Positioning method and device for coal mining machine suitable for fully mechanized coal mining

Abstract

The application provides a coal mining machine positioning method and device suitable for fully mechanized coal mining in a coal mine, and relates to the technical field of coal mining. The method comprises the following steps: receiving position data of a plurality of channels of a coal mining machine; the position data of any channel comprises N time points and a first position at any time point among the N time points, and N is an integer greater than 2; candidate channels are determined from the plurality of channels according to time conditions met by the N time points in different channels; and a target position of the coal mining machine at a current time point is determined according to the first positions of the N time points in the candidate channels. In the embodiment of the application, the position data of a plurality of signal sources is adopted, and the multi-channel position data is fused and analyzed, so that the integrity of the output target position can be ensured, and reliable coal mining machine position data can still be obtained in the case of a single data source fault, thereby ensuring the integrity of the output coal mining machine position and improving the reliability of the working face machine following automation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, and particularly relates to a shearer positioning method suitable for fully-mechanized coal mining in a coal mine and a device thereof. BACKGROUND

[0002] In the related art, the position data of a shearer is generally obtained according to a single data channel. If a data source fails, the position of the shearer will be missing, which will cause abnormality such as a shearer jumping, and this situation will affect the automatic following of a working face by a shearer. In addition, the missing position of the shearer will also affect further mining and analysis of the position data of the shearer. Therefore, how to ensure the integrity of the output position of the shearer and improve the reliability of the position data of the shearer has become one of the important research directions. SUMMARY

[0003] The present application aims to at least partly solve one of the technical problems in the related art. To this end, one object of the present application is to provide a shearer positioning method suitable for fully-mechanized coal mining in a coal mine.

[0004] A second object of the present application is to provide a shearer positioning device suitable for fully-mechanized coal mining in a coal mine.

[0005] A third object of the present application is to provide an electronic device.

[0006] A fourth object of the present application is to provide a non-transitory computer-readable storage medium.

[0007] A fifth object of the present application is to provide a computer program product.

[0008] To achieve the above objects, a shearer positioning method suitable for fully-mechanized coal mining in a coal mine is provided according to an embodiment of the first aspect of the present application, comprising:

[0009] receiving position data of a shearer in multiple channels, the position data of any channel comprising N time instants and a first position at any time instant of the N time instants, N being an integer greater than 2;

[0010] determining a candidate channel from the multiple channels according to a time condition satisfied by the N time instants in different channels;

[0011] determining a target position of the shearer at a current time instant according to the first position of the N time instants in the candidate channel.

[0012] In some implementations, determining a candidate channel from the multiple channels according to a time condition satisfied by the N time instants in different channels comprises:

[0013] for different channels, obtaining a first time difference value between two adjacent time instants in the channel;

[0014] In response to any of the first time difference values being less than a preset first time threshold, the channel is determined as a candidate channel.

[0015] In some implementations, the number of candidate channels is two or more, and the target position of the current time of the coal mining machine is determined according to the first positions of the N times in the candidate channel, including:

[0016] For different candidate channels, the first positions of the N times in the candidate channel are fitted to obtain the second position of the current time in the candidate channel.

[0017] The target position of the previous time of the coal mining machine is obtained, and the target channel is determined from the candidate channel according to the target position of the previous time and the second position of the current time in the candidate channel.

[0018] The target position of the current time is determined according to the second position of the current time in the target channel.

[0019] In some implementations, the target channel is determined from the candidate channel according to the target position of the previous time and the second position of the current time in the candidate channel, including:

[0020] For different candidate channels, a first distance difference value between the target position of the previous time and the second position of the current time in the candidate channel is obtained.

[0021] In response to the first distance difference value being less than a preset first distance threshold, the candidate channel is determined as the target channel.

[0022] In some implementations, the target channel includes a first target channel and a second target channel, and the target position of the current time is determined according to the second position of the current time in the target channel, including:

[0023] A second distance difference value between the second position of the current time in the first target channel and the second position of the current time in the second target channel is obtained, and a second time difference value between the N time in the first target channel and the N time in the second target channel is obtained.

[0024] In response to the second distance difference value being less than a preset second distance threshold, and the second time difference value being less than a preset second time threshold, the second position of the current time in the target channel with a smaller first distance difference value is determined as the target position of the current time.

[0025] In some implementations, the method further includes:

[0026] A third distance difference value between the target position of the current time and the target position of the previous time is obtained.

[0027] In response to the third distance difference value being greater than a preset third distance threshold, a support mechanism is triggered.

[0028] In the embodiments of the present application, the position data of multiple signal sources is adopted, and fusion analysis is performed on the multi-channel position data, so that the integrity of the output target position can be ensured, and reliable shearer position data can still be obtained in the case of failure of a single data source, thereby ensuring the integrity of the output shearer position and improving the reliability of the working face following machine automation.

[0029] To achieve the above object, the second aspect of the present application proposes a shearer positioning device suitable for fully mechanized coal mining in coal mines, comprising:

[0030] The receiving module is configured to receive position data of the shearer in multiple channels, and the position data of any channel includes N time instants and a first position at any time instant among the N time instants, N being an integer greater than 2.

[0031] The first determining module is configured to determine a candidate channel from the multiple channels according to a time condition satisfied by the N time instants in different channels.

[0032] The second determining module is configured to determine a target position of the shearer at the current time instant according to the first positions of the N time instants in the candidate channel.

[0033] In some implementations, the first determining module is further configured to:

[0034] For different channels, a first time difference value between adjacent two time instants in the channel is obtained.

[0035] In response to any first time difference value being less than a preset first time threshold, the channel is determined as the candidate channel.

[0036] In some implementations, the number of candidate channels is two or more than two, and the second determining module is further configured to:

[0037] For different candidate channels, the first positions of the N time instants in the candidate channel are fitted to obtain a second position of the current time instant in the candidate channel.

[0038] The target position of the shearer at the previous time instant is obtained, and a target channel is determined from the candidate channel according to the target position at the previous time instant and the second position of the current time instant in the candidate channel.

[0039] The target position at the current time instant is determined according to the second position of the current time instant in the target channel.

[0040] In some implementations, the second determining module is further configured to:

[0041] For different candidate channels, a first distance difference value between the target position at the previous time instant and the second position of the current time instant in the candidate channel is obtained.

[0042] In response to the first distance difference value being less than a preset first distance threshold, the candidate channel is determined as the target channel.

[0043] In some implementations, the target channel includes a first target channel and a second target channel, and the second determining module is further configured to:

[0044] obtain a second distance difference value between the second position at the current time in the first target channel and the second position at the current time in the second target channel, and obtain a second time difference value between the Nth time in the first target channel and the Nth time in the second target channel;

[0045] In response to the second distance difference value being less than a preset second distance threshold and the second time difference value being less than a preset second time threshold, the second position at the current time in the target channel with the smaller first distance difference value is determined as the target position at the current time.

[0046] In some implementations, the positioning device for the coal mining machine in the fully-mechanized coal mining is further configured to include a support frame module configured to:

[0047] obtain a third distance difference value between the target position at the current time and the target position at the previous time;

[0048] In response to the third distance difference value being greater than a preset third distance threshold, a support frame mechanism is triggered.

[0049] To achieve the above purpose, a third aspect of the present application provides an electronic device, comprising:

[0050] at least one processor; and

[0051] a memory in communication connection with the at least one processor; wherein

[0052] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the positioning method for the coal mining machine in the fully-mechanized coal mining provided in the first aspect of the present application.

[0053] To achieve the above purpose, a fourth aspect of the present application provides a computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are used to enable a computer to perform the positioning method for the coal mining machine in the fully-mechanized coal mining according to the first aspect of the present application.

[0054] To achieve the above purpose, a fifth aspect of the present application provides a computer program product comprising a computer program, wherein the computer program is executed by a processor to implement the positioning method for the coal mining machine in the fully-mechanized coal mining provided in the first aspect of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is a flow chart of a coal mining machine positioning method suitable for fully mechanized coal mining of the present application;

[0056] Figure 2 is a flow chart of a coal mining machine positioning method suitable for fully mechanized coal mining of the present application;

[0057] Figure 3 is a flow chart of a coal mining machine positioning method suitable for fully mechanized coal mining of the present application;

[0058] Figure 4 is a schematic diagram of a coal mining machine positioning method suitable for fully mechanized coal mining of the present application;

[0059] Figure 5 is a structural block diagram of a coal mining machine positioning device suitable for fully mechanized coal mining of the present application;

[0060] Figure 6 is a structural schematic diagram of an electronic device of the present application. DETAILED DESCRIPTION

[0061] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0062] The coal mining machine positioning method and device suitable for fully mechanized coal mining of the embodiments of the present application are described below in conjunction with the accompanying drawings.

[0063] Figure 1 is a flow chart of a coal mining machine positioning method suitable for fully mechanized coal mining of the present application, as shown in Figure 1 the method comprises the following steps:

[0064] S101, receiving position data of a coal mining machine of multiple channels, the position data of any channel comprising N time instants and a first position at any time instant of the N time instants, N being an integer greater than 2.

[0065] The execution subject of the embodiments of the present application can be an electronic device such as a server, wherein the server can be a personal computer (PC). Taking the server as an example, the server can receive position data of a coal mining machine sent by multiple data sources, wherein different data sources are different channels, that is, the server receives position data of a coal mining machine reported by multiple channels.

[0066] In some implementations, the position data of the coal mining machine at multiple time points can be collected by a position encoder deployed on the coal mining machine. In order to better protect the position encoder, the position encoder is usually installed at the high-speed shaft end inside the traction transmission box of the coal mining machine. The distance of the coal mining machine advancing per rotation of the encoder is calculated according to the speed reduction ratio of the high-speed shaft and the walking wheel of the coal mining machine, that is, the position data of the coal mining machine, and then the position data of the coal mining machine is sent to the server, that is, the server can receive the position data sent by the coal mining machine, and the data source at this time is the coal mining machine data source.

[0067] In some implementations, the position data of the coal mining machine at multiple time points can be collected by an electro-hydraulic control device deployed on the support, and then the position data of the coal mining machine is sent to the server, that is, the server can receive the position data sent by the electro-hydraulic control device, and the data source at this time is the support data source.

[0068] In the embodiment of the present application, the position data includes the first position at N time points and any time point of the N time points.

[0069] It should be noted that in some implementations, the units of the position data of the coal mining machine reported by different channels are different, and the units of the position data of the coal mining machine of different channels need to be unified. For example, in the embodiment of the present application, there are multiple supports on the path of the coal mining machine, the distance between adjacent supports is the same, the position data reported by the coal mining machine is the distance between the current position of the coal mining machine and the starting position of the path, and the unit is meter; the position data reported by the electro-hydraulic control device is marked by the support number, that is, the support number where the coal mining machine is at the current time, and the unit is support. Alternatively, the unit of the position data of the coal mining machine data source can be converted according to the following formula:

[0070] M=S / Q

[0071] Wherein, M represents the position data of the coal mining machine data source, the unit is support, S represents the distance between the current position of the coal mining machine and the starting position of the path, the unit is meter, and Q represents the distance between adjacent supports, the unit is (meter / support).

[0072] In the embodiment of the present application, the position data of any channel includes the first position of the coal mining machine at the nearest N time points, and N is an integer greater than 2. Taking the position data of any channel including the first position of the coal mining machine at 5 time points as an example for description, for example, the position data of the coal mining machine data source after unit conversion can be 5, 6, 7, 8, and 9; wherein 5 represents that the position of the coal mining machine at the 1st time point is the 5th support, 6 represents that the position of the coal mining machine at the 2nd time point is the 6th support, and so on, and 8 represents that the position of the coal mining machine at the 5th time point is the 8th support.

[0073] In some implementations, after the first positions of different channels are acquired, the time instants of the acquisition are recorded and reported to the server in real time, and the server stores the first positions of N time instants for each channel, that is, the position data of the channel is updated each time the first position is received, and only the first positions of the N latest time instants of the channel are stored.

[0074] In S102, candidate channels are determined from the plurality of channels according to time conditions satisfied by the N time instants in different channels.

[0075] In the embodiments of the present application, when processing the position data of the coal mining machine received from multiple channels, in order to ensure the validity of the position data of the coal mining machine, the position data of different channels can be filtered according to preset time conditions, and the position data of the candidate channels is determined from different channels as valid data for subsequent processing.

[0076] In some implementations, for different channels, the time interval between the Nth instant and the (N-1)th instant can be acquired, if the time interval is greater than a preset configuration threshold, the stored position data of the channel is emptied; if the time interval is less than or equal to the preset configuration threshold, the channel is determined as a candidate channel.

[0077] In S103, the target position of the coal mining machine at the current time instant is determined according to the first positions of the N time instants in the candidate channels.

[0078] Taking an example of two candidate channels, the first candidate channel is the channel of the coal mining machine data source, and the second candidate channel is the channel of the support data source. Since the position data of the first candidate channel changes more frequently, and the position data of the second candidate channel changes less frequently, the first positions of the N time instants in the two candidate channels can be analyzed after the position data of the second candidate channel is received. At this time, the Nth instant of the second candidate channel is the current time instant. Since the Nth instants of the two channels can be inconsistent, the least square method can be used to fit the first positions of the N time instants in the first candidate channel to estimate the position of the first candidate channel at the current time instant, and then the target position of the coal mining machine at the current time instant is determined according to the positions of the two channels at the current time instants.

[0079] Alternatively, the target position of the coal mining machine at the previous time instant can be acquired, and then the position of the current time instant in any channel is compared with the target position at the previous time instant, and the position of the current time instant that is closer to the target position at the previous time instant is taken as the target position of the coal mining machine at the current time instant.

[0080] In the embodiment of the present application, position data of the coal mining machine in multiple channels is received, the position data in any channel includes the first position of the coal mining machine at N time points, candidate channels are determined from the multiple channels according to time conditions met by the N time points in the position data of different channels, and the target position of the coal mining machine at the current time is determined according to the first position at the N time points in the candidate channels. In the embodiment of the present application, the position data of multiple signal sources is used, and fusion analysis is performed on the position data in multiple channels, which can not only ensure the integrity of the output target position, but also can obtain reliable position data of the coal mining machine in the case of failure of a single data source, thereby ensuring the integrity of the output position of the coal mining machine and improving the reliability of the automatic following of the coal mining machine in the working face.

[0081] Figure 2 is a flowchart of a coal mining machine positioning method suitable for fully mechanized coal mining in an embodiment of the present application, as shown in Figure 2 , the method includes the following steps:

[0082] S201, position data of the coal mining machine in multiple channels is received, the position data in any channel includes the first position of the coal mining machine at N time points and at any time point in the N time points, and N is an integer greater than 2.

[0083] For the introduction of step S201, reference can be made to the related introduction of the above-mentioned embodiment, which will not be repeated here.

[0084] S202, for different channels, the first time difference value between adjacent two time points in the channel is obtained.

[0085] For different channels, if the time interval between adjacent two time points in the channel is too large, the timeliness of the data corresponding to the time points will be affected, therefore, different channels need to be filtered according to the time interval between adjacent two time points, and channels with relatively stable position data are selected.

[0086] Taking the channel of the coal mining machine data source as an example, in some implementations, the time interval between the Nth time point and the N-1th time point in the channel can be taken as the first time difference value. In some implementations, the time interval between adjacent two time points in the N time points in the channel is obtained, and multiple first time difference values are obtained.

[0087] S203, in response to any first time difference value being less than a preset first time threshold, the channel is determined as a candidate channel.

[0088] Taking a channel of the coal mining machine data source as an example, in some implementations, the first time difference value is a time interval between the Nth moment and the (N-1) th moment of the channel, and if the first time difference value is less than the preset first time threshold value, the channel is determined as a candidate channel. In some implementations, the first time difference value is a time interval between two adjacent moments of the N moments of the channel, and if any first time difference value is less than the preset first time threshold value, the channel is determined as a candidate channel.

[0089] In S204, for different candidate channels, the first positions of the N moments in the candidate channels are fitted to obtain the second position of the current moment in the candidate channel.

[0090] Taking a channel of the coal mining machine data source as an example, since the position data of the channel of the coal mining machine data source changes slowly, the first positions of the N moments in the channel can be analyzed after the position data of the channel is received. At this time, the current moment can be inconsistent with the Nth moment of the channel, and therefore, the least square method can be used to fit the first positions of the N moments in the channel to obtain the second position of the current moment of the coal mining machine in the channel.

[0091] In some implementations, for any channel, if the Nth moment of the channel is the current moment, the first position of the Nth moment is determined as the second position of the current moment of the channel.

[0092] Optionally, the number of candidate channels is two or more than two.

[0093] In S205, the target position of the previous moment of the coal mining machine is obtained, and the target channel is determined from the candidate channels according to the target position of the previous moment and the second position of the current moment in the candidate channel.

[0094] For different candidate channels, a first distance difference value between the target position of the previous moment of the coal mining machine and the second position of the current moment in the candidate channel is obtained, and if the first distance difference value is less than a preset first distance threshold value, it indicates that the position data of the coal mining machine of the channel is relatively stable, and the candidate channel is determined as the target channel. If the first distance difference value is greater than or equal to the preset first distance threshold value, it indicates that the position data of the coal mining machine of the channel is unstable, and the position data of the channel is avoided to be used for subsequent processing.

[0095] Taking the distance of 10 supports as the first distance threshold value as an example, in the embodiment of the application, if the first distance difference value of any channel is less than the distance of 10 supports, it indicates that the position data of the coal mining machine of the channel is relatively stable, and the candidate channel is determined as the target channel.

[0096] In S206, the target position of the current moment is determined according to the second position of the current moment in the target channel.

[0097] In the embodiments of the present application, the target channels include a first target channel and a second target channel are taken as examples for illustration, a second distance difference value between the second position at the current moment in the first target channel and the second position at the current moment in the second target channel is obtained, and a second time difference value between the Nth moment in the first target channel and the Nth moment in the second target channel is obtained. If the second distance difference value is less than a preset second distance threshold value, and the second time difference value is less than a preset second time threshold value, it is indicated that the position data of the coal mining machine in the channel is relatively stable, and the second position of the target channel with the smaller first distance difference value is determined as the target position of the coal mining machine at the current moment.

[0098] In the embodiments of the present application, the position data of multiple signal sources is adopted, and fusion analysis is performed through multi-channel position data, which can not only ensure the integrity of the output target position, but also can still obtain reliable coal mining machine position data in the case of single data source failure. The preset threshold value can be flexibly changed according to the actual situation, the availability of the algorithm is increased, the integrity of the output coal mining machine position is ensured, and the reliability of the automatic working face following machine is improved.

[0099] Figure 3 is a flow chart of a coal mining machine positioning method suitable for fully mechanized coal mining of the present application, as shown in Figure 3 The method includes the following steps:

[0100] S301, receiving position data of a coal mining machine in multiple channels, the position data of any channel including N moments and a first position at any moment of the N moments, N being an integer greater than 2.

[0101] S302, determining candidate channels from the multiple channels according to time conditions met by the N moments in different channels.

[0102] S303, determining a target position of the coal mining machine at the current moment according to the first positions of the N moments in the candidate channels.

[0103] For the introduction of steps S301 to S303, please refer to the related content in the above embodiments, which will not be repeated here.

[0104] S304, obtaining a third distance difference value between the target position at the current moment and the target position at the previous moment.

[0105] In the embodiments of the present application, after obtaining the target position of the coal mining machine at the current moment, the current target position is stored, and the direction of the coal mining machine is updated according to the target position at the current moment and the target position at the historical moment.

[0106] In the implementation, the position data of the coal mining machine has continuity, that is, the target positions of two adjacent time points are the same or adjacent, for example, if the target position of the current time point indicates that the coal mining machine is located at the 7th support, the target position of the coal mining machine at the previous time point can be located at the 6th support or the 7th support. In the embodiment of the application, whether the coal mining machine has jumped the support during the coal cutting process can be determined according to a third distance difference value between the target position of the coal mining machine at the current time point and the target position of the coal mining machine at the previous time point.

[0107] For example, if the target position of the current time point indicates that the coal mining machine is located at the 10th support, and the target position of the previous time point indicates that the coal mining machine is located at the 5th support, the third distance difference value is the distance of 5 supports.

[0108] S305, in response to the third distance difference value being greater than the preset third distance threshold, triggering the support recovery mechanism.

[0109] In the embodiment of the application, whether the coal mining machine has jumped the support during the coal cutting process is determined according to the size relationship between the third distance difference value and the preset third distance threshold.

[0110] Taking the preset third distance threshold of 4 supports as an example, it is determined that the coal mining machine has jumped the support during the coal cutting process, and the support recovery mechanism needs to be triggered. At this time, the target position of the coal mining machine is acquired every t seconds according to the above steps, and the order of the output target position is linearly regressed from the target position of the previous time point to the target position of the current time point. When the support recovery is completed, the accumulated data received during the support recovery is automatically processed.

[0111] In the embodiment of the application, whether the target position of the coal mining machine jumps or not can be identified, and the missing data can be recovered in a buffering manner, so that the electro-hydraulic control system can work normally, and the problem of missing support caused by the position jump of the coal mining machine can be avoided.

[0112] Figure 4 is a schematic diagram of a coal mining machine positioning method suitable for fully mechanized coal mining in one embodiment of the application, as shown in Figure 4As shown, in the embodiment of the present application, the position data reported by the channel of the coal mining machine data source and the position data reported by the channel of the support data source are unified in unit, and then added to the cache synchronization processing. The sending time of the position data of the two channels is analyzed. If the first time difference between the adjacent two time points is less than the preset first time threshold, the channel is determined as a candidate channel. For different candidate channels, the first distance difference between the target position of the coal mining machine at the previous time and the second position at the current time in the candidate channel is obtained. If the first distance difference is less than the preset first distance threshold, the candidate channel is determined as a target channel, and the target position of the coal mining machine at the current time is determined according to the second position at the current time in the target channel. The third distance difference between the target position of the coal mining machine at the current time and the target position of the coal mining machine at the previous time is obtained. In response to the third distance difference being less than or equal to the preset third distance threshold, it is determined that the coal mining machine does not need to be supplemented, and the target position of the coal mining machine at the current time is output.

[0113] In the embodiment of the present application, the position data of multiple signal sources is fused and analyzed by multiple channel position data, which not only ensures the integrity of the output target position, but also can obtain reliable coal mining machine position data in the case of single data source failure, thereby ensuring the integrity of the output coal mining machine position and improving the reliability of the working face following machine automation.

[0114] As shown in Figure 5 Based on the same application concept, the embodiment of the present application also provides a coal mining machine positioning device 500 suitable for fully mechanized coal mining in a coal mine, which comprises:

[0115] The receiving module 510 is configured to receive position data of the coal mining machine in multiple channels. The position data of any channel comprises N time points and a first position at any time point in the N time points, and N is an integer greater than 2.

[0116] The first determination module 520 is configured to determine a candidate channel from the multiple channels according to a time condition satisfied by the N time points in different channels.

[0117] The second determination module 530 is configured to determine a target position of the coal mining machine at the current time according to the first position of the N time points in the candidate channel.

[0118] In some implementations, the first determination module 520 is further configured to:

[0119] For different channels, the first time difference between the adjacent two time points in the channel is obtained.

[0120] In response to any first time difference being less than a preset first time threshold, the channel is determined as a candidate channel.

[0121] In some implementations, the number of candidate channels is 2 or more than two, and the second determining module 530 is further configured to:

[0122] fit the first positions of the N time points in the candidate channel to obtain the second position of the current time point in the candidate channel;

[0123] obtain the target position of the previous time point of the coal mining machine, and determine the target channel from the candidate channel according to the target position of the previous time point and the second position of the current time point in the candidate channel;

[0124] determine the target position of the current time point according to the second position of the current time point in the target channel.

[0125] In some implementations, the second determining module 530 is further configured to:

[0126] for different candidate channels, obtain a first distance difference value between the target position of the previous time point and the second position of the current time point in the candidate channel;

[0127] in response to the first distance difference value being less than a preset first distance threshold, determine the candidate channel as the target channel.

[0128] In some implementations, the target channel includes a first target channel and a second target channel, and the second determining module 530 is further configured to:

[0129] obtain a second distance difference value between the second position of the current time point in the first target channel and the second position of the current time point in the second target channel, and obtain a second time difference value between the N time point in the first target channel and the N time point in the second target channel;

[0130] in response to the second distance difference value being less than a preset second distance threshold and the second time difference value being less than a preset second time threshold, determine the second position of the current time point in the target channel with the smaller first distance difference value as the target position of the current time point.

[0131] In some implementations, the coal mining machine positioning device suitable for fully mechanized coal mining in a coal mine further includes a support module 540 configured to:

[0132] obtain a third distance difference value between the target position of the current time point and the target position of the previous time point;

[0133] in response to the third distance difference value being greater than a preset third distance threshold, trigger a support mechanism.

[0134] In the embodiment of the present application, the position data of multiple signal sources is adopted, and fusion analysis is performed through multi-channel position data, so that the integrity of the output target position can be ensured, and reliable shearer position data can still be obtained in the case of single data source failure, thereby ensuring the integrity of the output shearer position and improving the reliability of the working face following machine automation.

[0135] Figure 6 A structural schematic diagram of an electronic device provided by the embodiment of the present application is shown in FIG. 6. As shown in the figure, the electronic device 600 includes a memory 610, a processor 620, and a computer program product stored in the memory 610 and executable on the processor 620. When the processor executes the computer program, the positioning method for the shearer in the fully-mechanized coal mine is realized. Figure 6

[0136] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0137] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The means for implementing the functions specified in one block or multiple blocks.

[0138] These computer program instructions can also be stored in a computer readable storage medium capable of guiding the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The means for implementing the functions specified in one block or multiple blocks.

[0139] ​These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable devices to generate a computer-implemented process, thus the instructions executed on the computer or other programmable devices provide the function implemented in the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or steps of the functions specified in the flow

[0140] Based on the same application concept, the embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, wherein the computer instructions are used for enabling a computer to execute the positioning method of the shearer suitable for the fully mechanized coal mining in the coal mine in the above embodiment.

[0141] Based on the same application concept, the embodiment of the present application further provides a computer program product, which comprises a computer program, and the computer program is used for enabling a processor to execute the positioning method of the shearer suitable for the fully mechanized coal mining in the coal mine in the above embodiment.

[0142] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word comprising does not exclude the presence of other elements or steps than those listed in a claim. The word a or an preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unitary claim, several of the devices, if more than one is mentioned, can be embodied by one and the same item of hardware. The use of the words first, second and third, etc. does not imply any ordering, but rather are used for naming purposes only. Features or integers

[0143] Furthermore, the terms first, second, third, etc. are used herein only to describe different steps and do not imply any priority or order of one step over another step. The use of these terms is only for the purpose of distinguishing between different steps in the method. The use of the terms first, second, third, etc. is not meant to indicate a particular order of steps.

[0144] Although the preferred embodiments of the present application have been described, those skilled in the art will note that additional modifications and alterations can be made to the embodiments without departing from the scope of the present application. Therefore, the appended claims are intended to cover all such modifications and alterations as fall within the scope of the present application.

[0145] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A method for positioning a coal mining machine suitable for fully mechanized coal mining in a coal mine, characterized in that, The method comprises the following steps: receiving position data of a coal mining machine in multiple channels, the position data of any channel comprising N time points and a first position at any time point among the N time points, wherein N is an integer greater than 2, and the multiple channels are multiple data sources; determining candidate channels from the multiple channels according to a time condition met by the N time points in different channels, which comprises: for different channels, obtaining a first time difference between two adjacent time points in the channel; in response to any of the first time differences being less than a preset first time threshold, determining the channel as the candidate channel; the number of the candidate channels is two or more than two, and a target position of the coal mining machine at a current time point is determined according to the first positions of the N time points in the candidate channels, which comprises: for different candidate channels, fitting the first positions of the N time points in the candidate channel to obtain a second position of the current time point in the candidate channel; obtaining a target position of the coal mining machine at a previous time point, and determining a target channel from the candidate channels according to the target position at the previous time point and the second position of the current time point in the candidate channel, which comprises: for different candidate channels, obtaining a first distance difference between the target position at the previous time point and the second position of the current time point in the candidate channel; in response to the first distance difference being less than a preset first distance threshold, determining the candidate channel as the target channel; the target channel comprises a first target channel and a second target channel, and a target position of the current time point is determined according to the second position of the current time point in the target channel, which comprises: obtaining a second distance difference between the second position of the current time point in the first target channel and the second position of the current time point in the second target channel, and obtaining a second time difference between the N time point in the first target channel and the N time point in the second target channel; in response to the second distance difference being less than a preset second distance threshold and the second time difference being less than a preset second time threshold, determining the second position of the current time point in the target channel with the smaller first distance difference as the target position of the current time point.

2. The method of claim 1, wherein, The method further comprises the following steps: obtaining a third distance difference between the target position of the current time point and the target position of the previous time point; in response to the third distance difference being greater than a preset third distance threshold, triggering a support mechanism.

3. A positioning device for a coal mining machine suitable for fully mechanized coal mining, characterized in that, The method comprises the following steps: a receiving module is configured to receive position data of a coal mining machine in multiple channels, the position data of any channel comprising N time points and a first position at any time point among the N time points, wherein N is an integer greater than 2, and the multiple channels are multiple data sources; a first determining module is configured to determine candidate channels from the multiple channels according to a time condition met by the N time points in different channels; the first determining module is specifically configured to: for different channels, obtain a first time difference between two adjacent time points in the channel; in response to any of the first time differences being less than a preset first time threshold, determine the channel as the candidate channel; The second determining module is configured to determine a target position of the coal mining machine at the current time according to the first positions of the N times in the candidate passageway. The number of the candidate passageways is two or more, and the target position of the coal mining machine at the current time is determined according to the first positions of the N times in the candidate passageway, including: For different candidate passageways, the first positions of the N times in the candidate passageway are fitted to obtain second positions of the current time in the candidate passageway. The target position of the coal mining machine at the previous time is obtained, and a target passageway is determined from the candidate passageway according to the target position at the previous time and the second position of the current time in the candidate passageway, including: For different candidate passageways, a first distance difference value between the target position at the previous time and the second position of the current time in the candidate passageway is obtained. In response to the first distance difference value being less than a preset first distance threshold, the candidate passageway is determined as the target passageway. The target passageway includes a first target passageway and a second target passageway, and the target position of the current time is determined according to the second position of the current time in the target passageway, including: A second distance difference value between the second position of the current time in the first target passageway and the second position of the current time in the second target passageway is obtained, and a second time difference value between the N time in the first target passageway and the N time in the second target passageway is obtained. In response to the second distance difference value being less than a preset second distance threshold and the second time difference value being less than a preset second time threshold, the second position of the current time in the target passageway with the smaller first distance difference value is determined as the target position of the current time.

4. An electronic device, comprising: including: at least one processor; and a memory connected with the at least one processor in communication; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of any one of claims 1-2.

5. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to execute the method of any one of claims 1-2.

6. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-2.

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