Method for preventing collision between coal mining machine and hydraulic support, device and system thereof

Abstract

The application provides a coal winning machine and hydraulic support anti-collision method, device and system. The method comprises the following steps: first, obtaining a first height, a second height and a plurality of third heights, the first height being the height of the upper edge of the first roller at the current position of the coal winning machine from the floor of the fully mechanized mining face, the second height being the maximum height value of the coal cutting line within a first predetermined range, the third height being the height of all hydraulic supports within a first predetermined support number range, and the first predetermined range being a predetermined range from the current position in the travel direction; then, in the case that the first height satisfies at least one of the first height being greater than the second height and the first height being greater than at least one of the third heights, it is determined that the coal winning machine and the hydraulic support have a risk of collision. The method solves the problem that the collision detection of the coal winning machine and the hydraulic support cannot be effectively performed by the camera vision AI and other methods in the prior art.

Description

Technical Field

[0001] This application relates to the field of intelligent coal mining face technology, and more specifically, to a method for preventing collisions between a coal mining machine and a hydraulic support, a device for preventing collisions between a coal mining machine and a hydraulic support, an electronic device, and a system for preventing collisions between a coal mining machine and a hydraulic support. Background Technology

[0002] The fully mechanized longwall face is the primary site for coal mining operations, characterized by harsh working conditions and numerous safety hazards. Therefore, the fundamental task of building intelligent mines is to construct fully mechanized longwall faces with minimal or no human intervention. Currently, transparent adaptive mining technology based on geological models has gained industry-wide acceptance as the optimal means to circumvent the global challenge of "coal and rock identification." In the process of achieving minimal or no human intervention through adaptive mining based on geological models, some research has used methods such as camera-based visual AI to detect collisions between the coal mining machine and its supports. However, due to the high levels of dust and water vapor generated during the production process at the fully mechanized longwall face, camera videos become blurry, making practical application, widespread adoption, and routine use difficult, thus hindering collision detection. Therefore, preventing collisions between the coal mining machine and its supports and achieving early prediction remains a significant technical challenge. Summary of the Invention

[0003] The main objective of this application is to provide a method, device, electronic equipment, and system for preventing collisions between a coal mining machine and a hydraulic support, so as to at least solve the problem that the existing technology cannot effectively detect collisions between a coal mining machine and a hydraulic support through methods such as camera vision and AI.

[0004] To achieve the above objectives, according to one aspect of this application, a method for preventing collisions between a coal mining machine and hydraulic supports is provided, comprising: obtaining a first height, a second height, and a plurality of third heights, wherein the first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face; the second height is the maximum height value of the coal cutting line within a first predetermined range; the third heights are the heights of all the hydraulic supports within a first predetermined number of supports range; the first drum is the drum located at the front along the travel direction of the coal mining machine; the first predetermined range is a predetermined range from the current position in the travel direction; and the first predetermined number of supports range is the range of the number of hydraulic supports from the current position in the travel direction. If the first height satisfies a predetermined condition, it is determined that there is a risk of collision between the coal mining machine and the hydraulic supports, wherein the predetermined condition includes at least one of the following: the first height is greater than the second height; or the first height is greater than at least one of the third heights.

[0005] Optionally, a height sensor is provided in the first roller, and a height sensor is provided on the hydraulic support. Acquiring the first height and multiple third heights includes: measuring the height from the upper edge of the first roller to the base plate using the height sensor to obtain a first preparatory height; measuring the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights; determining whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range; and if the first preparatory height is within the second predetermined range, determining the first preparatory height as the first height; and if the third preparatory height is within the third predetermined range, determining the third preparatory height as the third height.

[0006] Optionally, obtaining the second height includes: determining, based on a high-precision geological model of the fully mechanized mining face, the height range of the coal cutting line within the first predetermined range along the direction of travel of the coal mining machine from the current position; determining that the maximum value of the height of the coal cutting line is a second preparatory height; determining whether the second preparatory height is within a fourth predetermined range, and if the second preparatory height is within the fourth predetermined range, determining the second preparatory height as the second height.

[0007] Optionally, the coal mining machine includes a second drum, which is the drum located rearward along the travel direction of the coal mining machine. The method further includes: obtaining a fourth height and a plurality of fifth heights, wherein the fourth height is the height of the upper edge of the second drum at the current position from the bottom plate, and the fifth heights are the heights of all hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is a range of the number of hydraulic supports at the current position along the travel direction; if the fourth height is greater than at least one of the fifth heights, it is determined that there is a risk of collision between the coal mining machine and the hydraulic supports.

[0008] Optionally, the height of the upper edge of the first roller from the base plate is greater than the height of the upper edge of the second roller from the base plate.

[0009] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: issuing a collision warning, the collision warning including at least one of a visual pop-up alarm, a voice alarm, and a light alarm.

[0010] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes controlling the coal mining machine to stop cutting coal.

[0011] According to another aspect of this application, a collision prevention device for a coal mining machine and a hydraulic support is provided, comprising a first acquisition unit and a first determination unit. The first acquisition unit is used to acquire a first height, a second height, and a plurality of third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third heights are the heights of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum located at the front along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is a range of the number of hydraulic supports from the current position in the travel direction. The first determination unit is used to determine that there is a risk of collision between the coal mining machine and the hydraulic support when the first height meets predetermined conditions. The predetermined conditions include at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights.

[0012] According to another aspect of this application, an electronic device is provided, comprising: 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 methods for performing any of the described coal mining machine and hydraulic support anti-collision methods.

[0013] According to another aspect of this application, a collision avoidance system for a coal mining machine and a hydraulic support includes a height sensor, a mining height sensor, a mining control platform, and a controller. The height sensor is located on the hydraulic support; the mining height sensor is located on the first drum of the coal mining machine, the first drum being the first drum along the traveling direction of the coal mining machine; the mining control platform is used to determine the height range of the coal cutting line within a first predetermined range from the current position along the traveling direction of the coal mining machine, based on a high-precision geological model of the fully mechanized mining face; the controller is electrically connected to the height sensor, the mining height sensor, and the mining control platform, and the controller is used to execute any of the aforementioned collision avoidance methods for the coal mining machine and the hydraulic support.

[0014] Applying the technical solution of this application, in the method for preventing collision between the coal mining machine and the hydraulic support, firstly, a first height, a second height, and multiple third heights are obtained. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum located at the front along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction. Then, if the first height meets a predetermined condition, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined condition includes at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights. This method determines whether the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face meets predetermined conditions, namely, the first height is greater than the second height, and the first height is greater than at least one third height. If at least one of the two conditions is met, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. This can prevent collisions between the coal mining machine and the hydraulic support during the collaborative coal mining process, and thus solves the problem that existing technologies such as camera vision AI cannot effectively detect collisions between the coal mining machine and the hydraulic support. Attached Figure Description

[0015] 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:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a method to prevent collision between a coal mining machine and a hydraulic support, according to an embodiment of this application, is shown.

[0017] Figure 2 A schematic flowchart of a method for preventing collisions between a coal mining machine and a hydraulic support, according to an embodiment of this application, is shown.

[0018] Figure 3 A structural block diagram of a coal mining machine and hydraulic support anti-collision device provided according to an embodiment of this application is shown.

[0019] The above figures include the following reference numerals:

[0020] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] 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.

[0024] As described in the background section, existing technologies cannot effectively detect collisions between coal mining machines and hydraulic supports using methods such as camera vision and AI. To address the above-mentioned problems, embodiments of this application provide a method, device, electronic equipment, and system for preventing collisions between coal mining machines and hydraulic supports.

[0025] In fully mechanized mining faces, coal mining machines, hydraulic supports, and conveyors are the main equipment for coal mine production. The coal mining machine is responsible for cutting the coal seam, the conveyor for transporting the coal flow, and the hydraulic supports for providing support; together they work to complete the mining operation. During operation, the coal mining machine moves left and right along the conveyor to cut the coal seam. Each time it cuts a section of coal, the hydraulic supports move towards the coal seam to provide support. However, if the coal mining machine's drum or rocker arm overlaps with the top beam or sidewalls of the hydraulic supports during the machine's movement, interference and collisions can occur, leading to equipment damage. Furthermore, if the coal mining machine travels too fast and the hydraulic supports in front of it are not retracted in time, collisions can also occur, affecting the efficiency and safety of the fully mechanized mining face. Therefore, research on collision prevention between the coal mining machine and the hydraulic supports is essential.

[0026] 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.

[0027] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or 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 method of preventing collisions between a coal mining machine and a hydraulic support, 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.

[0028] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the anti-collision method between the coal mining machine and the hydraulic support 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 may also include 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.

[0029] This embodiment provides a method for preventing collisions between a coal mining machine and a hydraulic support, which operates 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. Furthermore, 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.

[0030] Figure 2 This is a flowchart of a method for preventing collisions between a coal mining machine and a hydraulic support according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0031] Step S201: Obtain a first height, a second height, and multiple third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction.

[0032] Specifically, the height of the aforementioned hydraulic support is the same as the height from the top of the fully mechanized mining face to the floor.

[0033] In practical applications, the first predetermined range and the first predetermined number of supports can be determined based on the geological structure, topography, and coal mining machine speed of the working face to prevent frequent false alarms from affecting the normal operation of the coal mining machine.

[0034] To accurately measure the first height and the third height, in one optional embodiment, a height sensor is installed in the first roller, and a height sensor is installed on the hydraulic support. Acquiring the first height and multiple third heights includes: measuring the height from the upper edge of the first roller to the base plate using the height sensor to obtain a first preparatory height; measuring the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights; determining whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range; and if the first preparatory height is within the second predetermined range, determining the first preparatory height as the first height; and if the third preparatory height is within the third predetermined range, determining the third preparatory height as the third height.

[0035] Specifically, the second predetermined range can be determined based on the design parameters and physical dimensions of the coal mining machine in the fully mechanized mining face, and the third predetermined range can be determined based on the design parameters and physical dimensions of the support in the fully mechanized mining face. The first preparatory height exceeding the second predetermined range and the third preparatory height exceeding the third predetermined range are invalid.

[0036] In practical applications, the main difference between a mining height sensor and a height sensor lies in their measurement objects. A mining height sensor measures the distance from the surface of an object to the ground, typically used in machinery, vehicles, and other fields for precise position control. A height sensor, on the other hand, is specifically designed to measure the vertical distance from a point in the air or liquid to a reference plane, primarily used in aviation fields such as drones and aircraft, as well as in hydraulic engineering. In short, both can measure height or distance, but choosing the right product for the specific scenario and requirements is crucial. Therefore, using a mining height sensor for the first drum of a coal mining machine and a height sensor for the hydraulic support will provide more accurate height measurements.

[0037] Step S201, obtaining the aforementioned second height, includes: determining, based on a high-precision geological model of the fully mechanized mining face, the height range of the coal cutting line within the first predetermined range along the direction of travel of the coal mining machine; determining the maximum value of the height of the coal cutting line as the second preparatory height; determining whether the second preparatory height is within a fourth predetermined range, and if the second preparatory height is within the fourth predetermined range, determining the second preparatory height as the second height. A second preparatory height exceeding the fourth predetermined range is invalid; only a second preparatory height within the fourth predetermined range is the accurate second height.

[0038] Step S202: If the first height meets the predetermined conditions, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined conditions include at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights.

[0039] Specifically, if the first height does not meet the predetermined conditions, and it is determined that there is no risk of collision between the coal mining machine and the hydraulic support, the coal mining machine is started and begins adaptive coal cutting.

[0040] To more accurately determine whether there is a risk of collision with the coal mining machine, the coal mining machine includes a second drum, which is the drum located rearward along the travel direction of the coal mining machine. After step S203, the method further includes: obtaining a fourth height and a plurality of fifth heights, wherein the fourth height is the height of the upper edge of the second drum from the bottom plate at the current position, and the fifth heights are the heights of all the hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is the range of the number of hydraulic supports at the current position along the travel direction; if the fourth height is greater than at least one of the fifth heights, it is determined that there is a risk of collision between the coal mining machine and the hydraulic supports.

[0041] In practical applications, the first predetermined range and the second predetermined number of supports can be determined based on the geological structure, topography, and coal mining machine speed of the working face to prevent frequent false alarms from affecting the normal operation of the coal mining machine.

[0042] In one alternative embodiment, the height of the upper edge of the first roller from the base plate is greater than the height of the upper edge of the second roller from the base plate. In practical applications, the first roller is the front roller and the second roller is the rear roller. When the rear roller is lower than the front roller from the base plate, there is a risk of collision if the first roller meets predetermined conditions. However, if the first roller does not pose a collision risk, the second roller will not. Therefore, when the height of the upper edge of the first roller from the base plate is greater than the height of the upper edge of the second roller from the base plate, there is no need to determine the height of the second roller, further simplifying the collision risk assessment process.

[0043] In order to enable staff to handle abnormalities in a timely manner, in one alternative, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: issuing a collision warning, wherein the collision warning includes at least one of a visual pop-up alarm, a voice alarm, and a light alarm.

[0044] In one alternative approach, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: controlling the coal mining machine to stop cutting coal. Controlling the coal mining machine to stop cutting coal after determining the risk of collision prevents the collision from occurring.

[0045] In practical applications, after a collision warning is issued, the real-time monitoring video of the support that may be in contact with the collision can be opened. Staff can analyze the cause of the warning, take on-site measures to eliminate the warning, and then conduct a collision detection again. If the collision detection warning is not triggered, the coal mining machine will start traction and continue adaptive coal cutting.

[0046] Through the above embodiments, it is determined whether the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face meets the predetermined conditions, namely, the first height is greater than the second height, and the first height is greater than at least one third height. If at least one of the two conditions is met, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. This can prevent the coal mining machine and the hydraulic support from colliding during the collaborative coal mining process, thereby solving the problem that the existing technology cannot effectively detect collisions between the coal mining machine and the hydraulic support through methods such as camera vision AI.

[0047] This application also provides a collision prevention device for a coal mining machine and a hydraulic support. It should be noted that this collision prevention device can be used to execute the collision prevention method for a coal mining machine and a hydraulic support 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.

[0048] The following describes the anti-collision device for coal mining machines and hydraulic supports provided in the embodiments of this application.

[0049] Figure 3 This is a schematic diagram of an anti-collision device between a coal mining machine and a hydraulic support according to an embodiment of this application. Figure 3 As shown, the device includes a first acquisition unit 10 and a first determination unit 20, wherein:

[0050] The first acquisition unit 10 is used to acquire a first height, a second height, and a plurality of third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction.

[0051] Specifically, the height of the aforementioned hydraulic support is the same as the height from the top of the fully mechanized mining face to the floor.

[0052] In practical applications, the first predetermined range and the first predetermined number of supports can be determined based on the geological structure, topography, and coal mining machine speed of the working face to prevent frequent false alarms from affecting the normal operation of the coal mining machine.

[0053] To accurately measure the first and third heights, in one optional embodiment, a height sensor is installed in the first roller, and a height sensor is installed on the hydraulic support. The first acquisition unit includes a measurement module and a first determination module. The measurement module is used to measure the height from the upper edge of the first roller to the bottom plate using the height sensor to obtain a first preparatory height, and to measure the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights. The first determination module is used to determine whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range. If the first preparatory height is within the second predetermined range, the first preparatory height is determined as the first height. If the third preparatory height is within the third predetermined range, the third preparatory height is determined as the third height.

[0054] Specifically, the second predetermined range can be determined based on the design parameters and physical dimensions of the coal mining machine in the fully mechanized mining face, and the third predetermined range can be determined based on the design parameters and physical dimensions of the support in the fully mechanized mining face. The first preparatory height exceeding the second predetermined range and the third preparatory height exceeding the third predetermined range are invalid.

[0055] In practical applications, the main difference between a mining height sensor and a height sensor lies in their measurement objects. A mining height sensor measures the distance from the surface of an object to the ground, typically used in machinery, vehicles, and other fields for precise position control. A height sensor, on the other hand, is specifically designed to measure the vertical distance from a point in the air or liquid to a reference plane, primarily used in aviation fields such as drones and aircraft, as well as in hydraulic engineering. In short, both can measure height or distance, but choosing the right product for the specific scenario and requirements is crucial. Therefore, using a mining height sensor for the first drum of a coal mining machine and a height sensor for the hydraulic support will provide more accurate height measurements.

[0056] The aforementioned first acquisition unit further includes a second determination module, a third determination module, and a fourth determination module. The second determination module is used to determine, based on a high-precision geological model of the fully mechanized mining face, the height range of the coal cutting line within the first predetermined range along the direction of travel of the coal mining machine from the current position. The third determination module is used to determine that the maximum value of the height of the coal cutting line is a second preparatory height. The fourth determination module is used to determine whether the second preparatory height is within a fourth predetermined range, and if so, to determine that the second preparatory height is the second height. Second preparatory heights exceeding the fourth predetermined range are invalid; only second preparatory heights within the fourth predetermined range are accurate second heights.

[0057] The first determining unit 20 is used to determine, when the first height meets predetermined conditions, that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined conditions include at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights.

[0058] Specifically, if the first height does not meet the predetermined conditions, and it is determined that there is no risk of collision between the coal mining machine and the hydraulic support, the coal mining machine is started and begins adaptive coal cutting.

[0059] To more accurately determine whether there is a risk of collision with the coal mining machine, the coal mining machine includes a second drum, which is the drum located rearward along the direction of travel. The device also includes a second acquisition unit and a second determination unit. The second acquisition unit is used to acquire a fourth height and a plurality of fifth heights. The fourth height is the height of the upper edge of the second drum from the bottom plate at the current position. The fifth heights are the heights of all hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is the range of the number of hydraulic supports at the current position along the direction of travel. The second determination unit is used to determine that there is a risk of collision between the coal mining machine and the hydraulic supports if the fourth height is greater than at least one of the fifth heights.

[0060] In practical applications, the first predetermined range and the second predetermined number of supports can be determined based on the geological structure, topography, and coal mining machine speed of the working face to prevent frequent false alarms from affecting the normal operation of the coal mining machine.

[0061] In one alternative embodiment, the height of the upper edge of the first roller from the base plate is greater than the height of the upper edge of the second roller from the base plate. In practical applications, the first roller is the front roller and the second roller is the rear roller. When the rear roller is lower than the front roller from the base plate, there is a risk of collision if the first roller meets predetermined conditions. However, if the first roller does not pose a collision risk, the second roller will not. Therefore, when the height of the upper edge of the first roller from the base plate is greater than the height of the upper edge of the second roller from the base plate, there is no need to determine the height of the second roller, further simplifying the collision risk assessment process.

[0062] In order to enable staff to handle abnormalities in a timely manner, in one alternative, the above-mentioned device further includes a sending unit, which is used to issue a collision warning after determining that there is a risk of collision between the coal mining machine and the hydraulic support. The collision warning includes at least one of a visual pop-up alarm, a voice alarm, and a light alarm.

[0063] In one alternative embodiment, the device further includes a control unit, which, upon determining that there is a risk of collision between the coal mining machine and the hydraulic support, controls the coal mining machine to stop cutting coal. By controlling the coal mining machine to stop cutting coal after determining that there is a risk of collision, a collision can be prevented from occurring.

[0064] In practical applications, after a collision warning is issued, the real-time monitoring video of the support that may be in contact with the collision can be opened. Staff can analyze the cause of the warning, take on-site measures to eliminate the warning, and then conduct a collision detection again. If the collision detection warning is not triggered, the coal mining machine will start traction and continue adaptive coal cutting.

[0065] Through the above embodiments, it is determined whether the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face meets the predetermined conditions, namely, the first height is greater than the second height, and the first height is greater than at least one third height. If at least one of the two conditions is met, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. This can prevent the coal mining machine and the hydraulic support from colliding during the collaborative coal mining process, thereby solving the problem that the existing technology cannot effectively detect collisions between the coal mining machine and the hydraulic support through methods such as camera vision AI.

[0066] The aforementioned anti-collision device between the coal mining machine and the hydraulic support includes a processor and a memory. The first acquisition unit and the first determination unit, etc., are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0067] 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 problem of effective collision detection between coal mining machines and hydraulic supports, a problem that cannot be effectively solved using existing technologies such as camera-based visual AI.

[0068] 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.

[0069] 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 coal mining machine and hydraulic support anti-collision method.

[0070] Specifically, methods to prevent collisions between the coal mining machine and the hydraulic support include:

[0071] Step S201: Obtain a first height, a second height, and multiple third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction.

[0072] Specifically, the height of the aforementioned hydraulic support is the same as the height from the top of the fully mechanized mining face to the floor.

[0073] Step S202: If the first height meets the predetermined conditions, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined conditions include at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights.

[0074] Specifically, if the first height does not meet the predetermined conditions, and it is determined that there is no risk of collision between the coal mining machine and the hydraulic support, the coal mining machine is started and begins adaptive coal cutting.

[0075] Optionally, a height sensor is provided in the first roller, and a height sensor is provided on the hydraulic support. Acquiring the first height and multiple third heights includes: measuring the height from the upper edge of the first roller to the bottom plate using the height sensor to obtain a first preparatory height; measuring the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights; determining whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range; and if the first preparatory height is within the second predetermined range, determining the first preparatory height as the first height; and if the third preparatory height is within the third predetermined range, determining the third preparatory height as the third height.

[0076] Optionally, obtaining the second height includes: determining, based on a high-precision geological model of the fully mechanized mining face, the height range of the coal cutting line within the first predetermined range along the direction of travel of the coal mining machine; determining the maximum value of the height of the coal cutting line as the second preparatory height; determining whether the second preparatory height is within the fourth predetermined range, and if the second preparatory height is within the fourth predetermined range, determining the second preparatory height as the second height.

[0077] Optionally, the coal mining machine includes a second drum, which is the drum located rearward along the travel direction of the coal mining machine. The method further includes: obtaining a fourth height and a plurality of fifth heights, wherein the fourth height is the height of the upper edge of the second drum from the bottom plate at the current position, the fifth heights are the heights of all the hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is the range of the number of hydraulic supports at the current position along the travel direction; if the fourth height is greater than at least one of the fifth heights, it is determined that there is a risk of collision between the coal mining machine and the hydraulic supports.

[0078] Optionally, the height of the upper edge of the first roller from the bottom plate is greater than the height of the upper edge of the second roller from the bottom plate.

[0079] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: issuing a collision warning, wherein the collision warning includes at least one of a visual pop-up alarm, a voice alarm, and a light alarm.

[0080] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: controlling the coal mining machine to stop cutting coal.

[0081] This invention provides a processor for running a program, wherein the program executes the aforementioned method for preventing collisions between the coal mining machine and the hydraulic support.

[0082] Specifically, methods to prevent collisions between the coal mining machine and the hydraulic support include:

[0083] Step S201: Obtain a first height, a second height, and multiple third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction.

[0084] Specifically, the height of the aforementioned hydraulic support is the same as the height from the top of the fully mechanized mining face to the floor.

[0085] Step S202: If the first height meets the predetermined conditions, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined conditions include at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights.

[0086] Specifically, if the first height does not meet the predetermined conditions, and it is determined that there is no risk of collision between the coal mining machine and the hydraulic support, the coal mining machine is started and begins adaptive coal cutting.

[0087] Optionally, a height sensor is provided in the first roller, and a height sensor is provided on the hydraulic support. Acquiring the first height and multiple third heights includes: measuring the height from the upper edge of the first roller to the bottom plate using the height sensor to obtain a first preparatory height; measuring the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights; determining whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range; and if the first preparatory height is within the second predetermined range, determining the first preparatory height as the first height; and if the third preparatory height is within the third predetermined range, determining the third preparatory height as the third height.

[0088] Optionally, obtaining the second height includes: determining, based on a high-precision geological model of the fully mechanized mining face, the height range of the coal cutting line within the first predetermined range along the direction of travel of the coal mining machine; determining the maximum value of the height of the coal cutting line as the second preparatory height; determining whether the second preparatory height is within the fourth predetermined range, and if the second preparatory height is within the fourth predetermined range, determining the second preparatory height as the second height.

[0089] Optionally, the coal mining machine includes a second drum, which is the drum located rearward along the travel direction of the coal mining machine. The method further includes: obtaining a fourth height and a plurality of fifth heights, wherein the fourth height is the height of the upper edge of the second drum from the bottom plate at the current position, the fifth heights are the heights of all the hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is the range of the number of hydraulic supports at the current position along the travel direction; if the fourth height is greater than at least one of the fifth heights, it is determined that there is a risk of collision between the coal mining machine and the hydraulic supports.

[0090] Optionally, the height of the upper edge of the first roller from the bottom plate is greater than the height of the upper edge of the second roller from the bottom plate.

[0091] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: issuing a collision warning, wherein the collision warning includes at least one of a visual pop-up alarm, a voice alarm, and a light alarm.

[0092] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: controlling the coal mining machine to stop cutting coal.

[0093] 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:

[0094] Step S201: Obtain a first height, a second height, and multiple third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction.

[0095] Specifically, the height of the aforementioned hydraulic support is the same as the height from the top of the fully mechanized mining face to the floor.

[0096] Step S202: If the first height meets the predetermined conditions, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined conditions include at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights.

[0097] Specifically, if the first height does not meet the predetermined conditions, and it is determined that there is no risk of collision between the coal mining machine and the hydraulic support, the coal mining machine is started and begins adaptive coal cutting.

[0098] Optionally, a height sensor is provided in the first roller, and a height sensor is provided on the hydraulic support. Acquiring the first height and multiple third heights includes: measuring the height from the upper edge of the first roller to the bottom plate using the height sensor to obtain a first preparatory height; measuring the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights; determining whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range; and if the first preparatory height is within the second predetermined range, determining the first preparatory height as the first height; and if the third preparatory height is within the third predetermined range, determining the third preparatory height as the third height.

[0099] Optionally, obtaining the second height includes: determining, based on a high-precision geological model of the fully mechanized mining face, the height range of the coal cutting line within the first predetermined range along the direction of travel of the coal mining machine; determining the maximum value of the height of the coal cutting line as the second preparatory height; determining whether the second preparatory height is within the fourth predetermined range, and if the second preparatory height is within the fourth predetermined range, determining the second preparatory height as the second height.

[0100] Optionally, the coal mining machine includes a second drum, which is the drum located rearward along the travel direction of the coal mining machine. The method further includes: obtaining a fourth height and a plurality of fifth heights, wherein the fourth height is the height of the upper edge of the second drum from the bottom plate at the current position, the fifth heights are the heights of all the hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is the range of the number of hydraulic supports at the current position along the travel direction; if the fourth height is greater than at least one of the fifth heights, it is determined that there is a risk of collision between the coal mining machine and the hydraulic supports.

[0101] Optionally, the height of the upper edge of the first roller from the bottom plate is greater than the height of the upper edge of the second roller from the bottom plate.

[0102] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: issuing a collision warning, wherein the collision warning includes at least one of a visual pop-up alarm, a voice alarm, and a light alarm.

[0103] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: controlling the coal mining machine to stop cutting coal.

[0104] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0105] 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:

[0106] Step S201: Obtain a first height, a second height, and multiple third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction.

[0107] Specifically, the height of the aforementioned hydraulic support is the same as the height from the top of the fully mechanized mining face to the floor.

[0108] Step S202: If the first height meets the predetermined conditions, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined conditions include at least one of the following: the first height is greater than the second height, or the first height is greater than at least one of the third heights.

[0109] Specifically, if the first height does not meet the predetermined conditions, and it is determined that there is no risk of collision between the coal mining machine and the hydraulic support, the coal mining machine is started and begins adaptive coal cutting.

[0110] Optionally, a height sensor is provided in the first roller, and a height sensor is provided on the hydraulic support. Acquiring the first height and multiple third heights includes: measuring the height from the upper edge of the first roller to the bottom plate using the height sensor to obtain a first preparatory height; measuring the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights; determining whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range; and if the first preparatory height is within the second predetermined range, determining the first preparatory height as the first height; and if the third preparatory height is within the third predetermined range, determining the third preparatory height as the third height.

[0111] Optionally, obtaining the second height includes: determining, based on a high-precision geological model of the fully mechanized mining face, the height range of the coal cutting line within the first predetermined range along the direction of travel of the coal mining machine; determining the maximum value of the height of the coal cutting line as the second preparatory height; determining whether the second preparatory height is within the fourth predetermined range, and if the second preparatory height is within the fourth predetermined range, determining the second preparatory height as the second height.

[0112] Optionally, the coal mining machine includes a second drum, which is the drum located rearward along the travel direction of the coal mining machine. The method further includes: obtaining a fourth height and a plurality of fifth heights, wherein the fourth height is the height of the upper edge of the second drum from the bottom plate at the current position, the fifth heights are the heights of all the hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is the range of the number of hydraulic supports at the current position along the travel direction; if the fourth height is greater than at least one of the fifth heights, it is determined that there is a risk of collision between the coal mining machine and the hydraulic supports.

[0113] Optionally, the height of the upper edge of the first roller from the bottom plate is greater than the height of the upper edge of the second roller from the bottom plate.

[0114] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: issuing a collision warning, wherein the collision warning includes at least one of a visual pop-up alarm, a voice alarm, and a light alarm.

[0115] Optionally, after determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: controlling the coal mining machine to stop cutting coal.

[0116] According to another aspect of this application, a collision avoidance system between a coal mining machine and a hydraulic support includes a height sensor, a mining height sensor, a mining control platform, and a controller. The height sensor is located on the hydraulic support; the mining height sensor is located on the first drum of the coal mining machine, the first drum being the first drum along the traveling direction of the coal mining machine; the mining control platform is used to determine the height range of the coal cutting line within a first predetermined range from the current position along the traveling direction of the coal mining machine, based on a high-precision geological model of the fully mechanized mining face; the controller is electrically connected to the height sensor, the mining height sensor, and the mining control platform, and the controller is used to execute any of the aforementioned collision avoidance methods between the coal mining machine and the hydraulic support.

[0117] The aforementioned anti-collision system for the coal mining machine and hydraulic support includes a height sensor located on the first drum of the coal mining machine. This sensor measures the height from the upper edge of the first drum to the bottom plate, obtaining multiple first preparatory heights. A first preparatory height within a second predetermined range is determined as the first height. A height sensor located on the hydraulic support measures the height of a portion of the hydraulic support along the travel direction, obtaining multiple third preparatory heights. A third preparatory height within a third predetermined range is determined as the third height. The height range of the coal cutting line is determined through a mining control platform. The maximum value of the height range of the coal cutting line is the second height. The system executes any of the above-mentioned anti-collision methods between the coal mining machine and the hydraulic support through the controller. This method determines whether the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face meets a predetermined condition, namely, the first height is greater than the second height, and the first height is greater than at least one third height. If at least one of the two conditions is met, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. This can prevent the coal mining machine and the hydraulic support from colliding during the collaborative coal mining process, thereby solving the problem that the existing technology cannot effectively detect collisions between the coal mining machine and the hydraulic support through methods such as camera vision and AI.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] Memory may include non-persistent 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. Memory is an example of computer-readable media.

[0125] 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 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.

[0126] 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.

[0127] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0128] 1) In the above-mentioned anti-collision method between the coal mining machine and the hydraulic support of this application, firstly, a first height, a second height, and a plurality of third heights are obtained. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the traveling direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the traveling direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the traveling direction. Then, if the first height meets a predetermined condition, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined condition includes at least one of the following: the first height is greater than the second height, and the first height is greater than at least one of the third heights. This method determines whether the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face meets predetermined conditions, namely, the first height is greater than the second height, and the first height is greater than at least one third height. If at least one of the two conditions is met, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. This can prevent collisions between the coal mining machine and the hydraulic support during the collaborative coal mining process, and thus solves the problem that existing technologies such as camera vision AI cannot effectively detect collisions between the coal mining machine and the hydraulic support.

[0129] 2) In the above-mentioned anti-collision system between the coal mining machine and the hydraulic support of this application, the height sensor is located on the first drum of the coal mining machine to measure the height from the upper edge of the first drum to the bottom plate, obtaining multiple first preparatory heights, and determining the first preparatory height within a second predetermined range as the first height. The height sensor is located on the hydraulic support to measure the height of a portion of the hydraulic support along the travel direction, obtaining multiple third preparatory heights, and determining the third preparatory height within a third predetermined range as the third height. The height range of the coal cutting line is determined by the mining control platform, and the maximum value of the height range of the coal cutting line is the second height. The system executes any of the above-mentioned anti-collision methods between the coal mining machine and the hydraulic support through the controller. This method determines whether the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face meets a predetermined condition, namely, the first height is greater than the second height, and the first height is greater than at least one third height. If at least one of the two conditions is met, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. This can prevent the coal mining machine and the hydraulic support from colliding during the collaborative coal mining process, and thus solve the problem that the existing technology cannot effectively detect collisions between the coal mining machine and the hydraulic support through methods such as camera vision and AI.

[0130] 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 method for preventing collisions between a coal mining machine and a hydraulic support, characterized in that, include: The method obtains a first height, a second height, and multiple third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the travel direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the travel direction. The first predetermined number of supports is the range of the number of hydraulic supports from the current position in the travel direction. If the first height meets a predetermined condition, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support. The predetermined condition includes at least one of the following: the first height is greater than the second height, and the first height is greater than at least one of the third heights. A height sensor is installed in the first drum, and a height sensor is installed on the hydraulic support. The acquisition of the first height and multiple third heights includes: measuring the height from the upper edge of the first drum to the base plate using the height sensor to obtain a first preparatory height; measuring the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights; determining whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range; and if the first preparatory height is within the second predetermined range, determining the first preparatory height as the first height; and if the third preparatory height is within the third predetermined range, determining the third preparatory height as the third height.

2. The method according to claim 1, characterized in that, Obtaining the second height includes: Based on the high-precision geological model of the fully mechanized mining face, determine the height range of the coal cutting line within the first predetermined range of the current position along the direction of travel of the coal mining machine; The maximum value of the height of the coal cutting line is determined to be the second preparatory height; Determine whether the second preparatory height is within the fourth predetermined range, and if the second preparatory height is within the fourth predetermined range, determine the second preparatory height as the second height.

3. The method according to claim 1, characterized in that, The coal mining machine includes a second drum, which is a rearward drum of the coal mining machine along the travel direction. The method further includes: Obtain a fourth height and multiple fifth heights, wherein the fourth height is the height of the upper edge of the second roller at the current position from the base plate, and the fifth heights are the heights of all the hydraulic supports within a second predetermined number of supports, and the second predetermined number of supports is the range of the number of hydraulic supports at the current position in the direction of travel; If the fourth height is greater than at least one of the fifth heights, it is determined that there is a risk of collision between the coal mining machine and the hydraulic support.

4. The method according to claim 3, characterized in that, The height of the upper edge of the first roller from the bottom plate is greater than the height of the upper edge of the second roller from the bottom plate.

5. The method according to any one of claims 1 to 4, characterized in that, After determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: Issue a collision warning, which includes at least one of a visual pop-up alert, a voice alert, and a light alert.

6. The method according to any one of claims 1 to 4, characterized in that, After determining that there is a risk of collision between the coal mining machine and the hydraulic support, the method further includes: Control the coal mining machine to stop cutting coal.

7. A collision prevention device between a coal mining machine and a hydraulic support, characterized in that, include: The first acquisition unit is used to acquire a first height, a second height, and multiple third heights. The first height is the height of the upper edge of the first drum at the current position of the coal mining machine from the bottom plate of the fully mechanized mining face. The second height is the maximum height value of the coal cutting line within a first predetermined range. The third height is the height of all the hydraulic supports within a first predetermined number of supports. The first drum is the drum that is forward along the traveling direction of the coal mining machine. The first predetermined range is a predetermined range from the current position in the traveling direction. The first predetermined number of supports range is the range of the number of hydraulic supports from the current position in the traveling direction. The first determining unit is configured to determine, when the first height meets a predetermined condition, that there is a risk of collision between the coal mining machine and the hydraulic support, wherein the predetermined condition includes at least one of the following: the first height is greater than the second height, and the first height is greater than at least one of the third heights; A height sensor is installed in the first drum, and a height sensor is installed on the hydraulic support. The first acquisition unit includes a measurement module and a first determination module. The measurement module is used to measure the height from the upper edge of the first drum to the bottom plate using the height sensor to obtain a first preparatory height, and to measure the height of a portion of the hydraulic support along the travel direction using the height sensor to obtain multiple third preparatory heights. The first determination module is used to determine whether the first preparatory height is within a second predetermined range and whether the third preparatory height is within a third predetermined range. If the first preparatory height is within the second predetermined range, the first preparatory height is determined to be the first height. If the third preparatory height is within the third predetermined range, the third preparatory height is determined to be the third height.

8. An electronic device, 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 methods for performing the anti-collision method between a coal mining machine and a hydraulic support as described in any one of claims 1 to 6.

9. A collision avoidance system for a coal mining machine and a hydraulic support, characterized in that, include: The height sensor is located on the hydraulic support; The mining height sensor is located on the first drum of the coal mining machine, which is the first drum along the direction of travel of the coal mining machine. The mining control platform is used to determine the height range of the coal cutting line within a first predetermined range from the current position along the direction of travel of the coal mining machine, based on a high-precision geological model of the fully mechanized mining face. The controller is electrically connected to the height sensor, the mining height sensor, and the mining control platform, respectively, and the controller is used to execute the anti-collision method between the coal mining machine and the hydraulic support as described in any one of claims 1 to 6.

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