Method, device and system for determining the height of a shearer drum

Abstract

The application provides a method, device and system for determining the height of a shearer drum. The method comprises: obtaining cutting standard data of the shearer, wherein the cutting standard data is standardized data of the height of the drum when the shearer cuts coal; obtaining the current position of the shearer; determining whether the shearer enters an abnormal working area according to the current position; and adjusting the height of the drum based on the cutting standard data to obtain the adjusted height of the drum when the shearer enters the abnormal working area, wherein the abnormal working area is an area with a bump or a pit. The application obtains standardized data in the process of coal mining by the shearer, and adjusts the height of the drum of the shearer when the coal seam changes, i.e. when the shearer reaches the abnormal working area. Thus, the application can adapt to the change of the coal seam, and improve the efficiency of automatic cutting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, in particular to a method for determining the height of a shearer drum, a device for determining the height of a shearer drum, a computer readable storage medium and a system for determining the height of a shearer drum. BACKGROUND

[0002] At present, the coal industry is carrying out scientific and technological activities such as "mechanization instead of manual work" and "automation to reduce labor", and the height adjustment of the shearer is gradually changing from manual control to automatic cutting control. The core of automatic cutting control of the shearer is to realize the identification of coal-rock boundary of the shearer, so as to realize the height adjustment control. However, at present, the coal seams of the coal mining face are uneven and changeable, and the current intelligent coal mining technology cannot adapt to the change of the coal seam, resulting in low efficiency of automatic cutting of the shearer. SUMMARY

[0003] The main purpose of the present application is to provide a method for determining the height of a shearer drum, a device for determining the height of a shearer drum, a computer readable storage medium and a system for determining the height of a shearer drum, so as to at least solve the problem of low efficiency of automatic cutting of the shearer in the prior art.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for determining the height of a shearer drum is provided, comprising: acquiring cutting standard data of a shearer, wherein the cutting standard data is standardized data of the height of a drum entering a coal seam when the shearer cuts coal; acquiring the current position of the shearer; determining whether the shearer enters an abnormal working area according to the current position; and adjusting the height of the drum based on the cutting standard data to obtain the adjusted height of the drum in the case that the shearer enters the abnormal working area, wherein the abnormal working area is an area with a bump or a pit.

[0005] Optionally, adjusting the height of the drum based on the cutting standard data comprises: acquiring a fluctuation change curve of the coal seam floor of a coal mine, wherein the coal seam floor is the floor corresponding to the lowest coal seam of the coal mining area of the coal mine, and the fluctuation change curve is a relationship curve between the height and the position of the coal seam floor; and adjusting the height of the drum based on the fluctuation change of the coal seam floor in the fluctuation change curve of the abnormal working area and the cutting standard data.

[0006] Optionally, based on the cutting standard data and the fluctuation of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, comprising: in the case that the abnormal working area is a region with a bump and the fluctuation curve of the abnormal working area represents that the coal seam floor is in an upward trend, determining that the adjustment amount is a first adjustment amount, wherein the first adjustment amount represents the adjustment amount of lowering the height of the drum; adjusting the cutting standard data by using the first adjustment amount to obtain a first height of the drum, wherein the first height is inversely proportional to the fluctuation of the coal seam floor.

[0007] Optionally, based on the cutting standard data and the fluctuation of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, comprising: in the case that the abnormal working area is a region with a bump and the fluctuation curve of the abnormal working area represents that the coal seam floor is in a downward trend or a gentle trend, determining that the adjustment amount is a second adjustment amount, wherein the second adjustment amount represents the adjustment amount of lifting the height of the drum; adjusting the cutting standard data by using the second adjustment amount to obtain a second height of the drum, wherein the second height is proportional to the fluctuation of the coal seam floor.

[0008] Optionally, based on the cutting standard data and the fluctuation of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, comprising: in the case that the abnormal working area is a region with a pit and the fluctuation curve of the abnormal working area represents that the coal seam floor is in an upward trend, determining that the adjustment amount is a third adjustment amount, wherein the third adjustment amount represents the adjustment amount of lifting the height of the drum; adjusting the cutting standard data by using the third adjustment amount to obtain a third height of the drum, wherein the third height is inversely proportional to the fluctuation of the coal seam floor.

[0009] Optionally, based on the cutting standard data and the fluctuation of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, comprising: in the case that the abnormal working area is a region with a pit and the fluctuation curve of the abnormal working area represents that the coal seam floor is in a downward trend or a gentle trend, determining that the adjustment amount is a fourth adjustment amount, wherein the fourth adjustment amount represents the adjustment amount of lowering the height of the drum; adjusting the cutting standard data by using the fourth adjustment amount to obtain a fourth height of the drum, wherein the fourth height is proportional to the fluctuation of the coal seam floor.

[0010] Optionally, the cutting standard data of the coal mining machine is acquired, including: acquiring a plurality of first historical cutting data in a historical time period; extracting a plurality of second historical cutting data from the plurality of first historical cutting data, wherein the second historical cutting data is historical cutting data other than the maximum value and the minimum value in the plurality of first historical cutting data; and calculating an average value of the plurality of second historical cutting data to obtain the cutting standard data.

[0011] According to another aspect of the present application, a device for determining the height of a drum of a coal mining machine is provided, including: a first acquisition unit configured to acquire cutting standard data of the coal mining machine, wherein the cutting standard data is standardized data of the height of the drum of the coal mining machine when cutting coal; a second acquisition unit configured to acquire a current position of the coal mining machine; a determination unit configured to determine whether the coal mining machine enters an abnormal working area according to the current position; and an adjustment unit configured to adjust the height of the drum based on the cutting standard data to obtain an adjusted height of the drum when the coal mining machine enters the abnormal working area, wherein the abnormal working area is an area with a bump or a pit.

[0012] According to still another aspect of the present application, a computer readable storage medium is provided, including a stored program, wherein the program, when executed, controls a device in which the computer readable storage medium is located to perform any of the methods for determining the height of a drum of a coal mining machine.

[0013] According to yet another aspect of the present application, a system for determining the height of a drum of a coal mining machine is provided, 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, and the one or more programs include instructions for performing any of the methods for determining the height of a drum of a coal mining machine.

[0014] By applying the technical solution of the present application, standardized data in the process of coal mining by the coal mining machine is obtained first, and when the coal seam changes, i.e., when the coal mining machine reaches an abnormal working area, the height of the drum of the coal mining machine can be adjusted adaptively, so that the change of the coal seam can be adapted, and the efficiency of automatic cutting is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which form a part of the present description, are included to provide a further understanding of the present application, and are incorporated herein for explanation by way of exemplification. The present application will become more fully understood from the detailed description and accompanying drawings given below.

[0016] Figure 1 FIG. 1 shows a hardware structure block diagram of a mobile terminal that performs a method for determining the height of a drum of a coal mining machine according to an embodiment of the present application;

[0017] Figure 2 A flowchart of a method for determining a shearer drum height is shown according to an embodiment of the present application;

[0018] Figure 3 A schematic diagram of shearer cutting changes when the floor bulges and the coal seam floor rises is shown;

[0019] Figure 4 A schematic diagram of a curve for adjusting the drum height when the floor bulges and the coal seam floor rises is shown;

[0020] Figure 5 A schematic diagram of shearer cutting changes when the floor bulges and the coal seam floor drops or is flat is shown;

[0021] Figure 6 A schematic diagram of a curve for adjusting the drum height when the floor bulges and the coal seam floor drops or is flat is shown;

[0022] Figure 7 A schematic diagram of shearer cutting changes when the floor is pitted and the coal seam floor rises is shown;

[0023] Figure 8 A schematic diagram of a curve for adjusting the drum height when the floor is pitted and the coal seam floor rises is shown;

[0024] Figure 9 A schematic diagram of shearer cutting changes when the floor is pitted and the coal seam floor drops or is flat is shown;

[0025] Figure 10 A schematic diagram of a curve for adjusting the drum height when the floor is pitted and the coal seam floor drops or is flat is shown;

[0026] Figure 11 A schematic diagram of a shearer cutting data processing flow for a single coal cutting cycle is shown;

[0027] Figure 12 A schematic diagram of a shearer drum cutting template basic data processing flow for the next cutting is shown;

[0028] Figure 13 A schematic diagram of a flow for adjusting the drum height is shown;

[0029] Figure 14 A structural block diagram of a shearer drum height determination device is shown according to an embodiment of the present application.

[0030] Among the above figures, the following reference signs are included:

[0031] 102, processor; 104, memory; 106, transmission device; 108, input and output device; 10, drum; 11, bulge abnormal engineering area; 12, first adjustment amount; 13, first adjustment control amount change curve; 14, pit abnormal engineering area; 15, third adjustment amount; 16, second adjustment control amount change curve. DETAILED DESCRIPTION

[0032] It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0033] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0034] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] The currently popular or applied automatic cutting control technology of coal mining machine has certain technical limitations, which are specifically shown in the following aspects:

[0036] (1) The key to realize automatic height adjustment of the drum of the coal mining machine is to obtain height adjustment control judgment basis based on the reliable and certain resolution coal-rock boundary identification sensor. This direct identification technology focusing on the coal-rock interface has been developed for a long time, and there are many theoretical and practical research results, among which the natural gamma ray method, stress pick method, radar detection method and infrared method are typical representatives. However, due to the complexity of the coal seam and surrounding rock conditions in the mine, it is difficult to accurately and reliably judge the coal-rock boundary by extracting the characteristics of the transmission signal. There is no mature product to put into actual production and application.

[0037] (2) Since the coal rock identification sensor and its technology at the present stage have problems of instability, unreliability and low precision, the shearer manufacturer and technical researchers have proposed a shearer height automatic control system based on a cutting template. This indirect coal rock identification method uses the microcomputer storage memory principle to associate the coal seam undulating state of the working face with the odometer position and store it in the computer as a subsequent shearer automatic judgment control basis. The shearer memory cutting template sources can basically be divided into two categories. One is the memory cutting data formed according to the drum cutting height data in the actual mining process of the shearer. The other is the actual occurrence data of the working face coal seam obtained by using geophysical, microseismic and other measurement technologies. Through the memory storage of the cutting template data by the main control computer of the shearer, and in combination with the running state of the shearer, the automatic height adjustment of the shearer drum is realized. At the present stage, domestic coal mines mainly carry out technical application of the shearer memory cutting technology, and other types of cutting template technology are still in the theoretical or verification stage.

[0038] As introduced in the background art, in the prior art, since the coal seam of the present coal mining face is uneven and changes, the current intelligent coal mining technology cannot adapt to the change of the coal seam, resulting in low efficiency of automatic cutting of the shearer. To solve the problem of low efficiency of automatic cutting of the shearer, the embodiments of the present application provide a method for determining the height of the shearer drum, a device for determining the height of the shearer drum, a computer readable storage medium and a system for determining the height of the shearer drum.

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application.

[0040] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking the case of running on a mobile terminal, Figure 1 is a hardware structure block diagram of a mobile terminal of a method for determining the height of the shearer drum according to the embodiments of the present application. As Figure 1 shown, the mobile terminal can include one or more (only one in Figure 1 The processor 102 (the processor 102 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned mobile terminal can further include a transmission device 106 for communication function and an input and output device 108. Those skilled in the art can understand that Figure 1 The structure shown is only schematic, which does not limit the structure of the above-mentioned mobile terminal. For example, the mobile terminal can include more or fewer components than Figure 1 shown, or have a different configuration from Figure 1 shown.

[0041] The memory 104 can be used to store computer programs, such as software programs of application software and modules, such as a computer program corresponding to the device information display method of the embodiments of the present application. The processor 102 executes various functional applications and data processing, i.e., implements the above method, by running the computer programs stored in the memory 104. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include memories remotely arranged with respect to the processor 102, which can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. The specific examples of the above network can include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0042] A method for determining a height of a shearer drum is provided in the embodiments of the present application, which is run on a mobile terminal, a computer terminal or a similar computing device. It should be noted that the steps shown in the flowchart of 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 herein can be executed in an order different from that shown.

[0043] Figure 2 FIG. 1 is a flowchart of a method for determining a height of a shearer drum according to an embodiment of the present application. As shown in FIG. 1, the method includes the following steps: Figure 2

[0044] In step S201, cutting standard data of the shearer is acquired, wherein the cutting standard data is standardized data of a height of the shearer drum entering a coal seam when the shearer cuts coal.

[0045] Specifically, the cutting standard data of the shearer in the fully mechanized coal mining face is template data of shearer cutting. A standardized data is obtained by recording the height data of the shearer drum at the sampling point in the cutting cycle, i.e., the height data of the shearer drum entering the coal seam, which is similar to a demonstration knife. Subsequent coal cutting processing is performed according to the cutting standard data.

[0046] ​Specifically, the cutting standard data is a standardized data including the height of the drum, and the floor in the coal seam is constantly changing, so the cutting standard data can be adjusted according to the change of the coal seam floor, and the cutting standard data is updated.

[0047] In step S202, the current position of the coal mining machine is obtained.

[0048] Specifically, the current position of the coal mining machine can be determined by a position sensor, and the position information of the coal mining machine can be obtained by a mileage meter (position encoder), an inertial navigation system, or a laser ranging method.

[0049] In step S203, it is determined whether the coal mining machine enters an abnormal working area according to the current position.

[0050] Specifically, the working face stope engineering geology can be written by manual work, and the robot can be controlled to enter the working face to write.

[0051] The abnormal engineering quality regions of the working face floor bulge and pit are written, and the position ranges of the two regions are determined. The floor control requirements are judged by manual or software algorithm, and the elimination of abnormal engineering quality through several coal cutting cycles is estimated. The parameters output by the stope engineering geology writing include the position range and the degree of abnormal geology of the abnormal engineering quality. The parameters for the bulge abnormal geology are the floor lifting amount, and the parameters for the pit abnormal geology are the floor lowering amount. In addition, the number of coal cutting cycles to eliminate abnormal engineering quality is determined manually according to engineering requirements.

[0052] The rise and fall regions of the working face inclination are written, and the position ranges of the two regions are determined. The floor control change requirements are judged by manual or software algorithm. Since the rise and fall regions of the working face inclination change relatively slowly with the advance of the working face, the floor drum control has taken into account the floor control change requirements in the previous continuous coal cutting cycle process. The drum height control data for the corresponding rise and fall abnormal geological change points can be obtained from the historical cutting cycle data. It is checked whether the sampling point position corresponding to the control data is consistent with the manual judgment result. If consistent, no engineering quality optimization is carried out; if not consistent, engineering quality optimization is carried out.

[0053] Specifically, the position range of the abnormal engineering quality region is unified with the position of the working face support number in the engineering writing process.

[0054] Step S204, in the case that the coal mining machine enters the abnormal working area, the height of the drum is adjusted based on the cutting standard data, and the adjusted height of the drum is obtained, wherein the abnormal working area is an area with bumps or pits.

[0055] Specifically, when the coal mining machine operates in the abnormal working area, the coal seam in the abnormal working area will change and the floor will change, which will cause the drum to change, and thus the height of the drum needs to be adjusted to adapt to the change of the abnormal working area.

[0056] Through the embodiment, the standardized data in the coal mining process of the coal mining machine is obtained first, and when the coal seam changes, that is, when the coal mining machine reaches the abnormal working area, the height of the drum of the coal mining machine can be adjusted adaptively, which can adapt to the change of the coal seam, and thus the efficiency of automatic cutting is improved.

[0057] Specifically, the scheme of the present application can realize continuous and smooth adjustment of the drum cutting height of the coal mining machine in the automatic operation mode, and meet the technical requirements of the automatic operation of the coal mining machine in the fully mechanized coal mining face.

[0058] The scheme of the present application proposes a height adjustment control mode and an implementation scheme based on the combination of the drum cutting template data (cutting standardized data) of the coal mining machine in the fully mechanized coal mining face and the engineering geological reality (whether the area where the coal mining machine is located is an abnormal working area).

[0059] The drum cutting template data of the coal mining machine is obtained by filtering the coal cutting cycle historical data of the coal mining machine through a data algorithm (remove the maximum value, remove the minimum value, and then calculate the average value of the remaining data), and is a data set that can be used to guide the next coal cutting cycle control of the coal mining machine, that is, the drum cutting template data (cutting standardized data); the engineering geological reality is determined by manually identifying the floor state of the working face, and the engineering quality abnormal area that needs to be controlled is determined, and the corresponding continuous control algorithm module of the drum of the coal mining machine is selected (the height of the drum is adjusted based on the cutting standard data and the fluctuation change of the coal seam floor in the fluctuation change curve of the abnormal working area), the drum cutting template data is modified and optimized, the coal mining machine is smoothly transitioned according to the engineering geological conditions, the manual intervention is greatly simplified, and the mining engineering quality of the working face is improved, which creates conditions for automatic continuous operation.

[0060] When the coal mining machine operates in an abnormal working area, the continuous change in the floor angle leads to a change in the drum height due to the change in the machine body angle. Therefore, to ensure that the coal mining machine's cutting meets application requirements, the drum height during this process can be adjusted. Adjusting the drum height based on the aforementioned cutting standard data can be achieved through the following steps: obtaining the undulation curve of the coal seam floor, where the coal seam floor is the floor corresponding to the lowest coal seam in the coal mining area, and the undulation curve represents the relationship between the height and position of the coal seam floor; and adjusting the drum height based on the aforementioned cutting standard data and the undulation curve of the coal seam floor in the abnormal working area.

[0061] In this solution, the height of the drum in the cutting standard data is corrected and optimized to address the undulations of the coal seam floor in abnormal working areas. This enables the coal mining machine to perform smooth transition control based on engineering geological conditions, thereby improving the accuracy of drum cutting control.

[0062] After the forward traveling section of the coal mining machine enters the abnormal bulge point (i.e., the bulge area), if... Figure 3 As shown, due to the gradual upward tilt of the machine body, the change in machine body angle causes the position of the rear roller 10 relative to the bottom plate to decrease. If the rear roller 10 is not adjusted to increase its height, this area will be lowered, resulting in a pit. In the specific implementation process, based on the above-mentioned cutting standard data and the undulation curve of the coal seam bottom plate in the above-mentioned abnormal working area, the height of the roller is adjusted through the following steps: When the above-mentioned abnormal working area is a bulging area and the undulation curve of the above-mentioned abnormal working area indicates that the coal seam bottom plate is on an upward trend, the adjustment amount is determined as the first adjustment amount, wherein the first adjustment amount represents the adjustment amount to reduce the height of the roller; the cutting standard data is adjusted using the first adjustment amount to obtain the first height of the roller, wherein the first height is inversely proportional to the undulation of the coal seam bottom plate.

[0063] In this scheme, when the coal mining machine continues to advance and the rear drum enters the abnormal bulge section, the rear drum needs to be lowered from its previous height to remove the bulge, thereby controlling the quality of the surface work. This ensures that the scheme can further adaptively adjust the height of the coal mining machine's drum, which can further adapt to changes in the coal seam and further improve the efficiency of automatic cutting.

[0064] Specifically, after the front traveling part of the coal mining machine passes the highest position of the abnormal bulge, the impact of the change in the height of the rear drum caused by the change in the machine body angle gradually decreases due to the gradual reduction of the machine body inclination angle. At the same time, in order to continuously cut off the bulge, it is necessary to gradually reduce the height of the rear drum.

[0065] Specifically, when the rear drum of the coal mining machine gradually leaves the drum bump abnormal engineering point, the machine body angle gradually returns to the state before entering the drum bump abnormal engineering point, and the floor drum bump condition gradually returns, so the rear drum of the coal mining machine needs to gradually restore the drum adjustment amount of entering the drum bump abnormal engineering point.

[0066] Therefore, for this case, the adjustment data curve of the rear drum at the drum bump abnormal engineering point can be fitted, as shown in Figure 4 Figure 4 The drum bump abnormal engineering area 11 (the abnormal working area is the area with drum bump) is included in the figure, wherein D1 is the position of the rear drum of the coal mining machine entering the drum bump abnormal engineering point, D2 is the highest point of the drum bump abnormal engineering point, and D3 is the position of the rear drum of the coal mining machine exiting the drum bump abnormal engineering point. The cutting adjustment amount Δh (the first adjustment amount 12) of the rear drum of the coal mining machine in the drum bump abnormal engineering area is fitted, the rear drum is gradually lifted from a machine body length away from the D1 point, and the lifting amount gradually increases; when the rear drum passes the D1 point, the rear drum lifting amount is reduced to zero, and the rear drum bottoming adjustment amount is reduced to a negative value as the coal mining machine advances; when the rear drum passes the D2 point, the rear drum bottoming adjustment amount gradually recovers to zero.

[0067] After the coal mining machine walking part enters the drum bump abnormal engineering point (i.e., the drum bump area), as shown in Figure 5 The machine body angle gradually inclines upward, the machine body angle changes to lower the relative position of the rear drum 10 to the floor, but since the coal seam does not rise due to the undulating change, there is no practical significance in lowering the drum 10 height, and the coal mining machine should normally walk with the walking floor. In the specific implementation process, based on the above cutting standard data and the undulating change of the coal seam floor in the above undulating change curve of the above abnormal working area, the height of the above drum is adjusted, which can be realized by the following steps: in the case that the above abnormal working area is the area with drum bump, and the above undulating change curve of the above abnormal working area represents that the above coal seam floor is in a downward trend or a gentle trend, the adjustment amount is determined as a second adjustment amount, wherein the second adjustment amount represents the adjustment amount of lifting the height of the drum; the second adjustment amount is used to adjust the cutting standard data to obtain the second height of the drum, wherein the second height is proportional to the undulating change of the coal seam floor.

[0068] In this scheme, to ensure the floor flatness, the rear drum needs to be gradually lifted as the machine body angle inclines upward; when the center position of the coal mining machine passes the slope starting point, the machine body angle gradually decreases, and the rear drum needs to be gradually lowered as the machine body angle changes; when the rear drum of the coal mining machine passes the slope starting point, the adjustment amount of the rear drum returns to zero, thereby ensuring that the scheme can further adaptively adjust the height of the drum of the coal mining machine, which can further adapt to the change of the coal seam, thereby further improving the efficiency of automatic cutting.​

[0069] Therefore, for this case, the adjustment data curve of the rear roller at the abnormal engineering point of the slope can be fitted, as shown in Figure 6 Figure 6 The first adjustment control amount change curve 13 of the rear roller (the curve corresponding to the region with bulges in the abnormal working region) is included in the figure, wherein D1 is the position where the front walking part of the coal mining machine enters the abnormal engineering point of the slope, D2 is the position where the center point of the coal mining machine reaches the abnormal engineering point of the slope, and D3 is the position where the rear roller of the coal mining machine exits the abnormal engineering point of the slope. The cutting adjustment amount △h (the second adjustment amount) of the rear roller of the coal mining machine at the abnormal engineering region of the slope is fitted, the rear roller gradually rises after the front walking part of the coal mining machine reaches the D1 point; when the center point of the coal mining machine reaches the D2 point, the lifting amount of the rear roller reaches the maximum value, and then gradually decreases with the advancement of the coal mining machine, and the adjustment amount gradually recovers; when the rear roller passes the D3 point, the lifting adjustment amount of the rear roller gradually recovers to zero.

[0070] After the front walking part of the coal mining machine enters the abnormal engineering point of the pit (i.e., the region of the pit), as shown in Figure 7 Due to the gradual downward inclination of the machine body angle, the rear roller 10 is lifted relative to the position of the floor, and if the rear roller 10 is not adjusted to be lowered, the region will be lifted by the position of the rear roller 10, thereby failing to normally cut. In the specific implementation process, based on the above cutting standard data and the above fluctuation change in the above fluctuation change curve of the abnormal working region, the height of the above roller is adjusted, which can be achieved by the following steps: in the case that the above abnormal working region is a region with pits and the above fluctuation change curve of the abnormal working region indicates that the above coal seam floor is an upward trend, the adjustment amount is determined to be a third adjustment amount, wherein the third adjustment amount represents the adjustment amount of lifting the height of the roller; the third adjustment amount is used to adjust the cutting standard data to obtain the third height of the roller, wherein the third height is inversely proportional to the fluctuation change of the coal seam floor.

[0071] In this scheme, when the coal mining machine continues to advance, the rear roller enters the abnormal engineering point of the pit, and the rear roller is lifted on the basis of being previously lowered, and the pit region cannot be enlarged, thereby controlling the quality of the ground engineering, and further ensuring that the scheme can further adaptively adjust the height of the roller of the coal mining machine, which can further adapt to the change of the coal seam, and further improve the efficiency of automatic cutting.

[0072] Specifically, when the rear roller of the coal mining machine gradually leaves the abnormal engineering point of the pit, the machine body angle gradually recovers to the state before entering the abnormal engineering point of the pit, and therefore the rear roller of the coal mining machine gradually recovers the adjustment amount of the roller entering the abnormal engineering point of the pit.

[0073] ​Therefore, for this case, the adjustment data curve of the rear roller at the pit abnormal engineering point can be fitted, as shown in Figure 8 Figure 8 The abnormal engineering area 14 (the abnormal working area is the area with pits) is included in the fitting, wherein D1 is the position where the rear roller of the coal mining machine enters the pit abnormal engineering point, D2 is the highest point of the pit abnormal engineering point, and D3 is the position where the rear roller of the coal mining machine exits the pit abnormal engineering point. The cutting adjustment amount Δh of the rear roller of the coal mining machine in the pit abnormal engineering area (the third adjustment amount 15) is included in the fitting, the rear roller gradually sinks from a coal mining machine body length away from the D1 point, and the sinking amount gradually increases; when the rear roller passes the D1 point, the sinking amount of the rear roller returns to zero, and the rear roller is lifted as the coal mining machine advances, and the adjustment amount gradually increases; when the rear roller passes the D2 point, the lifting adjustment amount of the rear roller gradually returns to zero.

[0074] The front walking part of the coal mining machine enters the bottom plate falling abnormal engineering area of the working face (i.e., the area with pits), as shown in Figure 9 Due to the downward inclination of the coal mining machine body, the rear roller 10 is lifted relative to the position of the bottom plate after the change of the body angle, but since the coal seam does not decrease due to the fluctuation, it does not have any practical significance to increase the height of the roller 10. The coal mining machine should normally walk with the walking bottom plate. In the specific implementation process, based on the above cutting standard data and the fluctuation of the coal seam floor in the above fluctuation curve of the above abnormal working area, the height of the roller is adjusted, which can be realized by the following steps: in the case that the above abnormal working area is an area with pits and the above fluctuation curve of the above abnormal working area indicates that the above coal seam floor is in a downward or gentle trend, the adjustment amount is determined as a fourth adjustment amount, wherein the fourth adjustment amount represents the adjustment amount of lowering the height of the roller; the fourth adjustment amount is used to adjust the cutting standard data to obtain the fourth height of the roller, wherein the fourth height is proportional to the fluctuation of the coal seam floor.

[0075] In this scheme, to ensure the flatness of the floor, the rear roller needs to be gradually lowered with the upward inclination of the body angle; when the center position of the coal mining machine passes the falling point, the downward inclination of the coal mining machine body gradually decreases, and the rear roller needs to be gradually lowered with the change of the body angle; when the rear roller of the coal mining machine passes the rising point, the adjustment amount of the rear roller returns to zero, thereby ensuring that the scheme can further adaptively adjust the height of the roller of the coal mining machine, which can further adapt to the change of the coal seam, thereby further improving the efficiency of automatic cutting.

[0076] Therefore, for this case, the adjustment data curve of the rear roller at the pit abnormal engineering point can be fitted, as shown in Figure 10 Figure 10 ​​The second adjustment control amount change curve 16 of the rear roller in the uneven area (the curve corresponding to the uneven area) is included in the middle, wherein D1 is the position where the front walking part of the coal mining machine enters the falling slope abnormal engineering point, D2 is the position where the center point of the coal mining machine reaches the falling slope abnormal engineering point, and D3 is the position where the rear roller of the coal mining machine exits the falling slope abnormal engineering point. The fitted cutting adjustment amount △h (the fourth adjustment amount) of the rear roller of the coal mining machine in the falling slope abnormal engineering area is gradually lowered after the rear roller reaches D1; when the center point of the coal mining machine reaches D2, the rear roller is lowered to the maximum value, and then gradually rises with the advance of the coal mining machine, and the adjustment amount gradually recovers; when the rear roller passes D3, the rear roller is lifted, and the adjustment amount gradually recovers to zero.

[0077] The cutting standard data of the coal mining machine on the fully mechanized coal mining face is derived from the historical data of the cutting height of the coal mining machine. The height data of the coal mining machine drum at each sampling point in the coal cutting cycle is recorded, the highest height of the coal mining machine drum cutting roof and the lowest height of the coal mining machine drum cutting floor at each sampling point are screened, the height boundary data of each sampling point is determined, and in this way, the coal mining machine height boundary data of all sampling position points on the working face is collected, screened and summarized, so as to form a single coal cutting cycle coal mining machine cutting height trajectory data set. In some embodiments, the cutting standard data of the coal mining machine is obtained, which can be realized by the following steps: obtaining a plurality of first historical cutting data in a historical period; extracting a plurality of second historical cutting data from the plurality of first historical cutting data, wherein the second historical cutting data is the historical cutting data except the maximum value and the minimum value in the plurality of first historical cutting data; calculating the average value of the plurality of second historical cutting data to obtain the cutting standard data.

[0078] In this scheme, the single coal cutting cycle coal mining machine cutting height trajectory data set formed can be used as the next coal cutting cycle coal mining machine drum cutting standard data. However, in order to avoid the abnormality of the drum cutting standard data caused by the abnormality of the height sensing data of the coal mining machine in a single coal cutting cycle, which does not conform to the actual situation, a plurality of cutting height trajectory data (historical cutting standard data) can be selected for processing, the maximum and minimum values of the plurality of cutting height trajectory data at each sampling point are screened and processed according to the abnormality, the maximum and minimum values are removed, and the average value of the other data is taken to form the adaptive coal mining machine drum cutting standard data for subsequent correction of the drum height.

[0079] The sampling points can be determined according to the position data of the coal mining machine odometer and the width data of each support, so as to realize the comparison and unification of the sampling points and the support numbers on the working face, and facilitate the matching with the actual engineering geological results in the future.

[0080] Therefore, after obtaining the next cutting cycle drum cutting template data (cutting standard data) according to the cutting height historical data of the coal mining machine, the abnormal geological area range and abnormal degree are determined by writing the floor bulge, pit, and the upslope and downslope area of the working face inclination according to the working face engineering geology, and the cutting bottom data in the cutting template data is corrected according to the continuous control algorithm module of the drum of the coal mining machine according to the artificial judgment result or the software algorithm judgment result, so that the drum control requirement of the working face geological abnormal area can be met after the cutting template data is adjusted and issued to the coal mining machine for cutting control.

[0081] Specifically, the scheme of the present application is a height adjustment control method based on the combination of the cutting template data of the drum of the coal mining machine in the fully mechanized working face and the engineering geological correction. This method has the advantages of simplicity and easy implementation compared to complex model algorithms. The cutting template basis of the next cutting cycle of the coal mining machine is formed by processing and analyzing the historical cutting height data of the drum of the coal mining machine, the artificial judgment of the abnormal geological area is made by engineering geological writing, the cutting bottom data in the cutting template is corrected according to the corresponding continuous control algorithm module of the drum of the coal mining machine for different abnormal geological conditions, and the continuous automatic control of the coal mining machine is realized. The continuous control algorithm module of the drum for the floor bulge, pit, and the upslope and downslope area of the working face inclination in the engineering geology of the working face is proposed. The module can be selected according to the actual situation to realize the correction and optimization of the cutting template data of the drum, realize the smooth transition control of the coal mining machine according to the engineering geological conditions, and improve the accuracy of the drum cutting control.

[0082] Of course, the scheme of the present application can also apply the simulation PID algorithm to adjust the drum height. The specific steps are: determining the set value of the drum height, collecting the actual drum height through sensors and other devices, taking the difference between the control target and the actual drum height as the error, calculating the PID output according to the error, i.e. weighting and summing the outputs of the three parts of proportion, integral, and differential to obtain the final control amount, and continuously adjusting the values of the three parameters of proportion, integral, and differential to make the drum height reach the set value stably. In addition, in order to make the control effect more stable and reliable, reasonable parameter selection and system debugging are also needed. At the same time, in order to avoid excessive output of the controller, the controller also needs to be limited in amplitude.

[0083] In addition, during the walking process of the coal mining machine, the height can also be adjusted according to the change of the coal seam thickness. If the coal seam thickness is large, the height of the coal mining machine can be adjusted to a higher position to ensure that the coal mining machine can pass through the coal seam smoothly. If the coal seam thickness is small, the height of the coal mining machine can be adjusted to a lower position to ensure that the coal mining machine can fully contact the coal seam and improve the coal mining efficiency.

[0084] In the process of traveling of the coal mining machine, the speed can also be adjusted according to the hardness of the coal seam, the geological conditions, the power of the coal mining machine and other factors. If the coal seam is relatively soft, the speed of the coal mining machine can be appropriately increased to improve the coal mining efficiency. If the coal seam is relatively hard, the speed of the coal mining machine can be appropriately reduced to avoid that the coal mining machine receives a too large load and prolong the service life of the coal mining machine. Of course, while adjusting the height of the drum, the traveling speed of the coal mining machine can also be adjusted according to the situation of the bulge or the pit. If a relatively large bulge or pit is encountered, the traveling speed of the coal mining machine can be appropriately reduced to avoid that the coal mining machine receives a too large impact. If a relatively small bulge or pit is encountered, the traveling speed of the coal mining machine can be appropriately increased to ensure the efficiency of the coal mining machine.

[0085] The coal mining machine can also adopt an automatic control system to realize automatic adjustment of the height and the speed. The automatic control system can automatically adjust the height and the speed of the coal mining machine according to the thickness and the hardness of the coal seam to improve the safety of the efficiency of the coal mining machine.

[0086] When adjusting the change of the height of the drum of the coal mining machine, the following parameters can also be adjusted:

[0087] 1. The speed of the coal mining machine: The traveling speed of the coal mining machine has a certain influence on the adjustment of the height of the drum. If the traveling speed of the coal mining machine is relatively fast, the drum can be lowered to avoid that the drum cannot effectively cut the floor and leave a step.

[0088] 2. The thickness of the coal seam: The thickness of the coal seam also has a certain influence on the adjustment of the height of the drum. If the coal seam is relatively thick, the drum can be raised to ensure that the coal mining machine can smoothly pass through the coal seam. If the coal seam is relatively thin, the drum can be lowered to ensure that the coal mining machine can better contact the coal seam.

[0089] 3. The hardness of the coal seam: If the coal seam is relatively hard, the speed of the coal mining machine can be reduced. If the coal seam is relatively soft, the speed of the coal mining machine can be appropriately increased.

[0090] 4. The weight of the coal mining machine: The weight of the coal mining machine can affect whether the drum can stably reach the set height value in the process of cutting. When the weight is relatively light, the speed of the coal mining machine should be reduced. When the weight is relatively heavy, the influence of the weight of the coal mining machine on the speed can be ignored.

[0091] In order for those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the method for determining the height of the drum of the coal mining machine will be described in detail below in combination with specific embodiments.

[0092] The present embodiment relates to a specific method for determining the height of the drum of the coal mining machine, which specifically comprises the following steps:

[0093] Firstly, the height data of the coal winning machine in each cutting cycle is recorded and filtered according to the sampling period. The cutting drum height data of the coal winning machine is collected by the height sensor of the rocker arm of the machine body. The sampling point is the time when the center position of the coal winning machine reaches the position of each support. The drum height data collected in each sampling period is the data set of the sampling period. When the coal winning machine center reaches the position of the next support, a new sampling period begins. As shown in Figure 11 , the cutting drum height data of the coal winning machine is recorded, and it is determined whether the position of the coal winning machine reaches the new sampling point. If yes, the cutting drum height data of the coal winning machine is recorded again. If no, the highest height of the top plate and the lowest height of the bottom plate of the left / right drum of the coal winning machine at the last sampling point are filtered. The data set of each sampling point is processed, and the cutting height data set of the coal winning machine in this cutting cycle is obtained by collecting all the data sets of the sampling points.

[0094] Then, the cutting data set of the coal winning machine in the next cutting cycle is formed by processing the cutting data sets of multiple cutting cycles. As shown in Figure 12 , the cutting height data sets of the coal winning machine in the first five cutting cycles are respectively collected according to the sampling points. The maximum sampling value in each sampling point data set is determined, and the minimum sampling value in each sampling point data set is determined. The maximum and minimum values in the height trajectory data of each sampling point in multiple cutting cycles are excluded according to the abnormal value. The average value of the remaining three data is obtained to form the basic data of the cutting drum cutting template of the coal winning machine in the next cutting cycle.

[0095] Secondly, the basic data of the cutting drum cutting template of the coal winning machine in the next cutting cycle is corrected by the engineering writing method. The working face engineering geology is written by artificial. The artificial inspects the engineering quality of the working face floor. According to whether the floor bump, pit and other abnormal engineering quality areas affect the continuous advance of the working face, the areas are written. The position of the area is determined according to the range of the support, and the uplift or subsidence of the floor is evaluated. The cutting cycle number and the adjustment amount of the bottom drum for eliminating the abnormal engineering quality are given. According to whether the slope area of the working face changes, the slope area is written. If it is judged that the bottom drum needs to be adjusted to adapt to the change of the engineering geology, the range of the slope area and the adjustment amount of the bottom drum are given.

[0096] Finally, the basic data of the cutting drum cutting template of the coal winning machine in the next cutting cycle is corrected according to the adjustment scheme for the engineering abnormal area. According to the adjustment amount of the bottom drum, the continuous control algorithm module of the cutting drum of the coal winning machine is called to form the corresponding continuous control correction value of the cutting drum. The bottom drum cutting height data in the basic data of the cutting drum cutting template of the coal winning machine is corrected, and the drum height data of the sampling point in the floor bump, pit, slope and other areas is adjusted, so as to form the final drum height control data which can guide the next cutting cycle of the coal winning machine.

[0097] Specifically, there are four cases, as shown in the following, which are described as follows: Figure 13

[0098] 1. The abnormal drum bumping range of the working face floor: determine whether it affects the continuous advancing of the working face, and in the case of yes, determine the support range corresponding to the drum bumping area, and give the drum adjustment amount of the shearer corresponding to the drum bumping area.

[0099] 2. The abnormal drum bumping range of the working face floor: determine whether it affects the continuous advancing of the working face, and in the case of yes, determine the support range corresponding to the drum bumping area, and give the drum adjustment amount of the shearer corresponding to the drum bumping area.

[0100] 3. The abnormal drum bumping range of the working face floor: determine whether it affects the continuous advancing of the working face, and in the case of yes, determine the support range corresponding to the drum bumping area, and give the drum adjustment amount of the shearer corresponding to the drum bumping area.

[0101] 4. The abnormal drum bumping range of the working face floor: determine whether it affects the continuous advancing of the working face, and in the case of yes, determine the support range corresponding to the drum bumping area, and give the drum adjustment amount of the shearer corresponding to the drum bumping area.

[0102] The shearer drum height control data is sent to the shearer, and the shearer control system executes the drum control according to the control data.

[0103] The embodiment of the present application also provides a shearer drum height determination device. It should be noted that the shearer drum height determination device of the embodiment of the present application can be used to execute the shearer drum height determination method provided by the embodiment of the present application. The device is used to realize the above-mentioned embodiments and preferred embodiments, and will not be described here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and is contemplated.

[0104] The shearer drum height determination device provided by the embodiment of the present application is described below.

[0105] Figure 14 is a structural block diagram of a shearer drum height determination device according to the embodiment of the present application. As shown in Figure 14 , the device comprises:

[0106] A first acquisition unit 100 is configured to acquire the cutting standard data of the shearer, wherein the cutting standard data is the standardized data of the height of the drum entering the coal seam when the shearer cuts coal.

[0107] A second acquisition unit 200 is configured to acquire the current position of the shearer.​

[0108] The determining unit 300 is configured to determine whether the coal mining machine enters an abnormal working area according to the current position.

[0109] The adjusting unit 400 is configured to adjust the height of the drum based on the cutting standard data when the coal mining machine enters the abnormal working area, to obtain an adjusted height of the drum, wherein the abnormal working area is an area with a bump or a pit.

[0110] According to the embodiment, the standardized data in the coal mining process of the coal mining machine is obtained first, and when the coal seam changes, that is, when the coal mining machine reaches the abnormal working area, the height of the drum of the coal mining machine can be adjusted adaptively, so that the change of the coal seam can be adapted, and the efficiency of automatic cutting is improved.

[0111] When the coal mining machine operates in the abnormal working area, the floor angle changes continuously, which causes the change of the height of the drum due to the change of the body angle. Therefore, in order to ensure that the cutting of the coal mining machine meets the application requirements, the height of the drum in this process can be adjusted. The adjusting unit includes a first obtaining module and an adjusting module. The first obtaining module is configured to obtain a fluctuation curve of the coal seam floor of the coal mine, wherein the coal seam floor is the floor corresponding to the lowest coal seam of the coal mining area of the coal mine, and the fluctuation curve is a curve of the height and position of the coal seam floor. The adjusting module is configured to adjust the height of the drum based on the cutting standard data and the fluctuation of the coal seam floor in the fluctuation curve of the abnormal working area.

[0112] In this scheme, the height of the drum in the cutting standard data is corrected and optimized according to the fluctuation of the coal seam floor in the abnormal working area, the coal mining machine is controlled to smoothly transition according to the engineering geological conditions, and the accuracy of the drum cutting control is improved.

[0113] After the front walking part of the coal mining machine enters the abnormal engineering point of the bump (i.e. the area of the bump), the machine body angle gradually inclines upward, the position of the rear roller relative to the floor is lowered after the change of the machine body angle, and if the rear roller is not adjusted to be raised, the area will be dug out as a pit due to the lowered position of the rear roller. In the specific implementation process, the adjusting module includes a first determining submodule and a first adjusting submodule. The first determining submodule is configured to determine that the adjustment amount is a first adjustment amount in a case where the abnormal working area is an area with a bump, and the fluctuation change curve of the abnormal working area indicates that the coal seam floor is in an upward trend. The first adjustment amount indicates the adjustment amount of lowering the height of the roller. The first adjusting submodule is configured to adjust the cutting standard data by using the first adjustment amount to obtain a first height of the roller. The first height is inversely proportional to the fluctuation change of the coal seam floor.

[0114] In the scheme, when the coal mining machine continues to advance and the rear roller enters the abnormal engineering point of the bump, the rear roller is lowered based on the previous raising to cut off the bump, so as to control the ground engineering quality, and thus the scheme can further adaptively adjust the height of the roller of the coal mining machine, which can further adapt to the change of the coal seam, and thus the efficiency of automatic cutting is further improved.

[0115] After the front walking part of the coal mining machine enters the abnormal engineering point of the bump (i.e. the area of the bump), the machine body angle gradually inclines upward, the position of the rear roller relative to the floor is lowered after the change of the machine body angle, but since the fluctuation change of the coal seam is not upward, there is no practical significance in lowering the height of the roller. The coal mining machine should normally walk along the walking floor. In the specific implementation process, the adjusting submodule includes a second determining submodule and a second adjusting submodule. The second determining submodule is configured to determine that the adjustment amount is a second adjustment amount in a case where the abnormal working area is an area with a bump, and the fluctuation change curve of the abnormal working area indicates that the coal seam floor is in a downward trend or a gentle trend. The second adjustment amount indicates the adjustment amount of lifting the height of the roller. The second adjusting submodule is configured to adjust the cutting standard data by using the second adjustment amount to obtain a second height of the roller. The second height is proportional to the fluctuation change of the coal seam floor.

[0116] In the scheme, to ensure the flatness of the floor, the rear roller needs to be gradually lifted as the machine body angle inclines upward. When the center position of the coal mining machine passes the slope starting point, the machine body angle gradually decreases, and the rear roller needs to be gradually lowered as the machine body angle changes. When the rear roller of the coal mining machine passes the slope starting point, the adjustment amount of the rear roller returns to zero, and thus the scheme can further adaptively adjust the height of the roller of the coal mining machine, which can further adapt to the change of the coal seam, and thus the efficiency of automatic cutting is further improved.

[0117] After the front walking part of the coal mining machine enters the pit depression abnormal engineering point (i.e. the pit depression area), as the machine body inclination gradually inclines downward, the machine body angle change drives the rear roller to lift relative to the floor position, at this time, if the rear roller is not adjusted to be lowered, the area will be lifted by the rear roller position and cannot be normally cut, in the specific implementation process, the adjusting submodule includes a third determining submodule and a third adjusting submodule, the third determining submodule is configured to determine that the adjusting amount is a third adjusting amount in the case that the abnormal working area is a pit depression area and the fluctuation change curve of the abnormal working area represents that the coal seam floor is an upward trend, wherein the third adjusting amount represents the adjusting amount of the height of the lifting of the roller; the third adjusting submodule is configured to adjust the cutting standard data by using the third adjusting amount to obtain a third height of the roller, wherein the third height is inversely proportional to the fluctuation change of the coal seam floor.

[0118] In this scheme, when the coal mining machine continues to advance, the rear roller enters the pit depression abnormal engineering point, the rear roller is lifted on the basis of being lowered before, and the pit depression area cannot be enlarged, thereby controlling the ground engineering quality, and further ensuring that the scheme can further adaptively adjust the height of the roller of the coal mining machine, so that the change of the coal seam can be further adapted, and the efficiency of automatic cutting is further improved.

[0119] After the front walking part of the coal mining machine enters the working face floor falling slope abnormal engineering area (i.e. the pit depression area), as the machine body inclination inclines downward, the machine body angle change drives the rear roller to lift relative to the floor position, but as the fluctuation change of the coal seam does not decrease, it has no practical significance to increase the height of the roller, the coal mining machine should normally walk along the walking floor, in the specific implementation process, the adjusting submodule includes a fourth determining submodule and a fourth adjusting submodule, the fourth determining submodule is configured to determine that the adjusting amount is a fourth adjusting amount in the case that the abnormal working area is a pit depression area and the fluctuation change curve of the abnormal working area represents that the coal seam floor is a downward trend or a gentle trend, wherein the fourth adjusting amount represents the adjusting amount of the height of the lowering of the roller; the fourth adjusting submodule is configured to adjust the cutting standard data by using the fourth adjusting amount to obtain a fourth height of the roller, wherein the fourth height is proportional to the fluctuation change of the coal seam floor.

[0120] In this scheme, to ensure the flatness of the floor, the rear roller needs to gradually descend with the upward inclination of the machine body angle; when the center position of the coal mining machine passes the falling slope point, the downward inclination angle of the machine body gradually decreases, and the rear roller needs to gradually fall back with the change of the machine body angle, when the rear roller of the coal mining machine passes the rising slope point, the adjusting amount of the rear roller returns to zero, thereby ensuring that the scheme can further adaptively adjust the height of the roller of the coal mining machine, so that the change of the coal seam can be further adapted, and the efficiency of automatic cutting is further improved.

[0121] The cutting standard data of the coal mining machine in the fully mechanized coal mining face is derived from the historical data of the cutting height of the coal mining machine. The height data of the drum of the coal mining machine at each sampling point in the coal cutting cycle is recorded, the highest height of the drum of the coal mining machine for cutting the roof and the lowest height of the drum of the coal mining machine for cutting the floor at each sampling point are screened, the height boundary data of each sampling point is determined, the height boundary data of the coal mining machine at all sampling points of the face is collected, screened and summarized in this way, and a single coal cutting cycle coal mining machine cutting height trajectory data set is formed. In some embodiments, the first acquisition unit includes a second acquisition module, an extraction module and a calculation module. The second acquisition module is used to acquire a plurality of first historical cutting data in a historical time period. The extraction module is used to extract a plurality of second historical cutting data from the plurality of first historical cutting data. The second historical cutting data is the historical cutting data other than the maximum value and the minimum value in the plurality of first historical cutting data. The calculation module is used to calculate the average value of the plurality of second historical cutting data to obtain the cutting standard data.

[0122] In this scheme, the single coal cutting cycle coal mining machine cutting height trajectory data set formed can be used as the drum cutting standard data of the coal mining machine in the next coal cutting cycle. However, in order to avoid the abnormal drum cutting standard data caused by the abnormal height sensing data of the coal mining machine in a single coal cutting cycle, which does not conform to the actual situation, a plurality of coal cutting cycle cutting height trajectory data (historical cutting standard data) can be selected for processing. The maximum and minimum values of the plurality of cutting cycle height trajectory data at each sampling point are screened and processed according to the abnormality, the maximum and minimum values are removed, and the average value of the other data is taken to form adaptive coal mining machine drum cutting standard data for subsequent correction of the drum height.

[0123] The above-described device for determining the height of the drum of the coal mining machine includes a processor and a memory. The first acquisition unit, the second acquisition unit, the determination unit and the adjustment unit are all stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory. The above-described modules are all located in the same processor; or the modules are located in different processors in any combination.

[0124] The processor includes a core, and the core retrieves the corresponding program unit from the memory. One or more cores can be provided, and the efficiency of the automatic cutting of the coal mining machine in the prior art can be improved by adjusting the parameters of the core.

[0125] The memory can include a non-persistent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0126] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium comprises a stored program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the determination method of the height of the shearer drum when the program runs.

[0127] The embodiment of the present application provides a processor, the processor is used for running a program, wherein the processor executes the determination method of the height of the shearer drum when the program runs.

[0128] The present application also provides a determination system of the height of the shearer drum, comprising one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs comprise a program for executing any one of the determination methods of the height of the shearer drum.

[0129] The embodiment of the present application provides a device, the device comprises a processor, a memory and a program stored in the memory and capable of running on the processor, and the processor executes the program to realize at least the following steps of the determination method of the height of the shearer drum. The device in the present application can be a server, a PC, a PAD, a mobile phone and the like.

[0130] The present application also provides a computer program product, when executed on a data processing device, is suitable for executing a program initialized with at least the following steps of the determination method of the height of the shearer drum.

[0131] Obviously, those skilled in the art should understand that the modules or steps of the present application can be realized by general computing devices, which can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, which can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into individual integrated circuit modules, or multiple modules or steps can be manufactured into a single integrated circuit module. Therefore, the present application is not limited to any specific combination of hardware and software.

[0132] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0133] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0134] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0135] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0136] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0137] The memory can include non-persistent memory and / or persistent memory, for example, read only memory (ROM) and / or flash memory, for example, random access memory (RAM). The memory is an example of computer readable media.

[0138] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules 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 technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carriers.

[0139] It should also be noted that the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0140] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0141] 1) The coal mining machine drum height determination method of the present application first obtains standardized data in the coal mining process of the coal mining machine. When the coal seam changes, that is, when the coal mining machine reaches the abnormal working area, the height of the drum of the coal mining machine can be adaptively adjusted. This can adapt to the change of the coal seam, and further improve the efficiency of automatic cutting.

[0142] 2) The coal mining machine drum height determination device of the present application first obtains standardized data in the coal mining process of the coal mining machine. When the coal seam changes, that is, when the coal mining machine reaches the abnormal working area, the height of the drum of the coal mining machine can be adaptively adjusted. This can adapt to the change of the coal seam, and further improve the efficiency of automatic cutting.

[0143] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining the height of a coal mining machine drum, characterized in that, include: Obtain the cutting standard data of the coal mining machine, wherein the cutting standard data is the standardized data of the height of the drum entering the coal seam when the coal mining machine is cutting coal; Obtain the current position of the coal mining machine; Determine whether the coal mining machine has entered an abnormal working area based on the current location; When the coal mining machine enters the abnormal working area, the height of the drum is adjusted based on the cutting standard data to obtain the adjusted height of the drum. The abnormal working area is an area with bulges or pits. Adjusting the height of the drum based on the cutting standard data includes: acquiring the undulation curve of the coal seam floor in the coal mine, wherein the coal seam floor is the floor corresponding to the lowest coal seam in the coal mining area of ​​the coal mine, and the undulation curve is the relationship curve between the height and position of the coal seam floor; adjusting the height of the drum based on the cutting standard data and the undulation curve of the coal seam floor in the abnormal working area. Based on the cutting standard data and the fluctuations of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, including: when the abnormal working area is a region with bulges and the fluctuation curve of the abnormal working area indicates that the coal seam floor is on an upward trend, determining an adjustment amount as a first adjustment amount, wherein the first adjustment amount represents the adjustment amount to reduce the height of the drum; adjusting the cutting standard data using the first adjustment amount to obtain a first height of the drum, wherein the first height is inversely proportional to the fluctuations of the coal seam floor. Based on the cutting standard data and the fluctuations of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, including: when the abnormal working area is a region with bulges, and the fluctuation curve of the abnormal working area indicates that the coal seam floor is in a downward or flat trend, determining an adjustment amount as a second adjustment amount, wherein the second adjustment amount represents the adjustment amount to raise the height of the drum; adjusting the cutting standard data using the second adjustment amount to obtain a second height of the drum, wherein the second height is proportional to the fluctuations of the coal seam floor; Based on the cutting standard data and the fluctuations of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, including: when the abnormal working area is a pitted area and the fluctuation curve of the abnormal working area indicates that the coal seam floor is on an upward trend, determining an adjustment amount as a third adjustment amount, wherein the third adjustment amount represents the adjustment amount to raise the height of the drum; adjusting the cutting standard data using the third adjustment amount to obtain a third height of the drum, wherein the third height is inversely proportional to the fluctuations of the coal seam floor; Based on the cutting standard data and the fluctuations of the coal seam floor in the fluctuation curve of the abnormal working area, the height of the drum is adjusted, including: when the abnormal working area is a pitted area and the fluctuation curve of the abnormal working area indicates that the coal seam floor is in a downward or flat trend, an adjustment amount is determined as a fourth adjustment amount, wherein the fourth adjustment amount represents the adjustment amount to reduce the height of the drum; the cutting standard data is adjusted using the fourth adjustment amount to obtain a fourth height of the drum, wherein the fourth height is proportional to the fluctuations of the coal seam floor.

2. The method according to claim 1, characterized in that, Obtain the cutting standard data of the coal mining machine, including: Retrieve multiple first historical cut data within a historical time period; Extract multiple second historical cut data from multiple first historical cut data, wherein the second historical cut data are historical cut data other than the maximum and minimum values ​​from multiple first historical cut data; The average value of multiple second historical cutting data is calculated to obtain the cutting standard data.

3. A device for determining the height of a coal mining machine drum, characterized in that, include: The first acquisition unit is used to acquire the cutting standard data of the coal mining machine, wherein the cutting standard data is the standardized data of the height of the drum entering the coal seam when the coal mining machine is cutting coal; The second acquisition unit is used to acquire the current position of the coal mining machine; A determining unit is used to determine whether the coal mining machine has entered an abnormal working area based on the current position; An adjustment unit is used to adjust the height of the drum based on the cutting standard data when the coal mining machine enters the abnormal working area, so as to obtain the adjusted height of the drum, wherein the abnormal working area is an area with bulges or pits. The adjustment unit includes a first acquisition module and an adjustment module. The first acquisition module is used to acquire the undulation curve of the coal seam floor in the coal mine, wherein the coal seam floor is the floor corresponding to the lowest coal seam in the coal mining area of ​​the coal mine, and the undulation curve is the relationship curve between the height and position of the coal seam floor. The adjustment module is used to adjust the height of the drum based on the cutting standard data and the undulation curve of the coal seam floor in the abnormal working area. The adjustment module includes a first determination submodule and a first adjustment submodule. The first determination submodule is used to determine an adjustment amount as a first adjustment amount when the abnormal working area is a region with bulges and the fluctuation curve of the abnormal working area indicates that the coal seam floor is on an upward trend. The first adjustment amount represents the adjustment amount to reduce the height of the drum. The first adjustment submodule is used to adjust the cutting standard data using the first adjustment amount to obtain a first height of the drum. The first height is inversely proportional to the fluctuation of the coal seam floor. The adjustment submodule includes a second determination submodule and a second adjustment submodule. The second determination submodule is used to determine an adjustment amount as a second adjustment amount when the abnormal working area is a region with bulges and the fluctuation curve of the abnormal working area indicates that the coal seam floor is in a downward or flat trend. The second adjustment amount represents the adjustment amount to raise the height of the drum. The second adjustment submodule is used to adjust the cutting standard data using the second adjustment amount to obtain a second height of the drum, wherein the second height is proportional to the fluctuation of the coal seam floor. The adjustment submodule includes a third determination submodule and a third adjustment submodule. The third determination submodule is used to determine an adjustment amount as a third adjustment amount when the abnormal working area is a pitted area and the undulation curve of the abnormal working area indicates that the coal seam floor is on an upward trend. The third adjustment amount represents the adjustment amount to raise the height of the drum. The third adjustment submodule is used to adjust the cutting standard data using the third adjustment amount to obtain the third height of the drum. The third height is inversely proportional to the undulation of the coal seam floor. The adjustment submodule includes a fourth determination submodule and a fourth adjustment submodule. The fourth determination submodule is used to determine an adjustment amount as a fourth adjustment amount when the abnormal working area is a pitted area and the undulation curve of the abnormal working area indicates that the coal seam floor is in a downward or flat trend. The fourth adjustment amount represents the adjustment amount to reduce the height of the drum. The fourth adjustment submodule is used to adjust the cutting standard data using the fourth adjustment amount to obtain the fourth height of the drum. The fourth height is proportional to the undulation of the coal seam floor.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the method for determining the height of the coal mining machine drum as described in claim 1 or 2.

5. A system for determining the height of a coal mining machine drum, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for performing the method for determining the height of the coal mining machine drum as described in claim 1 or 2.

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