Method, device and system for determining a cutting path of a front drum of a coal mining machine

Abstract

The application provides a method, device and system for determining a cutting path of a front drum of a coal mining machine. The method comprises: a first determining step of determining an actual height adjustment range of the front drum when the front drum is located directly above a target scraper trough during cutting of each cutter coal, according to a preset height adjustment range of the front drum and a preset advancing path of the target scraper trough; a second determining step of determining a plurality of optional advancing paths of the front drum according to the actual height adjustment range, wherein an optional advancing path comprises a plurality of second advancing paths; a third determining step of determining an optimal advancing path according to a coal mining operation requirement and the optional advancing paths; repeating the above steps to obtain a plurality of optimal advancing paths; and connecting starting points of the second advancing paths of the same cutter in all the optimal advancing paths to obtain a plurality of optimal cutting paths of the front drum. The method solves the problem that the future continuous N-cutter cutting path of the front drum cannot be optimized as a whole in the prior art.

Description

Technical Field

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

[0002] With the country's vigorous promotion of the development of intelligent coal mining technology, some intelligent coal mines in China have gradually realized an intelligent coal mining mode of "memory-based coal cutting, supplemented by manual intervention, unmanned machine operation, and manned inspection".

[0003] In memory-based coal cutting technology, the coal mining machine can store information such as its relative position, rocker arm angle, drum height, machine body angle, traction force, running speed and direction during the cutting process in the controller, and perform comprehensive analysis to obtain the coal mining machine's running trajectory, which is then used to guide the coal mining machine to perform automatic cutting in subsequent cutting processes.

[0004] Currently, there are two main development directions for optimizing the memory path of coal mining machines. One is to achieve automated height adjustment of the front drum based on various coal-rock interface identification methods. The other is to analyze and process the memory cutting data using various methods to continuously correct and optimize the next cutting path of the front drum, thereby improving the accuracy of automatic coal cutting by the coal mining machine. However, regardless of the method, both are based on adjusting the next cutting path of the front drum sequentially according to historical data, and cannot achieve overall optimization of the cutting path of the front drum for the next N consecutive cuts in the future to obtain the overall optimal cutting scheme.

[0005] 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

[0006] The main objective of this application is to provide a method, device, computer-readable storage medium, and system for determining the cutting path of the front drum of a coal mining machine, so as to solve the problem that the prior art cannot achieve overall optimization of the future continuous N-cut cutting path of the front drum.

[0007] According to one aspect of the embodiments of this application, a method for determining the cutting path of the front drum of a coal mining machine is provided. The coal mining machine includes a front drum. During the process of the coal mining machine moving from the head to the tail of a scraper conveyor, the front 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 front drum falls into the scraper trough directly below the front drum. The method includes: a first determination step, in the three-dimensional geological model of the coal seam to be mined, determining the actual height adjustment range of the front drum when it is directly above the target scraper trough during the cutting of each piece of coal, based on the preset height adjustment range of the front drum and the preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponding to one cut. The first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs. A second determination step, in the three-dimensional geological model... In the model, multiple optional propulsion paths for the front roller are determined based on the actual height adjustment range. Each optional propulsion path includes multiple second propulsion paths, and each second propulsion path in the optional propulsion path corresponds one-to-one with the first propulsion path. The second propulsion path is within the corresponding actual height adjustment range. In the third determination step, in the three-dimensional geological model, the optimal propulsion path is determined based on the coal mining operation requirements and the optional propulsion paths. The optimal propulsion path is an optional propulsion path that meets the coal mining operation requirements. The first determination step, the second determination step, and the third determination step are repeated at least once until the determination of the optimal propulsion path of the front roller when the front roller is directly above each scraper trough is completed, resulting in multiple optimal propulsion paths. In the three-dimensional geological model, the starting points of the second propulsion paths belonging to the same cutter in all the optimal propulsion paths are connected sequentially to obtain multiple optimal cutting paths for the front roller.

[0008] Optionally, the actual height adjustment range includes multiple adjustment heights. In the three-dimensional geological model, multiple optional propulsion paths for the front roller are determined based on the actual height adjustment range, including: a fourth determination step, selecting one of the adjustment heights as the second propulsion path within the actual height adjustment range corresponding to each cutter, and determining an optional propulsion path based on the second propulsion path corresponding to each cutter, wherein the adjustment height selected within the actual height adjustment range corresponding to the previous cutter is greater than the adjustment height selected within the actual height adjustment range corresponding to the next cutter; repeating the fourth determination step at least once until all optional propulsion paths are determined, resulting in multiple optional propulsion paths.

[0009] Optionally, determining the optimal advancement path based on coal mining operation requirements and the optional advancement paths includes: obtaining the roof line of the target coal seam based on the three-dimensional geological model, wherein the roof line of the target coal seam is the top boundary line of the three-dimensional geological model directly above the preset advancement path of the target scraper trough; calculating multiple coal retention area areas and multiple roof cutting area areas based on each optional advancement path and the roof line of the target coal seam, wherein each optional advancement path corresponds to one coal retention area area and one roof cutting area area, wherein the coal retention area area is the area between the optional advancement path and the roof line of the target coal seam when the optional advancement path is lower than the roof line of the target coal seam, and the roof cutting area is the area between the optional advancement path and the roof line of the target coal seam when the optional advancement path is higher than the roof line of the target coal seam; and determining the optimal advancement path based on the coal mining operation requirements and the coal retention area and roof cutting area corresponding to the optional advancement path.

[0010] Optionally, determining the optimal advancement path based on the coal mining operation requirements and the area of ​​the coal-retaining area and the area of ​​the roof-cutting area corresponding to the optional advancement path includes: when the coal mining operation requirement is not to retain top coal, determining the optional advancement path with the smallest area of ​​the coal-retaining area and the smallest area of ​​the roof-cutting area among the optional advancement paths as the optimal advancement path; when the coal mining operation requirement is not to cut the roof, determining the optional advancement path with the smallest area of ​​the coal-retaining area and the smallest area of ​​the roof-cutting area among the optional advancement paths as the optimal advancement path; when the coal mining operation requirement is to cut along the roof, determining the optional advancement path with the smallest sum of the area of ​​the coal-retaining area and the area of ​​the roof-cutting area among the optional advancement paths as the optimal advancement path.

[0011] Optionally, after determining multiple actual height adjustment ranges based on the preset height adjustment range of the front roller and the preset propulsion path of the target scraper groove, the method further includes: in the three-dimensional geological model, determining the cutting area of ​​the front roller based on the preset height adjustment range of the front roller and the preset propulsion path of the target scraper groove; and correcting the actual height adjustment range based on the cutting area.

[0012] Optionally, before determining the optimal advancement path based on coal mining operation requirements and the optional advancement path, the method further includes: when there is at least one second advancement path in the optional advancement path that is higher than a preset height, determining that the optional advancement path is not the optimal advancement path.

[0013] Optionally, after sequentially connecting the starting points of the second propulsion paths belonging to the same blade in all the optimal propulsion paths to obtain multiple optimal cutting paths of the front roller, the method further includes: selecting multiple position points in each optimal cutting path, each position point corresponding to a scraper groove; and sequentially connecting each position point in each optimal cutting path to obtain the cutting control line of the front roller.

[0014] According to another aspect of the embodiments of this application, a device for determining the cutting path of the front drum of a coal mining machine is also provided. The coal mining machine includes a front drum. During the process of the coal mining machine moving from the head to the tail of a scraper conveyor, the front 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. During the coal mining process, the coal cut by the front drum falls into the scraper trough directly below the front drum. The device includes: a first determining unit, used to determine, in the three-dimensional geological model of the coal seam to be mined, the actual height adjustment range of the front drum when the front drum is directly above the target scraper trough during the cutting of each piece of coal, based on the preset height adjustment range of the front drum and the preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponding to one cut. The first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs. A second determining unit is used to determine, in the three-dimensional geological model, based on... The actual height adjustment range determines multiple optional propulsion paths for the front roller. Each optional propulsion path includes multiple second propulsion paths, and each second propulsion path in the optional propulsion path corresponds one-to-one with the first propulsion path. The second propulsion path is within the corresponding actual height adjustment range. A third determining unit is used to determine the optimal propulsion path in the three-dimensional geological model based on the coal mining operation requirements and the optional propulsion paths. The optimal propulsion path is an optional propulsion path that meets the coal mining operation requirements. An iterative unit is used to repeat the first determining unit, the second determining unit, and the third determining unit at least once until the determination of the optimal propulsion path of the front roller when the front roller is directly above each scraper trough is completed, resulting in multiple optimal propulsion paths. A processing unit is used to connect the starting points of the second propulsion paths belonging to the same cutter in the three-dimensional geological model in sequence to obtain multiple optimal cutting paths for the front roller.

[0015] According to another aspect of the embodiments of this application, 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 executes any of the methods for determining the cutting path of the front drum of a coal mining machine.

[0016] According to another aspect of the embodiments of this application, a system for determining the cutting path of the front drum of a coal mining machine is also provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any of the methods for determining the cutting path of the front drum of a coal mining machine.

[0017] The method for determining the cutting path of the front drum of the aforementioned coal mining machine includes a front drum. During the process of the coal mining machine moving from the head to the tail of the scraper conveyor, the front 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 front drum falls into the scraper trough directly below the front drum. First, in the first determination step, in the three-dimensional geological model of the coal seam to be mined, based on the preset height adjustment range of the front drum and the preset advancement path of the target scraper trough, the actual height adjustment range of the front drum when it is directly above the target scraper trough during the cutting of each piece of coal is determined. The preset advancement path includes multiple segments of the first advancement path, each segment corresponding to one cut. The first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs. Second, in the three-dimensional geological model, based on the actual height... The adjustment range determines multiple optional propulsion paths for the aforementioned front roller. Each optional propulsion path includes multiple second propulsion paths, and each of the second propulsion paths in the aforementioned optional propulsion paths corresponds one-to-one with the aforementioned first propulsion path. The second propulsion path is within the corresponding actual height adjustment range. The third determination step involves determining the optimal propulsion path in the aforementioned three-dimensional geological model based on the coal mining operation requirements and the aforementioned optional propulsion paths. The optimal propulsion path is one of the aforementioned optional propulsion paths that meets the aforementioned coal mining operation requirements. The aforementioned first determination step, the aforementioned second determination step, and the aforementioned third determination step are repeated at least once until the determination of the aforementioned optimal propulsion path of the aforementioned front roller when the aforementioned front roller is located directly above each of the aforementioned scraper troughs is completed, resulting in multiple aforementioned optimal propulsion paths. In the aforementioned three-dimensional geological model, the starting points of the second propulsion paths belonging to the same cutter in all the aforementioned optimal propulsion paths are connected sequentially to obtain multiple optimal cutting paths for the aforementioned front roller. This method, within a three-dimensional geological model of the coal seam to be mined, determines the actual height adjustment range of the front roller in each cut based on the height adjustment range of the front roller and the preset advance path of the scraper trough. Then, based on the actual height adjustment range of the front roller in each cut, it determines the possible advance paths of the front roller, i.e., the optional advance paths. Next, according to the requirements of coal mining operations, it determines the optional advance path that meets the requirements of coal mining operations, i.e., the optimal advance path. Finally, it sequentially connects the starting points of the second advance paths belonging to the same cut in all optimal advance paths to obtain the optimal multi-cutting path of the front roller. This method solves the problem in existing technologies that cannot achieve overall optimization of the future continuous N-cutting paths of the front roller. Attached Figure Description

[0018] 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:

[0019] Figure 1 A flowchart is shown of a method for determining the cutting path of the front drum of a coal mining machine according to an embodiment of this application;

[0020] Figure 2 A schematic diagram of the optimal cutting path of the front roller according to an embodiment of this application is shown;

[0021] Figure 3 A schematic diagram of an optional propulsion path for the front roller according to a specific embodiment of this application is shown;

[0022] Figure 4 A schematic diagram of an optional propulsion path for the front roller according to another specific embodiment of this application is shown;

[0023] Figure 5 A schematic diagram of an optional propulsion path for the front roller according to another specific embodiment of this application is shown;

[0024] Figure 6 A schematic diagram of a device for determining the cutting path of a coal mining machine front drum according to an embodiment of this application is shown.

[0025] The above figures include the following reference numerals:

[0026] 10. Working face; 11. Coal mining machine; 12. Front drum; 13. Scraper trough; 14. Scraper conveyor; 15. 3D geological model; 16. Optimal cutting path; 17. Location point; 18. Optimal advance path; 19. Actual height adjustment range; 20. First advance path; 21. Second advance path; 22. Void area; 23. Overlapping area; 24. Cutting area; 25. Optional advance path; 26. Coal retention area; 27. Roof cutting area; 28. Target coal seam roof line. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] As mentioned in the background section, the existing technology cannot achieve overall optimization of the future continuous N-cutting path of the front drum. In order to solve the above problems, in a typical embodiment of this application, a method, device, computer-readable storage medium and system for determining the cutting path of the front drum of a coal mining machine are provided.

[0031] According to an embodiment of this application, a method for determining the cutting path of the front drum of a coal mining machine is provided.

[0032] Figure 1 This is a flowchart illustrating a method for determining the cutting path of the front drum of a coal mining machine according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0033] Step S101, the first determining step, in the three-dimensional geological model of the coal seam to be mined, according to the preset height adjustment range of the front roller and the preset advancement path of the target scraper trough, determine the actual height adjustment range of the front roller when it is directly above the target scraper trough during the cutting of each coal cutter. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponds to one cutter, and the first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs.

[0034] Among them, such as Figure 2 As shown, the coal mining machine 11 includes a front drum 12. During the process of the coal mining machine 11 moving from the head to the tail of the scraper conveyor 14, the front 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 front drum 12 falls into the scraper trough 13 directly below the front drum 12. Each cutter divides the three-dimensional geological model 15 of the coal seam into a plurality of working faces 10.

[0035] And, as Figure 3As shown, based on the mining height boundary of each working face in the three-dimensional geological model and the preset height adjustment range of the front drum 12, the maximum adjustment height in the actual height adjustment range 19 of the front drum 12 corresponding to each segment of the first advancement path 20 in the preset advancement path is determined. Furthermore, based on each segment of the first advancement path 20 and the preset height adjustment range of the front drum 12, the minimum adjustment height in the actual height adjustment range 19 corresponding to each segment of the first advancement path 20 is determined. The preset height adjustment range is the maximum and minimum adjustment height that the front drum 12 can achieve when its adjustment capacity allows.

[0036] Each segment of the aforementioned first advancing path is a stepped surface. Due to the presence of these steps, the pitch angle of the coal mining machine will change during its advance along the preset path. Therefore, if... Figure 3 As shown, the two consecutive cutting areas 24 of the front roller may overlap or have gaps. In order to eliminate the gap area 22 and the overlapping area 23, it is necessary to correct the actual height adjustment range. In an optional embodiment, the above-mentioned determination method further includes:

[0037] Step S201: In the above three-dimensional geological model, the cutting area of ​​the front roller is determined according to the preset height adjustment range of the front roller and the preset propulsion path of the target scraper groove.

[0038] Step S202: Correct the actual height adjustment range based on the cut area.

[0039] In the above embodiments, such as Figure 3 As shown, in actual coal mining, the void area 22 will be cut off during the next cut, and the overlapping area 23 cannot be cut twice. Therefore, the cutting area 24 of each cut of the front drum 12 needs to be modified according to the actual situation, such as... Figure 4 As shown, considering that the coal cutting by the coal mining machine 11 is a continuous and progressive process, each cut is made on the basis of the previous cut. Therefore, the actual cutting area 24 after the previous cut is used as a reference to correct the actual cutting area 24 of each cut, and then correct the actual height adjustment range 19 corresponding to each cut. In fact, the starting point of the second advancement path 21 corresponding to each cut is corrected, thereby eliminating the gap area 22 and the overlapping area 23 between the cutting areas 24 of two consecutive cuts in the actual coal mining process.

[0040] Step S102, the second determining step, in the above three-dimensional geological model, determine multiple optional propulsion paths of the front roller according to the above actual height adjustment range. Each optional propulsion path includes multiple second propulsion paths. The second propulsion path in each of the above optional propulsion paths corresponds one-to-one with the above first propulsion path. The second propulsion path is within the corresponding above actual height adjustment range.

[0041] Optionally, this application does not limit the specific process of determining multiple optional propulsion paths of the front roller in the above-mentioned three-dimensional geological model based on the above-mentioned actual height adjustment range, and any feasible method is within the protection scope of this application.

[0042] For example, in one optional implementation, the actual height adjustment range includes multiple adjustment heights, and step S102 includes:

[0043] Step S1021, the fourth determination step, selects an adjustment height as the second propulsion path within the actual height adjustment range corresponding to each cutter, and determines an optional propulsion path based on the second propulsion path corresponding to each cutter. The adjustment height selected within the actual height adjustment range corresponding to the previous cutter is greater than the adjustment height selected within the actual height adjustment range corresponding to the next cutter.

[0044] Step S1022: Repeat the fourth determination step above at least once until all the above-mentioned optional propulsion paths are determined, resulting in multiple above-mentioned optional propulsion paths.

[0045] In the above embodiments, such as Figure 4 As shown, any adjustment height within the actual height adjustment range 19 corresponding to the first cut is selected as the second propulsion path 21. Since the top of the coal seam to be mined will be left after the front roller 12 cuts the first cut of coal, the adjustment height selected for the second cut must be less than the adjustment height selected for the first cut. Based on this selection principle, the front roller 12 selects an adjustment height within the actual height adjustment range 19 corresponding to the second cut as the second propulsion path 21. This process is repeated to select the second propulsion path 21 corresponding to multiple consecutive cuts. The adjustment height selected for the next cut must be less than the adjustment height selected for the previous cut. Finally, an optional propulsion path 25 is determined based on the second propulsion path 21 corresponding to each cut. This process is repeated multiple times to obtain multiple optional propulsion paths 25, so that there are multiple selection results for the propulsion path when the front roller is located directly above each scraper trough.

[0046] Furthermore, in order to improve the front roller adjustment efficiency, the height difference between any two adjacent adjustment heights within each actual height adjustment range is a fixed value. The basis for setting this fixed value includes, but is not limited to, the adjustment accuracy of the rocker arm adjustment cylinder of the coal mining machine, the front roller control error allowed by the working face operation procedure, and the computing power of the system server.

[0047] Step S103, the third determination step, in the above three-dimensional geological model, according to the coal mining operation requirements and the above optional advancement paths, determine the optimal advancement path, which is one of the above optional advancement paths that meets the above coal mining operation requirements;

[0048] Optionally, this application does not limit the specific process of determining the optimal advancement path based on the coal mining operation requirements and the optional advancement path, and any feasible method is within the protection scope of this application.

[0049] For example, in an optional implementation, step S103 above includes:

[0050] Step S1031: Based on the three-dimensional geological model, obtain the roof line of the target coal seam, where the roof line of the target coal seam is the top boundary line of the three-dimensional geological model directly above the preset advancement path of the target scraper trough.

[0051] Step S1032: Based on each of the optional advancement paths and the target coal seam roof line, calculate multiple coal retention area areas and multiple roof cutting area areas. Each optional advancement path corresponds to one coal retention area area and one roof cutting area area. The coal retention area area is the area between the optional advancement path and the target coal seam roof line when the optional advancement path is lower than the target coal seam roof line. The roof cutting area area is the area between the optional advancement path and the target coal seam roof line when the optional advancement path is higher than the target coal seam roof line.

[0052] Step S1033: Determine the optimal advancement path based on the coal mining operation requirements and the area of ​​the coal retention area and the area of ​​the roof cutting area corresponding to the optional advancement path.

[0053] In the above embodiments, such as Figure 5 As shown, based on the optional advance path 25 and the target coal seam roof line 28, the area of ​​the coal retention area 26 and the area of ​​the roof cutting area 27 corresponding to each optional advance path 25 are determined. The optional advance path 25 that meets the requirements of coal mining operation is selected as the optimal advance path 18, thereby ensuring that the optimal cutting path of the front drum finally determined meets the coal mining requirements.

[0054] Optionally, this application does not limit the specific process of determining the optimal advancement path based on the above coal mining operation requirements and the area of ​​the coal retention area and the area of ​​the roof cutting area corresponding to the above optional advancement path. Any feasible method is within the protection scope of this application.

[0055] For example, in an optional implementation, step S1033 includes:

[0056] Step S10331: When the above coal mining operation requires no top coal to be left, the above optional advancement path with the area of ​​the left coal area equal to 0 and the area of ​​the top cutting area being the smallest is determined as the above optimal advancement path.

[0057] Step S10332: When the above coal mining operation requires no roof cutting, the above optional advancement path with the smallest area of ​​the coal retention area and the area of ​​the roof cutting area equal to 0 is determined as the above optimal advancement path.

[0058] Step S10333: When the above coal mining operation requires cutting along the top, the optional advancing path with the smallest sum of the area of ​​the coal retention area and the area of ​​the top cutting area is determined as the optimal advancing path.

[0059] In the above embodiments, such as Figure 5 As shown, based on the coal mining operation requirements and the area of ​​the coal retention area 26 and the roof cutting area 27 corresponding to each optional advance path 25, the optional advance path 25 that meets the coal mining operation requirements is selected as the optimal advance path 18, thereby ensuring that the optimal cutting path of the final determined front drum meets the coal mining requirements.

[0060] In addition, to reduce the amount of calculation required for the coal retention area and the roof cutting area, in an optional embodiment, the above determination method further includes:

[0061] Step S301: When there is at least one second propulsion path above the preset height among the optional propulsion paths, it is determined that the optional propulsion path is not the optimal propulsion path.

[0062] In the above embodiments, such as Figure 5 As shown, when there is at least one second propulsion path 21 in the optional propulsion path 25 that is higher than the preset height, it is directly determined that the optional propulsion path 25 is too high and is not the optimal propulsion path 18. It is not necessary to calculate the area of ​​the coal retention area 26 and the area of ​​the top cutting area 27 corresponding to the optional propulsion path 25, thereby reducing the amount of calculation of the coal retention area and the top cutting area.

[0063] Step S104: Repeat the first determination step, the second determination step, and the third determination step at least once until the determination of the optimal propulsion path of the front roller when the front roller is directly above each scraper groove is completed, and multiple optimal propulsion paths are obtained.

[0064] Step S105: Connect the starting points of the second propulsion paths belonging to the same blade in all the optimal propulsion paths in sequence to obtain the optimal multi-blade cutting path of the front roller.

[0065] To reduce the number of times the height of the front drum needs to be adjusted during each coal cutting process, in one optional embodiment, the above-mentioned determination method further includes:

[0066] Step S301: Select multiple location points in each of the above-mentioned optimal cutting paths, with each location point corresponding to one of the above-mentioned scraper grooves;

[0067] Step S302: Connect the points in each of the above-mentioned optimal cutting paths in sequence to obtain the cutting control line of the front roller.

[0068] In the above embodiments, such as Figure 2 As shown, multiple position points 17 are selected in each optimal cutting path 16, and each position point 17 corresponds to a scraper trough 13. The position points 17 in each optimal cutting path 16 are connected in sequence to obtain the cutting control line of the front roller 12. When the coal mining machine 11 moves to a certain scraper trough 13, the height of the front roller 12 is adjusted according to the position point 17 in the cutting control line corresponding to the scraper trough 13. That is, when the coal mining machine 11 moves on a scraper trough 13, the height of the front roller 12 only needs to be adjusted once, reducing the number of times the height of the front roller 12 is adjusted during each cut of coal.

[0069] The method for determining the cutting path of the front drum of the aforementioned coal mining machine includes a front drum. During the process of the coal mining machine moving from the head to the tail of the scraper conveyor, the front 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 front drum falls into the scraper trough directly below the front drum. First, in the first determination step, in the three-dimensional geological model of the coal seam to be mined, based on the preset height adjustment range of the front drum and the preset advancement path of the target scraper trough, the actual height adjustment range of the front drum when it is directly above the target scraper trough during the cutting of each piece of coal is determined. The preset advancement path includes multiple segments of the first advancement path, each segment corresponding to one cut. The first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs. Second, in the three-dimensional geological model, based on the actual height... The adjustment range determines multiple optional propulsion paths for the aforementioned front roller. Each optional propulsion path includes multiple second propulsion paths, and each of the second propulsion paths in the aforementioned optional propulsion paths corresponds one-to-one with the aforementioned first propulsion path. The second propulsion path is within the corresponding actual height adjustment range. The third determination step involves determining the optimal propulsion path in the aforementioned three-dimensional geological model based on the coal mining operation requirements and the aforementioned optional propulsion paths. The optimal propulsion path is one of the aforementioned optional propulsion paths that meets the aforementioned coal mining operation requirements. The aforementioned first determination step, the aforementioned second determination step, and the aforementioned third determination step are repeated at least once until the determination of the aforementioned optimal propulsion path of the aforementioned front roller when the aforementioned front roller is located directly above each of the aforementioned scraper troughs is completed, resulting in multiple aforementioned optimal propulsion paths. In the aforementioned three-dimensional geological model, the starting points of the second propulsion paths belonging to the same cutter in all the aforementioned optimal propulsion paths are connected sequentially to obtain multiple optimal cutting paths for the aforementioned front roller. This method, within a three-dimensional geological model of the coal seam to be mined, determines the actual height adjustment range of the front roller in each cut based on the height adjustment range of the front roller and the preset advance path of the scraper trough. Then, based on the actual height adjustment range of the front roller in each cut, it determines the possible advance paths of the front roller, i.e., the optional advance paths. Next, according to the requirements of coal mining operations, it determines the optional advance path that meets the requirements of coal mining operations, i.e., the optimal advance path. Finally, it sequentially connects the starting points of the second advance paths belonging to the same cut in all optimal advance paths to obtain the optimal multi-cutting path of the front roller. This method solves the problem in existing technologies that cannot achieve overall optimization of the future continuous N-cutting paths of the front roller.

[0070] 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.

[0071] This application also provides a device for determining the cutting path of the front drum of a coal mining machine. It should be noted that this device can be used to execute the method for determining the cutting path of the front drum of a coal mining machine provided in this application. The following describes the device for determining the cutting path of the front drum of a coal mining machine provided in this application.

[0072] Figure 6 This is a schematic diagram of a device for determining the cutting path of the front drum of a coal mining machine according to an embodiment of this application. Figure 6 As shown, the device includes:

[0073] The first determining unit 100, in the three-dimensional geological model of the coal seam to be mined, determines the actual height adjustment range of the front roller when it is directly above the target scraper trough during the cutting of each coal cutter, based on the preset height adjustment range of the front roller and the preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponds to one cutter, and the first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs.

[0074] Among them, such as Figure 2 As shown, the coal mining machine 11 includes a front drum 12. During the process of the coal mining machine 11 moving from the head to the tail of the scraper conveyor 14, the front 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 front drum 12 falls into the scraper trough 13 directly below the front drum 12. Each cutter divides the three-dimensional geological model 15 of the coal seam into a plurality of working faces 10.

[0075] And, as Figure 3 As shown, based on the mining height boundary of each working face in the three-dimensional geological model and the preset height adjustment range of the front drum 12, the maximum adjustment height in the actual height adjustment range 19 of the front drum 12 corresponding to each segment of the first advancement path 20 in the preset advancement path is determined. Furthermore, based on each segment of the first advancement path 20 and the preset height adjustment range of the front drum 12, the minimum adjustment height in the actual height adjustment range 19 corresponding to each segment of the first advancement path 20 is determined. The preset height adjustment range is the maximum and minimum adjustment height that the front drum 12 can achieve when its adjustment capacity allows.

[0076] Each segment of the aforementioned first advancing path is a stepped surface. Due to the presence of these steps, the pitch angle of the coal mining machine will change during its advance along the preset path. Therefore, if... Figure 3As shown, the two consecutive cutting areas 24 of the front roller may overlap or have gaps. In order to eliminate the gap area 22 and the overlapping area 23, it is necessary to correct the actual height adjustment range. In an optional embodiment, the above-mentioned determining device further includes:

[0077] The fourth determining unit is used to determine the cutting area of ​​the front roller in the above-mentioned three-dimensional geological model based on the preset height adjustment range of the front roller and the preset propulsion path of the target scraper groove.

[0078] The correction unit is used to correct the actual height adjustment range based on the cut area.

[0079] In the above embodiments, such as Figure 3 As shown, in actual coal mining, the void area 22 will be cut off during the next cut, and the overlapping area 23 cannot be cut twice. Therefore, the cutting area 24 of each cut of the front drum 12 needs to be modified according to the actual situation, such as... Figure 4 As shown, considering that the coal cutting by the coal mining machine 11 is a continuous and progressive process, each cut is made on the basis of the previous cut. Therefore, the actual cutting area 24 after the previous cut is used as a reference to correct the actual cutting area 24 of each cut, and then correct the actual height adjustment range 19 corresponding to each cut. In fact, the starting point of the second advancement path 21 corresponding to each cut is corrected, thereby eliminating the gap area 22 and the overlapping area 23 between the cutting areas 24 of two consecutive cuts in the actual coal mining process.

[0080] The second determining unit 200 is used to determine multiple optional propulsion paths of the front roller in the above three-dimensional geological model according to the above actual height adjustment range. Each optional propulsion path includes multiple second propulsion paths. The second propulsion path in each of the above optional propulsion paths corresponds one-to-one with the above first propulsion path. The second propulsion path is within the corresponding above actual height adjustment range.

[0081] Among them, such as Figure 4 As shown, based on the cut area after the previous cut, the actual cut area of ​​each cut is corrected, and then the actual height adjustment range corresponding to each cut is corrected. In fact, what is corrected is the starting point of the second propulsion path corresponding to each cut.

[0082] Optionally, this application does not limit the specific process of determining multiple optional propulsion paths of the front roller in the above-mentioned three-dimensional geological model based on the above-mentioned actual height adjustment range, and any feasible method is within the protection scope of this application.

[0083] For example, in one optional implementation, the actual height adjustment range includes multiple adjustment heights, and the second determining unit includes:

[0084] The first determining module is used to select an adjustment height as the second propulsion path within the actual height adjustment range corresponding to each cutter, and to determine an optional propulsion path based on the second propulsion path corresponding to each cutter, wherein the adjustment height selected within the actual height adjustment range corresponding to the previous cutter is greater than the adjustment height selected within the actual height adjustment range corresponding to the subsequent cutter.

[0085] The iterative module is used to repeat the fourth determination step above at least once until all the above-mentioned optional advancement paths are determined, resulting in multiple above-mentioned optional advancement paths.

[0086] In the above embodiments, such as Figure 4 As shown, any adjustment height within the actual height adjustment range 19 corresponding to the first cut is selected as the second propulsion path 21. Since the top of the coal seam to be mined will be left after the front roller 12 cuts the first cut of coal, the adjustment height selected for the second cut must be less than the adjustment height selected for the first cut. Based on this selection principle, the front roller 12 selects an adjustment height within the actual height adjustment range 19 corresponding to the second cut as the second propulsion path 21. This process is repeated to select the second propulsion path 21 corresponding to multiple consecutive cuts. The adjustment height selected for the next cut must be less than the adjustment height selected for the previous cut. Finally, an optional propulsion path 25 is determined based on the second propulsion path 21 corresponding to each cut. This process is repeated multiple times to obtain multiple optional propulsion paths 25, so that there are multiple selection results for the propulsion path when the front roller is located directly above each scraper trough.

[0087] Furthermore, in order to improve the front roller adjustment efficiency, the height difference between any two adjacent adjustment heights within each actual height adjustment range is a fixed value. The basis for setting this fixed value includes, but is not limited to, the adjustment accuracy of the rocker arm adjustment cylinder of the coal mining machine, the front roller control error allowed by the working face operation procedure, and the computing power of the system server.

[0088] The third determining unit 300 is used to determine the optimal advancement path in the above three-dimensional geological model based on the coal mining operation requirements and the above optional advancement paths. The optimal advancement path is one of the above optional advancement paths that meets the above coal mining operation requirements.

[0089] Optionally, this application does not limit the specific process of determining the optimal advancement path based on the coal mining operation requirements and the optional advancement path, and any feasible method is within the protection scope of this application.

[0090] For example, in one optional implementation, the third determining unit includes:

[0091] The acquisition module is used to acquire the roof line of the target coal seam based on the three-dimensional geological model. The roof line of the target coal seam is the top boundary line of the three-dimensional geological model directly above the preset advancement path of the target scraper trough.

[0092] The calculation module is used to calculate multiple coal retention area areas and multiple roof cutting area areas based on each of the optional advancement paths and the target coal seam roof line. Each optional advancement path corresponds to one coal retention area area and one roof cutting area area. The coal retention area area is the area between the optional advancement path and the target coal seam roof line when the optional advancement path is lower than the target coal seam roof line. The roof cutting area area is the area between the optional advancement path and the target coal seam roof line when the optional advancement path is higher than the target coal seam roof line.

[0093] The second determining module is used to determine the optimal advancing path based on the coal mining operation requirements and the area of ​​the coal retention area and the area of ​​the roof cutting area corresponding to the optional advancing path.

[0094] In the above embodiments, such as Figure 5 As shown, based on the optional advance path 25 and the target coal seam roof line 28, the area of ​​the coal retention area 26 and the area of ​​the roof cutting area 27 corresponding to each optional advance path 25 are determined. The optional advance path 25 that meets the requirements of coal mining operation is selected as the optimal advance path 18, thereby ensuring that the optimal cutting path of the front drum finally determined meets the coal mining requirements.

[0095] Optionally, this application does not limit the specific process of determining the optimal advancement path based on the above coal mining operation requirements and the area of ​​the coal retention area and the area of ​​the roof cutting area corresponding to the above optional advancement path. Any feasible method is within the protection scope of this application.

[0096] For example, in one optional implementation, the second determining module includes:

[0097] The first determining submodule is used to determine the optimal advancing path when the coal mining operation requirement is not to leave top coal. The optimal advancing path is the one with the area of ​​the coal-leaving area equal to 0 and the area of ​​the top-cutting area corresponding to the optional advancing path is the one with the smallest area of ​​the optional advancing path and the area of ​​the top-cutting area corresponding to the coal-leaving area.

[0098] The second determining submodule is used to determine the optimal advancing path as the optional advancing path when the coal mining operation requirement is not to cut the roof.

[0099] The third determining submodule is used to determine the optimal advancing path as the optional advancing path when the coal mining operation requirement is top-cutting. This is the option with the smallest sum of the area of ​​the coal retention area and the area of ​​the top-cutting area among the optional advancing paths.

[0100] In the above embodiments, such as Figure 5 As shown, based on the coal mining operation requirements and the area of ​​the coal retention area 26 and the roof cutting area 27 corresponding to each optional advance path 25, the optional advance path 25 that meets the coal mining operation requirements is selected as the optimal advance path 18, thereby ensuring that the optimal cutting path of the final determined front drum meets the coal mining requirements.

[0101] In addition, to reduce the amount of calculation required for the coal retention area and the roof cutting area, in an optional embodiment, the above-mentioned determining device further includes:

[0102] The fifth determining unit is used to determine that the optional propulsion path is not the optimal propulsion path when there is at least one second propulsion path with a height higher than the preset height among the optional propulsion paths.

[0103] In the above embodiments, such as Figure 5 As shown, when there is at least one second propulsion path 21 in the optional propulsion path 25 that is higher than the preset height, it is directly determined that the optional propulsion path 25 is too high and is not the optimal propulsion path 18. It is not necessary to calculate the area of ​​the coal retention area 26 and the area of ​​the top cutting area 27 corresponding to the optional propulsion path 25, thereby reducing the amount of calculation of the coal retention area and the top cutting area.

[0104] The iteration unit 400 is used to repeat the first determination step, the second determination step, and the third determination step at least once until the determination of the optimal propulsion path of the front roller when the front roller is directly above each of the scraper grooves is completed, and multiple optimal propulsion paths are obtained.

[0105] The processing unit 500 is used to connect the starting points of the second propulsion paths belonging to the same blade in all the optimal propulsion paths in sequence to obtain the multi-blade optimal cutting path of the front roller.

[0106] To reduce the number of times the height of the front drum needs to be adjusted during each cut of coal, in another alternative embodiment, the aforementioned determining device further includes:

[0107] The first selection unit is used to select multiple location points in each of the above-mentioned optimal cutting paths, and each location point corresponds to one of the above-mentioned scraper grooves.

[0108] The second selection unit is used to connect each position point in each of the above-mentioned optimal cutting paths in sequence to obtain the cutting control line of the above-mentioned front roller.

[0109] In the above embodiments, such as Figure 2 As shown, multiple position points 17 are selected in each optimal cutting path 16, and each position point 17 corresponds to a scraper trough 13. The position points 17 in each optimal cutting path 16 are connected in sequence to obtain the cutting control line of the front roller 12. When the coal mining machine 11 moves to a certain scraper trough 13, the height of the front roller 12 is adjusted according to the position point 17 in the cutting control line corresponding to the scraper trough 13. That is, when the coal mining machine 11 moves on a scraper trough 13, the height of the front roller 12 only needs to be adjusted once, reducing the number of times the height of the front roller 12 is adjusted during each cut of coal.

[0110] The aforementioned device for determining the cutting path of the front drum of a coal mining machine includes a front drum. During the movement of the coal mining machine from the head to the tail of a scraper conveyor, the front 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 front drum falls into the scraper trough directly below the front drum. The device includes: a first determining unit, used to determine, in a three-dimensional geological model of the coal seam to be mined, the actual height adjustment range of the front drum when it is directly above the target scraper trough during the cutting of each piece of coal, based on a preset height adjustment range of the front drum and a preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment corresponding to one cut. The first advancement path corresponds one-to-one with the actual height adjustment range, and the target scraper trough is any one of the scraper troughs. A second determining unit is used to determine, in the three-dimensional geological model, based on the actual height adjustment range... Multiple optional propulsion paths for the aforementioned front roller are determined. Each optional propulsion path includes multiple second propulsion paths, and each of the second propulsion paths in the aforementioned optional propulsion paths corresponds one-to-one with the aforementioned first propulsion path. The second propulsion paths are within the corresponding actual height adjustment range. A third determining unit is used to determine the optimal propulsion path in the aforementioned three-dimensional geological model based on the coal mining operation requirements and the aforementioned optional propulsion paths. The optimal propulsion path is one of the aforementioned optional propulsion paths that meets the aforementioned coal mining operation requirements. An iterative unit is used to repeat the aforementioned first determining unit, the aforementioned second determining unit, and the aforementioned third determining unit at least once until the determination of the aforementioned optimal propulsion path of the aforementioned front roller when the aforementioned front roller is located directly above each of the aforementioned scraper troughs is completed, thereby obtaining multiple of the aforementioned optimal propulsion paths. A processing unit is used to sequentially connect the starting points of the second propulsion paths belonging to the same cutter in all of the aforementioned optimal propulsion paths in the aforementioned three-dimensional geological model, thereby obtaining multiple optimal cutting paths for the aforementioned front roller. This device, within a three-dimensional geological model of the coal seam to be mined, determines the actual height adjustment range of the front roller in each cut based on the height adjustment range of the front roller and the preset advance path of the scraper trough. Then, based on the actual height adjustment range of the front roller in each cut, it determines the possible advance paths of the front roller, i.e., the optional advance paths. Next, according to the requirements of coal mining operations, it determines the optional advance path that meets the requirements of coal mining operations, i.e., the optimal advance path. Finally, it sequentially connects the starting points of the second advance paths belonging to the same cut in all optimal advance paths to obtain the optimal multi-cutting path of the front roller. This device solves the problem in existing technologies that cannot achieve overall optimization of the future continuous N-cutting paths of the front roller.

[0111] The device for determining the cutting path of the front drum of the coal mining machine includes a processor and a memory. The first determining unit, the second determining unit, the third determining unit, the iterative unit, and the processing unit are all stored in the memory as program units. The processor executes the program units stored in the memory to realize the corresponding functions.

[0112] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and by adjusting kernel parameters, the problem of not being able to perform overall optimization of future consecutive N-cut truncation paths, which is currently impossible in existing technologies, can be solved.

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

[0114] This application provides a computer-readable storage medium including a stored program, wherein when the program is executed by a processor, the program implements the method for determining the cutting path of the front drum of the coal mining machine.

[0115] This application provides a device, which includes 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:

[0116] Step S101 is used to determine, in the three-dimensional geological model of the coal seam to be mined, the actual height adjustment range of the front roller when the front roller is directly above the target scraper trough during the cutting of each coal cutter, according to the preset height adjustment range of the front roller and the preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponds to one cutter, and the first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs.

[0117] Step S102 is used to determine multiple optional propulsion paths of the front roller in the above three-dimensional geological model according to the above actual height adjustment range. Each optional propulsion path includes multiple second propulsion paths. The second propulsion path in each optional propulsion path corresponds one-to-one with the first propulsion path. The second propulsion path is within the corresponding above actual height adjustment range.

[0118] Step S103 is used to determine the optimal advancement path in the above three-dimensional geological model according to the coal mining operation requirements and the above optional advancement paths. The optimal advancement path is one of the above optional advancement paths that meets the above coal mining operation requirements.

[0119] Step S104 is used to repeatedly execute the first determining unit, the second determining unit and the third determining unit at least once, until the determination of the optimal propulsion path of the front roller when the front roller is directly above each scraper groove is completed, and multiple optimal propulsion paths are obtained.

[0120] Step S105 is used to sequentially connect the starting points of the second propulsion paths belonging to the same cutter in all the above-mentioned optimal propulsion paths in the above-mentioned three-dimensional geological model to obtain multiple optimal cutting paths of the above-mentioned front roller.

[0121] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0122] 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:

[0123] Step S101 is used to determine, in the three-dimensional geological model of the coal seam to be mined, the actual height adjustment range of the front roller when the front roller is directly above the target scraper trough during the cutting of each coal cutter, according to the preset height adjustment range of the front roller and the preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponds to one cutter, and the first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs.

[0124] Step S102 is used to determine multiple optional propulsion paths of the front roller in the above three-dimensional geological model according to the above actual height adjustment range. Each optional propulsion path includes multiple second propulsion paths. The second propulsion path in each optional propulsion path corresponds one-to-one with the first propulsion path. The second propulsion path is within the corresponding above actual height adjustment range.

[0125] Step S103 is used to determine the optimal advancement path in the above three-dimensional geological model according to the coal mining operation requirements and the above optional advancement paths. The optimal advancement path is one of the above optional advancement paths that meets the above coal mining operation requirements.

[0126] Step S104 is used to repeatedly execute the first determining unit, the second determining unit and the third determining unit at least once, until the determination of the optimal propulsion path of the front roller when the front roller is directly above each scraper groove is completed, and multiple optimal propulsion paths are obtained.

[0127] Step S105 is used to sequentially connect the starting points of the second propulsion paths belonging to the same cutter in all the above-mentioned optimal propulsion paths in the above-mentioned three-dimensional geological model to obtain multiple optimal cutting paths of the above-mentioned front roller.

[0128] In the above embodiments of this application, 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.

[0129] 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.

[0130] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, 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 according to actual needs.

[0131] Furthermore, the functional units in the various embodiments of this application 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.

[0132] 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 this application, 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 this application. 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.

[0133] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0134] 1) The method for determining the cutting path of the front drum of a coal mining machine according to this application, wherein the coal mining machine includes a front drum, and the front drum 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 multiple scraper troughs connected in sequence, and the coal cut by the front drum during the coal mining process falls into the scraper trough directly below the front drum. First, in the first determination step, in the three-dimensional geological model of the coal seam to be mined, according to the preset height adjustment range of the front drum and the preset advancement path of the target scraper trough, the actual height adjustment range of the front drum when the front drum is directly above the target scraper trough during the cutting of each piece of coal is determined. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponds to one cut, and the first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs. Second, in the three-dimensional geological model, according to the actual height adjustment range of the front drum, the actual height adjustment range of the front drum is determined when the front drum is directly above the target scraper trough during the cutting of each piece of coal. The actual height adjustment range determines multiple optional propulsion paths for the aforementioned front roller. Each optional propulsion path includes multiple second propulsion paths, and each of the second propulsion paths in the aforementioned optional propulsion paths corresponds one-to-one with the aforementioned first propulsion path. The second propulsion path is within the corresponding actual height adjustment range. The third determination step involves determining the optimal propulsion path in the aforementioned three-dimensional geological model based on the coal mining operation requirements and the aforementioned optional propulsion paths. The optimal propulsion path is one of the aforementioned optional propulsion paths that meets the aforementioned coal mining operation requirements. The aforementioned first determination step, the aforementioned second determination step, and the aforementioned third determination step are repeated at least once until the determination of the aforementioned optimal propulsion path of the aforementioned front roller when the aforementioned front roller is located directly above each of the aforementioned scraper troughs is completed, resulting in multiple aforementioned optimal propulsion paths. In the aforementioned three-dimensional geological model, the starting points of the second propulsion paths belonging to the same cutter in all the aforementioned optimal propulsion paths are connected sequentially to obtain multiple optimal cutting paths for the aforementioned front roller. This method, within a three-dimensional geological model of the coal seam to be mined, determines the actual height adjustment range of the front roller in each cut based on the height adjustment range of the front roller and the preset advance path of the scraper trough. Then, based on the actual height adjustment range of the front roller in each cut, it determines the possible advance paths of the front roller, i.e., the optional advance paths. Next, according to the requirements of coal mining operations, it determines the optional advance path that meets the requirements of coal mining operations, i.e., the optimal advance path. Finally, it sequentially connects the starting points of the second advance paths belonging to the same cut in all optimal advance paths to obtain the optimal multi-cutting path of the front roller. This method solves the problem in existing technologies that cannot achieve overall optimization of the future continuous N-cutting paths of the front roller.

[0135] 2) The device for determining the cutting path of the front drum of a coal mining machine according to this application, wherein the coal mining machine includes a front drum, and the front drum 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 multiple scraper troughs connected in sequence, and the coal cut by the front drum during the coal mining process falls into the scraper trough directly below the front drum, the device includes: a first determining unit, used to determine, in the three-dimensional geological model of the coal seam to be mined, the actual height adjustment range of the front drum when the front drum is directly above the target scraper trough during the cutting of each piece of coal, according to the preset height adjustment range of the front drum and the preset advancement path of the target scraper trough, the actual height adjustment range of the front drum when the front drum is directly above the target scraper trough during the cutting of each piece of coal, the preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponds to one cut, the first advancement path corresponds one-to-one with the actual height adjustment range, and the target scraper trough is any one of the scraper troughs; a second determining unit, used to determine, in the three-dimensional geological model, the actual height adjustment range of the front drum when the front drum is directly above the target scraper trough ... The section defines multiple optional propulsion paths for the aforementioned front roller. Each optional propulsion path includes multiple second propulsion paths, and each of the second propulsion paths in the aforementioned optional propulsion paths corresponds one-to-one with the aforementioned first propulsion path. The second propulsion paths are within the corresponding actual height adjustment range. The third determining unit is used to determine the optimal propulsion path in the aforementioned three-dimensional geological model based on the coal mining operation requirements and the aforementioned optional propulsion paths. The optimal propulsion path is one of the aforementioned optional propulsion paths that meets the aforementioned coal mining operation requirements. The iteration unit is used to repeat the aforementioned first determining unit, the aforementioned second determining unit, and the aforementioned third determining unit at least once until the determination of the aforementioned optimal propulsion path of the aforementioned front roller when the aforementioned front roller is located directly above each of the aforementioned scraper troughs is completed, thereby obtaining multiple of the aforementioned optimal propulsion paths. The processing unit is used to sequentially connect the starting points of the aforementioned second propulsion paths belonging to the same cutter in the aforementioned three-dimensional geological model, thereby obtaining multiple optimal cutting paths for the aforementioned front roller. This device, within a three-dimensional geological model of the coal seam to be mined, determines the actual height adjustment range of the front roller in each cut based on the height adjustment range of the front roller and the preset advance path of the scraper trough. Then, based on the actual height adjustment range of the front roller in each cut, it determines the possible advance paths of the front roller, i.e., the optional advance paths. Next, according to the requirements of coal mining operations, it determines the optional advance path that meets the requirements of coal mining operations, i.e., the optimal advance path. Finally, it sequentially connects the starting points of the second advance paths belonging to the same cut in all optimal advance paths to obtain the optimal multi-cutting path of the front roller. This device solves the problem in existing technologies that cannot achieve overall optimization of the future continuous N-cutting paths of the front roller.

[0136] 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 determining the cutting path of the front drum of a coal mining machine, characterized in that, The coal mining machine includes a front drum. During the movement of the coal mining machine from the head to the tail of the scraper conveyor, the front 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 front drum falls into the scraper trough directly below the front drum. The method includes: The first determination step involves determining, in the three-dimensional geological model of the coal seam to be mined, the actual height adjustment range of the front roller when it is directly above the target scraper trough during the cutting of each coal cutter, based on the preset height adjustment range of the front roller and the preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponding to one cutter. The first advancement path corresponds one-to-one with the actual height adjustment range, and the target scraper trough is any one of the scraper troughs. The second determination step involves determining multiple selectable propulsion paths for the front roller in the three-dimensional geological model based on the actual height adjustment range. Each selectable propulsion path includes multiple second propulsion paths, and each second propulsion path in the selectable propulsion path corresponds one-to-one with the first propulsion path. The second propulsion path is within the corresponding actual height adjustment range. The third determination step involves determining the optimal advancement path in the three-dimensional geological model based on the coal mining operation requirements and the optional advancement paths. The optimal advancement path is one of the optional advancement paths that meets the coal mining operation requirements. Repeat the first determination step, the second determination step, and the third determination step at least once until the determination of the optimal propulsion path of the front roller when the front roller is directly above each scraper groove is completed, thereby obtaining multiple optimal propulsion paths; In the three-dimensional geological model, the starting points of the second propulsion paths belonging to the same cutter in all the optimal propulsion paths are connected sequentially to obtain multiple optimal cutting paths of the front roller; Determining the optimal advancement path based on coal mining operation requirements and the optional advancement paths includes: obtaining the roof line of the target coal seam based on the three-dimensional geological model, where the roof line is the top boundary line of the three-dimensional geological model directly above the preset advancement path of the target scraper trough; calculating multiple coal retention area areas and multiple roof cutting area areas based on each optional advancement path and the roof line of the target coal seam, where each optional advancement path corresponds to one coal retention area area and one roof cutting area area, the coal retention area area being the area between the optional advancement path and the roof line of the target coal seam when the optional advancement path is lower than the roof line of the target coal seam, and the roof cutting area being the area between the optional advancement path and the roof line of the target coal seam when the optional advancement path is higher than the roof line of the target coal seam; and determining the optimal advancement path based on the coal mining operation requirements and the coal retention area and roof cutting area corresponding to the optional advancement path.

2. The determination method according to claim 1, characterized in that, The actual height adjustment range includes multiple adjustment heights. In the three-dimensional geological model, multiple selectable propulsion paths for the front roller are determined based on the actual height adjustment range, including: The fourth determination step involves selecting an adjustment height within the actual height adjustment range corresponding to each cutter as the second propulsion path, and determining an optional propulsion path based on the second propulsion path corresponding to each cutter, wherein the adjustment height selected within the actual height adjustment range corresponding to the previous cutter is greater than the adjustment height selected within the actual height adjustment range corresponding to the next cutter. Repeat the fourth determination step at least once until all the optional propulsion paths are determined, resulting in multiple optional propulsion paths.

3. The determination method according to claim 1, characterized in that, The optimal advancement path is determined based on the coal mining operation requirements, the area of ​​the coal retention zone corresponding to the optional advancement path, and the area of ​​the roof cutting zone, including: When the coal mining operation requires no top coal to be left, the optimal advancement path is determined as the option advancement path whose corresponding area of ​​the coal-leaving area is equal to 0 and whose corresponding area of ​​the top-cutting area is the smallest. When the coal mining operation requires no roof cutting, the optimal advancement path is determined to be the one with the smallest coal retention area and the smallest roof cutting area among the optional advancement paths. When the coal mining operation requires cutting along the top, the optimal advancement path is determined as the option that minimizes the sum of the area of ​​the coal retention area and the area of ​​the cutting top area in the optional advancement paths.

4. The determination method according to claim 1, characterized in that, After determining the actual height adjustment range of the front roller when it is directly above the target scraper trough during the cutting of each coal cutting process, based on the preset height adjustment range of the front roller and the preset advancement path of the target scraper trough, the method further includes: In the three-dimensional geological model, the cutting area of ​​the front roller is determined according to the preset height adjustment range of the front roller and the preset propulsion path of the target scraper groove; The actual height adjustment range is adjusted based on the cut area.

5. The determining method according to claim 1 or 2, characterized in that, Before determining the optimal advance path based on the coal mining operation requirements and the available advance paths, the method further includes: If at least one of the optional propulsion paths is at a height higher than the preset height, then the optional propulsion path is determined not to be the optimal propulsion path.

6. The determination method according to claim 1, characterized in that, After sequentially connecting the starting points of the second feed paths belonging to the same blade in all the optimal feed paths to obtain multiple optimal cutting paths of the front roller, the method further includes: Multiple location points are selected in each of the optimal cutting paths, and each location point corresponds to one of the scraper grooves. By connecting the points in each of the optimal cutting paths in sequence, the cutting control line of the front roller is obtained.

7. A device for determining the cutting path of a coal mining machine's front drum, characterized in that, The coal mining machine includes a front drum. During the movement of the coal mining machine from the head to the tail of the scraper conveyor, the front 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 front drum falls into the scraper trough directly below the front drum. The device includes: The first determining unit is used to determine, in the three-dimensional geological model of the coal seam to be mined, the actual height adjustment range of the front roller when the front roller is directly above the target scraper trough during the cutting of each coal cutter, based on the preset height adjustment range of the front roller and the preset advancement path of the target scraper trough. The preset advancement path includes multiple segments of the first advancement path, each segment of the first advancement path corresponds to one cutter, and the first advancement path corresponds one-to-one with the actual height adjustment range. The target scraper trough is any one of the scraper troughs. The second determining unit is used to determine multiple optional propulsion paths of the front roller in the three-dimensional geological model according to the actual height adjustment range. Each optional propulsion path includes multiple second propulsion paths, and the second propulsion path in each optional propulsion path corresponds one-to-one with the first propulsion path. The second propulsion path is within the corresponding actual height adjustment range. The third determining unit is used to determine the optimal advancing path in the three-dimensional geological model according to the coal mining operation requirements and the optional advancing path, wherein the optimal advancing path is one of the optional advancing paths that meets the coal mining operation requirements; An iterative unit is used to repeatedly execute the first determining unit, the second determining unit, and the third determining unit at least once, until the determination of the optimal propulsion path of the front roller when the front roller is directly above each of the scraper grooves is completed, thereby obtaining multiple optimal propulsion paths; The processing unit is used to connect the starting points of the second propulsion paths belonging to the same cutter in all the optimal propulsion paths in the three-dimensional geological model in sequence to obtain multiple optimal cutting paths of the front roller. The third determining unit includes: an acquisition module, used to acquire the roof line of the target coal seam based on the three-dimensional geological model, wherein the roof line of the target coal seam is the top boundary line of the three-dimensional geological model directly above the preset advancement path of the target scraper trough; a calculation module, based on each of the optional advancement paths and the roof line of the target coal seam, calculates multiple coal retention area areas and multiple roof cutting area areas, wherein each optional advancement path corresponds to one coal retention area area and one roof cutting area area, wherein the coal retention area area is the area between the optional advancement path and the roof line of the target coal seam when the optional advancement path is lower than the roof line of the target coal seam, and the roof cutting area is the area between the optional advancement path and the roof line of the target coal seam when the optional advancement path is higher than the roof line of the target coal seam; and a second determining module, used to determine the optimal advancement path based on the coal mining operation requirements and the coal retention area and the roof cutting area corresponding to the optional advancement path.

8. 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 for determining the cutting path of the front drum of a coal mining machine as described in any one of claims 1 to 6.

9. A system for determining the cutting path of a coal mining machine's front drum, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for performing the method for determining the cutting path of the front drum of a coal mining machine as described in any one of claims 1 to 6.

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