Coal cutting stage detection method and device for a coal mining machine

Abstract

The application provides a coal cutting stage detection method and device suitable for a coal mining machine, and relates to the technical field of coal mining. The method comprises the following steps: acquiring position data of the coal mining machine, wherein the position data comprises a first position of the coal mining machine at a current moment and second positions of the coal mining machine at N adjacent historical moments, N is an integer greater than 3; acquiring a coal cutting direction of the coal mining machine according to the first position and the N second positions; if the coal cutting direction is changed, determining a third position of a current turning point and acquiring a fourth position of a previous turning point; and determining a coal cutting stage corresponding to the current turning point of the coal mining machine according to the third position and the fourth position. The embodiment of the application can acquire the accurate condition of the coal cutting stage of the fully-mechanized coal mining face in real time, improve the flexibility and efficiency of the coal cutting stage detection of the coal mining machine, realize the synchronous data acquisition and analysis, make the whole coal cutting work process more clear, and be beneficial to the subsequent data processing and integration.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, and in particular to a method and apparatus for detecting the coal cutting stage of a coal mining machine. Background Technology

[0002] In related technologies, the coal cutting method of coal mining machines is bidirectional cutting, with two cuts per round trip. Specifically, the coal mining machine cuts upwards from the support number (smallest to largest), continuing until the upper triangular area at the end of the working face is cut, which counts as one cut. Conversely, the coal mining machine cuts downwards from the support number (largest to smallest), continuing until the lower triangular area at the end of the working face is cut, also counting as one cut. This method cannot accurately obtain the daily working conditions of the fully mechanized mining face, which may affect the statistics of production indicators and the mining and analysis of big data in coal mine production, as it cannot achieve simultaneous data collection and analysis. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art. Therefore, one objective of this application is to propose a detection method suitable for the coal cutting stage of a coal mining machine.

[0004] The second objective of this application is to provide a detection device for the coal cutting stage of a coal mining machine.

[0005] The third objective of this application is to propose an electronic device.

[0006] The fourth objective of this application is to provide a non-transitory computer-readable storage medium.

[0007] The fifth objective of this application is to provide a computer program product.

[0008] To achieve the above objectives, the first aspect of this application proposes a method for detecting the coal cutting stage of a coal mining machine, comprising:

[0009] Obtain the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second positions of the N adjacent historical moments, where N is an integer greater than 3.

[0010] The coal cutting direction of the coal mining machine is obtained based on the first position and N second positions;

[0011] If the coal cutting direction changes, determine the third position of the current turning point and obtain the fourth position of the previous turning point; determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third and fourth positions.

[0012] In some implementations, the coal cutting direction of the coal mining machine is obtained based on the first position and N second positions, including: fitting curves based on the first position and N second positions to obtain the first derivative corresponding to each position; if the first derivative is 0 at any position, it is determined that the coal cutting direction has changed direction.

[0013] In some implementations, determining the third position of the current inflection point includes: determining the position where the first derivative is 0 as the third position of the current inflection point.

[0014] In some implementations, the following are also included: if the first derivative at each position is greater than 0, the coal cutting direction of the coal mining machine is determined to be the upward direction; and / or if the first derivative at each position is less than 0, the coal cutting direction of the coal mining machine is determined to be the downward direction.

[0015] In some implementations, the position is marked by the support number, and the coal cutting stage corresponding to the current turning point of the coal mining machine is determined based on the third and fourth positions. This includes: dividing the range of the moving support of the coal mining machine into seven sub-ranges, where the smallest support number in the i-th sub-range is greater than the largest support number in the (i+1)-th sub-range, and i takes the value from 1 to 6; and determining the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third position, the fourth position, and the seven sub-ranges.

[0016] In some implementations, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined based on the third position, the fourth position, and the seven sub-ranges. This includes: if the fourth position is located in the first sub-range and the third position is located in the seventh sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the downward stage; if the fourth position is located in the seventh sub-range and the third position is located in the first sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upward stage.

[0017] In some implementations, the following is also included: if the fourth position and the third position are located in the sixth sub-range and / or the seventh sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the lower triangular stage; if the fourth position and the third position are located in the first sub-range and / or the second sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upper triangular stage.

[0018] In some implementations, the following additional steps are also taken: if the fourth position is located in the seventh or fifth sub-range and the third position is located in the fourth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-tail cutting stage; if the fourth position is located in the fourth sub-range and the third position is located in the seventh or fifth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-tail cutting stage; if the fourth position is located in the first or third sub-range and the third position is located in the fourth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-head cutting stage; if the fourth position is located in the fourth sub-range and the third position is located in the first or third sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-head cutting stage.

[0019] In some implementations, it also includes: obtaining the coal cutting stage corresponding to the previous turning point; if the coal cutting stage corresponding to the previous turning point is different from the coal cutting stage corresponding to the current turning point, generating a prompt message based on the coal cutting stage corresponding to the previous turning point and making a reminder.

[0020] This application embodiment can obtain accurate information on the coal cutting stage of the fully mechanized mining face in real time, improve the flexibility and efficiency of coal cutting stage detection, realize the synchronous data acquisition and analysis, and accurately divide the coal cutting cycle workflow of the coal cutting machine into stages, which not only makes the entire coal cutting workflow clearer, but also facilitates subsequent data processing and integration.

[0021] To achieve the above objectives, a second aspect of this application provides a coal cutting stage detection device suitable for coal mining machines, comprising:

[0022] The first acquisition module is used to acquire the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second positions of the N adjacent historical moments, where N is an integer greater than 3.

[0023] The second acquisition module is used to acquire the coal cutting direction of the coal mining machine based on the first position and N second positions;

[0024] The first determining module is used to determine the third position of the current turning point and obtain the fourth position of the previous turning point if the coal cutting direction changes.

[0025] The second determining module is used to determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third and fourth positions.

[0026] In some implementations, the second acquisition module is also used to: fit a curve based on the first position and N second positions to obtain the first derivative corresponding to each position; if the first derivative at any position is 0, it is determined that the coal cutting direction has changed.

[0027] In some implementations, the first determining module is also used to: determine the position where the first derivative is 0 as the third position of the current turning point.

[0028] In some implementations, the second acquisition module is also used to: determine the coal cutting direction of the coal mining machine as the upward direction if the first derivative corresponding to each position is greater than 0; and / or determine the coal cutting direction of the coal mining machine as the downward direction if the first derivative corresponding to each position is less than 0.

[0029] In some implementations, the position is marked by the support number. The second determining module is also used to: divide the range of the moving support of the coal mining machine into seven sub-ranges, wherein the smallest support number in the i-th sub-range is greater than the largest support number in the (i+1)-th sub-range, and i takes the value from 1 to 6; and determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third position, the fourth position and the seven sub-ranges.

[0030] In some implementations, the second determining module is also used to: if the fourth position is located in the first sub-range and the third position is located in the seventh sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the downward stage; if the fourth position is located in the seventh sub-range and the third position is located in the first sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the upward stage.

[0031] In some implementations, the second determining module is also used to: if the fourth position and the third position are located in the sixth sub-range and / or the seventh sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the lower triangular stage; if the fourth position and the third position are located in the first sub-range and / or the second sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the upper triangular stage.

[0032] In some implementations, the second determining module is also used to: determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the end-tail cutting stage if the fourth position is located in the seventh or fifth sub-range and the third position is located in the fourth sub-range; determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the end-tail cutting stage if the fourth position is located in the fourth sub-range and the third position is located in the seventh or fifth sub-range; determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the end-head cutting stage if the fourth position is located in the first or third sub-range and the third position is located in the fourth sub-range; determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the end-head cutting stage if the fourth position is located in the fourth sub-range and the third position is located in the first or third sub-range.

[0033] In some implementations, the coal cutting stage detection device 1200 applicable to the coal mining machine also includes a reminder module, which is used to: obtain the coal cutting stage corresponding to the previous turning point; if the coal cutting stage corresponding to the previous turning point is different from the coal cutting stage corresponding to the current turning point, generate a reminder message based on the coal cutting stage corresponding to the previous turning point and provide a reminder.

[0034] To achieve the above objectives, a third aspect of this application provides an electronic device comprising:

[0035] At least one processor; and

[0036] A memory that is communicatively connected to at least one processor; wherein,

[0037] The memory stores instructions that can be executed by at least one processor, which enables the at least one processor to perform the coal cutting stage detection method for a coal mining machine provided in the first aspect embodiment of this application.

[0038] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium storing computer instructions thereon, wherein the computer instructions are used to cause a computer to execute a coal cutting stage detection method for a coal mining machine provided in the first aspect of this application.

[0039] To achieve the above objectives, a fifth aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the coal cutting stage detection method for coal mining machines provided in the first aspect of this application. Attached Figure Description

[0040] Figure 1 This is a flowchart of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0042] Figure 3 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0044] Figure 5 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0045] Figure 6 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0046] Figure 7 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0047] Figure 8 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0048] Figure 9 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0049] Figure 10 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0050] Figure 11 This is a schematic diagram of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application;

[0051] Figure 12 This is a structural block diagram of a coal cutting stage detection device for a coal mining machine according to one embodiment of this application;

[0052] Figure 13 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0053] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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 this application, and should not be construed as limiting this application.

[0054] The following describes, with reference to the accompanying drawings, a method and apparatus for detecting the coal cutting stage of a coal mining machine, according to embodiments of this application.

[0055] Figure 1 This is a flowchart of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application, as shown below. Figure 1 As shown, the method includes the following steps:

[0056] S101, obtain the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second position of the N adjacent historical moments, where N is an integer greater than 3.

[0057] In this embodiment of the application, the position data of the coal mining machine can be collected by a centralized control platform deployed on the working face. Optionally, the position data of the coal mining machine can be calibrated by the number of the support. For example, if the first position of the coal mining machine at the current moment is 5, it means that the coal mining machine is located at the position of the 5th support at the current moment.

[0058] It should be noted that the position data of the coal mining machine at adjacent times is continuous. Taking N value of 4 as an example, if the first position at the current time is 6, and the second positions of the N historical times adjacent to the current time are 7, 8, 9, and 10, then the position data of the coal mining machine is 6, 7, 8, 9, and 10.

[0059] In some implementations, if the position difference between two adjacent moments of the coal mining machine is greater than a preset distance threshold, it indicates that the position data at the current moment has changed, and the first position at the current moment is filtered.

[0060] S102, obtain the coal cutting direction of the coal mining machine based on the first position and N second positions.

[0061] Taking N as an example, in some implementations, if the position data of the coal mining machine monotonically increases between the first position and the N second positions, for example, if the position data of the coal mining machine is 6, 7, 8, 9, 10, then the coal cutting direction of the coal mining machine is upward.

[0062] In some implementations, if the position data of the coal mining machine monotonically decreases between the first position and N second positions, for example, if the position data of the coal mining machine is 10, 9, 8, 7, 6, then the coal cutting direction of the coal mining machine is downward.

[0063] In some implementations, if the position data of the coal mining machine decreases and then increases between the first position and N second positions, for example, if the position data of the coal mining machine is 10, 9, 8, 9, 10, then it is determined that the coal cutting direction of the coal mining machine has changed.

[0064] In some implementations, if the position data of the coal mining machine increases and then decreases between the first position and N second positions, for example, if the position data of the coal mining machine is 210, 211, 212, 211, 210, then it is determined that the coal cutting direction of the coal mining machine has changed.

[0065] S103, if the coal cutting direction changes, determine the third position of the current turning point and obtain the fourth position of the previous turning point.

[0066] In some implementations, if the coal cutting direction of the coal mining machine changes, the peak value in the position data is taken as the third position of the current turning point. For example, if the position data of the coal mining machine decreases and then increases between the first position and N second positions, such as the position data of the coal mining machine being 10, 9, 8, 9, 10, then the third position of the current turning point is determined to be 8; if the position data of the coal mining machine increases and then decreases between the first position and N second positions, such as the position data of the coal mining machine being 210, 211, 212, 211, 210, then the third position of the current turning point is determined to be 212.

[0067] Furthermore, the fourth position of the previous turning point is obtained so that the coal cutting stage corresponding to the current turning point of the coal mining machine can be determined by combining the third and fourth positions.

[0068] S104, determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third and fourth positions.

[0069] In this embodiment, the range of the moving support of the coal mining machine can be divided into multiple sub-ranges. The sub-ranges where the third and fourth positions are located have a mapping relationship with the coal cutting stage. Therefore, the coal cutting stage corresponding to the current turning point of the coal mining machine can be obtained based on the target sub-ranges where the third and fourth positions are located.

[0070] In this embodiment, the coal cutting stage may include a downward stage, an upward stage, a lower triangular stage, an upper triangular stage, an end-tail cutting stage, and an end-head cutting stage.

[0071] In this embodiment, the coal cutting direction of the coal mining machine is obtained based on the first position and N second positions; if the coal cutting direction changes direction, the third position of the current turning point is determined, and the fourth position of the previous turning point is obtained; the coal cutting stage corresponding to the current turning point of the coal mining machine is determined based on the third position and the fourth position. This embodiment can obtain the accurate status of the coal cutting stage of the fully mechanized mining face in real time, improve the flexibility and efficiency of coal cutting stage detection, realize the synchronous data acquisition and analysis, and accurately divide the coal cutting cycle workflow of the coal mining machine into stages, which not only makes the entire coal cutting workflow clearer, but also facilitates subsequent data processing and integration.

[0072] Figure 2 This is a flowchart of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application, as shown below. Figure 2 As shown, the method includes the following steps:

[0073] S201, Obtain the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second position of the N adjacent historical moments, where N is an integer greater than 3.

[0074] For a description of step S201, please refer to the relevant content of the above embodiments, which will not be repeated here.

[0075] S202, fit a curve based on the first position and N second positions to obtain the first derivative corresponding to each position.

[0076] S203, if there exists a position where the first derivative is 0, it is determined that the coal cutting direction has changed.

[0077] Optionally, if the first derivative corresponding to each position is greater than 0, it indicates that the position data of the coal mining machine is monotonically increasing between the first position and the N second positions, and the coal cutting direction of the coal mining machine is determined to be the upward direction.

[0078] Optionally, if the first derivative corresponding to each position is less than 0, it indicates that the position data of the coal mining machine is monotonically decreasing between the first position and the N second positions, and the coal cutting direction of the coal mining machine is determined to be the downward direction.

[0079] Optionally, if there exists a first derivative of 0 at any position, it indicates that the position data of the coal mining machine has a turning point between the first position and N second positions, thus determining that the coal cutting direction has changed.

[0080] S204, if the coal cutting direction changes, determine the third position of the current turning point and obtain the fourth position of the previous turning point.

[0081] In this embodiment of the application, the position where the first derivative is 0 is determined as the third position of the current turning point.

[0082] S205, determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third and fourth positions.

[0083] For a description of step S205, please refer to the relevant content of the above embodiments, which will not be repeated here.

[0084] This application embodiment can obtain accurate information on the coal cutting stage of the fully mechanized mining face in real time, improve the flexibility and efficiency of coal cutting stage detection, realize the synchronous data acquisition and analysis, and accurately divide the coal cutting cycle workflow of the coal cutting machine into stages, which not only makes the entire coal cutting workflow clearer, but also facilitates subsequent data processing and integration.

[0085] Figure 3 This is a flowchart of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application, as shown below. Figure 3 As shown, the method includes the following steps:

[0086] S301, obtain the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second position of the N adjacent historical moments, where N is an integer greater than 3.

[0087] S302, obtain the coal cutting direction of the coal mining machine based on the first position and N second positions.

[0088] S303, if the coal cutting direction changes, determine the third position of the current turning point and obtain the fourth position of the previous turning point.

[0089] For a description of steps S301 to S303, please refer to the relevant content of the above embodiments, which will not be repeated here.

[0090] S304 divides the range of the moving support of the coal mining machine into seven sub-ranges.

[0091] In this case, the smallest support number in the i-th sub-range is greater than the largest support number in the (i+1)-th sub-range. The value of i ranges from 1 to 6. For example... Figure 4 As shown, the first sub-range is the upper triangular area, which can be [181, 200], representing the position area of ​​support numbers 181 to 200; the second sub-range is the upward dead zone, which can be [171, 180], representing the position area of ​​support numbers 171 to 180; the third sub-range is the upward one-cut coal area, which can be [121, 170], representing the position area of ​​support numbers 121 to 170; the fourth sub-range is the half-cut coal area, which can be [71, 120], representing the position area of ​​support numbers 71 to 120; the fifth sub-range is the downward one-cut coal area, which can be [31, 70], representing the position area of ​​support numbers 31 to 70; the sixth sub-range is the downward dead zone, which can be [21, 30], representing the position area of ​​support numbers 21 to 30; and the seventh sub-range is the downward triangular area, which can be [1, 20], representing the position area of ​​support numbers 1 to 20.

[0092] S305 determines the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third position, the fourth position, and seven sub-ranges.

[0093] like Figure 5 As shown, if the fourth position is located in the first sub-range and the third position is located in the seventh sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the downward stage.

[0094] like Figure 6 As shown, if the fourth position is located in the seventh sub-range and the third position is located in the first sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upward stage.

[0095] like Figure 7 As shown, if the fourth and third positions are located within the sixth and / or seventh sub-ranges, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the lower triangular stage. In other words, if the fourth position is located within the seventh sub-range and the third position is located within the sixth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the lower triangular stage. If the fourth position is located within the sixth sub-range and the third position is located within the seventh sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the lower triangular stage. If both the fourth and third positions are located within the sixth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the lower triangular stage.

[0096] like Figure 8 As shown, if the fourth and third positions are located within the first and / or second sub-ranges, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upper triangular stage. In other words, if the fourth position is located within the first sub-range and the third position is located within the second sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upper triangular stage. If the fourth position is located within the second sub-range and the third position is located within the first sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upper triangular stage. If both the fourth and third positions are located within the second sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upper triangular stage.

[0097] like Figure 9 As shown, if the fourth position is located in the seventh or fifth sub-range and the third position is located in the fourth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-end cutting stage.

[0098] like Figure 9 As shown, if the fourth position is located in the fourth sub-range and the third position is located in the seventh or fifth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-end cutting stage.

[0099] like Figure 10 As shown, if the fourth position is located in the first or third sub-range, and the third position is located in the fourth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-cutting stage.

[0100] like Figure 10 As shown, if the fourth position is located in the fourth sub-range and the third position is located in the first or third sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-cutting stage.

[0101] This application embodiment can obtain accurate information on the coal cutting stage of the fully mechanized mining face in real time, improve the flexibility and efficiency of coal cutting stage detection, realize the synchronous data acquisition and analysis, and accurately divide the coal cutting cycle workflow of the coal cutting machine into stages. It can accurately analyze the repeated turning back and forth of the coal cutting machine in the lower or upper triangular area, which not only makes the entire coal cutting workflow clearer, but also facilitates the subsequent data processing and integration.

[0102] Figure 11 This is a flowchart of a detection method for the coal cutting stage of a coal mining machine according to an embodiment of this application, as shown below. Figure 11 As shown, the method includes the following steps:

[0103] S1101, obtain the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second position of the N adjacent historical moments, where N is an integer greater than 3.

[0104] S1102, obtain the coal cutting direction of the coal mining machine based on the first position and N second positions.

[0105] S1103, if the coal cutting direction changes, determine the third position of the current turning point and obtain the fourth position of the previous turning point.

[0106] S1104, determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third and fourth positions.

[0107] The descriptions of steps S1101 to S1104 can be found in the relevant content of the above embodiments, and will not be repeated here.

[0108] S1105, obtain the coal cutting stage corresponding to the previous turning point.

[0109] S1106 If the coal cutting stage corresponding to the previous turning point is different from the coal cutting stage corresponding to the current turning point, generate a prompt message based on the coal cutting stage corresponding to the previous turning point and provide a reminder.

[0110] In this embodiment of the application, if the coal cutting stage corresponding to the previous turning point is different from the coal cutting stage corresponding to the current turning point, it means that the coal cutting stage corresponding to the previous turning point has ended and a new coal cutting stage has been triggered. Therefore, a prompt message can be generated and a reminder can be given based on the coal cutting stage corresponding to the previous turning point.

[0111] Optionally, if the coal cutting stage corresponding to the previous turning point is an upward stage, a "upward cutter ended" prompt message can be generated; if the coal cutting stage corresponding to the previous turning point is a downward stage, a "downward cutter ended" prompt message can be generated.

[0112] Optionally, if the coal cutting stage corresponding to the previous turning point is the upper triangular stage, a prompt message "upward triangular coal cutting has ended" can be generated; if the coal cutting stage corresponding to the previous turning point is the lower triangular stage, a prompt message "downward triangular coal cutting has ended" can be generated.

[0113] Optionally, if the coal cutting stage corresponding to the previous turning point is the end-cutting stage, a prompt message "upward half-cutting ends" can be generated; if the coal cutting stage corresponding to the previous turning point is the end-cutting stage, a prompt message "downward half-cutting ends" can be generated.

[0114] In this embodiment, voice or light reminders can be given based on the prompt message, and text reminders can also be given based on the prompt message. This application does not limit this.

[0115] This application embodiment can obtain accurate information on the coal cutting stage of the fully mechanized mining face in real time, improve the flexibility and efficiency of coal cutting stage detection, realize the synchronous data acquisition and analysis, and accurately divide the coal cutting cycle workflow of the coal cutting machine into stages, making the entire coal cutting workflow clearer, making the judgment of adding cutters more accurate, and facilitating subsequent data processing and integration.

[0116] like Figure 12 As shown, based on the same application concept, this application embodiment also provides a coal cutting stage detection device 1200 suitable for coal mining machines, including:

[0117] The first acquisition module 1210 is used to acquire the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second positions of the N adjacent historical moments, where N is an integer greater than 3.

[0118] The second acquisition module 1220 is used to acquire the coal cutting direction of the coal mining machine based on the first position and N second positions;

[0119] The first determining module 1230 is used to determine the third position of the current turning point and obtain the fourth position of the previous turning point if the coal cutting direction changes.

[0120] The second determining module 1240 is used to determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third and fourth positions.

[0121] In some implementations, the second acquisition module 1220 is also used to: fit a curve based on the first position and N second positions to obtain the first derivative corresponding to each position; if the first derivative at any position is 0, determine that the coal cutting direction has changed.

[0122] In some implementations, the first determining module 1230 is also used to: determine the position where the first derivative is 0 as the third position of the current turning point.

[0123] In some implementations, the second acquisition module 1220 is also used to: determine the coal cutting direction of the coal mining machine as the upward direction if the first derivative corresponding to each position is greater than 0; and / or determine the coal cutting direction of the coal mining machine as the downward direction if the first derivative corresponding to each position is less than 0.

[0124] In some implementations, the position is marked by the support number. The second determining module 1240 is also used to: divide the range of the moving support of the coal mining machine into seven sub-ranges, wherein the minimum support number in the i-th sub-range is greater than the maximum support number in the (i+1)-th sub-range, and i takes the value from 1 to 6; and determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third position, the fourth position and the seven sub-ranges.

[0125] In some implementations, the second determining module 1240 is also used to: if the fourth position is located in the first sub-range and the third position is located in the seventh sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the downward stage; if the fourth position is located in the seventh sub-range and the third position is located in the first sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the upward stage.

[0126] In some implementations, the second determining module 1240 is also used to: if the fourth position and the third position are located in the sixth sub-range and / or the seventh sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the lower triangular stage; if the fourth position and the third position are located in the first sub-range and / or the second sub-range, determine the coal cutting stage corresponding to the current turning point of the coal mining machine as the upper triangular stage.

[0127] In some implementations, the second determining module 1240 is further configured to: if the fourth position is located in the seventh or fifth sub-range and the third position is located in the fourth sub-range, determine that the coal cutting stage corresponding to the current turning point of the coal mining machine is the end-tail cutting stage; if the fourth position is located in the fourth sub-range and the third position is located in the seventh or fifth sub-range, determine that the coal cutting stage corresponding to the current turning point of the coal mining machine is the end-tail cutting stage; if the fourth position is located in the first or third sub-range and the third position is located in the fourth sub-range, determine that the coal cutting stage corresponding to the current turning point of the coal mining machine is the end-head cutting stage; if the fourth position is located in the fourth sub-range and the third position is located in the first or third sub-range, determine that the coal cutting stage corresponding to the current turning point of the coal mining machine is the end-head cutting stage.

[0128] In some implementations, the coal cutting stage detection device 1200 applicable to the coal mining machine also includes a reminder module 1250, which is used to: obtain the coal cutting stage corresponding to the previous turning point; if the coal cutting stage corresponding to the previous turning point is different from the coal cutting stage corresponding to the current turning point, generate a prompt message based on the coal cutting stage corresponding to the previous turning point and provide a reminder.

[0129] This application embodiment can obtain accurate information on the coal cutting stage of the fully mechanized mining face in real time, improve the flexibility and efficiency of coal cutting stage detection, realize the synchronous data acquisition and analysis, and accurately divide the coal cutting cycle workflow of the coal cutting machine into stages, making the entire coal cutting workflow clearer, making the judgment of adding cutters more accurate, and facilitating subsequent data processing and integration.

[0130] Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 13As shown, the electronic device 1300 includes a memory 1310, a processor 1320, and a computer program product stored in the memory 1310 and capable of running on the processor 1320. When the processor executes the computer program, it implements the aforementioned coal mining machine positioning method applicable to fully mechanized coal mining.

[0131] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0132] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0133] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0134] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0135] Based on the same concept, embodiments of this application also provide a computer-readable storage medium storing computer instructions thereon, wherein the computer instructions are used to cause a computer to execute the coal cutting stage detection method applicable to a coal mining machine in the above embodiments.

[0136] Based on the same concept, embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, provides the coal cutting stage detection method applicable to a coal mining machine as described in the above embodiments.

[0137] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0138] 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 one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0139] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0140] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A method for detecting the coal cutting stage of a coal mining machine, characterized in that, include: Obtain the location data of the coal mining machine, which includes the first position of the coal mining machine at the current moment and the second positions of the N historical moments adjacent to the current moment, where N is an integer greater than 3; The coal cutting direction of the coal mining machine is obtained based on the first position and N second positions; If the coal cutting direction changes direction, determine the third position of the current turning point and obtain the fourth position of the previous turning point; determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third position and the fourth position; The step of obtaining the coal cutting direction of the coal mining machine based on the first position and N second positions includes: fitting a curve based on the first position and N second positions to obtain the first derivative corresponding to each position; if the first derivative at any position is 0, it is determined that the coal cutting direction has changed direction. The location is marked by the support number. Determining the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third and fourth locations includes: dividing the range of the moving support of the coal mining machine into seven sub-ranges, wherein the smallest support number in the i-th sub-range is greater than the largest support number in the (i+1)-th sub-range, and i takes the value from 1 to 6; determining the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third location, the fourth location, and the seven sub-ranges. The step of determining the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third position, the fourth position, and the seven sub-ranges includes: if the fourth position is located in the first sub-range and the third position is located in the seventh sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be a downward stage; if the fourth position is located in the seventh sub-range and the third position is located in the first sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be an upward stage.

2. The method according to claim 1, characterized in that, Determining the third position of the current turning point includes: The position where the first derivative is 0 is defined as the third position of the current turning point.

3. The method according to claim 1, characterized in that, Also includes: If the first derivative corresponding to each position is greater than 0, the coal cutting direction of the coal mining machine is determined to be the upward direction. and / or If the first derivative corresponding to each position is less than 0, the coal cutting direction of the coal mining machine is determined to be the downward direction.

4. The method according to claim 1, characterized in that, Also includes: If the fourth position and the third position are located in the sixth sub-range and / or the seventh sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the lower triangular stage. If the fourth position and the third position are located in the first sub-range and / or the second sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the upper triangular stage.

5. The method according to claim 1, characterized in that, Also includes: If the fourth position is located in the seventh or fifth sub-range, and the third position is located in the fourth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-tail cutting stage. If the fourth position is located in the fourth sub-range, and the third position is located in the seventh sub-range or the fifth sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-tail cutting stage. If the fourth position is located in the first sub-range or the third sub-range, and the third position is located in the fourth sub-range, then the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-cutting stage. If the fourth position is located in the fourth sub-range, and the third position is located in the first sub-range or the third sub-range, the coal cutting stage corresponding to the current turning point of the coal mining machine is determined to be the end-cutting stage.

6. The method according to any one of claims 1-3, characterized in that, Also includes: Obtain the coal cutting stage corresponding to the previous turning point; If the coal cutting stage corresponding to the previous turning point is different from the coal cutting stage corresponding to the current turning point, a prompt message is generated and a reminder is given based on the coal cutting stage corresponding to the previous turning point.

7. A detection device for the coal cutting stage of a coal mining machine, characterized in that, include: The first acquisition module is used to acquire the position data of the coal mining machine. The position data includes the first position of the coal mining machine at the current moment and the second positions of the N historical moments adjacent to the current moment, where N is an integer greater than 3. The second acquisition module is used to acquire the coal cutting direction of the coal mining machine based on the first position and N second positions; The first determining module is used to determine the third position of the current turning point and obtain the fourth position of the previous turning point if the coal cutting direction changes. The second determining module is used to determine the coal cutting stage corresponding to the current turning point of the coal mining machine based on the third position and the fourth position; The coal cutting stage detection device applicable to coal mining machines is used to implement the method described in any one of claims 1-6.

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