Digital Twin Construction System for the Hoisting Mechanism of a Roadheader-Bolter and Its Path Planning Method

Abstract

The present invention provides a digital twin construction system for the lifting mechanism of a roadheader-anchoring machine and its path planning method, which relates to the technical field of coal mine equipment control. The system includes: a central control system, which is used to automatically identify information related to the height of the side drill boom lifting mechanism, and according to the information related to the height of the side drill boom lifting mechanism, automatically plan the path of the positioning height of the side drill boom lifting mechanism, and send the final decision to the secondary controller through CAN communication to drive the solenoid valve to control the actions of related mechanisms; a digital twin system, which is used to analyze the information of each sensor and present the attitude of the side drill boom lifting mechanism on the upper computer. The present invention automatically controls the side drill boom lifting mechanism, realizes the automatic positioning of the height of the side drill boom lifting mechanism and the automatic planning of the optimal path, shortens the time for positioning the height of the side drill boom lifting mechanism, and improves the support operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine equipment control, in particular to a digital twin construction system for the hoisting mechanism of a roadheader-anchoring machine and its path planning method. Background Art

[0002] For the support operation of the driving face, bolt support is a permanent and highly safe support method. The bolt support process is complex, with numerous procedures, a large demand for labor, and excessive time consumption for support. Many links have not achieved mechanization and automation, and its support efficiency largely determines the driving efficiency of the roadway, becoming one of the main factors restricting the automation level of the driving face.

[0003] Currently, the number of workers and the working intensity at the driving face have been remaining high. The coal mine underground is labor-intensive and prone to high-incidence of disaster accidents, and the support speed lags significantly behind the driving speed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a digital twin construction system for the hoisting mechanism of a roadheader-anchoring machine and its path planning method, which automatically controls the side-boom drill rig hoisting mechanism, realizes the automatic positioning of the height of the side-boom drill rig hoisting mechanism and the automatic planning of the optimal path, shortens the time for positioning the height of the side-boom drill rig hoisting mechanism, and improves the support operation efficiency.

[0005] To solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In the first aspect, a digital twin construction system for the hoisting mechanism of a roadheader-anchoring machine includes:

[0007] A central control system, which is used to automatically identify information related to the height of the side-boom drill rig hoisting mechanism, automatically plan the path for positioning the height of the side-boom drill rig hoisting mechanism according to the information related to the height of the side-boom drill rig hoisting mechanism, and send the final decision to the secondary controller through CAN communication to drive the solenoid valve to control the action of the relevant mechanism;

[0008] An information perception system, which is used to obtain sensor and solenoid valve information, and measure the stroke of the forward feed cylinder and the stroke of the reverse feed cylinder according to the sensor and solenoid valve information;

[0009] A human-machine interaction system, which is used to display fault information, the communication status between the human-machine interaction device and the controller, the communication status between the main controller and the secondary controller, the status of each sensor, and the real-time height of the side-boom drill rig hoisting mechanism in real time;

[0010] A network system, which is used to build an information interaction channel between the digital twin system, the central control system, and the information perception system to realize data transmission and remote monitoring;

[0011] The digital twin system is used to analyze the information of each sensor and present the attitude of the side-drilling rig lifting mechanism on the host computer.

[0012] Furthermore, the central control system includes:

[0013] The main controller is used to identify the information related to the height of the side-drilling rig lifting mechanism and plan the path of the positioning height of the side-drilling rig lifting mechanism according to the information related to the height of the side-drilling rig lifting mechanism;

[0014] The secondary controller is used to obtain the control instructions sent by the main controller through CAN communication, and drive the solenoid valve to control the action of the relevant mechanism according to the control instructions, and control the forward feed of the side-drilling rig lifting mechanism and the lifting and lowering of the negative cylinder.

[0015] Furthermore, the information perception system includes:

[0016] The first displacement sensor is arranged in the forward feed cylinder and is used to measure the stroke signal of the forward feed cylinder;

[0017] The second displacement sensor is arranged in the negative feed cylinder and is used to obtain the stroke signal of the negative feed cylinder. Among them, the stroke signals of the forward feed cylinder and the negative feed cylinder are transmitted to the analog input terminal module after conversion and conditioning, and the analog input terminal module transmits the stroke signals of the forward feed cylinder and the negative feed cylinder to the main controller.

[0018] Furthermore, both the first displacement sensor and the second displacement sensor output 4-20mA signals.

[0019] Furthermore, the information perception system also includes an operating system, and the operating system includes:

[0020] The local operation panel is arranged in the operation console;

[0021] The remote control system includes a receiving device and a remote control operation panel. The receiving device is arranged on the side of the main controller. When the local operation panel operates, after the local operation panel issues a control instruction, it is sent to the main controller through CAN communication; when the remote control operation panel operates, the control instruction of the remote control operation panel is sent to the receiving device in a wireless or wired manner, and the receiving device transfers the received instruction to the main controller through CAN communication. The main controller processes the relevant information according to the received instruction and sends the processing result to the corresponding execution controller.

[0022] Furthermore, one end of the solenoid valve is connected to the secondary controller, and the other end is connected to the hydraulic control pipelines of the forward feed cylinder and the negative feed cylinder. The main controller sends the cylinder action instruction to the secondary controller through CAN communication, and the secondary controller controls the solenoid valve to realize the telescopic action of the cylinder.

[0023] In a second aspect, a path planning method for a digital twin construction system of a boom lifting mechanism of a roadheader-anchoring machine, the method comprising:

[0024] Obtain the motion characteristics, structure, and functions of the side-drilling boom lifting mechanism on the roadheader-anchoring machine, and establish a twin body with multi-component association;

[0025] According to the twin body with multi-component association, initialize and set the automatic positioning parameter information of the side-drilling boom lifting mechanism;

[0026] According to the twin body with multi-component association, obtain each human-machine interaction interface;

[0027] According to each human-machine interaction interface, send an action command to the side-drilling boom lifting mechanism and obtain the initialized parameter information;

[0028] According to the action command and the initial parameter information, perform path planning under different conditions;

[0029] According to the path planning under different conditions, automatically position to the set height and mark the task as completed.

[0030] Further, the parameter information specifically includes the initial zero position height H Z , the target height H S , the maximum displacement L of the positive oil cylinder S , the feeding speed S of the positive oil cylinder S , the maximum displacement L of the negative oil cylinder L , the feeding speed S of the negative oil cylinder L , the displacement contribution coefficient R of the positive oil cylinder S and the displacement contribution coefficient R of the negative oil cylinder L .

[0031] Further, each of the human-machine interaction interfaces displays a fault information interface and a communication status interface;

[0032] The fault information interface includes whether there is a connection fault of the first displacement sensor of the positive feeding oil cylinder and whether there is a connection fault of the second displacement sensor of the negative feeding oil cylinder;

[0033] The communication status interface includes whether the communication status between the human-machine interaction device and the controller is normal, whether the communication status between the main controller and the secondary controller is normal, whether the communication status between the local operation panel and the main controller is normal, whether the communication status between the remote control operation panel and the remote control receiving device is normal, and whether the communication status between the remote control receiving device and the main controller is normal.

[0034] Further, the path planning under different conditions includes:

[0035] Calculate the current lifting height H of the side drill rig lifting mechanism L =H Z +Y 1L ×R S -Y 2L ×R L , where Y 1L is the displacement of the positive oil cylinder, and Y 2L is the displacement of the negative oil cylinder;

[0036] According to the current lifting height H L , determine the relationship between the current lifting height H L and the target height H S ;

[0037] According to the relationship between the current lifting height H L and the target height H S , plan the path of the target positioning height.

[0038] The above solution of the present invention has at least the following beneficial effects:

[0039] The above solution of the present invention constructs a digital twin of the side drill rig lifting mechanism, shortens the automatic positioning time of the side drill rig lifting mechanism, realizes the automatic planning of the positioning path of the side drill rig lifting mechanism, the remote visualization of the working attitude of the drill rig, and improves the bolt support efficiency of the side of the coal mine roadway.

[0040] Through digital twin construction, the side drill rig of the roadheader-anchoring machine is proportionally twin one-to-one in the three-dimensional picture of the upper computer to form a visible and controllable on-board side drill rig of the roadheader-anchoring machine; by collecting the sensor information of the side drill rig, the automatic control of the side drill rig lifting mechanism is realized, the automatic positioning of the height of the side drill rig lifting mechanism and the automatic planning of the optimal path are realized, the on-site induction and remote monitoring of the working attitude of the on-board side drill rig of the roadheader-anchoring machine are realized, the height positioning time of the side drill rig lifting mechanism is shortened, the support operation efficiency is improved, the working environment of workers is improved, and the automation and intelligent level of coal mine mining are improved. Brief Description of the Drawings

[0041] Figure 1 is a schematic diagram of the digital twin construction system of the lifting mechanism of the roadheader-anchoring machine provided by the embodiment of the present invention.

[0042] Figure 2 is a schematic diagram of the path planning method flow of the digital twin construction system of the lifting mechanism of the roadheader-anchoring machine provided by the embodiment of the present invention. Detailed Embodiment

[0043] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0044] An embodiment of the present invention provides a digital twin construction system for the lifting mechanism of a roadheader-anchoring machine, including:

[0045] A central control system, configured to automatically identify information related to the height of the side-drilling boom lifting mechanism, and according to the information related to the height of the side-drilling boom lifting mechanism, automatically plan the path of the positioning height of the side-drilling boom lifting mechanism, and send the final decision to the secondary controller through CAN communication to drive the solenoid valve to control the action of the relevant mechanism;

[0046] An information perception system, configured to obtain sensor and solenoid valve information, and according to the sensor and solenoid valve information, measure the stroke of the forward feed cylinder and the stroke of the reverse feed cylinder;

[0047] A human-machine interaction system, configured to display fault information, the communication status between the human-machine interaction device and the controller, the communication status between the main controller and the secondary controller, the status of each sensor, and the real-time height of the side-drilling boom lifting mechanism in real time;

[0048] A network system, configured to build an information interaction channel between the digital twin system and the central control system and the information perception system to achieve data transmission and remote monitoring;

[0049] A digital twin system, configured to analyze the information of each sensor and present the posture of the side-drilling boom lifting mechanism on the upper computer.

[0050] In the embodiment of the present invention, a digital twin of the side-drilling boom lifting mechanism is constructed, which shortens the automatic positioning time of the side-drilling boom lifting mechanism, realizes the automatic planning of the positioning path of the side-drilling boom lifting mechanism, and the remote visual presentation of the working posture of the drilling boom, improving the support efficiency of the side bolt in the coal mine roadway; through digital twin construction, the side-drilling boom of the roadheader-anchoring machine is proportionally twin one-to-one in the three-dimensional picture of the upper computer to form a visible and controllable on-board side-drilling boom of the roadheader-anchoring machine; by collecting the sensor information of the side-drilling boom, the automatic control of the side-drilling boom lifting mechanism is realized, the automatic positioning of the height of the side-drilling boom lifting mechanism and the automatic planning of the optimal path are realized, the on-site induction and remote monitoring of the working posture of the on-board side-drilling boom of the roadheader-anchoring machine are realized, the time for positioning the height of the side-drilling boom lifting mechanism is shortened, the support operation efficiency is improved, the working environment of workers is improved, and the automation and intelligent level of coal mine mining are improved.

[0051] The central control system includes:

[0052] The main controller is used to identify information related to the height of the side drill rig lifting mechanism and plan the path of the positioning height of the side drill rig lifting mechanism according to the information related to the height of the side drill rig lifting mechanism;

[0053] The secondary controller is used to obtain the control instruction sent by the main controller through CAN communication, and drive the solenoid valve to control the action of the relevant mechanism according to the control instruction, and control the forward feeding of the side drill rig lifting mechanism and the lifting and lowering of the negative cylinder.

[0054] In the embodiment of the present invention, the main controller of the central control system automatically identifies the information related to the height of the side drill rig lifting mechanism, automatically plans the optimal path to achieve the positioning height of the side drill rig lifting mechanism, and sends its final decision to the secondary controller through CAN communication, and then drives the solenoid valve to control the action of the relevant mechanism, controls the forward feeding of the side drill rig lifting mechanism and the lifting and lowering of the negative cylinder, and realizes the automatic and efficient control of the positioning height of the side drill rig lifting mechanism.

[0055] In the embodiment of the present invention, the central control system can automatically identify the information related to the height of the side drill rig lifting mechanism, generate path planning and control instructions according to this information, realize the automatic control of the lifting mechanism, reduce the need for manual operation, and improve work efficiency and accuracy. Through the path planning function of the central control system, the optimal path and action instructions can be calculated according to the target height and the current height, so that the side drill rig lifting mechanism can be accurately positioned to the set height, ensuring the accuracy and stability of the work. The central control system can real-time monitor the operation state of the side drill rig lifting mechanism and the data of each sensor. Through the monitoring system, faults and abnormal conditions can be found in time and corresponding processing and maintenance can be carried out to improve the reliability and safety of the equipment. The central control system can record and store the operation data and parameter information of the side drill rig lifting mechanism, including height, displacement, speed, etc. These data can be used for subsequent analysis and optimization to help improve the performance and efficiency of the lifting mechanism. Therefore, the application of the central control system can provide beneficial effects such as automatic control, precise positioning, real-time monitoring and data analysis, and improve the work efficiency and reliability of the side drill rig lifting mechanism.

[0056] The information perception system includes:

[0057] The first displacement sensor is arranged in the forward feeding oil cylinder and is used to measure the stroke signal of the forward feeding oil cylinder;

[0058] The second displacement sensor is arranged inside the negative feed oil cylinder and is used to obtain the stroke signal of the negative feed oil cylinder. Among them, the forward feed oil cylinder stroke signal and the negative feed oil cylinder stroke signal are transmitted to the analog input terminal module after conversion and conditioning, and the analog input terminal module transmits the forward feed oil cylinder stroke signal and the negative feed oil cylinder stroke signal to the main controller; both the first displacement sensor and the second displacement sensor output 4-20 mA signals.

[0059] In the embodiment of the present invention, the information sensing system can monitor the stroke signals of the forward feed oil cylinder and the negative feed oil cylinder in real time, that is, the displacement information of the side drill rig lifting mechanism. Through the monitoring system, the movement state and position of the mechanism can be understood in time to realize the real-time monitoring and control of the mechanism. The 4-20 mA signals output by the first displacement sensor and the second displacement sensor can provide high-precision displacement measurement, which can ensure the accuracy and stability of the displacement of the side drill rig lifting mechanism and improve the working precision and reliability. The information sensing system transmits the displacement signal to the main controller, which can realize the rapid transmission and processing of data. The main controller can generate path planning and control instructions according to the displacement signal to realize the precise control of the lifting mechanism. By monitoring the displacement signal, the information sensing system can detect whether there are faults or abnormal conditions in the forward feed oil cylinder and the negative feed oil cylinder. For example, if the displacement signal exceeds the normal range, it may mean that there are problems such as blockage or damage in the oil cylinder, which can be detected and repaired in time to improve the reliability and safety of the equipment. Therefore, the application of the information sensing system can achieve beneficial effects such as real-time monitoring, high-precision measurement, data transmission and fault detection, and improve the working precision and reliability of the side drill rig lifting mechanism.

[0060] The information sensing system further includes an operating system, and the operating system includes:

[0061] The local operation panel is arranged inside the operation console;

[0062] The remote control system includes a receiving device and a remote control operation panel. The receiving device is arranged on the side of the main controller. When the local operation panel operates, after the local operation panel issues a control instruction, it is sent to the main controller through CAN communication; when the remote control operation panel operates, the control instruction of the remote control operation panel is sent to the receiving device in a wireless or wired manner, and the receiving device transfers the received instruction to the main controller through CAN communication. The main controller processes the relevant information according to the received instruction and sends the processing result to the corresponding execution controller.

[0063] In the embodiment of the present invention, the local operation panel is arranged inside the operation table, which is convenient for the operator to control and adjust the side drill rig lifting mechanism. The operator can directly send control instructions through the local operation panel to realize the operation and adjustment of the mechanism, improving the convenience and efficiency of the operation. The remote control system includes a receiving device and a remote control operation panel, which can realize the remote control of the side drill rig lifting mechanism. When the operator uses the remote control operation panel, the control instructions are sent to the receiving device by wireless or wired means, and the receiving device then sends the instructions to the main controller through CAN communication, so as to realize the remote control operation of the mechanism, which is convenient for control in the case of long distance or difficult access. The operation system transmits the control instructions to the main controller through CAN communication. The main controller processes the relevant information according to the received instructions and sends the processing results to the corresponding execution controller, which can realize fast instruction transmission and response, improving the control accuracy and response speed of the mechanism. The operation system provides two operation modes: the local operation panel and the remote control operation panel. The appropriate operation mode can be selected according to the actual needs. The local operation panel is suitable for close-range operation and adjustment, while the remote control operation panel is suitable for remote control and operation, which can meet the operation needs in different scenarios and improve the flexibility and diversity of the operation. Therefore, the application of the operation system can provide beneficial effects such as convenient operation, remote control, fast response and diversified operation, improving the operation convenience and control flexibility of the side drill rig lifting mechanism.

[0064] As Figure 1 shown, one end of the solenoid valve is connected to the secondary controller, and the other end is connected to the hydraulic control pipelines of the forward feed oil cylinder and the reverse feed oil cylinder. The main controller sends the oil cylinder action instruction to the secondary controller through CAN communication, and the secondary controller controls the solenoid valve to realize the telescopic action of the oil cylinder.

[0065] In the embodiment of the present invention, the main controller sends out the oil cylinder action instruction, and the secondary controller controls the on-off state of the solenoid valve, thereby realizing the hydraulic control of the forward feed oil cylinder and the reverse feed oil cylinder. The on-off state of the solenoid valve can accurately control the telescopic action of the oil cylinder, ensuring the motion accuracy and stability of the mechanism. The control of the solenoid valve is realized through CAN communication, which can achieve fast instruction transmission and response. After the main controller sends out the oil cylinder action instruction, the secondary controller can quickly control the on-off state of the solenoid valve to realize the fast telescopic action of the oil cylinder, improving the response speed of the mechanism. The solenoid valve plays a key control role in the hydraulic control pipeline, and its stability and reliability are crucial for the safe operation of the mechanism. Through precise control and fast response, the solenoid valve can ensure the action accuracy and stability of the oil cylinder, improving the safety and reliability of the mechanism. The control of the solenoid valve can be adjusted and changed according to needs to adapt to different working conditions and operation requirements. By sending different oil cylinder action instructions through the main controller, the flexible control of the telescopic action of the oil cylinder can be realized to meet the requirements in different working scenarios. Therefore, the application of the solenoid valve in the side drill rig lifting mechanism can provide beneficial effects such as precise control, fast response, reliability, safety and flexibility, ensuring the motion accuracy and safety performance of the mechanism.

[0066] In another preferred embodiment of the present invention, specifically, the information perception system is associated with the decision-making layer main controller with direct connection of analog signals, including a first displacement sensor and a second displacement sensor. The first displacement sensor is installed inside the forward feed oil cylinder, and the second displacement sensor is installed inside the reverse feed oil cylinder, used for measuring the stroke of the forward feed oil cylinder and the stroke of the reverse feed oil cylinder. Both the first displacement sensor and the second displacement sensor output 4-20 mA signals, and the signals after being converted and conditioned are connected to the analog input terminal module EL3068, and the main controller reads and processes the signals. The operating system includes a local operation panel and a remote control system. The local operation panel is installed inside the operation console. The remote control system includes a receiving device and a remote control operation panel. The receiving device is installed near the main controller, and the remote control operation panel is handheld. Both the local operation panel and the remote control operation panel can realize the control of the system, and the two operation panel control methods are mutually locked. When the local operation panel operates, after the operation panel issues a control instruction, it is sent to the main controller through the CAN communication method. When the remote control operation panel operates, the operation panel control instruction is sent to the receiving device in a wireless or wired manner, and the receiving device transfers the received instruction to the main controller through the CAN communication method. The main controller processes the relevant information according to the received instruction and sends the processing result to the corresponding execution controller. One end of the solenoid valve is connected to the secondary controller, and the other end is connected to the hydraulic control pipelines of the forward feed oil cylinder and the reverse feed oil cylinder. The main controller sends the oil cylinder action instruction to the secondary controller through the CAN communication method, and then the secondary controller controls the solenoid valve to realize the telescopic action of the oil cylinder.

[0067] The human-machine interaction system is physically connected to the main controller of the central control system. The Modbus TCP communication method is adopted to display the fault information, the communication status between the human-machine interaction device and the controller, the communication status between the main controller and the secondary controller, the status of each sensor, and the real-time height of the side drill rig lifting mechanism in real time.

[0068] The network system constructs an information interaction channel between the digital twin system, the central control system, and the information perception system. The digital twin system constructs a digital twin of the side drill rig lifting mechanism on the continuous miner. It analyzes the information of each sensor and presents the attitude of the side drill rig lifting mechanism in the upper computer in real scene. There is a physical connection between the human-machine interface in the human-machine interaction layer and the main controller in the decision-making layer, and the Modbus TCP communication method is adopted; the CAN communication method is adopted between the controllers in the central control layer; the sensors in the information perception layer are associated with the main controller in the decision-making layer, and the analog signals are directly connected; the operating system in the information perception layer and the main controller in the central control layer adopt the CAN communication method; the solenoid valves in the information perception layer and the secondary controller in the central control layer are directly connected by analog signals.

[0069] As Figure 2 shown, the path planning method of the digital twin construction system for the lifting mechanism of the continuous miner, the method includes:

[0070] Step 11, obtain the motion characteristics, structure, and functions of the side drill rig lifting mechanism on the continuous miner, and establish a twin body with multi-component association;

[0071] Step 12, according to the twin body with multi-component association, initialize and set the automatic positioning parameter information of the side drill rig lifting mechanism;

[0072] Step 13, according to the twin body with multi-component association, obtain each interface of the human-machine interaction;

[0073] Step 14, according to each interface of the human-machine interaction, send an action command to the side drill rig lifting mechanism, and obtain the initialized parameter information;

[0074] Step 15, according to the action command and the initial parameter information, perform path planning under different conditions;

[0075] Step 16, according to the path planning under different conditions, automatically position to the set height and mark the task as completed.

[0076] In the embodiments of the present invention, by obtaining the motion characteristics, structure, and functions of the side-drilling rig lifting mechanism on the continuous miner, and establishing a twin body with multi-component association, the system can accurately plan the path of the mechanism, ensure that the mechanism can complete the positioning task according to the predetermined path and actions, and improve the efficiency and accuracy of path planning. By initializing and setting the automatic positioning parameter information of the side-drilling rig lifting mechanism, the system can achieve the automatic positioning of the mechanism, reduce the need for manual intervention, improve the degree of automation of positioning, and save time and labor costs. By obtaining each human-machine interaction interface, the system can achieve interaction and information transmission with the operator. The operator can observe the status and fault information of the mechanism through the interface, discover problems in a timely manner, and take corresponding measures to improve the safety and reliability of the mechanism. By sending action commands to the side-drilling rig lifting mechanism and obtaining the initialized parameter information, the system can update the status and parameters of the mechanism in real time, ensure the accuracy of the parameters in the path planning and positioning process, and improve the control precision and stability of the mechanism. According to the path planning in different situations, the system can automatically position the mechanism to the set height and mark the task as completed, which can improve the degree of automation of the positioning task, reduce the need for manual operations, and improve work efficiency. Therefore, the present invention has beneficial effects such as efficient and accurate path planning, automatic positioning, human-machine interaction interface, real-time parameter update, and automatic positioning task completion, improving the work efficiency and control precision of the mechanism.

[0077] In a preferred embodiment of the present invention, the parameter information specifically includes the initial zero position height H Z , the target height H S , the maximum displacement L of the forward oil cylinder S , the feed speed S of the forward oil cylinder S , the maximum displacement L of the negative oil cylinder L , the feed speed S of the negative oil cylinder L , the displacement contribution coefficient R of the forward oil cylinder S and the displacement contribution coefficient R of the negative oil cylinder L .

[0078] In the embodiments of the present invention, the initial zero position height H Z and the target height H S are the basic parameters for path planning. By accurately setting the initial zero position height and the target height, the system can plan the path according to the current position and the target position of the mechanism, ensuring that the mechanism can reach the target height according to the predetermined path. This can improve the accuracy and precision of path planning. The maximum displacement L of the forward oil cylinder S and the maximum displacement L of the negative oil cylinder LIt is a limiting condition for controlling the telescopic movement of the oil cylinder. By setting an appropriate maximum displacement value, the telescopic range of the oil cylinder can be ensured to be within a safe and controllable range, which can improve the flexibility of control and adapt to different working conditions and operation requirements. The forward oil cylinder feeding speed S S and the reverse oil cylinder feeding speed S L are parameters for controlling the movement speed of the oil cylinder. By setting an appropriate feeding speed, the movement speed of the oil cylinder can be controlled to ensure the smooth and stable movement of the mechanism, which can improve work efficiency and safety. The forward oil cylinder displacement contribution coefficient R S and the reverse oil cylinder displacement contribution coefficient RL are parameters for adjusting the influence degree of the oil cylinder displacement on the height change of the mechanism. By adjusting the displacement contribution coefficient, precise control of the oil cylinder displacement can be achieved, ensuring that the mechanism can reach the target height along the predetermined path, which can improve the accuracy and stability of path planning and positioning.

[0079] In a preferred embodiment of the present invention, fault information interfaces and communication status interfaces are displayed on each human-machine interaction interface;

[0080] The fault information interface includes whether there is a connection fault with the first displacement sensor of the forward feeding oil cylinder and whether there is a connection fault with the second displacement sensor of the reverse feeding oil cylinder;

[0081] The communication status interface includes whether the communication status between the human-machine interaction device and the controller is normal, whether the communication status between the main controller and the secondary controller is normal, whether the communication status between the local operation panel and the main controller is normal, whether the communication status between the remote control operation panel and the remote control receiving device is normal, and whether the communication status between the remote control receiving device and the main controller is normal.

[0082] In the embodiment of the present invention, the fault information interface displays the connection fault conditions of the first displacement sensor of the forward feed cylinder and the second displacement sensor of the reverse feed cylinder. By monitoring the connection faults, the operator can timely discover the sensor connection problems and take corresponding troubleshooting measures to ensure the normal operation of the sensors, improving the reliability and stability of the system. The communication status interface displays the communication status between the human-machine interaction device and the controller, between the main controller and the secondary controller, between the local operation panel and the main controller, between the remote operation panel and the remote receiving device, and between the remote receiving device and the main controller. By monitoring the communication status, the operator can timely understand whether the communication between each device is normal. If a communication fault is found, it can be promptly investigated and repaired to ensure the normal communication between devices, improving the stability and reliability of the system. Through the display of the fault information interface and the communication status interface, the operator can quickly locate the specific positions of the faults and communication problems, which helps in fault diagnosis and repair, can reduce the time and cost of fault troubleshooting, and improve the efficiency and accuracy of fault handling. By monitoring the fault information and communication status, potential faults and communication problems can be timely discovered and solved, which helps to improve the safety of the system, avoid unexpected situations caused by faults or communication problems, and ensure the safety of the equipment and the operator.

[0083] In another preferred embodiment of the present invention, according to the path planning under different conditions, it includes:

[0084] Calculate the current lifting height H of the side drill rig lifting mechanism L =H Z +Y 1L ×R S -Y 2L ×R L , where Y 1L is the displacement of the forward cylinder, and Y 2L is the displacement of the reverse cylinder;

[0085] According to the current lifting height H L , judge the relationship between the current lifting height H L and the target height H S ;

[0086] According to the relationship between the current lifting height H L and the target height H S , plan the path of the target positioning height.

[0087] In the embodiment of the present invention, by calculating the current lifting height H L , the current position of the mechanism can be accurately determined, which can provide an accurate reference value for the judgment and adjustment in the subsequent path planning and positioning process, improving the accuracy and precision of path calculation. According to the current lifting height H L and the target height H SBased on the relationship, the system can determine the height difference between the current position of the mechanism and the target position. According to different relationships, corresponding path planning strategies can be formulated to achieve optimal target positioning, which can improve the accuracy and efficiency of positioning, saving time and energy costs. According to the current lifting height H L and the target height H S relationship, the system can formulate different path planning strategies according to specific situations, and can flexibly adjust the path planning according to the actual needs and changes in working conditions to adapt to different working scenarios and requirements. By planning the path of the target positioning height, the system can ensure that the mechanism is positioned along the optimal path, which can improve work efficiency, reduce unnecessary movements and adjustments, and save time and resources. Through the optimization of path planning, the system can more precisely control the movement of the mechanism and accurately position the mechanism to the target height, which can improve the positioning accuracy and stability and ensure the accuracy and reliability of the work.

[0088] Such as Figure 1 shown, when specifically applied, the digital twin construction system of the boom lifting mechanism of the roadheader-anchoring machine includes:

[0089] The human-computer interaction layer 110, the central control layer 120, the information perception layer 130, the network layer and the digital twin layer 140. The human-computer interaction layer 110 includes a human-computer interaction interface. The central control layer 120 includes main and secondary controllers and a program reflecting the control logic. The information perception layer 130 includes various sensors, actuators and command sending components. The network layer includes communication networks between the central control layer controllers, between the controllers and the human-computer interaction hardware, and between the controllers and the digital twin layer. The digital twin layer 140 includes an upper computer industrial computer and three-dimensional models of the guiding component, the carriage component and the frame component. Among them, the human-computer interaction layer includes the digital twin body parameter setting initialization interface 111 and the status information interface 112.

[0090] The parameter setting initialization interface 111 includes information such as the target height H S of the side drill boom lifting mechanism, the maximum displacement L S of the forward oil cylinder, the feeding speed SS of the forward oil cylinder, the maximum displacement L L of the negative oil cylinder, the feeding speed S L of the negative oil cylinder, the initial zero position height H Z of the side drill boom lifting mechanism, the contribution coefficient R S of the forward oil cylinder, and the contribution coefficient R L of the negative oil cylinder to the opposite side. Among them, the target height H S of the side drill boom lifting mechanism is the final height when the action is completed, and its numerical value depends on the bolting technology and the coal seam geological conditions, and is flexibly set according to the construction site conditions; the initial zero position height H Zis the height of the side drill rig lifting mechanism when the forward oil cylinder is fully retracted and the negative oil cylinder is fully retracted, which depends on the design parameters of the side drill rig lifting mechanism itself; L S is the oil cylinder displacement when the forward oil cylinder is fully extended, which depends on the parameters of the oil cylinder itself; S S is the speed of the forward oil cylinder extending and retracting, which depends on the flow rate, pressure, etc. of the hydraulic system; L L is the oil cylinder displacement when the negative oil cylinder is fully extended, which depends on the parameters of the oil cylinder itself; S L is the speed of the negative feed oil cylinder extending and retracting, which depends on the flow rate, pressure, etc. of the hydraulic system; R S is the coefficient of the change in the height of the side drill rig lifting mechanism caused by the change in the displacement of the forward oil cylinder. For example, if the displacement of the forward feed oil cylinder increases (decreases) by 1 mm, the height of the side drill rig lifting mechanism increases (decreases) by R S mm; R L is the coefficient of the change in the height of the side drill rig lifting mechanism caused by the change in the displacement of the negative oil cylinder. For example, if the displacement of the negative oil cylinder increases (decreases) by 1 mm, the height of the side drill rig lifting mechanism decreases (increases) by R L mm.

[0091] Initial parameter H S 、L S 、S S 、L L 、S L 、H Z 、R S 、R L are set as follows: Operate the page turning function key on the local operation panel or remote control panel to the parameter setting interface; Operate the parameter selection function key to select the parameter to be set; Operate the parameter setting function key to set the value of the selected parameter. For example, to set the target height to 2000 mm using the local operation panel, operate the "page turning" function key on the operation panel to the parameter setting interface, operate the "parameter selection" function key on the operation panel to select "target height" in the parameter setting interface, operate the "parameter setting" function key on the operation panel and enter the value 2000, and the target height H S is successfully set. When each parameter is set, the commands of the local operation panel or remote control panel are sent to the main controller through the CAN communication method, and the main controller sends the parameter setting information to the human-machine interface through the ModbusTCP communication method and displays it on the parameter setting initialization interface.

[0092] The status information interface 112 includes information such as fault information, communication status, status of each sensor, real-time height of the side drill rig lifting mechanism, and completion status. The function of the status information interface is to monitor whether each displacement sensor can work properly, whether the human-machine interaction device communicates with the controller normally, whether the communication between each controller is normal, whether the operation control system communicates with the main controller normally, the current height of the automatic positioning, and whether the preset target is completed. Specifically, the fault information includes the fault of the first displacement sensor of the forward oil cylinder and the fault of the second displacement sensor of the negative oil cylinder. The first displacement sensor and the second displacement sensor output 4-20 mA current analog signals, which are converted into 1-5 V voltage analog signals through a signal isolation grid. The converted signals are connected to the analog acquisition module and collected by the main controller. If the analog value of the displacement sensor collected by the main controller exceeds 20% of its theoretical value, that is, less than 3277×80% or greater than 16384×120%, the measured value of the displacement sensor is inaccurate, and the displacement sensor is determined to be faulty; the communication status between the human-machine interaction device and the controller is judged by the human-machine interaction device.

[0093] For the communication status between the main controller and the secondary controller, the secondary controller sends a heartbeat value to the main controller. After receiving the heartbeat, the main controller judges whether the value changes within a certain time interval to determine whether the communication between the main controller and the secondary controller is normal; the local operation panel sends a heartbeat status 1 to the main controller. If the main controller receives heartbeat 1, the communication between the local operation panel and the main controller is normal. If it receives heartbeat 2, the communication between the local operation panel and the main controller is interrupted; the remote control receiving device continuously sends 0, 1, 0, 1 jump signals to the main controller at a certain frequency. The main controller counts the received jump signals of this byte and judges whether the count value changes within a certain time interval to determine whether the communication between the main controller and the remote control receiving device is normal; the main controller counts the received jump signals of this byte and judges whether the count value changes within a certain time interval to determine whether the communication between the remote control operation panel and the remote control receiving device is normal; the current height of the automatic positioning is calculated by the main controller. Under the condition that the displacement sensor has no fault, the main controller reads the analog values of the first displacement sensor and the second displacement sensor, converts the displacements of the first displacement sensor and the second displacement sensor according to the linear proportional relationship, and then according to the initial zero position height H of the side drill rig lifting mechanism Z , the contribution coefficient R of the displacement of the forward oil cylinder S , the contribution coefficient R of the negative oil cylinder L dynamically calculates the real-time height of the side drill rig lifting mechanism and displays it in real time on the status information interface. When the height of the side drill rig lifting mechanism reaches the target height, the status information interface makes a status indication of task completion.

[0094] Among them, the central control layer 120 includes a main controller 121 and a secondary controller 122. The above-mentioned controller refers to a programmable logic controller (PLC), and its decision-making function is mainly realized through a logic control program. The decision-making function of the main controller 121 mainly includes path optimization for automatic positioning of the height of the side drill rig lifting mechanism, forward cylinder telescopic decision-making, and reverse cylinder telescopic decision-making; the decision-making function of the secondary controller 122 mainly includes judging the communication status with the main controller. When the communication status is normal, it controls the output of the corresponding electromagnet according to the forward cylinder telescopic command and the reverse cylinder telescopic command sent by the main controller, so as to realize the telescopic control of the forward cylinder and the reverse cylinder. After receiving the automatic positioning command of the side drill rig lifting mechanism, the main controller 121 reads the initial zero position height H of the lifting mechanism of the solid state parameter Z , the contribution coefficient R of the forward cylinder displacement S , the contribution coefficient R of the reverse cylinder L , according to the analog value I of the forward cylinder displacement sensor read initially Y1 , the analog value I of the reverse cylinder displacement sensor Y2 , calculate the initial lifting height H of the side drill rig lifting mechanism I , compare the initial height H of the side drill rig lifting mechanism I with the target height H S , combined with the forward cylinder feed speed S S and the reverse cylinder feed speed S L , the optimal path for the side drill rig lifting mechanism to reach the target height can be obtained, and the forward cylinder telescopic strategy and reverse cylinder telescopic decision-making at the current target height are given, and the forward cylinder telescopic control instruction and the reverse cylinder telescopic control instruction are sent to the secondary controller 122 in the form of CAN communication. The secondary controller 122 executes the control instruction to realize the opening and closing control of the forward cylinder solenoid valve and the reverse cylinder solenoid valve, and the forward cylinder and the reverse cylinder act according to the planned optimal path. The specific role of the central control layer is reflected in the control method.

[0095] The information perception layer 130 includes an operating system 131, sensors 132, and solenoid valves 133. The operating system 131 includes a local operation panel and a remote control operating system. The remote control operating system includes a remote control operation panel and a remote control receiving device. The local operation panel and the remote control operating system can both set various initialization parameters and switch operation modes under any operation mode, and issue commands related to the automatic positioning of the side drill rig lifting mechanism. In the local operation mode, only the local operation panel works. In the remote control operation mode, only the remote control operating system works. The sensors 132 include a positive oil cylinder displacement sensor and a negative oil cylinder displacement sensor. The functions of the displacement sensors include measuring the telescopic distance of the positive oil cylinder, the telescopic distance of the negative oil cylinder, and the positioning height of the side drill rig lifting mechanism, which serve as the basis for the side drill rig lifting mechanism to achieve the optimal path planning for the target height, the control of the positive oil cylinder solenoid valve, and the control of the negative oil cylinder solenoid valve. The solenoid valves 133 include a positive feed oil cylinder solenoid valve and a negative feed oil cylinder solenoid valve, and their function is to connect with the secondary controller 122 to achieve the telescopic control of the oil cylinder. The sensors output 4 - 20 mA signals, which are connected to a signal isolation and conversion module to output 1 - 5 V signals, and then are connected to the analog input terminal module EL3068 for the main controller to read and process the signals. The local operation panel in the operating system is installed on the fuselage operation console for easy operation. The remote control receiving device is installed at a suitable position on the fuselage, and the wireless receiving antenna is installed on the fuselage, with protection above to prevent coal blocks from falling and damaging it, and in an open area to ensure unobstructed signals. The local operation panel includes buttons and an emergency stop button. The remote control operation panel includes buttons, DIP switches, and an emergency stop button. The control commands issued by the operation panel are sent to the main controller in the form of CAN communication. The main controller issues corresponding solenoid valve control commands to the secondary controller through CAN communication according to the received commands to achieve the control of the oil cylinder. The solenoid valves are installed at the hydraulic pipelines of each oil cylinder, connected to the secondary controller, and open and close according to the signals issued by the secondary controller to achieve the telescopic control of the positive feed oil cylinder and the negative feed oil cylinder.

[0096] Such as Figure 1As shown in the figure, the human-computer interaction layer 110, the central control layer 120, the information perception layer 130, and the digital twin layer 140 form a communication link in different communication ways. Based on the specific operations of the equipment, the functions of the communication link are as follows: The human-computer interaction layer 110 sends the relevant status information of the lifting mechanism to the host computer and the local display interface in the Modbus TCP communication mode. The local display interface classifies and displays the working status, faults and other information of the lifting mechanism. In the central control layer 120, the main controller 121 receives various control commands sent by the operating system 131 in the information perception layer 130 through the CAN communication mode and processes them, and sends the solenoid valve control instructions to the secondary controller 122 in the decision-making layer 120 through the CAN communication mode. The secondary controller 122 in the decision-making layer 120 controls the corresponding pins to output signals according to the received solenoid valve control instructions. The pins are directly connected to the solenoid valves to control the opening and closing of the solenoid valves, so as to realize the telescopic control of the positive oil cylinder and the negative oil cylinder. In the information perception layer 130, the data of the sensor 132 is transmitted to the isolation grid in the form of an analog signal. After isolation, the signal is connected to the analog acquisition module and sent to the main controller 121 in the decision-making layer 120 in the EtherNet internal communication mode. The digital twin layer 140 receives the status information of the lifting mechanism through the high-speed Ethernet, changes the posture of the digital twin of the lifting mechanism in real time according to the obtained information, and presents it in real time on the host computer interface.

[0097] The path planning method of the digital twin construction system of the boom hoist of the roadheader-anchoring machine. Its control mode is mainly that the operator sends a start command through the operating system, and it is automatically completed by the control device. The operating system includes two types: the local operation panel and the remote control operating system. The parameter settings, working modes, and control commands of the operating system can all be realized through the two types of operating systems. The mode selection buttons on the local operation panel and the remote control operating system can both realize the selection of different working modes, and the parameter setting function keys can all set parameters. The control commands can only be effectively issued by the operating system corresponding to the currently selected working mode.

[0098] The path planning method of the digital twin construction system of the boom hoist of the roadheader-anchoring machine of the present invention. It includes the following steps:

[0099] Analyze the motion characteristics, structure, functions, etc. of the boom hoist of the roadheader-anchoring machine, realize the disassembly of the boom hoist of the roadheader-anchoring machine, install the relevant control systems, and establish the digital twin of the boom hoist of the roadheader-anchoring machine; continuously adjust the posture of the boom hoist according to the received position information of the boom hoist, and present it in real time on the host computer through 3Dmax.

[0100] Initialize and set the relevant parameters for the automatic positioning of the boom hoist, specifically including the target positioning height H S ; the maximum displacement L of the positive oil cylinder S; Forward oil cylinder feed speed S S ; Maximum negative displacement of the oil cylinder L L , Negative oil cylinder feed speed S L ; Initial zero position height H Z ; Contribution coefficient R of the forward oil cylinder displacement to the side support lifting mechanism stroke S , Contribution coefficient R of the negative oil cylinder to the side support lifting mechanism stroke L .

[0101] Query each human - machine interaction interface. The fault information interface includes whether there is a connection fault with the first displacement sensor of the forward oil cylinder and whether there is a connection fault with the second displacement sensor of the negative oil cylinder; The communication status interface includes whether the communication status between the human - machine interaction device and the controller is normal, whether the communication status between the main controller and the secondary controller is normal, whether the communication status between the local operation panel and the main controller is normal, whether the communication status between the remote control operation panel and the remote control receiver is normal, and whether the communication status between the remote control receiver and the main controller is normal.

[0102] Send the action command of the side support drill rig lifting mechanism to obtain the initial parameter information, including the main controller automatically obtaining the parameters H S , L L , S L , L S , S S , H Z , R S , R L ; Read the initial analog value I of the first displacement sensor of the forward feed oil cylinder Y1 , Initial analog value I of the second displacement sensor of the negative feed oil cylinder Y2 , Calculate the initial displacement Y of the forward feed oil cylinder 1L =(I Y1 - 3277)×L S / (16384 - 3277), Initial displacement Y of the negative feed oil cylinder 2L =(IY2 - 3277)×L L / (16384 - 3277);

[0103] Optimal path planning. First, calculate the current height H of the side support drill rig lifting mechanism L =H Z +Y 1L ×R S - Y 2L ×R L , Then judge the relationship between the current height H of the side support drill rig lifting mechanism L and the target height H S , including H L <H S , HL = H S, HL > H S For three cases, plan the optimal paths to achieve the target positioning height under these three cases:

[0104] H L < H S , S L ≥ S S， Adopt the strategy of first reducing the displacement of the negative oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can reduce is not less than H S -H L , then reduce the displacement of the negative oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ;

[0105] H L < H S , S L ≥ S S， Adopt the strategy of first reducing the displacement of the negative oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can reduce is less than H S -H L , then first reduce the displacement of the negative oil cylinder to 0, and then increase the displacement of the positive oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ;

[0106] H L < H S , S L < S S， Adopt the strategy of first increasing the displacement of the positive feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the positive oil cylinder can increase is not less than H S -H L , then increase the displacement of the positive oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ;

[0107] H L < H S , S L < S S， Adopt the strategy of first increasing the displacement of the positive feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the positive oil cylinder can increase is less than H S -H L , then increase the displacement of the positive oil cylinder to the maximum value, and then reduce the displacement of the negative oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ;

[0108] H L > H S , S L ≥ S S，Adopt the strategy of first increasing the displacement of the negative feed cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the negative cylinder can increase is not less than H L -H S , then increase the displacement of the negative cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ;

[0109] H L >H S , S L ≥S S， Adopt the strategy of first increasing the displacement of the negative feed cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the negative cylinder can increase is less than H L -H S , then increase the displacement of the negative cylinder to the maximum value, and then decrease the displacement of the positive cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ;

[0110] H L >H S , S L <S S， Adopt the strategy of first decreasing the displacement of the positive feed cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the positive cylinder can decrease is not less than H L -H S , then decrease the displacement of the positive cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ;

[0111] H L >H S , S L <S S， Adopt the strategy of first decreasing the displacement of the positive feed cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the positive cylinder can decrease is less than H L -H S , then decrease the displacement of the positive cylinder to 0, and then increase the displacement of the negative cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ;

[0112] H L =H S , the negative cylinder and the positive cylinder of the side support drill rig lifting mechanism remain in the current state unchanged. The side support drill rig lifting mechanism is automatically positioned to the set height according to the optimal path, and the task completed state is marked to prepare for starting the next automatic positioning task.

[0113] The path planning method of the digital twin construction system for the hoisting mechanism of the roadheader-anchor rig provided by the present invention realizes the construction of the digital twin of the side drill rig hoisting mechanism on the roadheader-anchor rig, provides a specific and feasible control method flow for the automatic path planning of the side drill rig, realizes the optimization of the positioning path, improves the positioning efficiency of the side drill rig hoisting mechanism, realizes the efficient progress of bolt support, and promotes the development of the electro-hydraulic control technology for bolt support.

[0114] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of the present technology, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. The digital twin construction system of the hoisting mechanism of the roadheader-anchoring machine is characterized in that Including: A central control system, which is used to automatically identify information related to the height of the side drill rig lifting mechanism, automatically plan the path of the positioning height of the side drill rig lifting mechanism according to the information related to the height of the side drill rig lifting mechanism, and send the final decision to the secondary controller through CAN communication to drive the solenoid valve to control the action of related mechanisms; An information perception system, which is used to obtain sensor and solenoid valve information, and measure the stroke of the forward feed cylinder and the stroke of the negative feed cylinder according to the sensor and solenoid valve information; A human-machine interaction system, which is used to display fault information, the communication status between the human-machine interaction device and the controller, the communication status between the main controller and the secondary controller, the status of each sensor, and the real-time height of the side drill rig lifting mechanism in real time; A network system, which is used to build an information interaction channel between the digital twin system and the central control system and the information perception system to realize data transmission and remote monitoring; A digital twin system, which is used to analyze the information of each sensor and present the posture of the side drill rig lifting mechanism on the upper computer; The central control system includes: A main controller, which is used to identify information related to the height of the side drill rig lifting mechanism and plan the path of the positioning height of the side drill rig lifting mechanism according to the information related to the height of the side drill rig lifting mechanism; A secondary controller, which is used to obtain the control instruction sent by the main controller through CAN communication, and drive the solenoid valve to control the action of related mechanisms according to the control instruction, and control the forward feed of the side drill rig lifting mechanism and the lifting and lowering of the negative cylinder; The information perception system includes: A first displacement sensor, which is arranged in the forward feed cylinder and is used to measure the stroke signal of the forward feed cylinder; A second displacement sensor, which is arranged in the negative feed cylinder and is used to obtain the stroke signal of the negative feed cylinder. Among them, the stroke signal of the forward feed cylinder and the stroke signal of the negative feed cylinder are transmitted to the analog input terminal module after conversion and conditioning, and the analog input terminal module transmits the stroke signal of the forward feed cylinder and the stroke signal of the negative feed cylinder to the main controller; Both the first displacement sensor and the second displacement sensor output 4-20mA signals; The information perception system further includes an operating system, and the operating system includes: A local operation panel, which is arranged in the operating console; A remote control system, which includes a receiving device and a remote control operation panel. The receiving device is arranged on the side of the main controller. When the local operation panel operates, after the local operation panel issues a control instruction, it is sent to the main controller through CAN communication; when the remote control operation panel operates, the control instruction of the remote control operation panel is sent to the receiving device in a wireless or wired manner, and the receiving device transfers the received instruction to the main controller through CAN communication. The main controller processes the relevant information according to the received instruction and sends the processing result to the corresponding execution controller; One end of the solenoid valve is connected to the secondary controller, and the other end is connected to the hydraulic control pipelines of the forward feed cylinder and the negative feed cylinder. The main controller sends the cylinder action instruction to the secondary controller through CAN communication, and the secondary controller controls the solenoid valve to realize the telescopic action of the cylinder; Initialize and set the automatic positioning related parameters of the side drill rig lifting mechanism, specifically including the target positioning height H S ; Maximum displacement of the forward oil cylinder L S ; Feed speed of the forward oil cylinder S S ; Maximum displacement of the reverse oil cylinder L L and the feed speed of the reverse oil cylinder S L ; Initial zero position height H Z ; Contribution coefficient of the forward oil cylinder displacement to the stroke of the side lifting mechanism R S and the contribution coefficient of the reverse oil cylinder to the stroke of the side lifting mechanism R L ; Query each human-machine interaction interface and the fault information interface, including whether there is a connection fault with the first displacement sensor of the forward oil cylinder and whether there is a connection fault with the second displacement sensor of the reverse oil cylinder; the communication status interface, including whether the communication status between the human-machine interaction device and the controller is normal, whether the communication status between the main controller and the secondary controller is normal, whether the communication status between the local operation panel and the main controller is normal, whether the communication status between the remote control operation panel and the remote control receiver is normal, and whether the communication status between the remote control receiver and the main controller is normal; Send the action command for the side drill rig lifting mechanism and obtain the initial parameter information, including the main controller automatically obtaining the relevant parameters for the automatic positioning of the side drill rig lifting mechanism H S 、 L L 、 S L 、 L S 、 S S 、 H Z 、 R S 、 R L ; Read the initial analog value of the first displacement sensor of the forward feed cylinder I Y1 、The initial analog value of the second displacement sensor of the reverse feed cylinder I Y2 ,Calculate the initial displacement of the forward feed cylinder Y 1L 、The initial displacement of the reverse feed cylinder Y 2L ; Optimal path planning, first calculate the current height of the side-drilling rig lifting mechanism H L = H Z + Y 1L × R S - Y 2L × R L , then judge the relationship between the current height of the side-drilling rig lifting mechanism H L and the target height H S , including H L < H S 、 HL = H S 、 HL > H S three cases, and plan the optimal paths to achieve the target positioning height in these three cases: H L < H S , S L ≥ S S， Adopt the strategy of first reducing the displacement of the negative oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can reduce is not less than H S - H L , then reduce the displacement of the negative oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L < H S , S L ≥ S S， Adopt the strategy of first reducing the displacement of the negative oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can reduce is less than H S - H L , then first reduce the displacement of the negative oil cylinder to 0, and then increase the displacement of the positive oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L < H S ，S L <S S， Adopt the strategy of first increasing the displacement of the forward feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the forward oil cylinder can increase is not less than H S - H L , then increase the displacement of the forward oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L < H S , S L < S S， Adopt the strategy of first increasing the displacement of the forward feed cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the forward cylinder can increase is less than H S - H L , then increase the displacement of the forward cylinder to the maximum value, and then decrease the displacement of the negative cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ; H L > H S , S L ≥ S S， Adopt the strategy of first increasing the displacement of the negative feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can increase is not less than H L - H S , then increase the displacement of the negative oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L > H S , S L ≥ S S， Adopt the strategy of first increasing the displacement of the negative feed cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the negative cylinder can increase is less than H L - H S , then increase the displacement of the negative cylinder to the maximum value, and then decrease the displacement of the positive cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ; H L > H S , S L < S S， Adopt the strategy of first reducing the displacement of the forward feed cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the forward cylinder can reduce is not less than H L - H S , then reduce the displacement of the forward cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ; H L > H S , S L < S S， Adopt the strategy of first reducing the displacement of the forward feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the forward oil cylinder can reduce is less than H L - H S , then reduce the displacement of the forward oil cylinder to 0, and then increase the displacement of the reverse oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L = H S , the negative and positive oil cylinders of the side drill rig lifting mechanism maintain their current states unchanged, the side drill rig lifting mechanism automatically positions itself to the set height along the optimal path, marks the task as completed, and prepares for starting the next automatic positioning task.

2. The path planning method of the digital twin construction system for the hoisting mechanism of the tunneling and bolting machine as described in claim 1, characterized in that, The method includes: Obtain the motion characteristics, structure, and functions of the side drill rig lifting mechanism on the roadheader-anchoring machine, and establish a twin body with multi-component association; According to the twin body with multi-component association, initialize and set the automatic positioning parameter information of the side drill rig lifting mechanism; According to the twin body with multi-component association, obtain each human-machine interaction interface; According to each human-machine interaction interface, send an action command to the side drill rig lifting mechanism and obtain the initialized parameter information; According to the action command and the initial parameter information, perform path planning under different conditions; Automatically locate to the set height according to path planning in different situations, and identify the task completion status; the parameter information specifically includes the initial zero position height H Z , target height H S , maximum displacement of the positive oil cylinder L S , feeding speed of the positive oil cylinder S S , maximum displacement of the negative oil cylinder L L , feeding speed of the negative oil cylinder S L , displacement contribution coefficient of the positive oil cylinder R S and displacement contribution coefficient of the negative oil cylinder R L ; Fault information interfaces and communication status interfaces are displayed on each of the human-machine interaction interfaces; The fault information interface includes whether there is a connection fault with the first displacement sensor of the forward feed oil cylinder and whether there is a connection fault with the second displacement sensor of the reverse feed oil cylinder; The communication status interface includes whether the communication status between the human-machine interaction device and the controller is normal, whether the communication status between the main controller and the secondary controller is normal, whether the communication status between the local operation panel and the main controller is normal, whether the communication status between the remote control operation panel and the remote control receiver is normal, and whether the communication status between the remote control receiver and the main controller is normal; According to the path planning under different conditions, it includes: Calculate the current lifting height of the side drill rig lifting mechanism H L = H Z + Y 1L × R S - Y 2L × R L , where, Y 1L is the displacement of the forward oil cylinder, Y 2L is the displacement of the reverse oil cylinder; According to the current lifting height H L , determine the relationship between the current lifting height H L and the target height H S ; According to the current lifting height H L and the target height H S relationship, plan the path of the target positioning height; Initialize and set the automatic positioning related parameters of the side drill rig lifting mechanism, specifically including the target positioning height H S ; Maximum displacement of the forward oil cylinder L S ; Feed speed of the forward oil cylinder S S ; Maximum displacement of the reverse oil cylinder L L and the feed speed of the reverse oil cylinder S L ; Initial zero position height H Z ; Contribution coefficient of the forward oil cylinder displacement to the stroke of the side lifting mechanism R S and the contribution coefficient of the reverse oil cylinder to the stroke of the side lifting mechanism R L ; Query each human-machine interaction interface and the fault information interface, including whether there is a connection fault with the first displacement sensor of the forward oil cylinder and whether there is a connection fault with the second displacement sensor of the reverse oil cylinder; the communication status interface, including whether the communication status between the human-machine interaction device and the controller is normal, whether the communication status between the main controller and the secondary controller is normal, whether the communication status between the local operation panel and the main controller is normal, whether the communication status between the remote control operation panel and the remote control receiver is normal, and whether the communication status between the remote control receiver and the main controller is normal; Send the action command for the side drill rig lifting mechanism to obtain the initial parameter information, including the main controller automatically obtaining the parameters related to the automatic positioning of the side drill rig lifting mechanism H S 、 L L 、 S L 、 L S 、 S S 、 H Z 、 R S 、 R L ;Read the initial analog value of the first displacement sensor of the forward feed cylinder I Y1 、The initial analog value of the second displacement sensor of the reverse feed cylinder I Y2 ,Calculate the initial displacement of the forward feed cylinder Y 1L 、The initial displacement of the reverse feed cylinder Y 2L ; Optimal path planning, first calculate the current height of the side-drilling rig lifting mechanism H L = H Z + Y 1L × R S - Y 2L × R L , then judge the relationship between the current height of the side-drilling rig lifting mechanism H L and the target height H S , including H L < H S 、 HL = H S 、 HL > H S three cases, and plan the optimal paths to achieve the target positioning height in these three cases: H L < H S , S L ≥ S S， Adopt the strategy of first reducing the displacement of the negative oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can reduce is not less than H S - H L , then reduce the displacement of the negative oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L < H S , S L ≥ S S， Adopt the strategy of first reducing the displacement of the negative oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can reduce is less than H S - H L , then first reduce the displacement of the negative oil cylinder to 0, and then increase the displacement of the positive oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L < H S ，S L <S S， Adopt the strategy of first increasing the displacement of the forward feed oil cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the forward oil cylinder can increase is not less than H S - H L , then increase the displacement of the forward oil cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ; H L < H S , S L < S S， Adopt the strategy of first increasing the displacement of the forward feed oil cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the forward oil cylinder can increase is less than H S - H L , then increase the displacement of the forward oil cylinder to the maximum value, and then reduce the displacement of the negative oil cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ; H L > H S , S L ≥ S S， Adopt the strategy of first increasing the displacement of the negative feed oil cylinder of the side support drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can increase is not less than H L - H S , then increase the displacement of the negative oil cylinder until the height of the side support drill rig lifting mechanism reaches the target value H S ; H L > H S , S L ≥ S S， Adopt the strategy of first increasing the displacement of the negative feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the negative oil cylinder can increase is less than H L - H S , then increase the displacement of the negative oil cylinder to the maximum value, and then decrease the displacement of the positive oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L > H S , S L < S S， Adopt the strategy of first reducing the displacement of the forward feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the forward oil cylinder can reduce is not less than H L - H S , then reduce the displacement of the forward oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L > H S , S L < S S， Adopt the strategy of first reducing the displacement of the forward feed oil cylinder of the side drill rig lifting mechanism. If the maximum effective displacement that the forward oil cylinder can reduce is less than H L - H S , then reduce the displacement of the forward oil cylinder to 0, and then increase the displacement of the negative oil cylinder until the height of the side drill rig lifting mechanism reaches the target value H S ; H L = H S , the negative and positive oil cylinders of the side drill rig lifting mechanism maintain their current states, the side drill rig lifting mechanism automatically positions itself to the set height along the optimal path, marks the task as completed, and prepares for starting the next automatic positioning task.

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