Control method of coal mine tunneling machine and control device of coal mine tunneling machine

Abstract

The application provides a control method of a coal mine tunneling machine and a control device of the coal mine tunneling machine, and the method comprises the following steps: constructing a coal mine model, the structure of the coal mine model is the same as that of a field coal mine; constructing a UI control interface, the UI control interface communicates with the tunneling machine; and cutting the coal mine model by operating the UI control interface to control the tunneling machine to cut the field coal mine. The purpose of remote operation is achieved by cutting the coal mine model by operating the UI control interface to control the tunneling machine to cut the field coal mine, the risk and labor intensity of on-site operation of personnel are reduced, various dusts on the site are prevented from affecting, the cutting precision is improved, and thus the problem of low remote cutting precision of the coal mine in the prior art is solved.

Description

Technical Field

[0001] This application relates to the field of coal mine construction technology, and more specifically, to a control method for a coal mine tunneling machine, a control device for a coal mine tunneling machine, a computer-readable storage medium, a processor, and electronic equipment. Background Technology

[0002] Intelligent tunneling face is one of the core challenges in the current intelligent development of coal mines, requiring the support and joint action of various high technologies. The existing solutions are not yet perfect in this regard, mainly due to the following problems: (1) The level of intelligence of tunneling and anchoring equipment is not high, and the integrated tunneling and anchoring machine cannot obtain accurate positioning data and body component posture; (2) Coal mine geology and roadway information are not integrated. The key technology to achieve remote tunneling is to use roadway spatial information combined with the accurate position of the equipment in the roadway to remotely and accurately control the tunneling and anchoring machine for tunneling and support; (3) There is a lack of three-dimensional digital twin visualization human-machine interaction control technology.

[0003] Currently, tunneling machines are mainly controlled remotely by manual on-site line-of-sight remote control, or by remotely controlling the machine for coal cutting, traction, and steering using video images. However, because the production conditions at the tunneling face are opaque, video-assisted methods are susceptible to damage from dust, water mist, and camera image distortion, making them unsuitable for guiding precise remote cutting. Summary of the Invention

[0004] The main objective of this application is to provide a control method for a coal mine tunneling machine, a control device for a coal mine tunneling machine, a computer-readable storage medium, a processor, and electronic equipment, so as to at least solve the problem of low accuracy in remote coal mine cutting in existing solutions.

[0005] To achieve the above objectives, according to one aspect of this application, a control method for a coal mine tunneling machine is provided. The method includes: constructing a coal mine model, the structure of which is the same as that of a coal mine on site; constructing a UI control interface, the UI control interface communicating with the tunneling machine; and controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface.

[0006] Optionally, the UI control interface includes a first cutting control and a first stop control. By manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method includes: receiving a first cutting command, the first cutting command including a cutting depth position; manipulating the first cutting control of the UI control interface to cut the coal mine model, controlling the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the cutting depth position; and, when the cutting head of the tunneling machine reaches the cutting depth position, manipulating the first stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0007] Optionally, the UI control interface includes a second cutting control and a second stop control. After manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method further includes: receiving a compensation cutting instruction, the compensation cutting instruction including a compensation cutting depth position; manipulating the second cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the compensation cutting depth position; when the cutting head of the tunneling machine reaches the compensation cutting depth position, manipulating the second stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0008] Optionally, the UI control interface includes a third cutting control. By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine on site. This includes: receiving a second cutting instruction, the second cutting instruction including the size of the roadway to be cut and the cross-sectional shape of the roadway; generating a preset cutting trajectory according to the second cutting instruction; and manipulating the third cutting control of the UI control interface to cut the coal mine model, thereby controlling the cutting head of the tunneling machine to cut the coal mine on site in a reciprocating manner according to the preset cutting trajectory and the cross-sectional position of the cutting head of the tunneling machine in the roadway to be cut.

[0009] Optionally, the cross-sectional shape includes one of the following: rectangular, trapezoidal, or arched.

[0010] Optionally, before controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface, the method further includes: determining to use the UI control interface to control the tunneling machine to cut the coal mine on site according to the coal mine model, when the center line of the roadway to be cut in the coal mine on site is on the same plane as the center line of the tunneling machine body, and the vertical distance between the cutting head of the tunneling machine and the coal wall at the cutting head's infeed position is 0.

[0011] According to another aspect of this application, a control device for a coal mine tunneling machine is provided. The device includes a first construction unit, a second construction unit, and a first control unit. The first construction unit is used to construct a coal mine model, the structure of which is the same as that of a coal mine on site. The second construction unit is used to construct a UI control interface, which communicates with the tunneling machine. The first control unit is used to control the tunneling machine to cut the coal mine model by manipulating the UI control interface.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the control methods of the coal mine tunneling machine described above.

[0013] According to another aspect of this application, a processor is provided for running a program, wherein the program executes any of the control methods for a coal mine tunneling machine described above.

[0014] According to another aspect of this application, an electronic device is provided, the electronic device including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a control method for performing any of the coal mine tunneling machines described above.

[0015] By applying the technical solution of this application, the coal mine model is cut by manipulating the UI control interface, and the tunneling machine is controlled to cut the coal mine on site, so as to achieve the purpose of remote operation, reduce the risk and labor intensity of on-site operations, prevent the influence of various dusts on site, improve the cutting accuracy, and thus solve the problem of low accuracy of remote coal mine cutting in existing solutions. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for executing a control method for a coal mine tunneling machine, according to an embodiment of this application, is shown.

[0018] Figure 2 A schematic flowchart of a control method for a coal mine tunneling machine according to an embodiment of this application is shown.

[0019] Figure 3 A schematic diagram of the control logic of a coal mine tunneling machine according to an embodiment of this application is shown;

[0020] Figure 4 A structural block diagram of a control device for a coal mine tunneling machine provided according to an embodiment of this application is shown.

[0021] The above figures include the following reference numerals:

[0022] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0027] Tunneling machine: A machine used for excavating coal mine roadways. It is a complete set of equipment that integrates cross-section cutting, roof and sidewall support, and material discharge in coal and rock roadways. It is mainly divided into fully mechanized tunneling machines, continuous coal mining machines, and tunneling and anchoring integrated machines. According to the arrangement of the cutting head, it can be divided into two types: horizontal axis and vertical axis.

[0028] Positioning and cutting: an automatic cutting process for tunneling machines. The tunneling machine controller receives externally set tunnel cutting parameters and realizes automatic cutting of one or more working cycles of the tunnel based on the real-time position of the cutting head, the machine body attitude and the cutting trajectory.

[0029] GIS: short for Geographic Information System. In this article, it refers to a technical system that, with the support of computer hardware and software systems, collects, stores, manages, calculates, analyzes, displays, and describes in two or three dimensions the relevant stratigraphic distribution data in the entire or part of the surface and underground space of a coal mine.

[0030] ARTP: Analogical Right Triangular Prism, a data structure for geological modeling.

[0031] OPC: OLE for Process Control is an industry-standard protocol used for process control and manufacturing automation systems.

[0032] Modbus: A serial communication protocol published by Modicon, including versions for serial ports, Ethernet, and other networks that support Internet protocols.

[0033] Socket: A socket is an interface through which an application communicates via network protocols and interacts with the network protocol stack. It mainly includes two application methods: UDP and TCP, and includes both client and server sides.

[0034] HTTP: A request-response protocol (Hypertext Transfer Protocol) that runs on top of TCP, mainly including HTTP 1.0, 1.1, 2.0 and other protocol versions.

[0035] As described in the background section, currently, tunneling machines are mainly controlled remotely by manual on-site line-of-sight remote control, or by remotely controlling the machine for coal cutting and traction steering using video images. Because the production conditions at the tunneling face are opaque, video-assisted methods are affected by factors such as dust, water mist, and camera image distortion, making them unsuitable for guiding precise remote cutting. To address the problem of low accuracy in remote cutting in coal mines in existing solutions, embodiments of this application provide a control method for a coal mine tunneling machine, a control device for a coal mine tunneling machine, a computer-readable storage medium, a processor, and electronic equipment.

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0037] The methods and embodiments provided in this application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a control method of a coal mine tunneling machine according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0038] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] This embodiment provides a control method for a coal mine tunneling machine that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0040] Figure 2 This is a schematic flowchart illustrating a control method for a coal mine tunneling machine according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0041] Step S201: Construct a coal mine model. The structure of the coal mine model is the same as that of the actual coal mine on site.

[0042] Step S202: Construct a UI control interface, which communicates with the tunneling machine.

[0043] Step S203: By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site.

[0044] In the above steps, the coal mine model is cut by manipulating the UI control interface, and the tunneling machine is controlled to cut the coal mine on site to achieve the purpose of remote operation, reduce the risk and labor intensity of on-site operations, prevent the influence of various dusts on site, improve the cutting accuracy, and thus solve the problem of low accuracy of remote coal mine cutting in the existing solution.

[0045] Establish models of the tunneling face equipment and roadway (i.e., coal mine models include models of the tunneling face equipment and roadway), and remotely interactively control the tunneling face equipment (tunneling machine) through 3D visualization scripts and 3D UI interfaces; enable operators to observe the position of the tunneling machine in the roadway and the position of the cutting head at the cutting section in real time from the ground or underground control room using the system, and operate the machine remotely through system buttons (various controls on the UI control interface) or control panel buttons, cranks, etc., reducing the risks and labor intensity of on-site operations.

[0046] In one embodiment of this application, the aforementioned UI control interface includes a first cutting control and a first stop control. By manipulating the UI control interface to cut the coal mine model, the tunneling machine is controlled to cut the coal mine at the site. This includes: receiving a first cutting command, the first cutting command including a cutting depth position; manipulating the first cutting control of the UI control interface to cut the coal mine model, controlling the tunneling machine's cutting head towards the cutting depth position to cut the coal mine at the site; and when the tunneling machine's cutting head reaches the cutting depth position, manipulating the first stop control of the UI control interface to stop cutting the coal mine model, thereby controlling the tunneling machine's cutting head to stop cutting the coal mine at the site. This is an automatic cutting process.

[0047] In one embodiment of this application, the UI control interface includes a second cutting control and a second stop control. After manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method further includes: receiving a compensation cutting instruction, the compensation cutting instruction including a compensation cutting depth position; manipulating the second cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the compensation cutting depth position; and when the cutting head of the tunneling machine reaches the compensation cutting depth position, manipulating the second stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0048] Specifically, during the positioning and cutting process, if the sides of the roadway are prone to collapse, resulting in poor forming quality, the preset cutting section size can be reduced. After automatic cutting, manual compensation cutting can be used to ensure the forming quality of the roadway. Operators control the buttons through the UI control interface, which displays the shape difference between the cutting head position, the preset section size, and the excavated section size. The operators operate the cutting head to sweep the sides, top, and bottom to ensure the forming quality of the cutting section.

[0049] In one embodiment of this application, the UI control interface includes a third cutting control. By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site. The method includes: receiving a second cutting instruction, the second cutting instruction including the size of the roadway to be cut and the cross-sectional shape of the roadway; generating a preset cutting trajectory according to the second cutting instruction; and manipulating the third cutting control of the UI control interface to cut the coal mine model, thereby controlling the cutting head of the tunneling machine to cut the coal mine at the site in a reciprocating manner according to the preset cutting trajectory and the cross-sectional position of the cutting head of the tunneling machine in the roadway to be cut.

[0050] Specifically, the operator starts the positioning and cutting function through the UI control interface. The positioning and cutting presets the tunnel size and cross-sectional shape (including rectangle, trapezoid, arch, etc.). The tunneling machine automatically cuts back and forth according to the preset cutting trajectory and the position of the cutting head on the cutting section. The cut shape is displayed to the user through the three-dimensional UI interface. Cutting stops after completion.

[0051] In one embodiment of this application, the cross-sectional shape includes one of the following: rectangular, trapezoidal, or arched.

[0052] In one embodiment of this application, before controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface, the method further includes: determining to use the UI control interface to control the tunneling machine to cut the coal mine at the site, based on the coal mine model, when the center line of the roadway to be cut in the coal mine at the site is on the same plane as the center line of the tunneling machine body, and the vertical distance between the cutting head of the tunneling machine and the coal wall at the cutting head's infeed position is 0.

[0053] The advantages of this feature are as follows:

[0054] (1) On-site operators should be evacuated to a safe area far away from the tunnel face to avoid casualties caused by roof falls, side collapses and other disasters during the operation;

[0055] (2) During the cutting process of the tunneling machine, the dust on site is serious. This feature can be intuitively displayed through the UI control interface, showing the spatial relationship between the tunneling machine and the two sides, the face, and the roof of the roadway. This solves the problem that the workers cannot visualize the cutting process with their naked eyes or cameras.

[0056] (3) The human-computer interaction method is faster and more efficient. Staff can remotely operate the machine through the control panel or computer mouse and keyboard, replacing the traditional on-site control method, reducing the labor intensity of workers and improving the overall level of automation.

[0057] The UI control interface displays the current position and attitude of the tunneling machine, whether the center line of the roadway is on the same plane as the center line of the tunneling machine body, and confirms that the vertical distance between the cutting head and the coal wall at the cutting position is 0.

[0058] like Figure 3As shown, the establishment of the aforementioned tunneling face model includes: the construction of a 3D equipment model, a 3D tunnel model, and a 3D geological model. The equipment used in the 3D equipment model includes coal mining equipment such as underground coal mining machines and conveyors, and support equipment such as anchor bolts. The 3D tunnel model involves constructing a tunnel model of the tunneling face, adding models such as metal woven mesh, anchor bolts, anchor cables, steel mesh, and channel steel to the tunnel surface to form a tunnel support model. The tunnel roof and sides are supported by anchor mesh and anchor cables, and a tunnel support cross-section diagram is generated. Through GIS graphic collaboration, linkage and visualization with design data are achieved. The tunnel can be integrated with the mine's existing geographic information system to achieve automatic tunnel extension. The aforementioned 3D geological model construction includes establishing a geological database, generating geological exploration profile maps and coal seam roof and floor contour maps. Based on the contour maps, faults, outcrops, scour, collapse columns, etc., are fully considered to generate a triangular network model of complex geological structures layer by layer. The triangular network model is then processed by union to generate the final ARTP stratigraphic model. By cutting the pre-defined profile, the triangular network model is corrected to generate a high-precision working face geological model that conforms to geological laws. Communication of the tunneling face equipment is based on public communication protocols such as OPC, Modbus, Socket, and HTTP, as well as proprietary communication protocols specific to certain devices. A data access and control module for the system is developed to realize data acquisition and control of the tunneling face automation system and information system. The tunneling face automation system and information system include a transportation system, power supply system, ventilation system, environmental monitoring system, drainage and hydrological monitoring system, personnel positioning and safety protection system, geographic information system, and video surveillance system. The data from the tunneling face automation system and information system are acquired and interacted with by the SCADA component, enabling data acquisition, reading, writing, and control. A message queue service connects the SCADA component with the 3D visualization script, allowing for the publishing and subscription of information such as equipment operating parameters, tunneling machine position, tunnel advance rate, coordinates of the coal seam roof and floor, and equipment control commands. Simultaneously, important data is stored in a real-time historical database, providing functions such as equipment start / stop, fault alarms, automation operation rate, real-time historical curves, and report statistics queries. The 3D visualization script is a programming method that utilizes visual programming to achieve data interaction between the 3D UI interface and the tunneling face equipment, tunnels, and geological models. On one hand, it forwards data to the tunneling face equipment when the UI interface controls buttons and sets parameters; on the other hand, it enables the continuous movement of the 3D equipment model and the dynamic updating of the tunnel and geological models driven by data collected from the equipment and measured data from the tunnel and geological models.The 3D visualization script should also drive and calculate the traction and steering of the tunneling machine model, the offset of the machine's centerline, coordinates and heading, the coordinates of the cutting head and its vertical distance from the coal face in front, the pitch and roll angles of the machine, and the vertical distance of the machine from the two sides of the roadway. All of the above information should be obtained and calculated through sensors installed on the machine. The system's 3D scene should dynamically place the tunneling machine model in the roadway model according to the above information, thereby achieving consistency between the spatial position information of the equipment model and the roadway model in the digital twin virtual scene and the actual scene. The 3D UI interface is the main window for human-computer interaction. Operators can use the UI interface to remotely monitor and control the underground equipment, adjust parameters, perform video monitoring, monitor personnel position and safety interlocks, monitor environmental parameters, monitor pose, rotate and roam the scene, switch perspectives, and perform tunneling process simulation operations. Operators can monitor equipment operating parameters in real time through the UI interface. By clicking control buttons with the mouse, control commands are sent to the SCADA component via a message queue service. The SCADA component then issues control commands to the corresponding controllers, enabling real-time communication and control functions such as starting, stopping, speed adjustment, and parameter optimization and calibration of the equipment. A network switch and an underground monitoring center are set up at the tunneling face. Data from the tunneling face monitoring system is uploaded to the mine surface dispatch center via the network switch. The system can be deployed at both the mine surface dispatch center and the underground monitoring center. The system has access control functionality, and each function requires user authorization to operate.

[0059] By constructing 3D models of equipment, tunnels, and geology, a model for the intelligent tunneling face equipment control system is established. Based on public communication protocols and proprietary communication protocols specific to the equipment, a data access and control module is developed to achieve data acquisition and control of the tunneling face automation and information systems. Through multi-source information fusion of intelligent tunneling equipment and real-time monitoring of 3D geological and tunnel spatial information, holographic perception and scene reproduction of the integrated tunneling and anchoring face are achieved, enabling rapid 3D visualization and monitoring of tunnel formation. Visual scripting is used to visualize and display real equipment and implement automatic control based on 3D configuration, simulating parallel tunneling and support operations. This allows for remote and precise control of the tunneling equipment, significantly improving tunneling efficiency and ensuring the safety of personnel.

[0060] Based on a digital twin control system, physical models of equipment, tunnels, and geology were constructed to achieve virtual-real comparison and reconstruction of the underground tunneling face. Furthermore, virtual simulation control functions were implemented, allowing operators to remotely control the tunneling machine for automatic cutting. The system does not rely on video images and is unaffected by dust or water mist at the tunneling face, reducing on-site labor intensity and improving operational safety. This application enables automated cutting of the tunneling machine at the tunneling face, improving the automation level of the tunneling equipment and the tunnel forming effect. This application provides a good human-machine interaction environment, allowing for multi-view switching and real-time observation of the tunneling machine's position and operating status. It also enables real-time communication with the equipment and control functions such as start-up, stop-up, speed adjustment, and parameter optimization and calibration.

[0061] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0062] This application also provides a control device for a coal mine tunneling machine. It should be noted that the control device for the coal mine tunneling machine in this application can be used to execute the control method for a coal mine tunneling machine provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0063] The control device for a coal mine tunneling machine provided in the embodiments of this application is described below.

[0064] Figure 4 This is a structural block diagram of a control device for a coal mine tunneling machine according to an embodiment of this application. Figure 4 As shown, the device includes a first construction unit 41, a second construction unit 42, and a first control unit 43. The first construction unit 41 is used to construct a coal mine model, the structure of which is the same as that of the actual coal mine on site. The second construction unit 42 is used to construct a UI control interface, which communicates with the tunneling machine. The first control unit 43 is used to control the tunneling machine to cut the coal mine model by manipulating the UI control interface.

[0065] In the aforementioned device, the coal mine model is cut by manipulating the UI control interface, thereby controlling the tunneling machine to cut the coal mine on site, achieving the purpose of remote operation, reducing the risk and labor intensity of on-site operations, preventing the influence of various dusts on site, improving the cutting accuracy, and thus solving the problem of low accuracy of remote coal mine cutting in existing solutions.

[0066] In one embodiment of this application, the UI control interface includes a first cutting control and a first stop control. The first control unit includes a first receiving module, a first control module, and a second control module. The first receiving module is used to receive a first cutting instruction, which includes a cutting depth position. The first control module is used to manipulate the first cutting control of the UI control interface to cut the coal mine model, thereby controlling the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the cutting depth position. The second control module is used to stop cutting the coal mine model by manipulating the first stop control of the UI control interface when the cutting head of the tunneling machine reaches the cutting depth position, thereby controlling the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0067] In one embodiment of this application, the UI control interface includes a second cutting control and a second stop control. The device further includes a receiving unit, a second control unit, and a third control unit. After the coal mine model is cut by manipulating the UI control interface to control the tunneling machine to cut the coal mine at the site, the receiving unit is used to receive a compensation cutting instruction, which includes a compensation cutting depth position. The second control unit is used to cut the coal mine model by manipulating the second cutting control of the UI control interface to control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the compensation cutting depth position. The third control unit is used to stop cutting the coal mine model by manipulating the second stop control of the UI control interface when the cutting head of the tunneling machine reaches the compensation cutting depth position, and to control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0068] In one embodiment of this application, the first control unit includes a second receiving module, a third control module, and a fourth control module. The second receiving module is used to receive a second cutting instruction, which includes the dimensions of the roadway to be cut and the cross-sectional shape of the roadway to be cut in the coal mine at the site. The third control module is used to generate a preset cutting trajectory according to the second cutting instruction. The fourth control module is used to cut the coal mine model by manipulating the third cutting control on the UI control interface, so as to control the cutting head of the tunneling machine to cut the coal mine at the site in a reciprocating manner according to the preset cutting trajectory and the cross-sectional position of the cutting head of the tunneling machine in the roadway to be cut.

[0069] In one embodiment of this application, the cross-sectional shape includes one of the following: rectangular, trapezoidal, or arched.

[0070] In one embodiment of this application, the device further includes a determining unit. Before the coal mine model is cut by manipulating the UI control interface to control the tunneling machine to cut the coal mine at the site, the determining unit determines that the UI control interface is used to control the tunneling machine to cut the coal mine at the site according to the coal mine model. This is done when the center line of the roadway to be cut in the coal mine at the site is on the same plane as the center line of the tunneling machine body, and the vertical distance between the cutting head of the tunneling machine and the coal wall at the cutting head's infeed position is 0.

[0071] The control device for the aforementioned coal mine tunneling machine includes a processor and a memory. The first building unit, the second building unit, and the control unit are all stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0072] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the low accuracy of remote coal mine cutting in existing solutions.

[0073] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0074] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method for the coal mine tunneling machine.

[0075] Specifically, the control methods for coal mine tunneling machines include:

[0076] Step S201: Construct a coal mine model. The structure of the coal mine model is the same as that of the actual coal mine on site.

[0077] Step S202: Construct a UI control interface, which communicates with the tunneling machine.

[0078] Step S203: By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site.

[0079] Optionally, the aforementioned UI control interface includes a first cutting control and a first stop control. By manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method includes: receiving a first cutting instruction, the first cutting instruction including a cutting depth position; manipulating the first cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the cutting depth position; and when the cutting head of the tunneling machine reaches the cutting depth position, manipulating the first stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0080] Optionally, the aforementioned UI control interface includes a second cutting control and a second stop control. After manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method further includes: receiving a compensation cutting instruction, the compensation cutting instruction including a compensation cutting depth position; manipulating the second cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the compensation cutting depth position; and when the cutting head of the tunneling machine reaches the compensation cutting depth position, manipulating the second stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0081] Optionally, the aforementioned UI control interface includes a third cutting control. By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site. This includes: receiving a second cutting instruction, the second cutting instruction including the size of the roadway to be cut and the cross-sectional shape of the roadway; generating a preset cutting trajectory according to the second cutting instruction; and manipulating the third cutting control of the UI control interface to cut the coal mine model, thereby controlling the cutting head of the tunneling machine to cut the coal mine at the site in a reciprocating manner according to the preset cutting trajectory and the cross-sectional position of the cutting head of the tunneling machine in the roadway to be cut.

[0082] Optionally, the cross-sectional shape mentioned above includes one of the following: rectangular, trapezoidal, or arched.

[0083] Optionally, before controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface, the method further includes: determining to use the UI control interface to control the tunneling machine to cut the coal mine at the site, based on the coal mine model, when the centerline of the roadway to be cut in the coal mine at the site is on the same plane as the centerline of the tunneling machine body, and the vertical distance between the cutting head of the tunneling machine and the coal wall at the cutting head's infeed position is 0.

[0084] This invention provides a processor for running a program, wherein the program executes the control method for the coal mine tunneling machine.

[0085] Specifically, the control methods for coal mine tunneling machines include:

[0086] Step S201: Construct a coal mine model. The structure of the coal mine model is the same as that of the actual coal mine on site.

[0087] Step S202: Construct a UI control interface, which communicates with the tunneling machine.

[0088] Step S203: By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site.

[0089] Optionally, the aforementioned UI control interface includes a first cutting control and a first stop control. By manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method includes: receiving a first cutting instruction, the first cutting instruction including a cutting depth position; manipulating the first cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the cutting depth position; and when the cutting head of the tunneling machine reaches the cutting depth position, manipulating the first stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0090] Optionally, the aforementioned UI control interface includes a second cutting control and a second stop control. After manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method further includes: receiving a compensation cutting instruction, the compensation cutting instruction including a compensation cutting depth position; manipulating the second cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the compensation cutting depth position; and when the cutting head of the tunneling machine reaches the compensation cutting depth position, manipulating the second stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0091] Optionally, the aforementioned UI control interface includes a third cutting control. By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site. This includes: receiving a second cutting instruction, the second cutting instruction including the size of the roadway to be cut and the cross-sectional shape of the roadway; generating a preset cutting trajectory according to the second cutting instruction; and manipulating the third cutting control of the UI control interface to cut the coal mine model, thereby controlling the cutting head of the tunneling machine to cut the coal mine at the site in a reciprocating manner according to the preset cutting trajectory and the cross-sectional position of the cutting head of the tunneling machine in the roadway to be cut.

[0092] Optionally, the cross-sectional shape mentioned above includes one of the following: rectangular, trapezoidal, or arched.

[0093] Optionally, before controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface, the method further includes: determining to use the UI control interface to control the tunneling machine to cut the coal mine at the site, based on the coal mine model, when the centerline of the roadway to be cut in the coal mine at the site is on the same plane as the centerline of the tunneling machine body, and the vertical distance between the cutting head of the tunneling machine and the coal wall at the cutting head's infeed position is 0.

[0094] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: constructing a coal mine model, the structure of which is identical to that of an actual coal mine; constructing a user interface (UI) control interface that communicates with a tunneling machine; and controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface. The device described herein can be a server, PC, tablet, mobile phone, etc.

[0095] Optionally, the aforementioned UI control interface includes a first cutting control and a first stop control. By manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method includes: receiving a first cutting instruction, the first cutting instruction including a cutting depth position; manipulating the first cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the cutting depth position; and when the cutting head of the tunneling machine reaches the cutting depth position, manipulating the first stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0096] Optionally, the aforementioned UI control interface includes a second cutting control and a second stop control. After manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method further includes: receiving a compensation cutting instruction, the compensation cutting instruction including a compensation cutting depth position; manipulating the second cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the compensation cutting depth position; and when the cutting head of the tunneling machine reaches the compensation cutting depth position, manipulating the second stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0097] Optionally, the aforementioned UI control interface includes a third cutting control. By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site. This includes: receiving a second cutting instruction, the second cutting instruction including the size of the roadway to be cut and the cross-sectional shape of the roadway; generating a preset cutting trajectory according to the second cutting instruction; and manipulating the third cutting control of the UI control interface to cut the coal mine model, thereby controlling the cutting head of the tunneling machine to cut the coal mine at the site in a reciprocating manner according to the preset cutting trajectory and the cross-sectional position of the cutting head of the tunneling machine in the roadway to be cut.

[0098] Optionally, the cross-sectional shape mentioned above includes one of the following: rectangular, trapezoidal, or arched.

[0099] Optionally, before controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface, the method further includes: determining to use the UI control interface to control the tunneling machine to cut the coal mine at the site, based on the coal mine model, when the centerline of the roadway to be cut in the coal mine at the site is on the same plane as the centerline of the tunneling machine body, and the vertical distance between the cutting head of the tunneling machine and the coal wall at the cutting head's infeed position is 0.

[0100] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: constructing a coal mine model, the structure of which is the same as that of the actual coal mine; constructing a UI control interface, the UI control interface communicating with a tunneling machine; and controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface.

[0101] Optionally, the aforementioned UI control interface includes a first cutting control and a first stop control. By manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method includes: receiving a first cutting instruction, the first cutting instruction including a cutting depth position; manipulating the first cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the cutting depth position; and when the cutting head of the tunneling machine reaches the cutting depth position, manipulating the first stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0102] Optionally, the aforementioned UI control interface includes a second cutting control and a second stop control. After manipulating the UI control interface to cut the coal mine model and control the tunneling machine to cut the coal mine at the site, the method further includes: receiving a compensation cutting instruction, the compensation cutting instruction including a compensation cutting depth position; manipulating the second cutting control of the UI control interface to cut the coal mine model and control the cutting head of the tunneling machine to cut the coal mine at the site in the direction of the compensation cutting depth position; and when the cutting head of the tunneling machine reaches the compensation cutting depth position, manipulating the second stop control of the UI control interface to stop cutting the coal mine model and control the cutting head of the tunneling machine to stop cutting the coal mine at the site.

[0103] Optionally, the aforementioned UI control interface includes a third cutting control. By manipulating the UI control interface, the coal mine model is cut to control the tunneling machine to cut the coal mine at the site. This includes: receiving a second cutting instruction, the second cutting instruction including the size of the roadway to be cut and the cross-sectional shape of the roadway; generating a preset cutting trajectory according to the second cutting instruction; and manipulating the third cutting control of the UI control interface to cut the coal mine model, thereby controlling the cutting head of the tunneling machine to cut the coal mine at the site in a reciprocating manner according to the preset cutting trajectory and the cross-sectional position of the cutting head of the tunneling machine in the roadway to be cut.

[0104] Optionally, the cross-sectional shape mentioned above includes one of the following: rectangular, trapezoidal, or arched.

[0105] Optionally, before controlling the tunneling machine to cut the coal mine model by manipulating the UI control interface, the method further includes: determining to use the UI control interface to control the tunneling machine to cut the coal mine at the site, based on the coal mine model, when the centerline of the roadway to be cut in the coal mine at the site is on the same plane as the centerline of the tunneling machine body, and the vertical distance between the cutting head of the tunneling machine and the coal wall at the cutting head's infeed position is 0.

[0106] This application also provides an electronic device, which includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a control method for executing any of the above-described coal mine tunneling machines.

[0107] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0113] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0114] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0115] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0116] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0117] 1) The control method of the coal mine tunneling machine of this application, by manipulating the UI control interface, cuts the coal mine model to control the tunneling machine to cut the coal mine on site, so as to achieve the purpose of remote operation, reduce the risk and labor intensity of on-site operations, prevent the influence of various dusts on site, improve the cutting accuracy, and thus solve the problem of low accuracy of remote coal mine cutting in the existing solution.

[0118] 2) The control device for the coal mine tunneling machine of this application, by manipulating the UI control interface, cuts the coal mine model to control the tunneling machine to cut the coal mine on site, so as to achieve the purpose of remote operation, reduce the risk and labor intensity of on-site operations, prevent the influence of various dusts on site, improve the cutting accuracy, and thus solve the problem of low accuracy of remote coal mine cutting in the existing solution.

[0119] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method of a coal mine heading machine, characterized by, The method comprises: constructing a coal mine model, the structure of the coal mine model being the same as that of a coal mine in a field; constructing a UI control interface, the UI control interface communicating with a heading machine; controlling the heading machine to cut the coal mine in the field by operating the UI control interface to cut the coal mine model, the UI control interface comprising a second cutting control and a second stopping control, after the coal mine in the field is cut by operating the UI control interface to cut the coal mine model, the method further comprising: receiving a compensation cutting instruction, the compensation cutting instruction comprising a compensation cutting depth position; controlling the heading machine to cut the coal mine in the field by operating the second cutting control of the UI control interface to cut the coal mine model, so that the cutting head of the heading machine cuts the coal mine in the field towards the compensation cutting depth position; and stopping the cutting head of the heading machine from cutting the coal mine in the field by operating the second stopping control of the UI control interface to stop cutting the coal mine model when the cutting head of the heading machine reaches the compensation cutting depth position. before the coal mine in the field is cut by operating the UI control interface to cut the coal mine model, the method further comprising: determining to control the heading machine to cut the coal mine in the field according to the coal mine model by using the UI control interface when the center line of a cutting roadway of the coal mine in the field and the center line of the body of the heading machine are on the same plane, and the perpendicular distance between the cutting head of the heading machine and the coal wall at the feed position of the cutting head is 0.

2. The method of claim 1, wherein, the UI control interface comprising a first cutting control and a first stopping control, the coal mine in the field being cut by operating the UI control interface to cut the coal mine model, comprising: receiving a first cutting instruction, the first cutting instruction comprising a cutting depth position; controlling the heading machine to cut the coal mine in the field by operating the first cutting control of the UI control interface to cut the coal mine model, so that the cutting head of the heading machine cuts the coal mine in the field towards the cutting depth position; stopping the cutting head of the heading machine from cutting the coal mine in the field by operating the first stopping control of the UI control interface to stop cutting the coal mine model when the cutting head of the heading machine reaches the cutting depth position.

3. The method of claim 1, wherein, the UI control interface comprising a third cutting control, the coal mine in the field being cut by operating the UI control interface to cut the coal mine model, comprising: receiving a second cutting instruction, the second cutting instruction comprising the size of a cutting roadway of the coal mine in the field and the cross-sectional shape of the cutting roadway; generating a preset cutting track according to the second cutting instruction; and controlling the heading machine to cut the coal mine in the field by operating the third cutting control of the UI control interface to cut the coal mine model according to the preset cutting track. The third cutting control of the UI control interface is manipulated to cut the coal mine model to control the cutting head of the heading machine to cut the coal mine in the field according to the preset cutting track and the section position of the cutting head of the heading machine in the to-be-cut roadway in a back-and-forth manner.

4. The method of claim 3, wherein, The section shape includes one of a rectangle, a trapezoid, and an arch.

5. A control device for a coal mine heading machine, characterised in that, Comprise: The first construction unit is configured to construct a coal mine model, the structure of the coal mine model being the same as that of a coal mine in a field; The second construction unit is configured to construct a UI control interface, the UI control interface being configured to communicate with a heading machine; The first control unit is configured to manipulate the UI control interface to cut the coal mine model to control the heading machine to cut the coal mine in the field, The UI control interface includes a second cutting control and a second stopping control, and the device further includes a receiving unit, a second control unit, and a third control unit. After the UI control interface is manipulated to cut the coal mine model to control the heading machine to cut the coal mine in the field, the receiving unit is configured to receive a compensation cutting instruction, the compensation cutting instruction including a compensation cutting depth position; The second control unit is configured to manipulate the second cutting control of the UI control interface to cut the coal mine model to control the cutting head of the heading machine to cut the coal mine in the field in the direction of the compensation cutting depth position; The third control unit is configured to manipulate the second stopping control of the UI control interface to stop cutting the coal mine model and control the cutting head of the heading machine to stop cutting the coal mine in the field when the cutting head of the heading machine reaches the compensation cutting depth position; The device further includes a determination unit. Before the UI control interface is manipulated to cut the coal mine model to control the heading machine to cut the coal mine in the field, the determination unit is configured to determine to control the heading machine to cut the coal mine in the field according to the coal mine model by using the UI control interface when the center line of the to-be-cut roadway of the coal mine in the field and the center line of the body of the heading machine are on the same plane and the perpendicular distance between the cutting head of the heading machine and the coal wall at the feed position of the cutting head is 0.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the computer-readable storage medium controls the device where the computer-readable storage medium is located to execute the coal mine heading machine control method in any one of claims 1 to 4 when the program is running.

7. A processor, comprising: The processor is configured to run a program, wherein the program executes the coal mine heading machine control method in any one of claims 1 to 4 when the program is running.

8. An electronic device, comprising: Comprise: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including programs for performing the control method of any one of claims 1 to 4 for the coal mine heading machine.

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