Method, device, equipment and storage medium for simulating multi-mode walking of a coal mining machine

Abstract

The application provides a method, device, equipment and storage medium for simulating multi-mode walking of a coal mining machine, which simulates the walking track of the coal mining machine by taking the reference position in the walking process of the coal mining machine as a trigger point of the walking track of the coal mining machine, configures the walking track of the coal mining machine according to the walking mode of the coal mining machine, determines the walking mode of the coal mining machine, and selects the walking mode of the coal mining machine according to the mining process of the coal mining machine to realize the simulation of the multi-mode walking of the coal mining machine. Through the application, the walking track of the coal mining machine can be independently designed, the decoupling with the real machine system is realized, and the operation is simple, fast and efficient.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to a method, apparatus, equipment, and storage medium for simulating the multi-mode movement of a coal mining machine. Background Technology

[0002] Currently, fully mechanized mining technology is relatively mature in coal seam mining, but there is a lack of verification and analysis of the safe operation performance of coal mining machines.

[0003] In existing technologies, some solutions construct a three-machine working face drive system and a matching three-dimensional full working face test model to realize the real machine drive system driving the three-dimensional model for testing and verification of the electro-hydraulic control system of the working face. The three-machine working face drive system inputs real data generated during operation and uses the test model program to output interference and fault information, thereby improving the testing and verification capability of the electro-hydraulic control system. This method introduces a method of using a three-machine (coal mining machine, scraper conveyor, and hydraulic support) driver program to drive a three-dimensional model to verify the function of the electro-hydraulic control system (support control system) through test simulation. However, this method lacks the ability to simulate without a driver program or with an incomplete driver program, and it relies on the equipment model for display. Furthermore, this method does not decompose the coal mining machine walking simulation function; it simply transplants the real machine program and cannot perform simple coal mining machine walking simulation, arbitrary trajectory design and planning, or trajectory input / output, thus lacking full-function walking simulation. Moreover, this method cannot be flexibly modularized and combined with other simulation equipment to support testing in different scenarios.

[0004] In addition, some schemes involve setting up a rotary table, a test platform, a coal mining machine's traveling track, a simulated coal shovel, a triaxial force loader, and a safety winch. The coal mining machine's traveling track, triaxial force loader, and safety winch are all fixed on the test platform, which is elongated. The coal mining machine's traveling track is laid along the length of the test platform. The simulated coal shovel is supported by several vertical hydraulic cylinders and installed on the test platform, arranged parallel to the coal mining machine's traveling track. The two ends of the vertical hydraulic cylinders are hinged relative to the simulated coal shovel and the test platform, respectively. The safety winch is located near one end of the coal mining machine's traveling track. The test platform is laid flat and fixed on the rotary table. Initial support force is provided by the hydraulic cylinders to achieve spatial triaxial loading force. The real-time state of the coal mining machine under stress is collected during the model's movement to verify the safety of the coal mining machine's movement. 1. This method introduces a physical test platform for a coal mining machine, aiming to simulate a real-world scenario for testing. It cannot perform software-based simulations, does not reflect software simulation testing theory and methods, and cannot conduct software simulation experiments.

[0005] Another approach involves setting up a comprehensive testing platform for the coal mining machine. This platform is a scaled-down version of the actual test equipment, serving as a model test bench. It includes a test platform, a coal mining machine travel track, a simulated shovel, a triaxial force loader, and a safety winch. The coal mining machine travel track and safety winch are fixedly mounted on the test platform, while the triaxial force loader is detachably mounted. The simulated shovel and test platform are hinged to the hydraulic cylinders and arranged parallel to the coal mining machine travel track. The movement of the coal mining machine is simulated in the laboratory, with the hydraulic cylinders providing the track's self-movement force, to test the machine's movement and the track system. This method, which uses a model test bench, has low simulation accuracy and limited ability to simulate coal mining machine movement, and also cannot be used for software simulation experiments. Summary of the Invention

[0006] This invention provides a method, apparatus, equipment, and storage medium for simulating the multi-mode movement of a coal mining machine. It aims to independently design the movement trajectory of the coal mining machine, achieve decoupling from the real machine system, and is simple, fast, and efficient to operate.

[0007] Therefore, the first objective of this invention is to provide a method for simulating multi-mode movement of a coal mining machine, comprising:

[0008] The reference position during the movement of the coal mining machine is used as the trigger point for the movement trajectory of the coal mining machine to simulate the movement trajectory of the coal mining machine;

[0009] According to the movement mode of the coal mining machine, the movement trajectory of the coal mining machine is configured to determine the movement mode of the coal mining machine;

[0010] Based on the mining process of the coal mining machine, the walking mode of the coal mining machine is selected to realize the simulation of multi-mode walking of the coal mining machine.

[0011] In the step of designing the coal mining machine's travel trajectory to conform to the actual conditions of an underground coal mine, the support number of the hydraulic support set on the coal mining machine's travel path is used as a reference position. The combination of "trigger point + coal mining machine direction" data is used as the basis for dividing the coal mining machine's operating stages. All coal mining machine operating stages are combined together to form the complete travel trajectory of the coal mining machine, thus designing a coal mining machine travel trajectory that conforms to the actual conditions of an underground coal mine.

[0012] Among them, the process of configuring the trajectory of the coal mining machine according to its movement mode includes:

[0013] Configure the starting point of the motion to simulate the position where the coal mining machine begins to move;

[0014] Configure the direction of movement to simulate the upward or downward movement of the coal mining machine, and determine the starting direction of the coal mining machine's movement.

[0015] Configure the coal mining machine speed, and design the support travel time and speed parameters; among them, the support travel time is a global rapid configuration parameter that simulates the time it takes for the coal mining machine to pass through a support, and then calculates the speed of the coal mining machine; the speed parameters are set for each stage in the stage configuration mode;

[0016] Configure the acceleration of the coal mining machine to simulate the rate of speed change.

[0017] In the process of configuring the coal mining machine's travel trajectory, three mutually exclusive travel modes are set: rapid configuration, standard one-cut coal, and staged configuration; among them,

[0018] In quick configuration mode, the starting point of movement, direction of movement, and walking time are configured to determine a set of stage trigger points. The coal mining machine walks at a constant speed and automatically determines the walking direction based on the current stage and the next stage.

[0019] In the standard one-cut coal mode, eight coal mining machine state stages are designed, using the starting point of movement, direction of movement, stage trigger point, stage speed and up and down acceleration. The travel range and state of each stage are designed, and the acceleration for state switching is designed.

[0020] In the stage configuration mode, an arbitrary trajectory design method is implemented, with the configuration being the same as that of the standard one-cut coal.

[0021] The coal mining machine's walking modes include the central following mode and the full working face following mode.

[0022] In the simulation of the middle section following mode: the movement of the coal mining machine in the middle section is simulated. The trajectory is simulated through the quick configuration mode and the stage configuration mode. Two stages of bidirectional movement in the middle section are designed to simulate the movement state. In the field operation, the middle section following mode only involves the division of two stages, namely the middle section upward movement and the middle section downward movement. The starting point, direction, speed, and movement range of the coal mining machine are designed to complete the configuration of the middle section following mode.

[0023] When simulating the full-face following mode: the walking status of the coal mining machine during the entire mining cycle can be simulated using the quick configuration mode, standard one-cut coal mode, and stage configuration mode. The standard one-cut coal mode is only applicable to mining processes where the coal mining machine makes one oblique cut. When the number of cuts in the full-face following process is multiple / the number of oblique cuts at both ends of the working face is different / other cut methods are used, the quick configuration and stage configuration modes are used.

[0024] The second objective of this invention is to provide a device for simulating the multi-mode movement of a coal mining machine, comprising:

[0025] The walking trajectory simulation module is used to simulate the walking trajectory of the coal mining machine by using the reference position during the walking process as the trigger point of the walking trajectory of the coal mining machine.

[0026] The walking mode determination module is used to configure the walking trajectory of the coal mining machine according to its walking mode and determine the walking mode of the coal mining machine.

[0027] The walking simulation module is used to select the walking mode of the coal mining machine according to the mining process, and realize the simulation of multiple walking modes of the coal mining machine.

[0028] A third objective of the present invention is to provide an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the method described above.

[0029] A fourth objective of this invention is to provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the steps of the method according to the foregoing technical solution.

[0030] Unlike existing technologies, the method for simulating multi-mode movement of a coal mining machine provided by this invention simulates the movement trajectory of the coal mining machine by using reference positions during the movement process as trigger points; configuring the movement trajectory according to the movement mode of the coal mining machine to determine the movement mode; and selecting the movement mode of the coal mining machine based on the mining process, thereby simulating multi-mode movement of the coal mining machine. This invention allows for independent design of the coal mining machine's movement trajectory, achieving decoupling from the actual machine system, and is simple, fast, and efficient to operate. Attached Figure Description

[0031] The present invention and / or its additional aspects and advantages will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0032] Figure 1 This is a flowchart illustrating a method for simulating multi-mode movement of a coal mining machine provided by the present invention.

[0033] Figure 2 This is a schematic diagram of the trajectory of the central following mode in a method for simulating the multi-mode walking of a coal mining machine provided by the present invention.

[0034] Figure 3 This is a schematic diagram of the trajectory of the full-face following-machine walking mode in a method for simulating multi-mode walking of a coal mining machine provided by the present invention.

[0035] Figure 4This is a schematic diagram of the trajectory of the arbitrary trajectory following mode in the method for simulating the multi-mode walking of a coal mining machine provided by the present invention.

[0036] Figure 5 This is a schematic diagram of the structure of a device for simulating the multi-mode movement of a coal mining machine provided by the present invention.

[0037] Figure 6 This is a schematic diagram of the structure of a non-transitory computer-readable storage medium storing computer instructions provided by the present invention. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] This invention describes a method for simulating the movement of a coal mining machine. Without relying on other software (real machine system or drivers) and equipment, it can independently simulate all functions and business scenarios of a coal mining machine's movement. By inputting key parameters of the coal mining machine's movement, a customizable movement trajectory can be designed. The testing tool broadcasts the movement status of the coal mining machine in real time, achieving the simulation function. Using this method, the movement trajectory of the coal mining machine can be designed independently, achieving decoupling from the real machine system. It is simple to operate, fast and efficient, and also has the ability to perform cluster testing with other testing systems.

[0040] Other testing systems refer to simulation software, real machine systems and equipment with communication functions, including hydraulic supports, scraper conveyors, transfer conveyors, crushers, pump stations and other related equipment.

[0041] Full functionality refers to all motion attribute parameters of the coal mining machine; functional scenarios include coal mining face business scenarios, including thin coal seams, medium-thick coal seams, high mining heights, and top coal caving business scenarios.

[0042] Figure 1 A method for simulating multi-mode movement of a coal mining machine, provided in an embodiment of the present invention, includes:

[0043] Step S110: Use the reference position during the movement of the coal mining machine as the trigger point for the movement trajectory of the coal mining machine, and simulate the movement trajectory of the coal mining machine.

[0044] The simulation of the coal mining machine's movement trajectory involves simulating the machine's movement along the track on the scraper conveyor. The direction of movement is either upward or downward along the track (upward towards the larger end of the support number, downward towards the smaller end). The reference point for the movement is generally the hydraulic supports within the working face, and the machine's position is indicated by the support numbers on the hydraulic supports. The simulation of the coal mining machine's movement must consider its functionalities and the operational scenario. The movement functions include communication functions and operational functions (communication functions refer to communication with related equipment; operational functions refer to the machine's movement, coal cutting, etc.). The operational scenario refers to the type of fully mechanized mining face. The combination of these two factors forms the specific process of the coal mining machine's movement. This testing software tool simulates the coal mining machine's movement process.

[0045] This invention simulates the movement trajectory of a coal mining machine. First, a movement trajectory that conforms to on-site conditions is designed to simulate on-site operational needs. In the technical solution of this invention, the reference position (support number) during the movement of the coal mining machine is used as the trigger point for the movement trajectory. The combination of "trigger point + coal mining machine direction" data is used as the basis for dividing the operation stages of the coal mining machine. All operation stages of the coal mining machine are combined to form the complete movement trajectory of the coal mining machine.

[0046] Step S120: Configure the trajectory of the coal mining machine according to its travel mode and determine the travel mode of the coal mining machine.

[0047] The trajectory configuration process includes:

[0048] Configure the starting point of the motion to simulate the position where the coal mining machine begins to move;

[0049] Configure the direction of movement to simulate the upward or downward movement of the coal mining machine, and determine the starting direction of the coal mining machine's movement.

[0050] Configure the coal mining machine speed, and design the support travel time and speed parameters; among them, the support travel time is a global rapid configuration parameter that simulates the time it takes for the coal mining machine to pass through a support, and then calculates the speed of the coal mining machine; the speed parameters are set for each stage in the stage configuration mode;

[0051] The acceleration of the coal mining machine was configured to simulate the rate of speed change. In addition, the following parameters were also configured:

[0052] Movement range: Design "maximum value" and "minimum value" to indicate the range of the coal mining machine's travel and cruising.

[0053] Cyclic motion: A cyclic switch is designed. When the switch is turned on, the coal mining machine moves continuously along the trajectory. When the switch is turned off, the coal mining machine moves along the trajectory once (one process cycle).

[0054] This invention establishes three mutually exclusive walking modes: rapid configuration, standard one-cut coal, and staged configuration; wherein,

[0055] In quick configuration mode, the starting point of movement, direction of movement, and walking time are configured to determine a set of stage trigger points. The coal mining machine walks at a constant speed and automatically determines the walking direction based on the current stage and the next stage.

[0056] In the standard one-cut coal mode, eight coal mining machine state stages are designed, using the starting point of movement, direction of movement, stage trigger point, stage speed and up and down acceleration. The travel range and state of each stage are designed, and the acceleration for state switching is designed.

[0057] In the stage configuration mode, an arbitrary trajectory design method is implemented, with the configuration being the same as that of the standard one-cut coal.

[0058] Step S130: Select the walking mode of the coal mining machine according to the mining process of the coal mining machine, and realize the simulation of multi-mode walking of the coal mining machine.

[0059] The coal mining machine's travel modes include the middle-face following mode and the full-face following mode.

[0060] like Figure 2 As shown, when simulating the middle section following mode: the movement of the coal mining machine in the middle section is simulated. Trajectory simulation is performed through quick configuration mode and stage configuration mode. Two stages of bidirectional movement in the middle section are designed to simulate the movement state. In field operations, the middle section following only involves the division of two stages, namely the middle section upward movement and the middle section downward movement. The starting point, direction, speed, and movement range of the coal mining machine are designed to complete the configuration of the middle section following.

[0061] When simulating the full-face following mode: Simulate the movement of the coal mining machine throughout the entire mining cycle. The quick configuration mode, standard one-cut coal mode, and stage configuration mode can be used for simulation. The standard one-cut coal mode is only applicable to mining processes where the coal mining machine makes one oblique cut. When the number of cuts in the full-face following process is multiple / the number of oblique cuts at both ends of the working face is different / other cut methods are used, the quick configuration and stage configuration modes are used.

[0062] Figure 3 The diagram shows the standard single-cut coal configuration method for the entire working face. Following this method, it is necessary to configure the motion state attributes of the coal mining machine, including the starting point, direction, trigger points for the eight stage transitions, speed, and acceleration for speed changes. The figures show the numbers representing the trigger points for the eight stage transitions and one starting point.

[0063] Using quick configuration and stage configuration, other mining processes can be configured, supporting the design of new coal mining machine travel processes using this tool.

[0064] Figure 4The diagram illustrates a non-standard following-machine process (other mining processes), specifically the arbitrary movement trajectory of the coal mining machine mentioned in this method. The trajectory shown has 11 stages, with stage trigger points (support numbers) of 90, 70, 85, 70, 80, 70, 90, 40, 1, 20, and 10. Following this method, it is necessary to configure the coal mining machine's starting point, direction, stage switching trigger points for the 11 stages, and motion state attributes such as speed and acceleration for speed changes.

[0065] like Figure 5 As shown, the present invention proposes a device 300 for simulating the multi-mode movement of a coal mining machine, comprising:

[0066] The walking trajectory simulation module 310 is used to simulate the walking trajectory of the coal mining machine by using the reference position during the walking process as the trigger point of the walking trajectory of the coal mining machine.

[0067] The walking mode determination module 320 is used to configure the walking trajectory of the coal mining machine according to the walking mode of the coal mining machine, and determine the walking mode of the coal mining machine.

[0068] The walking simulation module 330 is used to select the walking mode of the coal mining machine according to the mining process of the coal mining machine, so as to realize the simulation of multi-mode walking of the coal mining machine.

[0069] To implement the embodiments, the present invention also proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the simulated coal mining machine multi-mode walking method of the aforementioned technical solution.

[0070] like Figure 6 As shown, the non-transitory computer-readable storage medium includes a memory 810 for instructions and an interface 830, the instructions of which can be executed by a processor 820 according to a simulated coal mining machine multi-mode walking response to complete the method. Optionally, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0071] To implement the embodiments, the present invention also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the multi-mode movement of a simulated coal mining machine as described in the embodiments of the present invention.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0074] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0075] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0076] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the described embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0077] Those skilled in the art will understand that all or part of the steps of the method described in the embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0078] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0079] The storage medium mentioned may be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the embodiments within the scope of the present invention.

Claims

1. A method for simulating multi-mode movement of a coal mining machine, characterized in that, include: The reference position during the movement of the coal mining machine is used as the trigger point for the movement trajectory of the coal mining machine to simulate the movement trajectory of the coal mining machine; According to the movement mode of the coal mining machine, the movement trajectory of the coal mining machine is configured to determine the movement mode of the coal mining machine; Based on the coal mining process, the walking mode of the coal mining machine is selected to simulate multiple walking modes of the coal mining machine. In the step of configuring the trajectory of the coal mining machine according to its travel mode, the trajectory configuration process includes: Configure the starting point of the motion to simulate the position where the coal mining machine begins to move; Configure the direction of movement to simulate the upward or downward movement of the coal mining machine, and determine the starting direction of the coal mining machine's movement. Configure the coal mining machine speed, and design the support travel time and speed parameters; among them, the support travel time is a global rapid configuration parameter that simulates the time it takes for the coal mining machine to pass through a support, and then calculates the speed of the coal mining machine; the speed parameters are set for each stage in the stage configuration mode; Configure the acceleration of the coal mining machine to simulate the rate of speed change; In the step of configuring the movement trajectory of the coal mining machine, three mutually exclusive movement modes are set: rapid configuration, standard one-cut coal, and stage configuration; among them, In quick configuration mode, the starting point of movement, direction of movement, and walking time are configured to determine a set of stage trigger points. The coal mining machine walks at a constant speed and automatically determines the walking direction based on the current stage and the next stage. In the standard one-cut coal mode, eight coal mining machine state stages are designed, using the starting point of movement, direction of movement, stage trigger point, stage speed and up and down acceleration. The travel range and state of each stage are designed, and the acceleration for state switching is designed. In the stage configuration mode, an arbitrary trajectory design method is implemented, with the configuration being the same as that of the standard one-cut coal.

2. The method for simulating multi-mode movement of a coal mining machine according to claim 1, characterized in that, In the steps of designing the coal mining machine's travel trajectory to conform to the actual conditions of an underground coal mine, the support number of the hydraulic support set on the coal mining machine's travel path is used as the reference position. The combination of "trigger point + coal mining machine direction" data is used as the basis for dividing the coal mining machine's operating stages. All coal mining machine operating stages are combined together to form the complete travel trajectory of the coal mining machine, thus designing a coal mining machine travel trajectory that conforms to the actual conditions of an underground coal mine.

3. The method for simulating multi-mode movement of a coal mining machine according to claim 1, characterized in that, The coal mining machine's walking modes include a central following mode and a full-face following mode.

4. The method for simulating multi-mode movement of a coal mining machine according to claim 3, characterized in that, When simulating the middle section following mode: Simulate the movement of the coal mining machine in the middle section. The trajectory is simulated through the quick configuration mode and the stage configuration mode. Two stages of bidirectional movement in the middle section are designed to simulate the movement state. In field operations, the middle section following mode only involves the division of two stages, namely the middle section upward movement and the middle section downward movement. The starting point, direction, speed, and range of movement attributes of the coal mining machine are designed to complete the configuration of the middle section following mode.

5. The method for simulating multi-mode movement of a coal mining machine according to claim 3, characterized in that, When simulating the full-face following mode: Simulate the movement of the coal mining machine throughout the entire mining cycle. The quick configuration mode, standard one-cut coal mode, and stage configuration mode can be used for simulation. The standard one-cut coal mode is only applicable to mining processes where the coal mining machine makes one oblique cut. When the number of cuts in the full-face following process is multiple / the number of oblique cuts at both ends of the working face is different / other cut methods are used, the quick configuration and stage configuration modes are used.

6. A device for simulating multi-mode movement of a coal mining machine, characterized in that, include: The walking trajectory simulation module is used to simulate the walking trajectory of the coal mining machine by using the reference position during the walking process as the trigger point of the walking trajectory of the coal mining machine. The walking mode determination module is used to configure the walking trajectory of the coal mining machine according to the walking mode of the coal mining machine, and determine the walking mode of the coal mining machine. The walking simulation module is used to select the walking mode of the coal mining machine based on the mining process, and to simulate multiple walking modes of the coal mining machine. The walking pattern determination module is also used for: Configure the starting point of the motion to simulate the position where the coal mining machine begins to move; Configure the direction of movement to simulate the upward or downward movement of the coal mining machine, and determine the starting direction of the coal mining machine's movement. Configure the coal mining machine speed, and design the support travel time and speed parameters; among them, the support travel time is a global rapid configuration parameter that simulates the time it takes for the coal mining machine to pass through a support, and then calculates the speed of the coal mining machine; the speed parameters are set for each stage in the stage configuration mode; Configure the acceleration of the coal mining machine to simulate the rate of speed change; Three mutually exclusive walking modes are defined: rapid configuration, standard one-cut coal, and staged configuration; wherein, the walking mode determination module is further used for: In quick configuration mode, the starting point of movement, direction of movement, and walking time are configured to determine a set of stage trigger points. The coal mining machine walks at a constant speed and automatically determines the walking direction based on the current stage and the next stage. In the standard one-cut coal mode, eight coal mining machine state stages are designed, using the starting point of movement, direction of movement, stage trigger point, stage speed and up and down acceleration. The travel range and state of each stage are designed, and the acceleration for state switching is designed. In the stage configuration mode, an arbitrary trajectory design method is implemented, with the configuration being the same as that of the standard one-cut coal.

7. An electronic device, comprising: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1-5.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform each step of the method according to any one of claims 1-5.

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