among the corrected third, fifth, and fourth anomaly points exist, re-correcting the height of the corrected anomaly point to obtain a re-corrected anomaly point, wherein the corrected anomaly point is the anomaly point. The height of the constant point is corrected to obtain the corrected outlier, and the corrected outlier is still the outlier; if the corrected third outlier, the corrected fifth outlier, and the corrected fourth outlier are all corrected outliers, the height of the corrected third outlier is corrected again to obtain the re-corrected third outlier, the height of the corrected fifth outlier is corrected again to obtain the re-corrected fifth outlier, and the height of the corrected fourth outlier is corrected again based on the re-corrected third outlier and the re-corrected fifth outlier to obtain the re-corrected fourth outlier.

[0017] Optionally, the height of the abnormal point is corrected to obtain the corrected abnormal point, such that the included angle of the scraper groove corresponding to all control points is greater than or equal to the predetermined included angle. This further includes: in a planned cutting path, if N consecutive control points are abnormal points, calculating the intersection of the sixteenth height interval and the seventeenth height interval to obtain the first-corrected height interval for the Mth abnormal point; calculating the intersection of the eighteenth height interval and the nineteenth height interval to obtain the first-corrected height interval for the (M+1)th abnormal point. The sixteenth height interval is the maximum and minimum height of the bottom of the rear roller under production process requirements when cutting along the planned cutting path to the position of the Mth abnormal point. The height intervals are defined as follows: the seventeenth height interval is the height interval of the Mth abnormal point when the scraper groove angle corresponding to the seventh adjacent control point is greater than or equal to the predetermined angle; the seventh adjacent control point is the control point adjacent to the Mth abnormal point other than the M+2 abnormal point; the eighteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the M+1 abnormal point; the nineteenth height interval is the height interval of the M+1 abnormal point when the scraper groove angle corresponding to the eighth adjacent control point is greater than or equal to the predetermined angle; the eighth adjacent control point is the height interval of the M+3 abnormal point other than the M+4 abnormal point. The control points adjacent to the M+1 anomaly point are as follows: the Mth anomaly point is adjacent to the M+2 anomaly point; the M+2 anomaly point is adjacent to the M+3 anomaly point, or the M+2 anomaly point and the M+3 anomaly point are separated by N-4 anomaly points; the M+3 anomaly point is adjacent to the M+1 anomaly point, and N≥4; the fifth possible height interval of the M+2 anomaly point is determined based on the first-correction height interval of the Mth anomaly point; the sixth possible height interval of the M+3 anomaly point is determined based on the first-correction height interval of the M+1 anomaly point; any fifth possible point has at least one first-correction Mth anomaly point satisfying the first-correction Mth... The included angle of the scraper groove corresponding to the abnormal point is greater than or equal to the predetermined included angle. For any sixth possible point, there is at least one first-correction abnormal point that satisfies that the included angle of the scraper groove corresponding to the first-correction abnormal point is greater than or equal to the predetermined included angle. The fifth possible point is the M+2 abnormal point whose height satisfies the fifth possible height range. The sixth possible point is the M+3 abnormal point whose height satisfies the sixth possible height range. The first-correction abnormal point is the M abnormal point that satisfies the first-correction height range of the M abnormal point. The first-correction abnormal point is the M+1 abnormal point that satisfies the first-correction height range of the M+1 abnormal point.Calculate the intersection of the twentieth height interval and the fifth possible height to obtain the first corrected height interval for the (M+2)th anomaly point. Calculate the intersection of the twenty-first height interval and the sixth possible height to obtain the first corrected height interval for the (M+3)th anomaly point. The twentieth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the (M+2)th anomaly point. The twenty-first height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the (M+3)th anomaly point. Based on the first corrected height interval of the Mth anomaly point, replan the propulsion path of the rear roller corresponding to the Mth anomaly point to obtain the Mth corrected propulsion path. Based on the first corrected height interval of the M+1th anomaly point, replan the propulsion path of the rear roller corresponding to the M+1th anomaly point. The advancement path is used to obtain the (M+1)th corrected advancement path. Each Mth corrected advancement path includes multiple Mth advancement segments, and each (M+1)th corrected advancement path includes multiple (M+1)th advancement segments. Each Mth advancement segment corresponds to one cut, and each (M+1)th advancement segment corresponds to one cut. The starting point of the Mth advancement segment intersecting the planned cut-off path is determined as the corrected Mth anomaly point, and the starting point of the (M+1)th advancement segment intersecting the planned cut-off path is determined as the corrected (M+1)th anomaly point. In the correction step, the height of the (M+2)th anomaly point is corrected based on the corrected Mth anomaly point to obtain the corrected (M+2)th anomaly point. The height of the (M+3)th anomaly point is corrected based on the corrected (M+1)th anomaly point to obtain the corrected (M+3)th anomaly point. When N > 4, M is increased by 1, and the correction step is repeated once until all the anomaly points correspond to their corrected anomaly points.

[0018] Optionally, the propulsion path of the rear roller corresponding to the Mth abnormal point is replanned according to the first-correction height interval of the Mth abnormal point to obtain the Mth corrected propulsion path, and the propulsion path of the rear roller corresponding to the M+1th abnormal point is replanned according to the first-correction height interval of the M+2th abnormal point to obtain the M+1th corrected propulsion path, including: determining the seventh possible height interval of the Mth abnormal point according to the first-correction height interval of the M+2th abnormal point, determining the eighth possible height interval of the M+1th abnormal point according to the first-correction height interval of the M+3th abnormal point, wherein any seventh possible point has at least one first-correction M+2 abnormal point satisfying that the scraper groove angle corresponding to the first-correction M+2 abnormal point is greater than or equal to the predetermined angle, and any eighth possible point has at least one first-correction M+3 abnormal point satisfying that the scraper groove angle corresponding to the first-correction M+3 abnormal point is greater than or equal to the predetermined angle, and the seventh possible point is the one whose height satisfies the seventh possible height interval. The Mth abnormal point, the eighth possible point is the (M+1)th abnormal point whose height satisfies the eighth possible height interval, the first correction of the (M+2)th abnormal point is the (M+2)th abnormal point whose first correction height interval satisfies the (M+2)th abnormal point, the first correction of the (M+3)th abnormal point is the (M+3)th abnormal point whose first correction height interval satisfies the (M+3)th abnormal point; calculate the intersection of the first correction height interval of the Mth abnormal point and the seventh possible height interval to obtain the second correction height interval of the Mth abnormal point, calculate the intersection of the first correction height interval of the M+1th abnormal point and the eighth possible height interval to obtain the second correction height interval of the M+1th abnormal point; replan the propulsion path of the rear roller corresponding to the Mth abnormal point based on the second correction height interval of the Mth abnormal point to obtain the Mth corrected propulsion path, and replan the propulsion path of the rear roller corresponding to the M+1th abnormal point based on the second correction height interval of the Mth abnormal point to obtain the M+1 corrected propulsion path.

[0019] According to another aspect of the present invention, a correction device for the cutting path of the rear drum of a coal mining machine is also provided. The coal mining machine includes a rear drum. During the process of the coal mining machine moving from the head to the tail of a scraper conveyor, the rear drum cuts a cut of coal from the coal seam to be mined. The scraper conveyor includes a plurality of scraper troughs connected in sequence. During the coal mining process, the coal cut by the rear drum falls into the scraper trough directly below the rear drum. The device includes: an acquisition unit, used to acquire multiple planned advancement paths of the rear drum, wherein each planned advancement path corresponds one-to-one with a scraper trough, and each planned advancement path includes multiple first advancement segments, each first advancement segment corresponding to one cut; and a first processing unit, used to sequentially connect control points belonging to the same cut in all the planned advancement paths to obtain multiple planned cutting paths of the rear drum, wherein each planned cutting path corresponds to one cut. The control point is the starting point of the first propulsion section; the determining unit is used to determine the control point as an abnormal point when the included angle of the scraper groove corresponding to the control point is less than a predetermined angle, wherein the included angle of the scraper groove is the maximum included angle between the control point and the line connecting two adjacent control points, and the predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor, wherein the maximum vertical curvature is the maximum value of the included angle between two adjacent scraper grooves of the scraper conveyor in the vertical plane; the correction unit is used to correct the height of the abnormal point to obtain the corrected abnormal point, such that the included angle of the scraper groove corresponding to all control points is greater than or equal to the predetermined included angle; the second processing unit is used to connect the control points belonging to the same cutter and the corrected abnormal points in sequence to obtain multiple corrected cutting paths of the rear roller, wherein one corrected cutting path corresponds to one cutter.

[0020] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein when the program is executed by a processor, the processor performs any one of the methods described.

[0021] According to another aspect of the present invention, a coal mining system is also provided, comprising: a coal mining machine, a scraper conveyor, one or more processors, a memory, and one or more programs, wherein the coal mining machine includes a rear drum, which cuts a piece of coal from the coal seam to be mined during the process of the coal mining machine moving from the head to the tail of the scraper conveyor, the scraper conveyor includes a plurality of scraper troughs connected in sequence, and the coal cut by the rear drum during the coal mining process falls into the scraper trough directly below the rear drum, 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.

[0022] In this embodiment of the invention, in the above-mentioned method for correcting the cutting path of the rear drum of the coal mining machine, firstly, multiple planned advance paths of the rear drum are obtained, each planned advance path corresponding to a scraper groove. Each planned advance path includes multiple first advance segments, and each first advance segment corresponds to one cutter. Then, control points belonging to the same cutter in all the planned advance paths are sequentially connected to obtain multiple planned cutting paths of the rear drum, each planned cutting path corresponding to one cutter. The control point is the starting point of the first advance segment. Afterwards, if the included angle of the scraper groove corresponding to the control point is less than a predetermined angle, the control point is determined to be an abnormal point. The included angle of the scraper trough is the maximum included angle between the control point and the line connecting two adjacent control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum included angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane. Then, the height of the abnormal point is corrected to obtain the corrected abnormal point, so that the included angle of the scraper trough corresponding to all control points is greater than or equal to the predetermined included angle. Finally, the control points belonging to the same cutter and the corrected abnormal points are connected in sequence to obtain multiple corrected cutting paths of the rear roller, and one corrected cutting path corresponds to one cutter. This correction method corrects the height of the control points of the rear drum cutting path, specifically the starting point of the first advancing section of the planned advancing path. This ensures that the included angle of the scraper troughs corresponding to each control point meets the vertical curvature constraint of the scraper conveyor's scraper troughs, guaranteeing that the scraper conveyor can advance synchronously with the coal mining machine. This avoids the scraper conveyor failing to advance synchronously with the coal mining machine, which would result in the loss of cut coal. This solves the problem of some coal waste caused by the lack of correction of the rear drum cutting path in the existing technology. Attached Figure Description

[0023] 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:

[0024] Figure 1 A schematic diagram of a three-dimensional geological model of the planned cutting path and planned propulsion path of the rear drum of a coal mining machine according to an embodiment of this application is shown.

[0025] Figure 2 A side view of a coal mining machine and a scraper conveyor according to one embodiment of this application is shown;

[0026] Figure 3 A flowchart is shown of a method for correcting the cutting path of the rear drum of a coal mining machine according to an embodiment of this application;

[0027] Figure 4A top view of a three-dimensional geological model according to an embodiment of this application is shown;

[0028] Figure 5 A flowchart is shown for a method of correcting the cutting path of the rear drum of a coal mining machine according to another embodiment of this application;

[0029] Figures 6(a) and 6(b) show schematic diagrams of the height correction range of a single outlier according to an embodiment of this application;

[0030] Figures 7(a) and 7(b) show schematic diagrams of the secondary height correction interval for a single anomaly point according to an embodiment of this application;

[0031] Figures 8(a), 8(b) and 8(c) show schematic diagrams of the height correction interval for two consecutive outliers according to an embodiment of this application;

[0032] Figures 9(a), 9(b) and 9(c) show schematic diagrams of the height correction interval for three consecutive anomalies according to an embodiment of this application;

[0033] Figures 10(a), 10(b) and 10(c) show schematic diagrams of the height correction interval for four or more consecutive anomalies according to an embodiment of this application;

[0034] Figure 11 A schematic diagram of a correction device for the cutting path of the rear drum of a coal mining machine according to an embodiment of this application is shown.

[0035] The above figures include the following reference numerals:

[0036] 10. Working face; 11. Coal mining machine; 12. Rear drum; 13. Scraper trough; 14. Scraper conveyor; 15. 3D geological model; 16. Planned advance path; 17. Control points; 18. Planned cutting path. Detailed Implementation

[0037] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0038] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0039] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be an intermediate element present. Furthermore, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element via a third element.

[0040] As mentioned in the background section, the lack of correction for the rear drum cutting path in the prior art leads to some coal waste. In order to solve the above problem, in a typical embodiment of this application, a method, apparatus, computer-readable storage medium and coal mining system for correcting the rear drum cutting path of a coal mining machine are provided.

[0041] According to embodiments of this application, a method for correcting the cutting path of the rear drum of a coal mining machine is provided, such as... Figure 1 As shown, the coal mining machine 11 includes a rear drum 12. During the process of the coal mining machine 11 moving from the head to the tail of the scraper conveyor 14, the rear drum 12 cuts a piece of coal from the coal seam to be mined. The scraper conveyor 14 includes a plurality of scraper troughs 13 connected in sequence. During the coal mining process, the coal cut by the rear drum 12 falls into the scraper trough 13 directly below the rear drum 12. Figure 2 As shown, the rear drum 12 of the coal mining machine 11 advances along the planned advance path 16, and the scraper conveyor 14 advances synchronously.

[0042] Figure 3 This is a flowchart of a method for correcting the cutting path of the rear drum of a coal mining machine according to an embodiment of this application. Figure 3 As shown, the method includes the following steps:

[0043] Step S101: Obtain multiple planned propulsion paths of the rear roller. The planned propulsion paths correspond one-to-one with the scraper grooves. Each planned propulsion path includes multiple first propulsion segments, and each first propulsion segment corresponds to one cut.

[0044] Specifically, such as Figure 1 As shown, a three-dimensional geological model 15 is established based on the actual working conditions of the coal mining machine. The direction of the arrow is the direction of advancement, and the grid line that is approximately parallel to the direction of advancement is the planned advancement path 16. The points on the planned advancement path 16 are the starting points for the rear drum 12 of the coal mining machine to advance to the next working face 10. One working face 10 is cut with one cut. The area between two adjacent control points 17 on the planned advancement path 16 is a first advancement segment, and each first advancement segment corresponds to one cut.

[0045] Step S102: Connect the control points of the same cutter in all the above-mentioned planned advance paths in sequence to obtain multiple planned cutting paths of the rear roller. Each of the above-mentioned planned cutting paths corresponds to one cutter, and the above-mentioned control points are the starting points of the first advance section.

[0046] Specifically, such as Figure 1 As shown, the grid lines that are approximately parallel to the arrangement direction of the scraper troughs 13 of the scraper conveyor 14 are the planned cutting paths 18. One planned cutting path 18 corresponds to one cut. The rear drum 12 of the coal mining machine cuts along the planned cutting path 18, so that the coal cut by the rear drum 12 falls into the scraper troughs 13 directly below the rear drum 12.

[0047] Step S103: If the included angle of the scraper trough corresponding to the above control point is less than the predetermined included angle, the above control point is determined to be an abnormal point. The included angle of the scraper trough is the maximum included angle between the above control point and the line connecting two adjacent above control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum value of the included angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane.

[0048] Specifically, such as Figure 4 As shown, control points 17 include control points A, B, and C. Along the traction direction of the coal mining machine, control points A, B, and C are connected in pairs to form a simplified model of the scraper trough 13. By determining the included angle between adjacent line segments, the vertical constraint between the scraper troughs is simulated. The angle between line segments AB and BC of adjacent planned advancement paths 16 is also considered. If β is greater than the maximum vertical deflection β of the scraper conveyor max Then point B is an anomaly. That is to say, due to the constraint of the vertical curvature of the scraper conveyor along the traction direction of the coal mining machine, i.e., along the arrangement direction of the scraper troughs of the scraper conveyor, in order to ensure the stable operation of the scraper conveyor and avoid it failing to advance, it is necessary to screen out control points that do not meet the condition that the included angle β of the scraper trough corresponding to the above control points is less than the predetermined angle, and correct them. That is, correct the anomaly points found in the screening so that the included angle β of the scraper trough corresponding to any control point in the above planned cutting path is less than the predetermined angle, i.e., there are no anomalies. Then, along the traction direction of the coal mining machine, the above control points belonging to the same cutter are connected sequentially to obtain the corrected cutting path of the rear drum, as shown below. Figure 5 As shown.

[0049] Step S104: Correct the height of the above-mentioned abnormal points to obtain the corrected abnormal points, so that the included angle of the scraper groove corresponding to all the above-mentioned control points is greater than or equal to the predetermined included angle.

[0050] In fact, such as Figure 5As shown, the distribution patterns of the above-mentioned outliers are different, and the correction methods used are also different. The following uses four corresponding correction methods to correct the outliers based on four cases: a single outlier, two consecutive control points being outliers, three consecutive control points being outliers, and four or more consecutive control points being outliers.

[0051] For example, in the first case, in an optional implementation, step S104 above includes:

[0052] Step S1041: In a planned cutting path, if neither of the two adjacent control points of the target anomaly is an anomaly, calculate the intersection of the first height interval, the second height interval, the third height interval, and the fourth height interval to obtain the corrected height interval of the target anomaly. The first height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the target anomaly position. The second height interval is the height interval of the target anomaly when the included angle of the scraper groove corresponding to the first adjacent control point is greater than or equal to the predetermined included angle. The third height interval is the height interval of the target anomaly when the included angle of the scraper groove corresponding to the second adjacent control point is greater than or equal to the predetermined included angle. The fourth height interval is the height interval of the target anomaly when the included angle of the scraper groove corresponding to the target anomaly is greater than or equal to the predetermined included angle. The first adjacent control point and the second adjacent control point are both control points adjacent to the target anomaly. The target anomaly is one of the anomalies in the planned cutting path.

[0053] Step S1042: Based on the corrected height range of the target anomaly point, replan the propulsion path of the rear roller corresponding to the target anomaly point to obtain the first corrected propulsion path. The first corrected propulsion path includes multiple second propulsion segments, and each second propulsion segment corresponds to one cut.

[0054] Step S1043: The starting point of the second advancement segment that intersects with the above-mentioned planned cutting path is determined as the corrected target anomaly point.

[0055] In the above implementation, as shown in Figure 6(a), taking control point C as an abnormal point and control points A, B, D, and E as non-abnormal points as an example, due to the different heights of the control points on the advancement path, the heights of the steps used to install the scraper troughs on each working face are different. Excessive differences in the heights of adjacent steps can make it difficult for the scraper conveyor to advance, which does not meet production process requirements. This situation can be avoided by controlling the height of the control points through the initial constraint interval of the control points. The initial constraint interval of the target abnormal point C is obtained, that is, the first height interval [Z] of the target abnormal point C. CminZ Cmax To satisfy the condition that the included angle ∠ABC of the scraper groove corresponding to the first adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the target anomaly point C is located in the second height interval [Z]. C2 Z C1 Within [the specified range], to satisfy the condition that the included angle ∠CDE of the scraper groove corresponding to the second adjacent control point D is greater than or equal to the predetermined included angle π-β, max That is, ∠CDE≥(π-β) max The height of the target anomaly point C is located in the third height interval [Z]. C4 Z C3 Furthermore, as shown in Figure 6(b), in order to ensure that the target anomaly point C also satisfies the aforementioned scraper groove angle ∠BCD being greater than or equal to the aforementioned predetermined angle π-β, max That is, ∠BCD≥(π-β) max The height of the target anomaly point C is located in the fourth height interval [Z]. C6 Z C5 Within [Z], the intersection of the first, second, third, and fourth altitude intervals can be used to obtain the corrected altitude interval [Z] for the aforementioned target anomaly point. C6 Z C1 The height of the target anomaly point C is located within the corrected height range [Z]. C6 Z C1 This ensures that the corrected target anomaly point C is not an anomaly point. The propulsion path of the rear roller corresponding to the target anomaly point is replanned to obtain the first corrected propulsion path. The starting point of the first corrected propulsion path in the current propulsion segment is the corrected target anomaly point. The height of the corrected target anomaly point is the optimal height of the control point C. The height correction of the single anomaly point C is completed, so that the corrected target anomaly point C is not an anomaly point.

[0056] To ensure the existence of the required heights of the aforementioned target anomalies, in an optional implementation, when the corrected height interval of the aforementioned target anomalies is an empty set, the method further includes:

[0057] Step S1044: In the case that the second height interval and the fourth height interval do not intersect, the height of the first adjacent control point is corrected to obtain the corrected first adjacent control point, and the height of the target anomaly point is corrected based on the corrected first adjacent control point.

[0058] Step S1045: In the case that the third height interval and the fourth height interval do not intersect, the height of the second adjacent control point is corrected to obtain the corrected second adjacent control point, and the height of the target anomaly point is corrected based on the corrected second adjacent control point.

[0059] Step S1046: When the second height interval and the third height interval do not intersect with the fourth height interval, the heights of the first adjacent control point and the second adjacent control point are corrected to obtain the corrected first adjacent control point and the corrected second adjacent control point. The height of the target anomaly point is then corrected based on the corrected first adjacent control point and the corrected second adjacent control point.

[0060] In the above implementation, the corrected height interval of the target anomaly point C may be an empty set, which can be divided into three cases. The first case is that in the second height interval [Z] C2 Z C1 [Z] and the aforementioned fourth altitude range C6 Z C5 In the absence of intersection, the height of the first adjacent control point B is corrected. In the second case, as shown in Figure 7(a), within the third height interval [Z...]... C4 Z C3 [Z] and the aforementioned fourth altitude range C6 Z C5 In the case where there is no intersection, the height of the second adjacent control point D is corrected. In the third case, within the second height interval [Z]... C2 Z C1 ] and the aforementioned third altitude range [Z C4 Z C3 All of these correspond to the aforementioned fourth altitude range [Z]. C6 Z C5 In the absence of intersection, the heights of both the first adjacent control point B and the second adjacent control point D need to be corrected, as shown in Figure 7(b). Taking the second case as an example, the second adjacent control point D is corrected as a secondary anomaly point. This is to ensure that the included angle ∠DEF of the scraper groove corresponding to the second adjacent control point E is greater than or equal to the predetermined included angle π-β. max That is, ∠DEF≥(π-β) max The height of the second adjacent control point D is located within the height range [Z]. D2 Z D1 Within ], and obtain the initial constraint interval [Z] of the second adjacent control point D. Dmin Z DmaxThe intersection of the two intervals yields the corrected height interval [Z] for the second adjacent control point D. D2 Z D1 Since the second adjacent control point D is at the current height Z, D′ When the quadratic constraint interval of point C is empty, therefore, considering the positional relationship of points C, D, E, and F, when the height of the second adjacent control point D is within [Z... D2 Z D′ When the above-mentioned target anomaly point C is an empty set, the height of the above-mentioned second adjacent control point D is in the interval (Z). D′ Z D1 Within the scope of this, the advancement path of the second adjacent control point D is replanned to obtain the corrected control point D. Then, the height of the target anomaly point C is corrected. This can also complete the height correction of a single anomaly point C, so that the corrected target anomaly point C is no longer an anomaly point.

[0061] For example, in a second, alternative implementation, step S104 further includes:

[0062] Step S1047: In a planned cutting path where two consecutive control points are anomalous points, calculate the intersection of the fifth, sixth, and seventh height intervals to obtain the corrected height interval for the first anomalous point; calculate the intersection of the eighth, ninth, and tenth height intervals to obtain the corrected height interval for the second anomalous point. The fifth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under production process requirements when cutting along the planned cutting path to the position of the first anomalous point. The sixth height interval is the height interval of the first anomalous point when the included angle of the scraper groove corresponding to the third adjacent control point is greater than or equal to the predetermined included angle. The third adjacent control point is the control point adjacent to the first anomalous point other than the second anomalous point. The seventh height interval is the height interval of the second anomalous point relative to the first anomalous point. The height range of the first abnormal point when the scraper groove angle is greater than or equal to the predetermined angle; the eighth height range is the range between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the second abnormal point; the ninth height range is the height range of the second abnormal point when the scraper groove angle corresponding to the fourth adjacent control point is greater than or equal to the predetermined angle; the fourth adjacent control point is the control point adjacent to the second abnormal point other than the first abnormal point; the tenth height range is the height range of the second abnormal point when the scraper groove angle corresponding to the first abnormal point is greater than or equal to the predetermined angle; the first abnormal point and the second abnormal point are adjacent; the first abnormal point and the second abnormal point are both among the abnormal points in the planned cutting path.

[0063] Step S1048: Based on the corrected height range of the first abnormal point, the propulsion path of the rear roller corresponding to the first abnormal point is replanned to obtain a second corrected propulsion path. Based on the corrected height range of the second abnormal point, the propulsion path of the rear roller corresponding to the second abnormal point is replanned to obtain a third corrected propulsion path. One of the second corrected propulsion paths includes multiple third propulsion segments, and one of the third corrected propulsion paths includes multiple fourth propulsion segments. One of the third propulsion segments corresponds to one cut, and one of the fourth propulsion segments corresponds to one cut.

[0064] In step S1049, the starting point of the third advancement segment that intersects with the planned cutting path is determined as the corrected first anomaly point, and the starting point of the fourth advancement segment that intersects with the planned cutting path is determined as the corrected second anomaly point.

[0065] In the above implementation, as shown in Figure 8(a), taking the example where adjacent control points C and D are the first and second anomalous points respectively, and control points A, B, E, and F are not anomalous points, the initial constraint interval of the first anomalous point C is obtained, that is, the fifth height interval [Z] of the first anomalous point C. Cmin Z Cmax ], obtain the initial constraint interval of the second anomaly point D, that is, the eighth height interval [Z] of the second anomaly point D. Dmin Z Dmax To satisfy the condition that the included angle ∠ABC of the scraper groove corresponding to the third adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the first anomaly point C is located in the sixth height interval [Z]. C8 Z C7 Within [the specified range], to satisfy the condition that the included angle ∠DEF of the scraper groove corresponding to the fourth adjacent control point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the second anomaly point D is located in the ninth height interval [Z]. D4 Z D3 Within [Z], the height of the first anomaly point C is located in the sixth height interval. C8 Z C7 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the first abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the second anomaly point D is located in the tenth height interval [Z]. D6 Z D5 Within [Z], the height of the second anomaly point D is located in the ninth height interval. D4 Z D3 In the case of [missing information], in order to ensure that the included angle ∠CDE of the scraper groove corresponding to the second abnormal point D is greater than or equal to the predetermined included angle π-β, max That is, ∠CDE≥(π-β) max The height of the first anomaly point C is located in the seventh height interval [Z]. C10 Z C9 Within [Z], take the fifth altitude interval [Z]. Cmin Z Cmax ], sixth altitude range [Z C8 Z C7 ] and the seventh altitude range [Z C10 Z C9 The intersection of [Z] yields the corrected height range [Z] of the first anomaly point C. C10 Z C7 Take the eighth altitude interval [Z]Dmin Z Dmax ], Ninth altitude range [Z D4 Z D3 ] and the tenth altitude range [Z D6 Z D5 The intersection of [Z] yields the corrected height interval [Z] of the second anomaly point D. D4 Z D5 The advancement paths of the first anomaly point C and the second anomaly point D are replanned to obtain a second revised advancement path and a third revised advancement path. The starting point of the second revised advancement path in the current advancement segment is the revised first anomaly point C, and the starting point of the third revised advancement path in the current advancement segment is the revised second anomaly point D. The heights of the revised first anomaly point and the revised second anomaly point D are the optimal heights of control points C and D. The heights of two consecutive anomaly points C and D are corrected so that the revised first anomaly point C and the revised second anomaly point D are no longer anomalies.

[0066] To further ensure that all control points after height correction are not outliers, in an optional implementation, after determining the starting point of the third advancement segment intersecting the planned cut-off path as the corrected first outlier, and determining the starting point of the fourth advancement segment intersecting the planned cut-off path as the corrected second outlier, the method further includes:

[0067] Step S10410: If the corrected first anomaly is the anomaly and the corrected second anomaly is not the anomaly, the height of the first anomaly is corrected a second time according to the corrected height range of the first anomaly to obtain the first anomaly after the second correction.

[0068] Step S10411: If the corrected second anomaly is the anomaly and the corrected first anomaly is not the anomaly, the height of the second anomaly is corrected a second time according to the corrected height range of the second anomaly to obtain the second anomaly after the second correction.

[0069] Step S10412: If both the corrected first anomaly and the corrected second anomaly are the aforementioned anomalies, the height of the first anomaly is corrected a second time according to the correction height range of the first anomaly to obtain the second-corrected first anomaly; or, the height of the second anomaly is corrected a second time according to the correction height range of the second anomaly to obtain the second-corrected second anomaly.

[0070] In the above embodiments, the corrected first anomaly point and the corrected second anomaly point may still be anomalies. In the first case, if the corrected first anomaly point is an anomaly, its height is corrected a second time. In the second case, if the corrected second anomaly point is an anomaly, its height is corrected a second time. In the third case, if both the corrected first and second anomalies are anomalies, only one of their heights is corrected a second time. As shown in Figure 8(b), taking the corrected second anomaly point D as an example, to ensure that the scraper groove angle ∠BCD corresponding to the corrected first anomaly point C is greater than or equal to the predetermined angle π-β... max That is, ∠BCD≥(π-β) max The corrected height of the second anomaly point D is located within the height range [Z]. D8 Z D7 Within this range, to ensure that the angle ∠CDE of the scraper groove corresponding to the corrected second anomaly point D is greater than or equal to the predetermined angle π-β, max That is, ∠CDE≥(π-β) max The corrected height of the second anomaly point D is located within the height range [Z]. D10 Z D9 Within [Z], take the corrected height interval [Z] of the second anomaly point D. D4 Z D5 ], height range [Z D8 Z D7 ] and height range [Z D10 Z D9 The intersection of [Z] yields the secondary corrected height interval [Z] of the second anomaly point D. D4 Z D9 The advancement path of the second anomaly point D is replanned to obtain the second revised advancement path. The starting point of the second revised advancement path in the current advancement segment is the second anomaly point D after the second revision. The height of the second anomaly point D after the revision is the optimal height of the control point D. The second revision of the height of the second anomaly point D is completed, so that the revised first anomaly point C and the revised second anomaly point D are not anomalies.

[0071] Of course, the secondary correction height interval of the second anomaly point D may be an empty set. Therefore, the method described above, where the correction height interval of a single anomaly point is an empty set, is used for a third correction. For example, as shown in Figure 8(c), the correction height interval of the second anomaly point D [Z...] D4 Z D5 ], height range [Z D8 Z D7 ] and height range [Z D10 Z D9There is no intersection, and the height of the first anomaly point C is located at (Z). C' Z C7 Under the circumstances, the advancement path corresponding to the first anomaly point C is replanned, the height of the first anomaly point C is corrected, and then the height of the second anomaly point D is corrected so that the corrected first anomaly point C and the corrected second anomaly point D are no longer anomalies.

[0072] For example, in a third, optional implementation, step S104 further includes:

[0073] Step S10413: In a planned cutting path where three consecutive control points are abnormal points, calculate the intersection of the eleventh and twelfth height intervals to obtain the first-corrected height interval for the third abnormal point; calculate the intersection of the thirteenth and fourteenth height intervals to obtain the first-corrected height interval for the fifth abnormal point. The eleventh height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the third abnormal point. The twelfth height interval is the height interval of the third abnormal point when the included angle of the scraper groove corresponding to the fifth adjacent control point is greater than or equal to the predetermined included angle. The fifth adjacent control point is... The control points adjacent to the third anomaly point other than the fourth anomaly point, the thirteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fifth anomaly point, the fourteenth height interval is the height interval of the fifth anomaly point when the included angle of the scraper groove corresponding to the sixth adjacent control point is greater than or equal to the predetermined included angle, the sixth adjacent control point is the control point adjacent to the fifth anomaly point other than the fourth anomaly point, the third anomaly point and the fifth anomaly point are both adjacent to the fourth anomaly point, and the third anomaly point, the fourth anomaly point and the fifth anomaly point are all one of the anomalies in the planned cutting path;

[0074] Step S10414: Determine the first possible height range of the fourth anomaly point based on the first corrected height range of the third anomaly point, and determine the second possible height range of the fourth anomaly point based on the first corrected height range of the fifth anomaly point. For any first possible point, there is at least one first corrected third anomaly point that satisfies that the scraper groove angle corresponding to the first corrected third anomaly point is greater than or equal to the predetermined angle. For any second possible point, there is at least one first corrected fifth anomaly point that satisfies that the scraper groove angle corresponding to the first corrected fifth anomaly point is greater than or equal to the predetermined angle. The first possible point is the fourth anomaly point whose height satisfies the first possible height range, the second possible point is the fourth anomaly point whose height satisfies the second possible height range, the first corrected third anomaly point is the third anomaly point that satisfies the first corrected height range of the third anomaly point, and the first corrected fifth anomaly point is the fifth anomaly point that satisfies the first corrected height range of the fifth anomaly point.

[0075] Step S10415: Calculate the intersection of the first possible height interval, the second possible height interval and the fifteenth height interval to obtain the first corrected height interval of the fourth abnormal point. The fifteenth height interval is the interval between the maximum and minimum height of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fourth abnormal point.

[0076] Step S10416: Perform a second correction on the first correction height range of the third anomaly point and the fifth anomaly point to obtain the second correction height range of the third anomaly point and the second correction height range of the fifth anomaly point. Correct the height of the third anomaly point according to the second correction height range of the third anomaly point to obtain the corrected third anomaly point. Correct the height of the fifth anomaly point according to the second correction height range of the fifth anomaly point to obtain the corrected fifth anomaly point. Correct the height of the fourth anomaly point according to the corrected fifth anomaly point and the corrected fifth anomaly point to obtain the corrected fourth anomaly point. Alternatively, correct the height of the third anomaly point according to the first correction height range of the third anomaly point to obtain the corrected third anomaly point. Correct the height of the fifth anomaly point according to the first correction height range of the fifth anomaly point to obtain the corrected fifth anomaly point. Correct the height of the fourth anomaly point according to the first correction height range of the fourth anomaly point to obtain the corrected fourth anomaly point.

[0077] In the above implementation, as shown in Figure 9(a), taking the consecutive third anomaly point C, fourth anomaly point D, and fifth anomaly point E as anomaly points as an example, the initial constraint interval of the third anomaly point C, fourth anomaly point D, and fifth anomaly point E is obtained, and the eleventh height interval [Z] is obtained. Cmin Z Cmax ], the fifteenth altitude range [Z Dmin Z Dmax ] and the thirteenth altitude range [Z Emin Z Emax To ensure that the included angle ∠ABC of the scraper groove corresponding to the fifth adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the third anomaly point C is located in the twelfth height interval [Z]. C12 Z C11 Within this range, to ensure that the included angle ∠EFG of the scraper groove corresponding to the sixth adjacent control point F is greater than or equal to the predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the fifth anomaly point E is located in the fourteenth height interval [Z]. E2 Z E1 Within [Z], take the eleventh altitude interval [Z]. Cmin Z Cmax ] and the twelfth altitude range [Z C12 Z C11 The intersection of [Z] yields the first-corrected height interval [Z] of the third anomaly point C. C12 Z C11 Take the thirteenth altitude interval [Z] Emin Z Emax ] and the fourteenth altitude range [Z E2 Z E1 The intersection of [Z] yields the first-corrected height interval [Z] of the fifth anomaly point E. E2 Z E1 The height of the third anomaly point C is within the first-correction height range [Z]. C12 Z C11 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the third abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the fourth anomaly point D is located within the first possible height range [Z]. D12 Z D11 Within [Z], the height of the fifth anomaly point E is located within the first-correction height range. E2 Z E1Within the specified range, in order to ensure that the included angle ∠DEF of the scraper groove corresponding to the fifth abnormal point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the fourth anomaly point D is located in the second possible height range [Z]. D14 Z D13 Within [Z], take the first possible height interval. D12 Z D11 ], second possible altitude range [Z D14 Z D13 ] and the fifteenth altitude range [Z Dmin Z Dmax The intersection of [Z] yields the first-corrected height interval [Z] of the fourth anomaly point D. D14 Z D11 This involves first correcting the heights of the third anomaly C, the fourth anomaly D, and the fifth anomaly E, and then using one of two secondary correction methods to perform a second correction, ensuring that the corrected third anomaly C, the corrected fourth anomaly D, and the corrected fifth anomaly E are no longer anomalies.

[0078] To further ensure that all corrected control points are not outliers, in an optional implementation, if the first of the two secondary correction methods is selected, step S10416 above includes:

[0079] Step S104161: Determine the third possible height range of the third anomaly and the fourth possible height range of the fifth anomaly based on the first correction height range of the fourth anomaly. For any third possible point, there is at least one first correction fourth anomaly that satisfies that the scraper groove angle corresponding to the first correction fourth anomaly is greater than or equal to the predetermined angle. For any fourth possible point, there is at least one first correction fourth anomaly that satisfies that the scraper groove angle corresponding to the first correction fourth anomaly is greater than or equal to the predetermined angle. The third possible point is the third anomaly whose height satisfies the third possible height range. The fourth possible point is the fifth anomaly whose height satisfies the fourth possible height range. The first correction fourth anomaly is the fourth anomaly that satisfies the first correction height range of the fourth anomaly.

[0080] Step S104162: Calculate the intersection of the first corrected height interval and the third possible height interval of the third anomaly point to obtain the second corrected height interval of the third anomaly point; calculate the intersection of the first corrected height interval and the fourth possible height interval of the fifth anomaly point to obtain the second corrected height interval of the fifth anomaly point.

[0081] Step S104163: Based on the second-correction height range of the third anomaly point, replan the propulsion path of the rear roller corresponding to the third anomaly point to obtain the fourth corrected propulsion path. Based on the second-correction height range of the fifth anomaly point, replan the propulsion path of the rear roller corresponding to the fifth anomaly point to obtain the fifth corrected propulsion path. One fourth corrected propulsion path includes multiple fifth propulsion segments, and one fifth corrected propulsion path includes multiple sixth propulsion segments. One fifth propulsion segment corresponds to one cut, and one sixth propulsion segment corresponds to one cut.

[0082] Step S104164: The starting point of the fifth advancement segment that intersects with the above-mentioned planned interception path is determined as the corrected third anomaly point, and the starting point of the sixth advancement segment that intersects with the above-mentioned planned interception path is determined as the corrected fifth anomaly point.

[0083] Step S104165: Based on the corrected third anomaly and the corrected fifth anomaly, the height of the fourth anomaly is corrected to obtain the corrected fourth anomaly.

[0084] In the above implementation, as shown in Figure 9(b), the height of the fourth anomaly point D is located within the first correction height range [Z]. D14 Z D11 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the third abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the third anomaly point C is located in the third possible height range [Z]. C14 Z C13 Within this range, to ensure that the included angle ∠DEF of the scraper groove corresponding to the fifth anomaly point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the fifth anomaly point E is located within the fourth possible height range [Z]. E4 Z E3 Within [Z], take the first corrected height interval of the third anomaly point C. C12 Z C11 ] and the third possible height range [Z C14 Z C13 The intersection of [Z] yields the secondary corrected height interval [Z] of the third anomaly point C. C14 Z C11 ], take the first corrected height interval [Z] of the fifth anomaly point E. E2 Z E1 ] and the fourth possible height range [Z E4 Z E3The intersection of [Z] yields the second-corrected height interval [Z] of the fifth anomaly point E. E2 Z E3 ], in the second-correction height range [Z] of the third anomaly point C C14 Z C11 The secondary correction height range [Z] within the fifth anomaly point E and the fifth anomaly point E. E2 Z E3 Within this range, the advancement paths of the third anomaly point C and the fifth anomaly point E are replanned, resulting in the fourth and fifth corrected advancement paths. The starting points of the fourth and fifth corrected advancement paths in the current advancement segment are the second-corrected third anomaly point C and the second-corrected fifth anomaly point E. This completes the second correction of the height of the third anomaly point C and the fifth anomaly point E. Based on the second-corrected third anomaly point C and the second-corrected fifth anomaly point E, the height of the fourth anomaly point D is also second-corrected. This completes the height correction of the third anomaly point C, the fourth anomaly point D, and the fifth anomaly point E, ensuring that the corrected third anomaly point C, the corrected fourth anomaly point D, and the corrected fifth anomaly point E are no longer anomalies.

[0085] To further ensure that all corrected control points are not outliers, in an optional implementation, if the second of the two secondary correction methods is selected, step S10416 above includes:

[0086] Step S104166: Based on the first correction height range of the third anomaly point, replan the propulsion path of the rear roller corresponding to the third anomaly point to obtain the sixth corrected propulsion path; based on the first correction height range of the fifth anomaly point, replan the propulsion path of the rear roller corresponding to the fifth anomaly point to obtain the seventh corrected propulsion path; based on the first correction height range of the fourth anomaly point, replan the propulsion path of the rear roller corresponding to the fourth anomaly point to obtain the eighth corrected propulsion path. One sixth corrected propulsion path includes multiple seventh propulsion segments; one seventh corrected propulsion path includes multiple eighth propulsion segments; one eighth corrected propulsion path includes multiple ninth propulsion segments; one seventh propulsion segment corresponds to one cut; one eighth propulsion segment corresponds to one cut; one ninth propulsion segment corresponds to one cut.

[0087] In step S104167, the starting point of the seventh advancement segment that intersects with the planned cutting path is determined as the corrected third anomaly point, the starting point of the eighth advancement segment that intersects with the planned cutting path is determined as the corrected fifth anomaly point, and the starting point of the ninth advancement segment that intersects with the planned cutting path is determined as the corrected fourth anomaly point.

[0088] In the above implementation, in the first correction height interval [Z] of the third anomaly point CC12 Z C11 Within ], the first correction height range of the fourth anomaly point D [Z C14 Z C11 The first correction height range [Z] within and the fifth anomaly point E. E2 Z E1 Within this range, the advancement paths of the third anomaly point C, the fourth anomaly point D, and the fifth anomaly point E are replanned, resulting in the sixth, seventh, and eighth revised advancement paths. The starting points of the sixth, seventh, and eighth revised advancement paths in the current advancement segment are the first revised third anomaly point C, the first revised fourth anomaly point D, and the first revised fifth anomaly point E, thus completing the first correction of the height of the third anomaly point C, the fourth anomaly point D, and the fifth anomaly point E.

[0089] To further ensure that all corrected control points are not outliers, in an optional implementation, after step S104167, the method further includes:

[0090] Step S104168: If there is one or two corrected anomalies among the corrected third anomaly, the corrected fifth anomaly, and the corrected fourth anomaly, the height of the corrected anomaly is corrected again to obtain the corrected anomaly. The corrected anomaly is the corrected anomaly obtained by correcting the height of the anomaly, and the corrected anomaly is still the anomaly.

[0091] Step S104169: If the corrected third anomaly, the corrected fifth anomaly, and the corrected fourth anomaly are all corrected anomalies, then the height of the corrected third anomaly is corrected again to obtain the corrected third anomaly. The height of the corrected fifth anomaly is corrected again to obtain the corrected fifth anomaly. Based on the corrected third anomaly and the corrected fifth anomaly, the height of the corrected fourth anomaly is corrected again to obtain the corrected fourth anomaly.

[0092] In the above embodiments, after the first correction of the heights of the third abnormal point C, the fourth abnormal point D, and the fifth abnormal point E, there may still be abnormal points among the corrected third abnormal point C, the corrected fourth abnormal point D, and the corrected fifth abnormal point E. If there is still one abnormal point after the first correction of the third abnormal point C, the fourth abnormal point D, and the fifth abnormal point E, that is, there is one corrected abnormal point, a second height correction is performed using the method of correcting two consecutive abnormal points and still having one abnormal point. If there are still two consecutive abnormal points after the first correction of the third abnormal point C, the fourth abnormal point D, and the fifth abnormal point E, that is, the corrected third abnormal point C and the corrected fourth abnormal point D are the corrected abnormal points, a second height correction is performed using the method of correcting two consecutive abnormal points. If the corrected third abnormal point C and the corrected fifth abnormal point E are the corrected abnormal points, as shown in Figure 9(c), in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the third abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the third anomaly point C is located in the height range [Z]. C16 Z C15 Within this range, to ensure that the included angle ∠DEF of the scraper groove corresponding to the fifth anomaly point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the fifth anomaly point E is located in the height range [Z]. E6 Z E5 Within [Z], take the height range [Z]. C16 Z C15 The first correction height range [Z] of the third anomaly point C. C12 Z C11 The intersection of [Z] yields the secondary corrected height interval [Z] of the third anomaly point C. C16 Z C11 ], take the height range [Z E6 Z E5 The first correction height range [Z] of the fifth anomaly point E. E2 Z E1 The intersection of [Z] yields the second-corrected height interval [Z] of the fifth anomaly point E. E6 Z E5 ], in the second-correction height range [Z] of the third anomaly point C C16 Z C11 The secondary correction height range [Z] within the fifth anomaly point E and the fifth anomaly point E. E6 Z E5Within this range, the advancement paths for the third anomaly point C and the fifth anomaly point E are replanned, resulting in two corrected advancement paths. The starting points of these two corrected advancement paths in the current advancement segment are the second-corrected third anomaly point C and the second-corrected fifth anomaly point E. This completes the second-correction of the height of the third anomaly point C and the fifth anomaly point E, ensuring that the second-corrected third anomaly point C and the second-corrected fifth anomaly point E are no longer anomalies. If the corrected third anomaly point C, the corrected fourth anomaly point D, and the corrected fifth anomaly point E are all the aforementioned corrected anomalies, then the method of using the corrected third anomaly point C and the corrected fifth anomaly point E as the aforementioned corrected anomalies is used to perform a second-correction of the height of the corrected third anomaly point C and the corrected fifth anomaly point E, ensuring that the second-corrected third anomaly point C and the second-corrected fifth anomaly point E are no longer anomalies. After correction, it is determined again whether the corrected fourth anomaly point D is an anomaly. If so, then the single anomaly point height correction method is used to perform a second-correction of the height of the corrected fourth anomaly point D, ensuring that the second-corrected fourth anomaly point D is no longer an anomaly.

[0093] For example, in a fourth, optional implementation, step S104 further includes:

[0094] Step S10417: In a planned cutting path where N consecutive control points are anomalous points, calculate the intersection of the sixteenth and seventeenth height intervals to obtain the first-corrected height interval for the Mth anomalous point; calculate the intersection of the eighteenth and nineteenth height intervals to obtain the first-corrected height interval for the (M+1)th anomalous point. The sixteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under production process requirements when cutting along the planned cutting path to the Mth anomalous point. The seventeenth height interval is the height interval of the Mth anomalous point when the included angle of the scraper groove corresponding to the seventh adjacent control point is greater than or equal to the predetermined angle. The seventh adjacent control point is the adjacent point of the Mth anomalous point (excluding the (M+2)th anomalous point). The above-mentioned control points, the above-mentioned eighteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the above-mentioned planned cutting path to the position of the above-mentioned M+1 abnormal point, the above-mentioned nineteenth height interval is the height interval of the above-mentioned M+1 abnormal point when the included angle of the scraper groove corresponding to the eighth adjacent control point is greater than or equal to the above-mentioned predetermined included angle, the above-mentioned eighth adjacent control point is the control point adjacent to the above-mentioned M+1 abnormal point other than the M+3 abnormal point, the above-mentioned M abnormal point is adjacent to the above-mentioned M+2 abnormal point, the above-mentioned M+2 abnormal point is adjacent to the above-mentioned M+3 abnormal point or the above-mentioned M+2 abnormal point is adjacent to the above-mentioned M+3 abnormal point with an interval of N-4 above-mentioned abnormal points, the above-mentioned M+3 abnormal point is adjacent to the above-mentioned M+1 abnormal point, N≥4;

[0095] Step S10418: Determine the fifth possible height range of the M+2 anomaly point based on the first correction height range of the M anomaly point, and determine the sixth possible height range of the M+3 anomaly point based on the first correction height range of the M+1 anomaly point. For any fifth possible point, there is at least one first correction M anomaly point that satisfies that the scraper groove angle corresponding to the first correction M anomaly point is greater than or equal to the predetermined angle. For any sixth possible point, there is at least one first correction M+1 anomaly point that satisfies that the scraper groove angle corresponding to the first correction M+1 anomaly point is greater than or equal to the predetermined angle. The fifth possible point is the M+2 anomaly point whose height satisfies the fifth possible height range, and the sixth possible point is the M+3 anomaly point whose height satisfies the sixth possible height range. The first correction M anomaly point is the M anomaly point that satisfies the first correction height range of the M anomaly point, and the first correction M+1 anomaly point is the M+1 anomaly point that satisfies the first correction height range of the M+1 anomaly point.

[0096] Step S10419: Calculate the intersection of the twentieth height interval and the fifth possible height to obtain the first corrected height interval of the (M+2)th anomaly point; calculate the intersection of the twentieth height interval and the sixth possible height to obtain the first corrected height interval of the (M+3)th anomaly point; the twentieth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the (M+2)th anomaly point; the twentieth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the (M+3)th anomaly point.

[0097] Step S10420: Based on the first correction height range of the Mth abnormal point, replan the propulsion path of the rear roller corresponding to the Mth abnormal point to obtain the Mth corrected propulsion path. Based on the first correction height range of the M+1th abnormal point, replan the propulsion path of the rear roller corresponding to the M+1th abnormal point to obtain the M+1th corrected propulsion path. One Mth corrected propulsion path includes multiple Mth propulsion segments, and one M+1 corrected propulsion path includes multiple M+1th propulsion segments. One Mth propulsion segment corresponds to one cut, and one M+1th propulsion segment corresponds to one cut.

[0098] Step S10421: The starting point of the Mth advancement segment that intersects with the above-mentioned planned cutting path is determined as the corrected Mth abnormal point, and the starting point of the (M+1)th advancement segment that intersects with the above-mentioned planned cutting path is determined as the corrected (M+1)th abnormal point.

[0099] Step S10422, correction step: Based on the corrected Mth anomaly point, the height of the M+2th anomaly point is corrected to obtain the corrected M+2th anomaly point; based on the corrected M+1th anomaly point, the height of the M+3th anomaly point is corrected to obtain the corrected M+3th anomaly point.

[0100] Step S10423: If N > 4, increase M by 1 and repeat the above correction step once until all the above anomalies are obtained after correction.

[0101] In the above implementation, as shown in Figure 10(a), taking adjacent Mth anomaly point C and M+2th anomaly point D, and adjacent M+3th anomaly point E and M+1th anomaly point F as examples, if there are consecutive anomalies between M+2th anomaly point D and M+3th anomaly point E, then there are more than four consecutive anomalies in one of the above-mentioned planned cut-off paths. If there are no anomalies between M+2th anomaly point D and M+3th anomaly point E, then there are four consecutive anomalies in one of the above-mentioned planned cut-off paths. First, the initial constraint intervals of the Mth anomaly point C, M+2th anomaly point D, M+3th anomaly point E, and M+1th anomaly point F are obtained, and the sixteenth height interval [Z] is obtained. Cmin Z Cmax ], the twentieth altitude range [Z Dmin Z Dmax ], the twenty-first altitude range [Z Emin Z Emax ] and the eighteenth altitude range [Z Fmin Z Fmax To ensure that the included angle ∠ABC of the scraper groove corresponding to the seventh adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the Mth anomaly point C is located in the seventeenth height interval [Z]. C18 Z C17 Within this range, to ensure that the included angle ∠FGH of the scraper groove corresponding to the eighth adjacent control point G is greater than or equal to the predetermined included angle π-β, max That is, ∠FGH≥(π-β) max The height of the (M+1)th anomaly point F is located in the nineteenth height interval [Z]. F2 Z F1 Within [Z], take the sixteenth altitude interval [Z]. Cmin Z Cmax ] and the seventeenth altitude range [Z C18 Z C17 The intersection of [Z] yields the first-corrected height interval [Z] of the Mth anomaly point C. C18 ZC17 Take the eighteenth altitude interval [Z] Fmin Z Fmax ] and the nineteenth altitude range [Z F2 Z F1 The intersection of [Z] and [Z] is used to obtain the first-corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F1 The height of the Mth anomaly point C is within the first-correction height range [Z]. C18 Z C17 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the Mth abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the (M+2)th anomaly point D is located in the fifth possible height interval [Z]. D16 Z D15 Within [Z], the height of the (M+1)th anomaly point F is located within the first-correction height interval. F2 Z F1 Within the specified range, to ensure that the included angle ∠EFG of the scraper groove corresponding to the (M+3)th abnormal point E is greater than or equal to the predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the (M+3)th anomaly point E is located in the sixth possible height interval [Z]. E8 Z E7 Within [Z], take the fifth possible height interval. D16 Z D15 ] and the twentieth altitude range [Z Dmin Z Dmax The intersection of [Z] yields the first-corrected height interval [Z] of the (M+2)th outlier point D. Dmin Z D15 Take the sixth possible height interval [Z] E8 Z E7 ] and the 21st altitude range [Z Emin Z Emax The intersection of [Z] yields the first-corrected height interval [Z] of the (M+3)th anomaly point E. E8 Z Emax The height of the Mth outlier C is corrected according to the first correction height range of the Mth outlier C. Then, the height of the (M+2)th outlier D and other outliers is corrected sequentially along the direction away from the Mth outlier C. The height of the (M+1)th outlier F is corrected according to the first correction height range of the Mth outlier F. Then, the height of the (M+3)th outlier E and other outliers is corrected sequentially along the direction away from the M+1 outlier F. This process continues until all outliers have been corrected, so that all corrected outliers are no longer outliers.

[0102] Of course, there is another option for the order of height correction of outliers. Based on the first correction height range of the (M+2)th outlier D, the height of the (M+2)th outlier D is corrected. Based on the corrected height of the (M+2)th outlier D, the height of outliers such as the Mth outlier C is corrected. Then, along the direction away from the (M+2)th outlier D, the height of outliers such as the (M+4)th outlier is corrected. Based on the first correction height range of the (M+3)th outlier E, the height of the (M+3)th outlier E is corrected. Based on the (M+3)th outlier E, the height of outliers such as the (M+1)th outlier F is corrected. Then, along the direction away from the (M+3)th outlier E, the height of outliers such as the (M+5)th outlier is corrected. This process continues until all outliers have been height corrected, so that all corrected outliers are no longer outliers.

[0103] To further ensure that all corrected control points are not outliers, in an optional implementation, step S10420 above includes:

[0104] Step S104201: Determine the seventh possible height range of the Mth anomaly point based on the first correction height range of the M+2th anomaly point, and determine the eighth possible height range of the M+1th anomaly point based on the first correction height range of the M+3th anomaly point. For any seventh possible point, there is at least one first correction M+2th anomaly point that satisfies that the scraper groove angle corresponding to the first correction M+2th anomaly point is greater than or equal to the predetermined angle. For any eighth possible point, there is at least one first correction M+3th anomaly point that satisfies that the scraper groove angle corresponding to the first correction M+3th anomaly point is greater than or equal to the predetermined angle. The seventh possible point is the Mth anomaly point whose height satisfies the seventh possible height range, the eighth possible point is the M+1th anomaly point whose height satisfies the eighth possible height range, the first correction M+2th anomaly point is the M+2th anomaly point that satisfies the first correction height range of the M+2th anomaly point, and the first correction M+3th anomaly point is the M+3th anomaly point that satisfies the first correction height range of the M+3th anomaly point.

[0105] Step S104202: Calculate the intersection of the first corrected height interval and the seventh possible height interval of the above-mentioned Mth anomaly point to obtain the second corrected height interval of the above-mentioned Mth anomaly point; calculate the intersection of the first corrected height interval and the eighth possible height interval of the above-mentioned M+1 anomaly point to obtain the second corrected height interval of the above-mentioned M+1 anomaly point.

[0106] Step S104203: Based on the secondary correction height range of the Mth abnormal point, replan the propulsion path of the rear roller corresponding to the Mth abnormal point to obtain the Mth corrected propulsion path; based on the secondary correction height range of the M+1th abnormal point, replan the propulsion path of the rear roller corresponding to the M+1th abnormal point to obtain the M+1th corrected propulsion path.

[0107] In the above implementation, as shown in Figure 10(b), the height of the (M+2)th anomaly point D is located within the first correction height range [Z]. Dmin Z D15 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the Mth abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the Mth anomaly point C is located in the seventh possible height interval [Z]. C20 Z C19 Within [Z], the height of the (M+3)th anomaly point E lies within the first-correction height interval. E8 Z Emax Within the case of [M+1], in order to ensure that the included angle ∠EFG of the scraper groove corresponding to the above-mentioned abnormal point F is greater than or equal to the above-mentioned predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the (M+1)th anomaly point F is located in the eighth possible height interval [Z]. F4 Z F3 Within [Z], take the seventh possible height interval. C20 Z C19 The first corrected height range [Z] of the Mth anomaly point C. C18 Z C17 The intersection of [Z] yields the secondary corrected height interval [Z] of the Mth anomaly point C. C20 Z C17 Take the eighth possible height interval [Z] F4 Z F3 The first corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F1 The intersection of [Z] yields the secondary corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F3 ], in the second-corrected height interval [Z] of the Mth anomaly point C C20 Z C17 The secondary correction height interval [Z] within and the (M+1)th anomaly point F F2 Z F3Within this process, the advancement paths of the Mth anomaly point C and the (M+1)th anomaly point F are replanned, resulting in the Mth and (M+1)th corrected advancement paths. The starting points of the current advancement segment of the Mth and (M+1)th corrected advancement paths are the Mth and (M+1)th anomaly points C and F after the second correction. This completes the second correction of the height of the Mth and (M+1)th anomaly points C and F, ensuring that they are no longer anomalies. Subsequently, the same method is used to correct the height of other anomalies such as the (M+2)th and (M+3)th anomaly points E, ensuring that all corrected anomalies are no longer anomalies.

[0108] It should be noted that, under another option, as shown in Figure 10(c), the height of the (M+2)th anomaly point D is within the first correction height range [Z]. Dmin Z D15 The heights of the (M+3)th anomaly point E and the height of the first correction height range are within [Z]. E8 Z Emax Within this section, the advancement paths for the (M+2)th anomaly point D and the (M+3)th anomaly point E are replanned, resulting in the (M+2)th and (M+3)th corrected advancement paths. The starting points of the (M+2)th and (M+3)th corrected advancement paths in the current advancement segment are the (M+2)th and (M+3)th anomaly points D and E, respectively, after one correction. To ensure that the included angle ∠BCD of the scraper groove corresponding to the Mth anomaly point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the Mth anomaly point C is located in the ninth possible height interval [Z]. C22 Z C21 Within this range, to ensure that the included angle ∠EFG of the scraper groove corresponding to the (M+1)th abnormal point F is greater than or equal to the predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the (M+1)th anomaly point F is located in the tenth possible height interval [Z]. F6 Z F5 Within [Z], take the ninth possible height interval. C22 Z C21 The first corrected height range [Z] of the Mth anomaly point C. C18 Z C17 The intersection of [Z] yields the secondary corrected height interval [Z] of the Mth anomaly point C. C22 Z C17 Take the tenth possible height interval [Z] F6 Z F5 The second-corrected height interval [Z] of the (M+1)th outlier point F. F2 Z F3The intersection of [Z] yields the secondary corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F5 ], in the second-corrected height interval [Z] of the Mth anomaly point C C22 Z C17 The secondary correction height interval [Z] within and the (M+1)th anomaly point F F2 Z F5 Within this process, the advancement paths of the Mth anomaly point C and the (M+1)th anomaly point F are replanned, resulting in the Mth and (M+1)th corrected advancement paths. The starting points of the current advancement segment of the Mth and (M+1)th corrected advancement paths are the Mth and (M+1)th anomaly points C and F after the second correction. This completes the second correction of the height of the Mth and (M+1)th anomaly points C and F, ensuring that they are no longer anomalies. Subsequently, the same method is used to correct the height of other anomalies such as the (M+2)th and (M+3)th anomaly points E, ensuring that all corrected anomalies are no longer anomalies.

[0109] Step S105: Connect the control points and the corrected abnormal points belonging to the same cutter in sequence to obtain multiple corrected cutting paths of the rear roller, with one corrected cutting path corresponding to one cutter.

[0110] Specifically, the control points belonging to the same cutter and the corrected abnormal points are connected sequentially to obtain multiple corrected cutting paths for the rear roller, such as... Figure 1 As shown, the corrected cut path can be obtained by adjusting the height of the outliers in the planned cut path 16.

[0111] In the above-mentioned method for correcting the cutting path of the rear drum of the coal mining machine, firstly, multiple planned advance paths of the rear drum are obtained. Each planned advance path corresponds one-to-one with a scraper groove. Each planned advance path includes multiple first advance segments, and each first advance segment corresponds to one cutter. Then, control points belonging to the same cutter in all the planned advance paths are sequentially connected to obtain multiple planned cutting paths of the rear drum. Each planned cutting path corresponds to one cutter, and the control point is the starting point of the first advance segment. Afterward, if the included angle of the scraper groove corresponding to the control point is less than a predetermined angle, the control point is determined to be an abnormal point, and the scraper groove angle is adjusted accordingly. The angle is the maximum angle between the control point and the line connecting two adjacent control points. The predetermined angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane. Then, the height of the abnormal point is corrected to obtain the corrected abnormal point, so that the angle of the scraper trough corresponding to all control points is greater than or equal to the predetermined angle. Finally, the control points belonging to the same cutter and the corrected abnormal points are connected in sequence to obtain multiple corrected cutting paths of the rear roller, and one corrected cutting path corresponds to one cutter. This correction method corrects the height of the control points of the rear drum cutting path, specifically the starting point of the first advancing section of the planned advancing path. This ensures that the included angle of the scraper troughs corresponding to each control point meets the vertical curvature constraint of the scraper conveyor's scraper troughs, guaranteeing that the scraper conveyor can advance synchronously with the coal mining machine. This avoids the scraper conveyor failing to advance synchronously with the coal mining machine, which would result in the loss of cut coal. This solves the problem of some coal waste caused by the lack of correction of the rear drum cutting path in the existing technology.

[0112] 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, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0113] This application also provides a device for correcting the cutting path of the rear drum of a coal mining machine. It should be noted that this device can be used to execute the method for correcting the cutting path of the rear drum of a coal mining machine provided in this application. The following describes the device for correcting the cutting path of the rear drum of a coal mining machine provided in this application. The coal mining machine includes a rear drum. During the process of the coal mining machine moving from the head to the tail of the scraper conveyor, the rear drum cuts a piece of coal from the coal seam to be mined. The scraper conveyor includes multiple scraper troughs connected in sequence. During the coal mining process, the coal cut by the rear drum falls into the scraper trough directly below the rear drum.

[0114] Figure 11 This is a schematic diagram of a correction device for the cutting path of the rear drum of a coal mining machine according to an embodiment of this application. Figure 11 As shown, the device includes:

[0115] The acquisition unit 100 is used to acquire multiple planned propulsion paths of the rear roller, the planned propulsion paths correspond one-to-one with the scraper grooves, and one of the planned propulsion paths includes multiple first propulsion segments, and one of the first propulsion segments corresponds to one cut.

[0116] Specifically, such as Figure 1 As shown, a three-dimensional geological model 15 is established based on the actual working conditions of the coal mining machine. The direction of the arrow is the direction of advancement, and the grid line that is approximately parallel to the direction of advancement is the planned advancement path 16. The points on the planned advancement path 16 are the starting points for the rear drum 12 of the coal mining machine to advance to the next working face 10. One working face 10 is cut with one cut. The area between two adjacent control points 17 on the planned advancement path 16 is a first advancement segment, and each first advancement segment corresponds to one cut.

[0117] The first processing unit 200 is used to sequentially connect the control points belonging to the same cutter in all the above-mentioned planned advance paths to obtain multiple planned cutting paths of the rear roller. Each of the above-mentioned planned cutting paths corresponds to one cutter, and the control point is the starting point of the above-mentioned first advance section.

[0118] Specifically, such as Figure 1 As shown, the grid lines that are approximately parallel to the arrangement direction of the scraper troughs 13 of the scraper conveyor 14 are the planned cutting paths 18. One planned cutting path 18 corresponds to one cut. The rear drum 12 of the coal mining machine cuts along the planned cutting path 18, so that the coal cut by the rear drum 12 falls into the scraper troughs 13 directly below the rear drum 12.

[0119] The determining unit 300 is used to determine the control point as an abnormal point when the included angle of the scraper trough corresponding to the control point is less than a predetermined angle. The included angle of the scraper trough is the maximum included angle between the control point and the line connecting two adjacent control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum value of the included angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane.

[0120] Specifically, such as Figure 4 As shown, control points 17 include control points A, B, and C. Along the traction direction of the coal mining machine, control points A, B, and C are connected in pairs to form a simplified model of the scraper trough 13. By determining the included angle between adjacent line segments, the vertical constraint between the scraper troughs is simulated. The angle between line segments AB and BC of adjacent planned advancement paths 16 is also considered. If β is greater than the maximum vertical deflection β of the scraper conveyormax Then point B is an anomaly. That is to say, due to the constraint of the vertical curvature of the scraper conveyor along the traction direction of the coal mining machine, i.e., along the arrangement direction of the scraper troughs of the scraper conveyor, in order to ensure the stable operation of the scraper conveyor and avoid it failing to advance, it is necessary to screen out control points that do not meet the condition that the included angle β of the scraper trough corresponding to the above control points is less than the predetermined angle, and correct them. That is, correct the anomaly points found in the screening so that the included angle β of the scraper trough corresponding to any control point in the above planned cutting path is less than the predetermined angle, i.e., there are no anomalies. Then, along the traction direction of the coal mining machine, the above control points belonging to the same cutter are connected sequentially to obtain the corrected cutting path of the rear drum, as shown below. Figure 5 As shown.

[0121] The correction unit 400 is used to correct the height of the above-mentioned abnormal points to obtain the corrected abnormal points, so that the included angle of the scraper groove corresponding to all the above-mentioned control points is greater than or equal to the predetermined included angle.

[0122] In fact, such as Figure 5 As shown, the distribution patterns of the above-mentioned outliers are different, and the correction methods used are also different. The following uses four corresponding correction methods to correct the outliers based on four cases: a single outlier, two consecutive control points being outliers, three consecutive control points being outliers, and four or more consecutive control points being outliers.

[0123] For example, in a first, alternative implementation, the aforementioned correction unit includes:

[0124] The first calculation module is used to calculate the intersection of a first height interval, a second height interval, a third height interval, and a fourth height interval in a planned cutting path where neither of the two adjacent control points of the target anomaly is an anomaly. This intersection yields a corrected height interval for the target anomaly. The first height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under production process requirements when the target anomaly is cut along the planned cutting path to the target anomaly position. The second height interval is the height interval of the target anomaly when the included angle of the scraper groove corresponding to the first adjacent control point is greater than or equal to a predetermined angle. The third height interval is the height interval of the target anomaly when the included angle of the scraper groove corresponding to the second adjacent control point is greater than or equal to the predetermined angle. The fourth height interval is the height interval of the target anomaly when the included angle of the scraper groove corresponding to the target anomaly is greater than or equal to the predetermined angle. The first and second adjacent control points are both control points adjacent to the target anomaly, and the target anomaly is one of the anomalies in the planned cutting path.

[0125] The first processing module is used to replan the propulsion path of the rear roller corresponding to the target anomaly point based on the corrected height range of the target anomaly point, and obtain a first corrected propulsion path. The first corrected propulsion path includes multiple second propulsion segments, and each second propulsion segment corresponds to one cut.

[0126] The first determining module is used to determine the starting point of the second advancement segment that intersects with the above-mentioned planned cutting path as the corrected target anomaly point.

[0127] In the above implementation, as shown in Figure 6(a), taking control point C as an abnormal point and control points A, B, D, and E as non-abnormal points as an example, due to the different heights of the control points on the advancement path, the heights of the steps used to install the scraper troughs on each working face are different. Excessive differences in the heights of adjacent steps can make it difficult for the scraper conveyor to advance, which does not meet production process requirements. This situation can be avoided by controlling the height of the control points through the initial constraint interval of the control points. The initial constraint interval of the target abnormal point C is obtained, that is, the first height interval [Z] of the target abnormal point C. Cmin Z Cmax To satisfy the condition that the included angle ∠ABC of the scraper groove corresponding to the first adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the target anomaly point C is located in the second height interval [Z]. C2 Z C1 Within [the specified range], to satisfy the condition that the included angle ∠CDE of the scraper groove corresponding to the second adjacent control point D is greater than or equal to the predetermined included angle π-β, max That is, ∠CDE≥(π-β) max The height of the target anomaly point C is located in the third height interval [Z]. C4 Z C3 Furthermore, as shown in Figure 6(b), in order to ensure that the target anomaly point C also satisfies the aforementioned scraper groove angle ∠BCD being greater than or equal to the aforementioned predetermined angle π-β, max That is, ∠BCD≥(π-β) max The height of the target anomaly point C is located in the fourth height interval [Z]. C6 Z C5 Within [Z], the intersection of the first, second, third, and fourth altitude intervals can be used to obtain the corrected altitude interval [Z] for the aforementioned target anomaly point. C6 Z C1 The height of the target anomaly point C is located within the corrected height range [Z]. C6 Z C1This ensures that the corrected target anomaly point C is not an anomaly point. The propulsion path of the rear roller corresponding to the target anomaly point is replanned to obtain the first corrected propulsion path. The starting point of the first corrected propulsion path in the current propulsion segment is the corrected target anomaly point. The height of the corrected target anomaly point is the optimal height of the control point C. The height correction of the single anomaly point C is completed, so that the corrected target anomaly point C is not an anomaly point.

[0128] To ensure the existence of the required height for the aforementioned target anomaly points, in an optional embodiment, when the corrected height range for the aforementioned target anomaly points is an empty set, the apparatus further includes:

[0129] The second processing module is used to correct the height of the first adjacent control point when the second height interval and the fourth height interval do not intersect, to obtain the corrected first adjacent control point, and to correct the height of the target anomaly point based on the corrected first adjacent control point, to obtain the corrected target anomaly point.

[0130] The third processing module is used to correct the height of the second adjacent control point when the third height interval and the fourth height interval do not intersect, to obtain the corrected second adjacent control point, and to correct the height of the target anomaly point based on the corrected second adjacent control point, to obtain the corrected target anomaly point.

[0131] The fourth processing module is used to correct the heights of the first adjacent control point and the second adjacent control point when neither the second height interval nor the third height interval intersects with the fourth height interval, to obtain the corrected first adjacent control point and the corrected second adjacent control point, and to correct the height of the target anomaly point based on the corrected first adjacent control point and the corrected second adjacent control point, to obtain the corrected target anomaly point.

[0132] In the above implementation, the corrected height interval of the target anomaly point C may be an empty set, which can be divided into three cases. The first case is that in the second height interval [Z] C2 Z C1 [Z] and the aforementioned fourth altitude range C6 Z C5 In the absence of intersection, the height of the first adjacent control point B is corrected. In the second case, as shown in Figure 7(a), within the third height interval [Z...]... C4 Z C3 [Z] and the aforementioned fourth altitude range C6 Z C5In the case where there is no intersection, the height of the second adjacent control point D is corrected. In the third case, within the second height interval [Z]... C2 Z C1 ] and the aforementioned third altitude range [Z C4 Z C3 All of these correspond to the aforementioned fourth altitude range [Z]. C6 Z C5 In the absence of intersection, the heights of both the first adjacent control point B and the second adjacent control point D need to be corrected, as shown in Figure 7(b). Taking the second case as an example, the second adjacent control point D is corrected as a secondary anomaly point. This is to ensure that the included angle ∠DEF of the scraper groove corresponding to the second adjacent control point E is greater than or equal to the predetermined included angle π-β. max That is, ∠DEF≥(π-β) max The height of the second adjacent control point D is located within the height range [Z]. D2 Z D1 Within ], and obtain the initial constraint interval [Z] of the second adjacent control point D. Dmin Z Dmax The intersection of the two intervals yields the corrected height interval [Z] for the second adjacent control point D. D2 Z D1 Since the second adjacent control point D is at the current height Z, D′ When the quadratic constraint interval of point C is empty, therefore, considering the positional relationship of points C, D, E, and F, when the height of the second adjacent control point D is within [Z... D2 Z D′ When the above-mentioned target anomaly point C is an empty set, the height of the above-mentioned second adjacent control point D is in the interval (Z). D′ Z D1 Within the scope of this, the advancement path of the second adjacent control point D is replanned to obtain the corrected control point D. Then, the height of the target anomaly point C is corrected. This can also complete the height correction of a single anomaly point C, so that the corrected target anomaly point C is no longer an anomaly point.

[0133] For example, in a second, alternative implementation, the correction unit further includes:

[0134] The second calculation module is used to calculate the intersection of the fifth, sixth, and seventh height intervals to obtain the corrected height interval for the first anomaly when two consecutive control points are anomaly points along the planned cutting path. It also calculates the intersection of the eighth, ninth, and tenth height intervals to obtain the corrected height interval for the second anomaly point. The fifth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under production process requirements when cutting along the planned cutting path to the position of the first anomaly point. The sixth height interval is the height interval of the first anomaly point when the included angle of the scraper groove corresponding to the third adjacent control point is greater than or equal to the predetermined angle. The third adjacent control point is the control point adjacent to the first anomaly point other than the second anomaly point. The seventh height interval is the height interval of the second anomaly point relative to the first anomaly point. The height range of the first abnormal point when the scraper groove angle is greater than or equal to the predetermined angle; the eighth height range is the range between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the second abnormal point; the ninth height range is the height range of the second abnormal point when the scraper groove angle corresponding to the fourth adjacent control point is greater than or equal to the predetermined angle; the fourth adjacent control point is the control point adjacent to the second abnormal point other than the first abnormal point; the tenth height range is the height range of the second abnormal point when the scraper groove angle corresponding to the first abnormal point is greater than or equal to the predetermined angle; the first abnormal point and the second abnormal point are adjacent; the first abnormal point and the second abnormal point are both among the abnormal points in the planned cutting path.

[0135] The fifth processing module is used to replan the propulsion path of the rear roller corresponding to the first abnormal point according to the corrected height range of the first abnormal point to obtain a second corrected propulsion path, and to replan the propulsion path of the rear roller corresponding to the second abnormal point according to the corrected height range of the second abnormal point to obtain a third corrected propulsion path. One of the second corrected propulsion paths includes multiple third propulsion segments, and one of the third corrected propulsion paths includes multiple fourth propulsion segments. One of the third propulsion segments corresponds to one cut, and one of the fourth propulsion segments corresponds to one cut.

[0136] The second determining module is used to determine the starting point of the third advancement segment that intersects with the above-mentioned planned cutting path as the corrected first anomaly point, and to determine the starting point of the fourth advancement segment that intersects with the above-mentioned planned cutting path as the corrected second anomaly point.

[0137] In the above implementation, as shown in Figure 8(a), taking the example where adjacent control points C and D are the first and second anomalous points respectively, and control points A, B, E, and F are not anomalous points, the initial constraint interval of the first anomalous point C is obtained, that is, the fifth height interval [Z] of the first anomalous point C. Cmin Z Cmax ], obtain the initial constraint interval of the second anomaly point D, that is, the eighth height interval [Z] of the second anomaly point D. Dmin Z Dmax To satisfy the condition that the included angle ∠ABC of the scraper groove corresponding to the third adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the first anomaly point C is located in the sixth height interval [Z]. C8 Z C7 Within [the specified range], to satisfy the condition that the included angle ∠DEF of the scraper groove corresponding to the fourth adjacent control point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the second anomaly point D is located in the ninth height interval [Z]. D4 Z D3 Within [Z], the height of the first anomaly point C is located in the sixth height interval. C8 Z C7 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the first abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the second anomaly point D is located in the tenth height interval [Z]. D6 Z D5 Within [Z], the height of the second anomaly point D is located in the ninth height interval. D4 Z D3 In the case of [missing information], in order to ensure that the included angle ∠CDE of the scraper groove corresponding to the second abnormal point D is greater than or equal to the predetermined included angle π-β, max That is, ∠CDE≥(π-β) max The height of the first anomaly point C is located in the seventh height interval [Z]. C10 Z C9 Within [Z], take the fifth altitude interval [Z]. Cmin Z Cmax ], sixth altitude range [Z C8 Z C7 ] and the seventh altitude range [Z C10 Z C9 The intersection of [Z] yields the corrected height range [Z] of the first anomaly point C. C10 Z C7 Take the eighth altitude interval [Z]Dmin Z Dmax ], Ninth altitude range [Z D4 Z D3 ] and the tenth altitude range [Z D6 Z D5 The intersection of [Z] yields the corrected height interval [Z] of the second anomaly point D. D4 Z D5 The advancement paths of the first anomaly point C and the second anomaly point D are replanned to obtain a second revised advancement path and a third revised advancement path. The starting point of the second revised advancement path in the current advancement segment is the revised first anomaly point C, and the starting point of the third revised advancement path in the current advancement segment is the revised second anomaly point D. The heights of the revised first anomaly point and the revised second anomaly point D are the optimal heights of control points C and D. The heights of two consecutive anomaly points C and D are corrected so that the revised first anomaly point C and the revised second anomaly point D are no longer anomalies.

[0138] To further ensure that all control points are not outliers after height correction, in an optional implementation, the above-mentioned device further includes:

[0139] The sixth processing module is used to determine the starting point of the third advancement segment intersecting with the planned interception path as the corrected first anomaly point and the starting point of the fourth advancement segment intersecting with the planned interception path as the corrected second anomaly point. Then, if the corrected first anomaly point is an anomaly point and the corrected second anomaly point is not an anomaly point, the module performs a second correction on the height of the first anomaly point according to the corrected height range of the first anomaly point to obtain the second corrected first anomaly point.

[0140] The seventh processing module is used to perform a second correction on the height of the second anomaly point according to the correction height range of the second anomaly point when the corrected second anomaly point is the anomaly point and the corrected first anomaly point is not the anomaly point, so as to obtain the second anomaly point after the second correction.

[0141] The eighth processing module is used to, when both the corrected first anomaly and the corrected second anomaly are the aforementioned anomalies, perform a second correction on the height of the first anomaly based on the correction height range of the first anomaly to obtain the second-corrected first anomaly, or perform a second correction on the height of the second anomaly based on the correction height range of the second anomaly to obtain the second-corrected second anomaly.

[0142] In the above embodiments, the corrected first anomaly point and the corrected second anomaly point may still be anomalies. In the first case, if the corrected first anomaly point is an anomaly, its height is corrected a second time. In the second case, if the corrected second anomaly point is an anomaly, its height is corrected a second time. In the third case, if both the corrected first and second anomalies are anomalies, only one of their heights is corrected a second time. As shown in Figure 8(b), taking the corrected second anomaly point D as an example, to ensure that the scraper groove angle ∠BCD corresponding to the corrected first anomaly point C is greater than or equal to the predetermined angle π-β... max That is, ∠BCD≥(π-β) max The corrected height of the second anomaly point D is located within the height range [Z]. D8 Z D7 Within this range, to ensure that the angle ∠CDE of the scraper groove corresponding to the corrected second anomaly point D is greater than or equal to the predetermined angle π-β, max That is, ∠CDE≥(π-β) max The corrected height of the second anomaly point D is located within the height range [Z]. D10 Z D9 Within [Z], take the corrected height interval [Z] of the second anomaly point D. D4 Z D5 ], height range [Z D8 Z D7 ] and height range [Z D10 Z D9 The intersection of [Z] yields the secondary corrected height interval [Z] of the second anomaly point D. D4 Z D9 The advancement path of the second anomaly point D is replanned to obtain the second revised advancement path. The starting point of the second revised advancement path in the current advancement segment is the second anomaly point D after the second revision. The height of the second anomaly point D after the revision is the optimal height of the control point D. The second revision of the height of the second anomaly point D is completed, so that the revised first anomaly point C and the revised second anomaly point D are not anomalies.

[0143] Of course, the secondary correction height interval of the second anomaly point D may be an empty set. Therefore, the method described above, where the correction height interval of a single anomaly point is an empty set, is used for a third correction. For example, as shown in Figure 8(c), the correction height interval of the second anomaly point D [Z...] D4 Z D5 ], height range [Z D8 Z D7 ] and height range [Z D10 Z D9There is no intersection, and the height of the first anomaly point C is located at (Z). C' Z C7 Under the circumstances, the advancement path corresponding to the first anomaly point C is replanned, the height of the first anomaly point C is corrected, and then the height of the second anomaly point D is corrected so that the corrected first anomaly point C and the corrected second anomaly point D are no longer anomalies.

[0144] For example, in a third, alternative implementation, the correction unit further includes:

[0145] The third calculation module is used to calculate the intersection of the eleventh and twelfth height intervals to obtain the first-correction height interval of the third anomaly point when three consecutive control points in a planned cutting path are all anomaly points, and to calculate the intersection of the thirteenth and fourteenth height intervals to obtain the first-correction height interval of the fifth anomaly point. The eleventh height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under production process requirements when cutting along the planned cutting path to the position of the third anomaly point. The twelfth height interval is the height interval of the third anomaly point when the included angle of the scraper groove corresponding to the fifth adjacent control point is greater than or equal to the predetermined angle. The fifth adjacent control point is... The control points adjacent to the third anomaly point other than the fourth anomaly point, the thirteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fifth anomaly point, the fourteenth height interval is the height interval of the fifth anomaly point when the included angle of the scraper groove corresponding to the sixth adjacent control point is greater than or equal to the predetermined included angle, the sixth adjacent control point is the control point adjacent to the fifth anomaly point other than the fourth anomaly point, the third anomaly point and the fifth anomaly point are both adjacent to the fourth anomaly point, and the third anomaly point, the fourth anomaly point and the fifth anomaly point are all one of the anomalies in the planned cutting path;

[0146] The third determining module is used to determine the first possible height range of the fourth anomaly point based on the first corrected height range of the third anomaly point, and to determine the second possible height range of the fourth anomaly point based on the first corrected height range of the fifth anomaly point. For any first possible point, there exists at least one first corrected third anomaly point that satisfies that the included angle of the scraper groove corresponding to the first corrected third anomaly point is greater than or equal to the predetermined angle. For any second possible point, there exists at least one first corrected fifth anomaly point that satisfies that the included angle of the scraper groove corresponding to the first corrected fifth anomaly point is greater than or equal to the predetermined angle. The first possible point is the fourth anomaly point whose height satisfies the first possible height range, the second possible point is the fourth anomaly point whose height satisfies the second possible height range, the first corrected third anomaly point is the third anomaly point that satisfies the first corrected height range of the third anomaly point, and the first corrected fifth anomaly point is the fifth anomaly point that satisfies the first corrected height range of the fifth anomaly point.

[0147] The fourth calculation module is used to calculate the intersection of the first possible height interval, the second possible height interval and the fifteenth height interval to obtain the first corrected height interval of the fourth anomaly point. The fifteenth height interval is the interval between the maximum and minimum height of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fourth anomaly point.

[0148] The ninth processing module is used to perform a second correction on the first correction height range of the third anomaly point and the fifth anomaly point to obtain a second correction height range of the third anomaly point and the fifth anomaly point. It then corrects the height of the third anomaly point based on the second correction height range of the third anomaly point to obtain a corrected third anomaly point. Similarly, it corrects the height of the fifth anomaly point based on the second correction height range of the fifth anomaly point to obtain a corrected fifth anomaly point. Finally, it corrects the height of the fourth anomaly point based on the corrected fifth anomaly point and the corrected fifth anomaly point to obtain a corrected fourth anomaly point. Alternatively, it corrects the height of the third anomaly point based on the first correction height range of the third anomaly point to obtain a corrected third anomaly point. It then corrects the height of the fifth anomaly point based on the first correction height range of the fifth anomaly point to obtain a corrected fifth anomaly point. Finally, it corrects the height of the fourth anomaly point based on the first correction height range of the fourth anomaly point to obtain a corrected fourth anomaly point.

[0149] In the above implementation, as shown in Figure 9(a), taking the consecutive third anomaly point C, fourth anomaly point D, and fifth anomaly point E as anomaly points as an example, the initial constraint interval of the third anomaly point C, fourth anomaly point D, and fifth anomaly point E is obtained, and the eleventh height interval [Z] is obtained. Cmin Z Cmax ], the fifteenth altitude range [Z Dmin Z Dmax ] and the thirteenth altitude range [Z Emin Z Emax To ensure that the included angle ∠ABC of the scraper groove corresponding to the fifth adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the third anomaly point C is located in the twelfth height interval [Z]. C12 Z C11 Within this range, to ensure that the included angle ∠EFG of the scraper groove corresponding to the sixth adjacent control point F is greater than or equal to the predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the fifth anomaly point E is located in the fourteenth height interval [Z]. E2 Z E1 Within [Z], take the eleventh altitude interval [Z]. Cmin Z Cmax ] and the twelfth altitude range [Z C12 Z C11 The intersection of [Z] yields the first-corrected height interval [Z] of the third anomaly point C. C12 Z C11 Take the thirteenth altitude interval [Z] Emin Z Emax ] and the fourteenth altitude range [Z E2 Z E1 The intersection of [Z] yields the first-corrected height interval [Z] of the fifth anomaly point E. E2 Z E1 The height of the third anomaly point C is within the first-correction height range [Z]. C12 Z C11 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the third abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the fourth anomaly point D is located within the first possible height range [Z]. D12 Z D11 Within [Z], the height of the fifth anomaly point E is located within the first-correction height range. E2 Z E1Within the specified range, in order to ensure that the included angle ∠DEF of the scraper groove corresponding to the fifth abnormal point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the fourth anomaly point D is located in the second possible height range [Z]. D14 Z D13 Within [Z], take the first possible height interval. D12 Z D11 ], second possible altitude range [Z D14 Z D13 ] and the fifteenth altitude range [Z Dmin Z Dmax The intersection of [Z] yields the first-corrected height interval [Z] of the fourth anomaly point D. D14 Z D11 This involves first correcting the heights of the third anomaly C, the fourth anomaly D, and the fifth anomaly E, and then using one of two secondary correction methods to perform a second correction, ensuring that the corrected third anomaly C, the corrected fourth anomaly D, and the corrected fifth anomaly E are no longer anomalies.

[0150] To further ensure that all corrected control points are not outliers, in one optional implementation, if the first of the two secondary correction methods is selected, the aforementioned ninth processing module includes:

[0151] The first determining submodule is used to determine the third possible height range of the third anomaly and the fourth possible height range of the fifth anomaly based on the first corrected height range of the fourth anomaly. For any third possible point, there is at least one first corrected fourth anomaly that satisfies that the included angle of the scraper groove corresponding to the first corrected fourth anomaly is greater than or equal to the predetermined angle. For any fourth possible point, there is at least one first corrected fourth anomaly that satisfies that the included angle of the scraper groove corresponding to the first corrected fourth anomaly is greater than or equal to the predetermined angle. The third possible point is the third anomaly whose height satisfies the third possible height range. The fourth possible point is the fifth anomaly whose height satisfies the fourth possible height range. The first corrected fourth anomaly is the fourth anomaly that satisfies the first corrected height range of the fourth anomaly.

[0152] The calculation submodule is used to calculate the intersection of the first corrected height interval and the third possible height interval of the third anomaly point to obtain the second corrected height interval of the third anomaly point, and to calculate the intersection of the first corrected height interval and the fourth possible height interval of the fifth anomaly point to obtain the second corrected height interval of the fifth anomaly point.

[0153] The first processing submodule is used to replan the propulsion path of the rear roller corresponding to the third abnormal point based on the second correction height range of the third abnormal point to obtain a fourth corrected propulsion path, and to replan the propulsion path of the rear roller corresponding to the fifth abnormal point based on the second correction height range of the fifth abnormal point to obtain a fifth corrected propulsion path. One of the fourth corrected propulsion paths includes multiple fifth propulsion segments, and one of the fifth corrected propulsion paths includes multiple sixth propulsion segments. One of the fifth propulsion segments corresponds to one cut, and one of the sixth propulsion segments corresponds to one cut.

[0154] The second determining submodule is used to determine the starting point of the fifth advancement segment that intersects with the above-mentioned planned interception path as the corrected third anomaly point, and to determine the starting point of the sixth advancement segment that intersects with the above-mentioned planned interception path as the corrected fifth anomaly point.

[0155] The second processing submodule is used to correct the height of the fourth anomaly based on the corrected third anomaly and the corrected fifth anomaly, so as to obtain the corrected fourth anomaly.

[0156] In the above implementation, as shown in Figure 9(b), the height of the fourth anomaly point D is located within the first correction height range [Z]. D14 Z D11 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the third abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the third anomaly point C is located in the third possible height range [Z]. C14 Z C13 Within this range, to ensure that the included angle ∠DEF of the scraper groove corresponding to the fifth anomaly point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the fifth anomaly point E is located within the fourth possible height range [Z]. E4 Z E3 Within [Z], take the first corrected height interval of the third anomaly point C. C12 Z C11 ] and the third possible height range [Z C14 Z C13 The intersection of [Z] yields the secondary corrected height interval [Z] of the third anomaly point C. C14 Z C11 ], take the first corrected height interval [Z] of the fifth anomaly point E. E2 Z E1 ] and the fourth possible height range [Z E4 Z E3The intersection of [Z] yields the second-corrected height interval [Z] of the fifth anomaly point E. E2 Z E3 ], in the second-correction height range [Z] of the third anomaly point C C14 Z C11 The secondary correction height range [Z] within the fifth anomaly point E and the fifth anomaly point E. E2 Z E3 Within this range, the advancement paths of the third anomaly point C and the fifth anomaly point E are replanned, resulting in the fourth and fifth corrected advancement paths. The starting points of the fourth and fifth corrected advancement paths in the current advancement segment are the second-corrected third anomaly point C and the second-corrected fifth anomaly point E. This completes the second correction of the height of the third anomaly point C and the fifth anomaly point E. Based on the second-corrected third anomaly point C and the second-corrected fifth anomaly point E, the height of the fourth anomaly point D is also second-corrected. This completes the height correction of the third anomaly point C, the fourth anomaly point D, and the fifth anomaly point E, ensuring that the corrected third anomaly point C, the corrected fourth anomaly point D, and the corrected fifth anomaly point E are no longer anomalies.

[0157] To further ensure that all corrected control points are not outliers, in an optional implementation, if the second of the two secondary correction methods is selected, the aforementioned ninth processing module further includes:

[0158] The third processing submodule is used to replan the propulsion path of the rear roller corresponding to the third abnormal point based on the first correction height range of the third abnormal point to obtain a sixth corrected propulsion path; to replan the propulsion path of the rear roller corresponding to the fifth abnormal point based on the first correction height range of the fifth abnormal point to obtain a seventh corrected propulsion path; and to replan the propulsion path of the rear roller corresponding to the fourth abnormal point based on the first correction height range of the fourth abnormal point to obtain an eighth corrected propulsion path. One sixth corrected propulsion path includes multiple seventh propulsion segments, one seventh corrected propulsion path includes multiple eighth propulsion segments, and one eighth corrected propulsion path includes multiple ninth propulsion segments. One seventh propulsion segment corresponds to one cut, one eighth propulsion segment corresponds to one cut, and one ninth propulsion segment corresponds to one cut.

[0159] The third determining submodule is used to determine the starting point of the seventh advancement segment that intersects with the above-mentioned planned interception path as the corrected third anomaly point, the starting point of the eighth advancement segment that intersects with the above-mentioned planned interception path as the corrected fifth anomaly point, and the starting point of the ninth advancement segment that intersects with the above-mentioned planned interception path as the corrected fourth anomaly point.

[0160] In the above implementation, in the first correction height interval [Z] of the third anomaly point CC12 Z C11 Within ], the first correction height range of the fourth anomaly point D [Z C14 Z C11 The first correction height range [Z] within and the fifth anomaly point E. E2 Z E1 Within this range, the advancement paths of the third anomaly point C, the fourth anomaly point D, and the fifth anomaly point E are replanned, resulting in the sixth, seventh, and eighth revised advancement paths. The starting points of the sixth, seventh, and eighth revised advancement paths in the current advancement segment are the first revised third anomaly point C, the first revised fourth anomaly point D, and the first revised fifth anomaly point E, thus completing the first correction of the height of the third anomaly point C, the fourth anomaly point D, and the fifth anomaly point E.

[0161] To further ensure that all corrected control points are not outliers, in an optional implementation, the above-mentioned device further includes:

[0162] The fourth processing submodule is used to correct the height of the corrected anomaly point again when there is one or two corrected anomalies among the corrected third anomaly point, the corrected fifth anomaly point and the corrected fourth anomaly point, so as to obtain the corrected anomaly point again. The corrected anomaly point is the corrected anomaly point obtained by correcting the height of the anomaly point and the corrected anomaly point is still the anomaly point.

[0163] The fifth processing submodule is used to, when the corrected third anomaly, the corrected fifth anomaly, and the corrected fourth anomaly are all corrected anomalies, re-correct the height of the corrected third anomaly to obtain a re-corrected third anomaly, re-correct the height of the corrected fifth anomaly to obtain a re-corrected fifth anomaly, and re-correct the height of the corrected fourth anomaly based on the re-corrected third anomaly and the re-corrected fifth anomaly to obtain a re-corrected fourth anomaly.

[0164] In the above embodiments, after the first correction of the heights of the third abnormal point C, the fourth abnormal point D, and the fifth abnormal point E, there may still be abnormal points among the corrected third abnormal point C, the corrected fourth abnormal point D, and the corrected fifth abnormal point E. If there is still one abnormal point after the first correction of the third abnormal point C, the fourth abnormal point D, and the fifth abnormal point E, that is, there is one corrected abnormal point, a second height correction is performed using the method of correcting two consecutive abnormal points and still having one abnormal point. If there are still two consecutive abnormal points after the first correction of the third abnormal point C, the fourth abnormal point D, and the fifth abnormal point E, that is, the corrected third abnormal point C and the corrected fourth abnormal point D are the corrected abnormal points, a second height correction is performed using the method of correcting two consecutive abnormal points. If the corrected third abnormal point C and the corrected fifth abnormal point E are the corrected abnormal points, as shown in Figure 9(c), in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the third abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the third anomaly point C is located in the height range [Z]. C16 Z C15 Within this range, to ensure that the included angle ∠DEF of the scraper groove corresponding to the fifth anomaly point E is greater than or equal to the predetermined included angle π-β, max That is, ∠DEF≥(π-β) max The height of the fifth anomaly point E is located in the height range [Z]. E6 Z E5 Within [Z], take the height range [Z]. C16 Z C15 The first correction height range [Z] of the third anomaly point C. C12 Z C11 The intersection of [Z] yields the secondary corrected height interval [Z] of the third anomaly point C. C16 Z C11 ], take the height range [Z E6 Z E5 The first correction height range [Z] of the fifth anomaly point E. E2 Z E1 The intersection of [Z] yields the second-corrected height interval [Z] of the fifth anomaly point E. E6 Z E5 ], in the second-correction height range [Z] of the third anomaly point C C16 Z C11 The secondary correction height range [Z] within the fifth anomaly point E and the fifth anomaly point E. E6 Z E5Within this range, the advancement paths for the third anomaly point C and the fifth anomaly point E are replanned, resulting in two corrected advancement paths. The starting points of these two corrected advancement paths in the current advancement segment are the second-corrected third anomaly point C and the second-corrected fifth anomaly point E. This completes the second-correction of the height of the third anomaly point C and the fifth anomaly point E, ensuring that the second-corrected third anomaly point C and the second-corrected fifth anomaly point E are no longer anomalies. If the corrected third anomaly point C, the corrected fourth anomaly point D, and the corrected fifth anomaly point E are all the aforementioned corrected anomalies, then the method of using the corrected third anomaly point C and the corrected fifth anomaly point E as the aforementioned corrected anomalies is used to perform a second-correction of the height of the corrected third anomaly point C and the corrected fifth anomaly point E, ensuring that the second-corrected third anomaly point C and the second-corrected fifth anomaly point E are no longer anomalies. After correction, it is determined again whether the corrected fourth anomaly point D is an anomaly. If so, then the single anomaly point height correction method is used to perform a second-correction of the height of the corrected fourth anomaly point D, ensuring that the second-corrected fourth anomaly point D is no longer an anomaly.

[0165] For example, in a fourth, optional implementation, the above-mentioned correction unit further includes:

[0166] The fifth calculation module is used to calculate the intersection of the sixteenth and seventeenth height intervals in a planned cutting path where N consecutive control points are anomalous points, to obtain the first-corrected height interval for the Mth anomalous point; and to calculate the intersection of the eighteenth and nineteenth height intervals to obtain the first-corrected height interval for the (M+1)th anomalous point. The sixteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under production process requirements when cutting along the planned cutting path to the Mth anomalous point. The seventeenth height interval is the height interval of the Mth anomalous point when the included angle of the scraper groove corresponding to the seventh adjacent control point is greater than or equal to the predetermined angle. The seventh adjacent control point is the adjacent point of the Mth anomalous point (excluding the (M+2)th anomalous point). The above-mentioned control points, the above-mentioned eighteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the above-mentioned planned cutting path to the position of the above-mentioned M+1 abnormal point, the above-mentioned nineteenth height interval is the height interval of the above-mentioned M+1 abnormal point when the included angle of the scraper groove corresponding to the eighth adjacent control point is greater than or equal to the above-mentioned predetermined included angle, the above-mentioned eighth adjacent control point is the control point adjacent to the above-mentioned M+1 abnormal point other than the M+3 abnormal point, the above-mentioned M abnormal point is adjacent to the above-mentioned M+2 abnormal point, the above-mentioned M+2 abnormal point is adjacent to the above-mentioned M+3 abnormal point or the above-mentioned M+2 abnormal point is adjacent to the above-mentioned M+3 abnormal point with an interval of N-4 above-mentioned abnormal points, the above-mentioned M+3 abnormal point is adjacent to the above-mentioned M+1 abnormal point, N≥4;

[0167] The fourth determining module is used to determine the fifth possible height range of the M+2 anomaly point based on the first correction height range of the M anomaly point, and to determine the sixth possible height range of the M+3 anomaly point based on the first correction height range of the M+1 anomaly point. For any fifth possible point, at least one first correction M anomaly point satisfies that the included angle of the scraper groove corresponding to the first correction M anomaly point is greater than or equal to the predetermined angle. For any sixth possible point, at least one first correction M+1 anomaly point satisfies that the included angle of the scraper groove corresponding to the first correction M+1 anomaly point is greater than or equal to the predetermined angle. The fifth possible point is the M+2 anomaly point whose height satisfies the fifth possible height range, and the sixth possible point is the M+3 anomaly point whose height satisfies the sixth possible height range. The first correction M anomaly point is the M anomaly point that satisfies the first correction height range of the M anomaly point, and the first correction M+1 anomaly point is the M+1 anomaly point that satisfies the first correction height range of the M+1 anomaly point.

[0168] The sixth calculation module is used to calculate the intersection of the twentieth height interval and the fifth possible height mentioned above to obtain the first corrected height interval of the (M+2)th anomaly point, and to calculate the intersection of the twentieth height interval and the sixth possible height mentioned above to obtain the first corrected height interval of the (M+3)th anomaly point. The twentieth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when the planned cutting path is cut to the position of the (M+2)th anomaly point. The twentieth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when the planned cutting path is cut to the position of the (M+3)th anomaly point.

[0169] The tenth processing module is used to replan the propulsion path of the rear roller corresponding to the Mth abnormal point based on the first correction height interval of the Mth abnormal point to obtain the Mth corrected propulsion path, and to replan the propulsion path of the rear roller corresponding to the M+1 abnormal point based on the first correction height interval of the M+1 abnormal point to obtain the M+1 corrected propulsion path. One Mth corrected propulsion path includes multiple Mth propulsion segments, and one M+1 corrected propulsion path includes multiple M+1 propulsion segments. One Mth propulsion segment corresponds to one cut, and one M+1 propulsion segment corresponds to one cut.

[0170] The eleventh processing module is used to determine the starting point of the Mth advancement segment that intersects with the above-mentioned planned interception path as the corrected Mth abnormal point, and to determine the starting point of the (M+1)th advancement segment that intersects with the above-mentioned planned interception path as the corrected (M+1)th abnormal point.

[0171] The twelfth processing module is used for the correction step. Based on the corrected Mth anomaly point, the height of the M+2th anomaly point is corrected to obtain the corrected M+2th anomaly point. Based on the corrected M+1th anomaly point, the height of the M+3th anomaly point is corrected to obtain the corrected M+3th anomaly point.

[0172] The repeat module is used to increment M by 1 when N > 4, repeat the above correction steps once, until all the above-mentioned outliers are obtained after correction.

[0173] In the above implementation, as shown in Figure 10(a), taking adjacent Mth anomaly point C and M+2th anomaly point D, and adjacent M+3th anomaly point E and M+1th anomaly point F as examples, if there are consecutive anomalies between M+2th anomaly point D and M+3th anomaly point E, then there are more than four consecutive anomalies in one of the above-mentioned planned cut-off paths. If there are no anomalies between M+2th anomaly point D and M+3th anomaly point E, then there are four consecutive anomalies in one of the above-mentioned planned cut-off paths. First, the initial constraint intervals of the Mth anomaly point C, M+2th anomaly point D, M+3th anomaly point E, and M+1th anomaly point F are obtained, and the sixteenth height interval [Z] is obtained. Cmin Z Cmax ], the twentieth altitude range [Z Dmin Z Dmax ], the twenty-first altitude range [Z Emin Z Emax ] and the eighteenth altitude range [Z Fmin Z Fmax To ensure that the included angle ∠ABC of the scraper groove corresponding to the seventh adjacent control point B is greater than or equal to the predetermined included angle π-β, max That is, ∠ABC≥(π-β) max The height of the Mth anomaly point C is located in the seventeenth height interval [Z]. C18 Z C17 Within this range, to ensure that the included angle ∠FGH of the scraper groove corresponding to the eighth adjacent control point G is greater than or equal to the predetermined included angle π-β, max That is, ∠FGH≥(π-β) max The height of the (M+1)th anomaly point F is located in the nineteenth height interval [Z]. F2 Z F1 Within [Z], take the sixteenth altitude interval [Z]. Cmin Z Cmax ] and the seventeenth altitude range [Z C18 Z C17 The intersection of [Z] yields the first-corrected height interval [Z] of the Mth anomaly point C. C18 ZC17 Take the eighteenth altitude interval [Z] Fmin Z Fmax ] and the nineteenth altitude range [Z F2 Z F1 The intersection of [Z] and [Z] is used to obtain the first-corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F1 The height of the Mth anomaly point C is within the first-correction height range [Z]. C18 Z C17 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the Mth abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the (M+2)th anomaly point D is located in the fifth possible height interval [Z]. D16 Z D15 Within [Z], the height of the (M+1)th anomaly point F is located within the first-correction height interval. F2 Z F1 Within the specified range, to ensure that the included angle ∠EFG of the scraper groove corresponding to the (M+3)th abnormal point E is greater than or equal to the predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the (M+3)th anomaly point E is located in the sixth possible height interval [Z]. E8 Z E7 Within [Z], take the fifth possible height interval. D16 Z D15 ] and the twentieth altitude range [Z Dmin Z Dmax The intersection of [Z] yields the first-corrected height interval [Z] of the (M+2)th outlier point D. Dmin Z D15 Take the sixth possible height interval [Z] E8 Z E7 ] and the 21st altitude range [Z Emin Z Emax The intersection of [Z] yields the first-corrected height interval [Z] of the (M+3)th anomaly point E. E8 Z Emax The height of the Mth outlier C is corrected according to the first correction height range of the Mth outlier C. Then, the height of the (M+2)th outlier D and other outliers is corrected sequentially along the direction away from the Mth outlier C. The height of the (M+1)th outlier F is corrected according to the first correction height range of the Mth outlier F. Then, the height of the (M+3)th outlier E and other outliers is corrected sequentially along the direction away from the M+1 outlier F. This process continues until all outliers have been corrected, so that all corrected outliers are no longer outliers.

[0174] Of course, there is another option for the order of height correction of outliers. Based on the first correction height range of the (M+2)th outlier D, the height of the (M+2)th outlier D is corrected. Based on the corrected height of the (M+2)th outlier D, the height of outliers such as the Mth outlier C is corrected. Then, along the direction away from the (M+2)th outlier D, the height of outliers such as the (M+4)th outlier is corrected. Based on the first correction height range of the (M+3)th outlier E, the height of the (M+3)th outlier E is corrected. Based on the (M+3)th outlier E, the height of outliers such as the (M+1)th outlier F is corrected. Then, along the direction away from the (M+3)th outlier E, the height of outliers such as the (M+5)th outlier is corrected. This process continues until all outliers have been height corrected, so that all corrected outliers are no longer outliers.

[0175] To further ensure that all corrected control points are not outliers, in one optional implementation, the tenth processing module includes:

[0176] The fifth determining submodule is used to determine the seventh possible height range of the Mth anomaly point based on the first correction height range of the M+2th anomaly point, and to determine the eighth possible height range of the M+1th anomaly point based on the first correction height range of the M+3th anomaly point. For any seventh possible point, there is at least one first correction M+2 anomaly point that satisfies that the scraper groove angle corresponding to the first correction M+2 anomaly point is greater than or equal to the predetermined angle. For any eighth possible point, there is at least one first correction M+3 anomaly point that satisfies that the scraper groove angle corresponding to the first correction M+3 anomaly point is greater than or equal to the predetermined angle. The seventh possible point is the Mth anomaly point whose height satisfies the seventh possible height range. The eighth possible point is the M+1th anomaly point whose height satisfies the eighth possible height range. The first correction M+2 anomaly point is the M+2 anomaly point that satisfies the first correction height range of the M+2th anomaly point. The first correction M+3 anomaly point is the M+3 anomaly point that satisfies the first correction height range of the M+3th anomaly point.

[0177] The fourth calculation submodule is used to calculate the intersection of the first corrected height interval and the seventh possible height interval of the above-mentioned Mth anomaly point to obtain the second corrected height interval of the above-mentioned Mth anomaly point, and to calculate the intersection of the first corrected height interval and the eighth possible height interval of the above-mentioned M+1 anomaly point to obtain the second corrected height interval of the above-mentioned M+1 anomaly point.

[0178] The fifth processing submodule is used to replan the propulsion path of the rear roller corresponding to the Mth abnormal point based on the secondary correction height range of the Mth abnormal point to obtain the Mth corrected propulsion path, and to replan the propulsion path of the rear roller corresponding to the M+1th abnormal point based on the secondary correction height range of the M+1th abnormal point to obtain the M+1th corrected propulsion path.

[0179] In the above implementation, as shown in Figure 10(b), the height of the (M+2)th anomaly point D is located within the first correction height range [Z]. Dmin Z D15 Within the specified range, in order to ensure that the included angle ∠BCD of the scraper groove corresponding to the Mth abnormal point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the Mth anomaly point C is located in the seventh possible height interval [Z]. C20 Z C19 Within [Z], the height of the (M+3)th anomaly point E lies within the first-correction height interval. E8 Z Emax Within the case of [M+1], in order to ensure that the included angle ∠EFG of the scraper groove corresponding to the above-mentioned abnormal point F is greater than or equal to the above-mentioned predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the (M+1)th anomaly point F is located in the eighth possible height interval [Z]. F4 Z F3 Within [Z], take the seventh possible height interval. C20 Z C19 The first corrected height range [Z] of the Mth anomaly point C. C18 Z C17 The intersection of [Z] yields the secondary corrected height interval [Z] of the Mth anomaly point C. C20 Z C17 Take the eighth possible height interval [Z] F4 Z F3 The first corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F1 The intersection of [Z] yields the secondary corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F3 ], in the second-corrected height interval [Z] of the Mth anomaly point C C20 Z C17 The secondary correction height interval [Z] within and the (M+1)th anomaly point F F2 Z F3Within this process, the advancement paths of the Mth anomaly point C and the (M+1)th anomaly point F are replanned, resulting in the Mth and (M+1)th corrected advancement paths. The starting points of the current advancement segment of the Mth and (M+1)th corrected advancement paths are the Mth and (M+1)th anomaly points C and F after the second correction. This completes the second correction of the height of the Mth and (M+1)th anomaly points C and F, ensuring that they are no longer anomalies. Subsequently, the same method is used to correct the height of other anomalies such as the (M+2)th and (M+3)th anomaly points E, ensuring that all corrected anomalies are no longer anomalies.

[0180] It should be noted that, under another option, as shown in Figure 10(c), the height of the (M+2)th anomaly point D is within the first correction height range [Z]. Dmin Z D15 The heights of the (M+3)th anomaly point E and the height of the first correction height range are within [Z]. E8 Z Emax Within this section, the advancement paths for the (M+2)th anomaly point D and the (M+3)th anomaly point E are replanned, resulting in the (M+2)th and (M+3)th corrected advancement paths. The starting points of the (M+2)th and (M+3)th corrected advancement paths in the current advancement segment are the (M+2)th and (M+3)th anomaly points D and E, respectively, after one correction. To ensure that the included angle ∠BCD of the scraper groove corresponding to the Mth anomaly point C is greater than or equal to the predetermined included angle π-β, max That is, ∠BCD≥(π-β) max The height of the Mth anomaly point C is located in the ninth possible height interval [Z]. C22 Z C21 Within this range, to ensure that the included angle ∠EFG of the scraper groove corresponding to the (M+1)th abnormal point F is greater than or equal to the predetermined included angle π-β, max That is, ∠EFG≥(π-β) max The height of the (M+1)th anomaly point F is located in the tenth possible height interval [Z]. F6 Z F5 Within [Z], take the ninth possible height interval. C22 Z C21 The first corrected height range [Z] of the Mth anomaly point C. C18 Z C17 The intersection of [Z] yields the secondary corrected height interval [Z] of the Mth anomaly point C. C22 Z C17 Take the tenth possible height interval [Z] F6 Z F5 The second-corrected height interval [Z] of the (M+1)th outlier point F. F2 Z F3The intersection of [Z] yields the secondary corrected height interval [Z] of the (M+1)th anomaly point F. F2 Z F5 ], in the second-corrected height interval [Z] of the Mth anomaly point C C22 Z C17 The secondary correction height interval [Z] within and the (M+1)th anomaly point F F2 Z F5 Within this process, the advancement paths of the Mth anomaly point C and the (M+1)th anomaly point F are replanned, resulting in the Mth and (M+1)th corrected advancement paths. The starting points of the current advancement segment of the Mth and (M+1)th corrected advancement paths are the Mth and (M+1)th anomaly points C and F after the second correction. This completes the second correction of the height of the Mth and (M+1)th anomaly points C and F, ensuring that they are no longer anomalies. Subsequently, the same method is used to correct the height of other anomalies such as the (M+2)th and (M+3)th anomaly points E, ensuring that all corrected anomalies are no longer anomalies.

[0181] The second processing unit 500 is used to sequentially connect the control points and the corrected abnormal points belonging to the same cutter to obtain multiple corrected cutting paths of the rear roller, with each corrected cutting path corresponding to one cutter.

[0182] Specifically, the control points belonging to the same cutter and the corrected abnormal points are connected sequentially to obtain multiple corrected cutting paths for the rear roller, such as... Figure 1 As shown, the corrected cut path can be obtained by adjusting the height of the outliers in the planned cut path 16.

[0183] In the aforementioned correction device for the cutting path of the rear drum of the coal mining machine, the acquisition unit acquires multiple planned advance paths of the rear drum, each planned advance path corresponding to a scraper groove. Each planned advance path includes multiple first advance segments, and each first advance segment corresponds to one cutter. The first processing unit sequentially connects the control points belonging to the same cutter in all the planned advance paths to obtain multiple planned cutting paths of the rear drum, each planned cutting path corresponding to one cutter. The control point is the starting point of the first advance segment. The determining unit determines the control point as an abnormal point if the included angle of the scraper groove corresponding to the control point is less than a predetermined angle. The included angle is the maximum included angle between the control point and the line connecting two adjacent control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum value of the included angle between two adjacent scraper grooves of the scraper conveyor in the vertical plane. The correction unit corrects the height of the abnormal point to obtain the corrected abnormal point, so that the included angle of the scraper groove corresponding to all control points is greater than or equal to the predetermined included angle. The second processing unit connects the control points belonging to the same cutter and the corrected abnormal points in sequence to obtain multiple corrected cutting paths of the rear roller, and one corrected cutting path corresponds to one cutter. This correction device corrects the height of the control points of the rear drum cutting path, that is, it corrects the height of the starting point of the first advancing section of the planned advancing path, so that the included angle of the scraper troughs corresponding to each control point meets the vertical curvature constraint of the scraper conveyor's scraper troughs. This ensures that the scraper conveyor can advance synchronously with the coal mining machine, and avoids the scraper conveyor failing to advance synchronously with the coal mining machine, which would cause the cut coal to be missed. This solves the problem of some coal waste caused by the lack of correction of the rear drum cutting path in the prior art.

[0184] Embodiments of this application also provide a coal mining system, including: a coal mining machine, a scraper conveyor, one or more processors, a memory, and one or more programs, wherein the coal mining machine includes a rear drum, and during the process of the coal mining machine moving from the head to the tail of the scraper conveyor, the rear drum cuts a piece of coal from the coal seam to be mined, the scraper conveyor includes a plurality of scraper troughs connected in sequence, and during the coal mining process, the coal cut by the rear drum falls into the scraper trough directly below the rear drum, 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 a method for executing any of the above-described electronic whiteboard processing methods.

[0185] The aforementioned coal mining system includes a coal mining machine and a scraper conveyor. This system corrects the height of the control points of the rear drum cutting path, specifically the starting point of the first advancing section of the planned advancing path. This ensures that the included angle of the scraper troughs corresponding to each control point meets the vertical curvature constraint of the scraper conveyor's scraper troughs, guaranteeing that the scraper conveyor can advance synchronously with the coal mining machine. This avoids the scraper conveyor failing to advance synchronously with the coal mining machine, which would cause the cut coal to be missed. This solves the problem of coal waste caused by the lack of correction of the rear drum cutting path in the prior art.

[0186] The aforementioned correction device for the cutting path of the rear drum of the coal mining machine includes a processor and a memory. The aforementioned acquisition unit, first processing unit, determination unit, correction unit, and second processing unit are all stored in the memory as program units. The processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0187] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem of coal waste caused by the lack of correction for the rear drum cutting path in existing technologies.

[0188] 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.

[0189] This invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the above-described method.

[0190] This invention provides a processor for running a program, wherein the program executes the method described above when it runs.

[0191] 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:

[0192] Step S101: Obtain multiple planned propulsion paths of the rear roller. The planned propulsion paths correspond one-to-one with the scraper grooves. Each planned propulsion path includes multiple first propulsion segments, and each first propulsion segment corresponds to one cut.

[0193] Step S102: Connect the control points of the same cutter in all the above-mentioned planned advance paths in sequence to obtain multiple planned cutting paths of the rear roller. Each of the above-mentioned planned cutting paths corresponds to one cutter, and the above-mentioned control points are the starting points of the first advance section.

[0194] Step S103: If the included angle of the scraper trough corresponding to the above control point is less than the predetermined included angle, the above control point is determined to be an abnormal point. The included angle of the scraper trough is the maximum included angle between the above control point and the line connecting two adjacent above control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum value of the included angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane.

[0195] Step S104: Correct the height of the above-mentioned abnormal points to obtain the corrected abnormal points, so that the included angle of the scraper groove corresponding to all the above-mentioned control points is greater than or equal to the predetermined included angle.

[0196] Step S105: Connect the control points and the corrected abnormal points belonging to the same cutter in sequence to obtain multiple corrected cutting paths of the rear roller, with one corrected cutting path corresponding to one cutter.

[0197] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0198] 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:

[0199] Step S101: Obtain multiple planned propulsion paths of the rear roller. The planned propulsion paths correspond one-to-one with the scraper grooves. Each planned propulsion path includes multiple first propulsion segments, and each first propulsion segment corresponds to one cut.

[0200] Step S102: Connect the control points of the same cutter in all the above-mentioned planned advance paths in sequence to obtain multiple planned cutting paths of the rear roller. Each of the above-mentioned planned cutting paths corresponds to one cutter, and the above-mentioned control points are the starting points of the first advance section.

[0201] Step S103: If the included angle of the scraper trough corresponding to the above control point is less than the predetermined included angle, the above control point is determined to be an abnormal point. The included angle of the scraper trough is the maximum included angle between the above control point and the line connecting two adjacent above control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum value of the included angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane.

[0202] Step S104: Correct the height of the above-mentioned abnormal points to obtain the corrected abnormal points, so that the included angle of the scraper groove corresponding to all the above-mentioned control points is greater than or equal to the predetermined included angle.

[0203] Step S105: Connect the control points and the corrected abnormal points belonging to the same cutter in sequence to obtain multiple corrected cutting paths of the rear roller, with one corrected cutting path corresponding to one cutter.

[0204] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0205] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units described above can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0206] The units described above as separate components may or may not be physically separate. Similarly, the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0207] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0208] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0209] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0210] 1) In the method for correcting the cutting path of the rear drum of the coal mining machine in this application, firstly, multiple planned advance paths of the rear drum are obtained, each planned advance path corresponding to a scraper groove. Each planned advance path includes multiple first advance segments, and each first advance segment corresponds to one cutter. Then, control points belonging to the same cutter in all the planned advance paths are sequentially connected to obtain multiple planned cutting paths of the rear drum, each planned cutting path corresponding to one cutter. The control point is the starting point of the first advance segment. Afterwards, if the included angle of the scraper groove corresponding to the control point is less than a predetermined angle, the control point is determined to be an abnormal point. The trough angle is the maximum angle between the control point and the line connecting two adjacent control points. The predetermined angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane. Then, the height of the abnormal points is corrected to obtain the corrected abnormal points, so that the trough angles corresponding to all control points are greater than or equal to the predetermined angles. Finally, the control points belonging to the same cutter and the corrected abnormal points are connected sequentially to obtain multiple corrected cutting paths of the rear roller, with one corrected cutting path corresponding to one cutter. This correction method corrects the height of the control points of the rear drum cutting path, specifically the starting point of the first advancing section of the planned advancing path. This ensures that the included angle of the scraper troughs corresponding to each control point meets the vertical curvature constraint of the scraper conveyor's scraper troughs, guaranteeing that the scraper conveyor can advance synchronously with the coal mining machine. This avoids the scraper conveyor failing to advance synchronously with the coal mining machine, which would result in the loss of cut coal. This solves the problem of some coal waste caused by the lack of correction of the rear drum cutting path in the existing technology.

[0211] 2) In the correction device for the cutting path of the rear drum of the coal mining machine in this application, the acquisition unit acquires multiple planned advance paths of the rear drum, each planned advance path corresponding to a scraper groove. Each planned advance path includes multiple first advance segments, and each first advance segment corresponds to one cutter. The first processing unit sequentially connects the control points belonging to the same cutter in all the planned advance paths to obtain multiple planned cutting paths of the rear drum, each planned cutting path corresponding to one cutter. The control point is the starting point of the first advance segment. The determining unit determines the control point as an abnormal point if the included angle of the scraper groove corresponding to the control point is less than a predetermined angle. The trough angle is the maximum angle between the control point and the line connecting two adjacent control points. The predetermined angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane. The correction unit corrects the height of the abnormal point to obtain the corrected abnormal point, so that the trough angle corresponding to all control points is greater than or equal to the predetermined angle. The second processing unit connects the control points belonging to the same cutter and the corrected abnormal point in sequence to obtain multiple corrected cutting paths of the rear roller, and one corrected cutting path corresponds to one cutter. This correction device corrects the height of the control points of the rear drum cutting path, that is, it corrects the height of the starting point of the first advancing section of the planned advancing path, so that the included angle of the scraper troughs corresponding to each control point meets the vertical curvature constraint of the scraper conveyor's scraper troughs. This ensures that the scraper conveyor can advance synchronously with the coal mining machine, and avoids the scraper conveyor failing to advance synchronously with the coal mining machine, which would cause the cut coal to be missed. This solves the problem of some coal waste caused by the lack of correction of the rear drum cutting path in the prior art.

[0212] 3) The coal mining system of this application includes a coal mining machine and a scraper conveyor. This system corrects the height of the control points on the rear drum cutting path, specifically the starting point of the first advancing section of the planned path, ensuring that the included angle of the scraper troughs at each control point meets the vertical curvature constraint of the scraper conveyor's troughs. This guarantees that the scraper conveyor can advance synchronously with the coal mining machine, preventing coal loss due to the scraper conveyor's inability to advance synchronously with the coal mining machine. This solves the problem of coal waste caused by the lack of rear drum cutting path correction in existing technologies.

[0213] 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 correcting the cutting path of the rear drum of a coal mining machine, characterized in that, The coal mining machine includes a rear drum. During the movement of the coal mining machine from the head to the tail of the scraper conveyor, the rear drum cuts a section of coal from the coal seam to be mined. The scraper conveyor includes multiple scraper troughs connected in sequence. During the coal mining process, the coal cut by the rear drum falls into the scraper trough directly below the rear drum. The method includes: Multiple planned propulsion paths of the rear roller are obtained. Each planned propulsion path corresponds to a scraper groove. Each planned propulsion path includes multiple first propulsion segments, and each first propulsion segment corresponds to one cut. By sequentially connecting the control points belonging to the same cutter in all the planned advancement paths, multiple planned cutting paths of the rear roller are obtained. Each planned cutting path corresponds to one cutter, and the control point is the starting point of the first advancement segment. If the included angle of the scraper trough corresponding to the control point is less than the predetermined included angle, the control point is determined to be an abnormal point. The included angle of the scraper trough is the maximum included angle between the control point and the line connecting two adjacent control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum value of the included angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane. The height of the abnormal point is corrected to obtain the corrected abnormal point, so that the included angle of the scraper groove corresponding to all the control points is greater than or equal to the predetermined included angle. By sequentially connecting the control points and the corrected abnormal points belonging to the same cutter, multiple corrected cutting paths of the rear roller are obtained, with each corrected cutting path corresponding to one cutter.

2. The method according to claim 1, characterized in that, The height of the abnormal points is corrected to obtain corrected abnormal points, such that the included angle of the scraper groove corresponding to all control points is greater than or equal to the predetermined included angle, including: In a planned cutting path, if neither of the two adjacent control points of the target anomaly is an anomaly, the intersection of the first height interval, the second height interval, the third height interval, and the fourth height interval is calculated to obtain the corrected height interval of the target anomaly. The first height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the target anomaly position. The second height interval is the height interval of the target anomaly when the scraper groove angle corresponding to the first adjacent control point is greater than or equal to the predetermined angle. The third height interval is the height interval of the target anomaly when the scraper groove angle corresponding to the second adjacent control point is greater than or equal to the predetermined angle. The fourth height interval is the height interval of the target anomaly when the scraper groove angle corresponding to the target anomaly is greater than or equal to the predetermined angle. The first adjacent control point and the second adjacent control point are both control points adjacent to the target anomaly. The target anomaly is one of the anomalies in the planned cutting path. Based on the corrected height range of the target anomaly point, the propulsion path of the rear roller corresponding to the target anomaly point is replanned to obtain a first corrected propulsion path. A first corrected propulsion path includes multiple second propulsion segments, and each second propulsion segment corresponds to one cut. The starting point of the second advancement segment that intersects with the planned cutting path is determined as the corrected target anomaly point.

3. The method according to claim 2, characterized in that, When the corrected height interval of the target anomaly is an empty set, the method further includes: When the second height interval and the fourth height interval do not intersect, the height of the first adjacent control point is corrected to obtain the corrected first adjacent control point, and the height of the target anomaly point is corrected based on the corrected first adjacent control point. When the third height interval and the fourth height interval do not intersect, the height of the second adjacent control point is corrected to obtain the corrected second adjacent control point, and the height of the target anomaly point is corrected based on the corrected second adjacent control point. When neither the second height interval nor the third height interval intersects with the fourth height interval, the heights of the first adjacent control point and the second adjacent control point are corrected to obtain the corrected first adjacent control point and the corrected second adjacent control point. The height of the target anomaly point is then corrected based on the corrected first adjacent control point and the corrected second adjacent control point.

4. The method according to claim 1, characterized in that, The height of the abnormal points is corrected to obtain the corrected abnormal points, such that the included angle of the scraper grooves corresponding to all the control points is greater than or equal to the predetermined included angle, and the method further includes: In a planned cutting path, if two consecutive control points are anomalous points, the intersection of the fifth, sixth, and seventh height intervals is calculated to obtain the corrected height interval for the first anomalous point. The intersection of the eighth, ninth, and tenth height intervals is calculated to obtain the corrected height interval for the second anomalous point. The fifth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the first anomalous point. The sixth height interval is the height interval of the first anomalous point when the included angle of the scraper groove corresponding to the third adjacent control point is greater than or equal to the predetermined included angle. The third adjacent control point is the control point adjacent to the first anomalous point other than the second anomalous point. The seventh height interval is the height interval of the second anomalous point. The height range of the first abnormal point when the scraper groove angle is greater than or equal to the predetermined angle; the eighth height range is the range between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the second abnormal point; the ninth height range is the height range of the second abnormal point when the scraper groove angle corresponding to the fourth adjacent control point is greater than or equal to the predetermined angle; the fourth adjacent control point is the control point adjacent to the second abnormal point other than the first abnormal point; the tenth height range is the height range of the second abnormal point when the scraper groove angle corresponding to the first abnormal point is greater than or equal to the predetermined angle; the first abnormal point and the second abnormal point are adjacent, and the first abnormal point and the second abnormal point are both among the abnormal points in the planned cutting path; Based on the corrected height range of the first anomaly point, the propulsion path of the rear roller corresponding to the first anomaly point is replanned to obtain a second corrected propulsion path. Based on the corrected height range of the second anomaly point, the propulsion path of the rear roller corresponding to the second anomaly point is replanned to obtain a third corrected propulsion path. A second corrected propulsion path includes multiple third propulsion segments, and a third corrected propulsion path includes multiple fourth propulsion segments. One third propulsion segment corresponds to one cut, and one fourth propulsion segment corresponds to one cut. The starting point of the third advancement segment that intersects with the planned cut-off path is determined as the corrected first anomaly point, and the starting point of the fourth advancement segment that intersects with the planned cut-off path is determined as the corrected second anomaly point.

5. The method according to claim 4, characterized in that, After determining the starting point of the third advancement segment intersecting the planned cutoff path as the corrected first anomaly point, and determining the starting point of the fourth advancement segment intersecting the planned cutoff path as the corrected second anomaly point, the method further includes: If the corrected first anomaly is the anomaly and the corrected second anomaly is not the anomaly, the height of the first anomaly is corrected a second time according to the corrected height range of the first anomaly to obtain the first anomaly after the second correction. If the corrected second anomaly is the anomaly and the corrected first anomaly is not the anomaly, the height of the second anomaly is corrected a second time according to the corrected height range of the second anomaly to obtain the second anomaly after the second correction. If both the corrected first anomaly and the corrected second anomaly are the anomaly points, the height of the first anomaly is corrected a second time according to the corrected height range of the first anomaly to obtain the second anomaly point after secondary correction; or, the height of the second anomaly is corrected a second time according to the corrected height range of the second anomaly to obtain the second anomaly point after secondary correction.

6. The method according to claim 5, characterized in that, The height of the abnormal points is corrected to obtain the corrected abnormal points, such that the included angle of the scraper grooves corresponding to all the control points is greater than or equal to the predetermined included angle, and the method further includes: In a planned cutting path, if three consecutive control points are considered anomalous points, the intersection of the eleventh and twelfth height intervals is calculated to obtain the first-corrected height interval for the third anomalous point. The intersection of the thirteenth and fourteenth height intervals is calculated to obtain the first-corrected height interval for the fifth anomalous point. The eleventh height interval is the range between the maximum and minimum heights of the bottom of the rear roller under production process requirements when cutting along the planned cutting path to the position of the third anomalous point. The twelfth height interval is the height interval of the third anomalous point when the included angle of the scraper groove corresponding to the fifth adjacent control point is greater than or equal to the predetermined included angle. The fifth adjacent control point is the fourth anomalous point. The control points adjacent to the third abnormal point other than the point mentioned above; the thirteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fifth abnormal point; the fourteenth height interval is the height interval of the fifth abnormal point when the included angle of the scraper groove corresponding to the sixth adjacent control point is greater than or equal to the predetermined included angle; the sixth adjacent control point is the control point adjacent to the fifth abnormal point other than the fourth abnormal point; the third abnormal point and the fifth abnormal point are both adjacent to the fourth abnormal point; the third abnormal point, the fourth abnormal point and the fifth abnormal point are all one of the abnormal points in the planned cutting path. The first possible height range of the fourth anomaly is determined based on the first corrected height range of the third anomaly, and the second possible height range of the fourth anomaly is determined based on the first corrected height range of the fifth anomaly. For any first possible point, there is at least one first corrected third anomaly satisfying that the included angle of the scraper groove corresponding to the first corrected third anomaly is greater than or equal to the predetermined angle. For any second possible point, there is at least one first corrected fifth anomaly satisfying that the included angle of the scraper groove corresponding to the first corrected fifth anomaly is greater than or equal to the predetermined angle. The first possible point is the fourth anomaly whose height satisfies the first possible height range, the second possible point is the fourth anomaly whose height satisfies the second possible height range, the first corrected third anomaly is the third anomaly satisfying the first corrected height range of the third anomaly, and the first corrected fifth anomaly is the fifth anomaly satisfying the first corrected height range of the fifth anomaly. Calculate the intersection of the first possible height interval, the second possible height interval, and the fifteenth height interval to obtain the first corrected height interval of the fourth anomaly point. The fifteenth height interval is the interval between the maximum and minimum height of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the fourth anomaly point. The height ranges of the third and fifth anomalies are corrected a second time to obtain the second-corrected height ranges of the third and fifth anomalies. The height of the third anomaly is then corrected based on the second-corrected height ranges of the third anomaly to obtain the corrected third anomaly. The height of the fifth anomaly is then corrected based on the second-corrected height ranges of the fifth anomaly to obtain the corrected fifth anomaly. The height of the fourth anomaly is then corrected based on the corrected fifth anomaly and the corrected fifth anomaly to obtain the corrected fourth anomaly. Alternatively, the height of the third anomaly is corrected based on the first-corrected height ranges of the third anomaly to obtain the corrected third anomaly. The height of the fifth anomaly is then corrected based on the first-corrected height ranges of the fifth anomaly to obtain the corrected fifth anomaly. The height of the fourth anomaly is then corrected based on the first-corrected height ranges of the fourth anomaly to obtain the corrected fourth anomaly.

7. The method according to claim 6, characterized in that, The height ranges of the first correction for the third and fifth anomalies are then modified a second time to obtain the second correction height ranges for the third and fifth anomalies. The height of the third anomaly is then corrected based on these second correction height ranges to obtain the corrected third anomaly. Similarly, the height of the fifth anomaly is corrected based on its second correction height range to obtain the corrected fifth anomaly. Finally, the height of the fourth anomaly is corrected based on the corrected fifth anomaly and the corrected fifth anomaly to obtain the corrected fourth anomaly. This process includes: Based on the first-correction height range of the fourth anomaly point, the third possible height range of the third anomaly point and the fourth possible height range of the fifth anomaly point are determined. For any third possible point, there is at least one first-correction fourth anomaly point that satisfies that the scraper groove angle corresponding to the first-correction fourth anomaly point is greater than or equal to the predetermined angle. For any fourth possible point, there is at least one first-correction fourth anomaly point that satisfies that the scraper groove angle corresponding to the first-correction fourth anomaly point is greater than or equal to the predetermined angle. The third possible point is the third anomaly point whose height satisfies the third possible height range. The fourth possible point is the fifth anomaly point whose height satisfies the fourth possible height range. The first-correction fourth anomaly point is the fourth anomaly point that satisfies the first-correction height range of the fourth anomaly point. Calculate the intersection of the first corrected height interval and the third possible height interval of the third anomaly point to obtain the second corrected height interval of the third anomaly point; calculate the intersection of the first corrected height interval and the fourth possible height interval of the fifth anomaly point to obtain the second corrected height interval of the fifth anomaly point. Based on the secondary correction height range of the third anomaly point, the propulsion path of the rear roller corresponding to the third anomaly point is replanned to obtain the fourth correction propulsion path. Based on the secondary correction height range of the fifth anomaly point, the propulsion path of the rear roller corresponding to the fifth anomaly point is replanned to obtain the fifth correction propulsion path. One fourth correction propulsion path includes multiple fifth propulsion segments, and one fifth correction propulsion path includes multiple sixth propulsion segments. One fifth propulsion segment corresponds to one cut, and one sixth propulsion segment corresponds to one cut. The starting point of the fifth advancement segment that intersects with the planned cut-off path is determined as the corrected third anomaly point, and the starting point of the sixth advancement segment that intersects with the planned cut-off path is determined as the corrected fifth anomaly point. The height of the fourth anomaly is corrected based on the corrected third and fifth anomalies to obtain the corrected fourth anomaly.

8. The method according to claim 6, characterized in that, The height of the third anomaly is corrected according to the first correction height range of the third anomaly to obtain the corrected third anomaly. The height of the fifth anomaly is corrected according to the first correction height range of the fifth anomaly to obtain the corrected fifth anomaly. The height of the fourth anomaly is corrected according to the first correction height range of the fourth anomaly to obtain the corrected fourth anomaly, including: The propulsion path of the rear roller corresponding to the third anomaly point is replanned according to the first correction height interval of the third anomaly point to obtain the sixth corrected propulsion path. The propulsion path of the rear roller corresponding to the fifth anomaly point is replanned according to the first correction height interval of the fifth anomaly point to obtain the seventh corrected propulsion path. The propulsion path of the rear roller corresponding to the fourth anomaly point is replanned according to the first correction height interval of the fourth anomaly point to obtain the eighth corrected propulsion path. A sixth corrected propulsion path includes multiple seventh propulsion segments, a seventh corrected propulsion path includes multiple eighth propulsion segments, and an eighth corrected propulsion path includes multiple ninth propulsion segments. One seventh propulsion segment corresponds to one cut, one eighth propulsion segment corresponds to one cut, and one ninth propulsion segment corresponds to one cut. The starting point of the seventh advancement segment, which intersects with the planned cut-off path, is determined as the corrected third anomaly point; the starting point of the eighth advancement segment, which intersects with the planned cut-off path, is determined as the corrected fifth anomaly point; and the starting point of the ninth advancement segment, which intersects with the planned cut-off path, is determined as the corrected fourth anomaly point.

9. The method according to claim 8, characterized in that, After determining the starting point of the seventh advancement segment intersecting the planned cut-off path as the corrected third anomaly point, the starting point of the eighth advancement segment intersecting the planned cut-off path as the corrected fifth anomaly point, and the starting point of the ninth advancement segment intersecting the planned cut-off path as the corrected fourth anomaly point, the method further includes: If one or two of the corrected anomalies exist among the corrected third anomaly, the corrected fifth anomaly, and the corrected fourth anomaly, the height of the corrected anomaly is corrected again to obtain the corrected anomaly. The corrected anomaly is the anomaly obtained by correcting the height of the anomaly, and the corrected anomaly is still the anomaly. If the corrected third anomaly, the corrected fifth anomaly, and the corrected fourth anomaly are all corrected anomalies, then the height of the corrected third anomaly is corrected again to obtain the corrected third anomaly. The height of the corrected fifth anomaly is corrected again to obtain the corrected fifth anomaly. Based on the corrected third anomaly and the corrected fifth anomaly, the height of the corrected fourth anomaly is corrected again to obtain the corrected fourth anomaly.

10. The method according to claim 1, characterized in that, The height of the abnormal points is corrected to obtain the corrected abnormal points, such that the included angle of the scraper grooves corresponding to all the control points is greater than or equal to the predetermined included angle, and the method further includes: In a planned cutting path, if N consecutive control points are all anomalous points, the intersection of the sixteenth and seventeenth height intervals is calculated to obtain the first-corrected height interval for the Mth anomalous point. The intersection of the eighteenth and nineteenth height intervals is calculated to obtain the first-corrected height interval for the (M+1)th anomalous point. The sixteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the Mth anomalous point. The seventeenth height interval is the height interval of the Mth anomalous point when the included angle of the scraper groove corresponding to the seventh adjacent control point is greater than or equal to the predetermined included angle. The seventh adjacent control point is the control point adjacent to the Mth anomalous point other than the (M+2)th anomalous point. The eighteenth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the (M+1)th abnormal point. The nineteenth height interval is the height interval of the (M+1)th abnormal point when the included angle of the scraper groove corresponding to the eighth adjacent control point is greater than or equal to the predetermined included angle. The eighth adjacent control point is the control point adjacent to the (M+1)th abnormal point other than the (M+3)th abnormal point. The (M)th abnormal point is adjacent to the (M+2)th abnormal point. The interval between the adjacent (M+2)th abnormal point and the adjacent (M+3)th abnormal point or between the adjacent (M+2)th abnormal point and the (M+3)th abnormal point is N-4 abnormal points. The (M+3)th abnormal point is adjacent to the (M+1)th abnormal point, and N≥4. The fifth possible height range of the (M+2)th anomaly is determined based on the first correction height range of the Mth anomaly. The sixth possible height range of the (M+3)th anomaly is determined based on the first correction height range of the (M+1)th anomaly. For any fifth possible point, there is at least one first correction Mth anomaly satisfying that the included angle of the scraper groove corresponding to the first correction Mth anomaly is greater than or equal to the predetermined angle. For any sixth possible point, there is at least one first correction M+1 anomaly satisfying that the included angle of the scraper groove corresponding to the first correction M+1 anomaly is greater than or equal to the predetermined angle. The fifth possible point is the (M+2)th anomaly whose height satisfies the fifth possible height range. The sixth possible point is the (M+3)th anomaly whose height satisfies the sixth possible height range. The first correction Mth anomaly is the Mth anomaly that satisfies the first correction height range of the Mth anomaly. The first correction M+1 anomaly is the M+1th anomaly that satisfies the first correction height range of the M+1 anomaly. Calculate the intersection of the twentieth height interval and the fifth possible height to obtain the first corrected height interval of the (M+2)th anomaly point. Calculate the intersection of the twenty-first height interval and the sixth possible height to obtain the first corrected height interval of the (M+3)th anomaly point. The twentieth height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the (M+2)th anomaly point. The twenty-first height interval is the interval between the maximum and minimum heights of the bottom of the rear roller under the production process requirements when cutting along the planned cutting path to the position of the (M+3)th anomaly point. The propulsion path of the rear roller corresponding to the Mth abnormal point is replanned according to the first correction height interval of the Mth abnormal point to obtain the Mth corrected propulsion path. The propulsion path of the rear roller corresponding to the M+1th abnormal point is replanned according to the first correction height interval of the M+1th abnormal point to obtain the M+1th corrected propulsion path. One Mth corrected propulsion path includes multiple Mth propulsion segments, and one M+1 corrected propulsion path includes multiple M+1th propulsion segments. One Mth propulsion segment corresponds to one cut, and one M+1th propulsion segment corresponds to one cut. The starting point of the Mth advancement segment that intersects with the planned interception path is determined as the corrected Mth anomaly point, and the starting point of the (M+1)th advancement segment that intersects with the planned interception path is determined as the corrected (M+1)th anomaly point. The correction step involves correcting the height of the (M+2)th anomaly point based on the corrected Mth anomaly point to obtain the corrected M+2th anomaly point, and correcting the height of the (M+1)th anomaly point based on the corrected Mth anomaly point to obtain the corrected M+3th anomaly point. When N > 4, increase M by 1 and repeat the correction step once until all the corrected anomalies are obtained.

11. The method according to claim 10, characterized in that, Based on the first-correction height interval of the Mth anomaly point, the propulsion path of the rear roller corresponding to the Mth anomaly point is replanned to obtain the Mth corrected propulsion path. Similarly, based on the first-correction height interval of the (M+1)th anomaly point, the propulsion path of the rear roller corresponding to the (M+1)th anomaly point is replanned to obtain the (M+1)th corrected propulsion path, including: The seventh possible height range of the Mth anomaly is determined based on the first correction height range of the (M+2)th anomaly. The eighth possible height range of the M+1th anomaly is determined based on the first correction height range of the M+3th anomaly. For any seventh possible point, there is at least one first correction of the M+2th anomaly that satisfies that the included angle of the scraper groove corresponding to the first correction of the M+2th anomaly is greater than or equal to the predetermined angle. For any eighth possible point, there is at least one first correction of the M+3th anomaly that satisfies that the included angle of the scraper groove corresponding to the first correction of the M+3th anomaly is greater than or equal to the predetermined angle. The seventh possible point is the Mth anomaly whose height satisfies the seventh possible height range. The eighth possible point is the M+1th anomaly whose height satisfies the eighth possible height range. The first correction of the M+2th anomaly is the M+2th anomaly that satisfies the first correction height range of the M+2th anomaly. The first correction of the M+3th anomaly is the M+3th anomaly that satisfies the first correction height range of the M+3th anomaly. Calculate the intersection of the first corrected height interval and the seventh possible height interval of the Mth anomaly point to obtain the second corrected height interval of the Mth anomaly point; calculate the intersection of the first corrected height interval and the eighth possible height interval of the (M+1)th anomaly point to obtain the second corrected height interval of the (M+1)th anomaly point. Based on the secondary correction height range of the Mth anomaly point, the propulsion path of the rear roller corresponding to the Mth anomaly point is replanned to obtain the Mth corrected propulsion path. Based on the secondary correction height range of the M+1th anomaly point, the propulsion path of the rear roller corresponding to the M+1th anomaly point is replanned to obtain the M+1th corrected propulsion path.

12. A correction device for the cutting path of the rear drum of a coal mining machine, characterized in that, The coal mining machine includes a rear drum. During the movement of the coal mining machine from the head to the tail of the scraper conveyor, the rear drum cuts a section of coal from the coal seam to be mined. The scraper conveyor includes multiple scraper troughs connected in sequence. During the coal mining process, the coal cut by the rear drum falls into the scraper trough directly below the rear drum. The device includes: The acquisition unit is used to acquire multiple planned propulsion paths of the rear roller. The planned propulsion paths correspond one-to-one with the scraper grooves. Each planned propulsion path includes multiple first propulsion segments, and each first propulsion segment corresponds to one blade. The first processing unit is used to sequentially connect the control points belonging to the same cutter in all the planned advancement paths to obtain multiple planned cutting paths of the rear roller. Each planned cutting path corresponds to one cutter, and the control point is the starting point of the first advancement segment. The determining unit is used to determine the control point as an abnormal point when the included angle of the scraper trough corresponding to the control point is less than a predetermined angle. The included angle of the scraper trough is the maximum included angle between the control point and the line connecting two adjacent control points. The predetermined included angle is the supplementary angle of the maximum vertical curvature of the scraper conveyor. The maximum vertical curvature is the maximum value of the included angle between two adjacent scraper troughs of the scraper conveyor in the vertical plane. The correction unit is used to correct the height of the abnormal point to obtain the corrected abnormal point, so that the included angle of the scraper groove corresponding to all the control points is greater than or equal to the predetermined included angle. The second processing unit is used to connect the control points belonging to the same cutter and the corrected abnormal points in sequence to obtain multiple corrected cutting paths of the rear roller, with each corrected cutting path corresponding to one cutter.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the processor performs the method according to any one of claims 1 to 11.

14. A coal mining system, characterized in that, include: A coal mining machine, a scraper conveyor, one or more processors, a memory, and one or more programs, wherein the coal mining machine includes a rear drum, which cuts a piece of coal from the coal seam to be mined during the movement of the coal mining machine from the head to the tail of the scraper conveyor, the scraper conveyor includes a plurality of scraper troughs connected in sequence, and the coal cut by the rear drum during the coal mining process falls into the scraper trough directly below the rear drum, 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 claims 1 to 6.

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