Coal operation positioning method and system and nonvolatile storage medium

Abstract

The invention discloses a coal operation positioning method and system and a nonvolatile storage medium. The method comprises the following steps: acquiring position information of a roadway starting point, position information of a roadway base station and preset base station distance information; determining position information of a positioning card based on the position information of the roadway starting point and the position information of the roadway base station; based on the position information of the positioning card and the preset base station distance information, determining the position information of the plurality of fully mechanized mining surface base stations; and determining target position information of the coal machine based on the position information of the positioning card and the position information of the plurality of fully-mechanized face base stations. According to the invention, the technical problems of poor positioning precision of underground coal operation and influence on fully-mechanized coal mining operation efficiency in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of coal mine production, and in particular to a positioning method, system and non-volatile storage medium for coal operations. Background Art

[0002] Ultra-Wideband (UWB) technology is widely used in underground coal mine production positioning systems. At present, most solutions for UWB underground coal mine production three-dimensional high-precision positioning are based on the Time Difference of Arrival (TODA) algorithm to achieve positioning. However, the TODA algorithm has the following problems:

[0003] (1) The multipath effect is obvious underground. It is difficult to meet the requirements for time synchronization between base stations under non-line-of-sight conditions. A large number of compensation algorithms are needed to reduce errors, resulting in poor positioning results.

[0004] (2) The underground environment is complex, and the base station needs to be moved frequently during comprehensive mining operations. The application of the TDOA algorithm requires repeated re-measurement of the three-dimensional coordinates of the base station, which requires manual intervention and seriously affects the comprehensive mining operations.

[0005] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0006] The embodiments of the present invention provide a method, system and non-volatile storage medium for positioning coal operations, so as to at least solve the technical problems in the related art that the positioning accuracy of underground coal operations is poor and the efficiency of comprehensive mining operations is affected.

[0007] According to one aspect of an embodiment of the present invention, a method for positioning coal operations is provided, including: obtaining the location information of a tunnel starting point, the location information of a tunnel base station, and preset base station distance information; determining the location information of a positioning card based on the location information of the tunnel starting point and the location information of the tunnel base station; determining the location information of multiple comprehensive mining face base stations based on the location information of the positioning card and the preset base station distance information; determining the target location information of a coal mining machine based on the location information of the positioning card and the location information of multiple comprehensive mining face base stations.

[0008] Optionally, determining the location information of the positioning card based on the location information of the starting point of the tunnel and the location information of the tunnel base station includes: obtaining first distance information and second distance information, wherein the first distance information is used to indicate the distance between the positioning card and the tunnel base station, and the second distance information is used to indicate the distance between the starting point of the tunnel and the tunnel base station; determining third distance information based on the first distance information and the second distance information, wherein the third distance information is used to indicate the distance between the starting point of the tunnel and the positioning card; determining a first vector based on the location information of the starting point of the tunnel and the location information of the tunnel base station, wherein the first vector is determined based on the difference between the position of the starting point of the tunnel and the position of the tunnel base station; determining the location information of the positioning card based on the first vector and the third distance.

[0009] Optionally, determining the location information of multiple comprehensive mining face base stations based on the location information of the positioning card and the preset base station distance information includes: obtaining fourth distance information, wherein the fourth distance information is used to represent the distance between the starting point of the tunnel and the first comprehensive mining face base station, and the first comprehensive mining face base station is any one of the multiple comprehensive mining face base stations; determining fifth distance information based on the location information of the positioning card and the starting position of the tunnel; determining the location information of the first comprehensive mining face base station based on the location information of the positioning card and the fifth distance information; determining the location information of other base stations in the comprehensive mining face base station based on the location information of the first comprehensive mining face base station and the preset base station distance information.

[0010] Optionally, the positioning card includes at least a first positioning card and a second positioning card, and the first positioning card and the second positioning card are located at different end points of the comprehensive mining face. Determining the target position information of the coal machine based on the position information of the positioning card and the position information of the comprehensive mining face base station includes: obtaining horizontal offset distance information and the sinking value of the coal machine coordinates, wherein the horizontal offset distance information is used to indicate the horizontal offset distance of the coal machine relative to the comprehensive mining working face; determining the first coordinate based on the position information of the positioning card, the tunnel base station position and the horizontal offset distance information; determining the second coordinate based on the first coordinate and the horizontal offset distance information; determining the third coordinate based on the first coordinate and the sinking value of the coal machine coordinates; and determining the target position information of the coal machine based on the second coordinate and the third coordinate.

[0011] Optionally, determining the first coordinate based on the location information of the positioning card, the location information of the tunnel base station and the horizontal offset distance information includes: obtaining a second vector, wherein the second vector is determined based on the location information of the second positioning card and the location information of the tunnel base station; determining a first vector coefficient based on the second vector and the horizontal offset distance; and determining the first coordinate based on the first vector coefficient and the second vector.

[0012] Optionally, determining the second coordinate based on the first coordinate and the horizontal offset distance information includes: obtaining a third vector and a fourth vector, wherein the third vector is determined based on the position information of the first positioning card and the position information of the tunnel base station, and the fourth vector is determined based on the position information of the first positioning card and the position information of the second positioning card; performing a dot product operation on the third two-vector and the fourth three-vector to obtain a first calculation result; determining a projection vector of the third vector based on the fourth two-vector and the first calculation result; determining a second vector coefficient based on the horizontal offset distance information and the projection vector; and determining the second coordinate based on the second vector coefficient and the first coordinate.

[0013] Optionally, determining the third coordinate based on the first coordinate and the sinking value of the coal machine coordinate includes: obtaining a normal vector, wherein the normal vector is used to represent the normal vector of a preset plane, and the preset plane is determined based on the position information of the positioning card and the position of the tunnel base station; determining a third vector coefficient based on the normal vector and the sinking value of the coal machine coordinate; multiplying the third vector coefficient and the normal vector to obtain a second calculation result; and determining the third coordinate based on the second calculation result and the second coordinate.

[0014] Optionally, determining the target position information of the coal machine based on the second coordinate and the third coordinate includes: obtaining the initial position information of the coal machine; performing a difference operation on the third coordinate and the second coordinate to obtain a fourth calculation result; and determining the target position information of the coal machine based on the initial position information and the fourth calculation result.

[0015] According to one embodiment of the present invention, a positioning device for coal operations is also provided, including: an acquisition module, used to acquire the location information of the starting point of the tunnel, the location information of the tunnel base station, and the preset base station distance information; a first determination module, used to determine the location information of the positioning card based on the location information of the starting point of the tunnel and the location information of the tunnel base station; a second determination module, used to determine the location information of multiple comprehensive mining face base stations based on the location information of the positioning card and the preset base station distance information; a third determination module, used to determine the target location information of the coal machine based on the location information of the positioning card and the location information of multiple comprehensive mining face base stations.

[0016] Optionally, the acquisition module is also used to acquire first distance information and second distance information, wherein the first distance information is used to indicate the distance between the positioning card and the tunnel base station, and the second distance information is used to indicate the distance between the starting point of the tunnel and the tunnel base station; the first determination module is also used to: determine third distance information based on the first distance information and the second distance information, wherein the third distance information is used to indicate the distance between the starting point of the tunnel and the positioning card; determine a first vector based on the position information of the starting point of the tunnel and the position information of the tunnel base station, wherein the first vector is determined based on the difference between the position of the starting point of the tunnel and the position of the tunnel base station; determine the position information of the positioning card based on the first vector and the third distance.

[0017] Optionally, the acquisition module is also used to obtain fourth distance information, wherein the fourth distance information is used to represent the distance between the starting point of the tunnel and the first comprehensive mining face base station, and the first comprehensive mining face base station is any one of the multiple comprehensive mining face base stations; the second determination module is also used to: determine the fifth distance information based on the position information of the positioning card and the starting position of the tunnel; determine the position information of the first comprehensive mining face base station based on the position information of the positioning card and the fifth distance information; determine the position information of other base stations in the comprehensive mining face base station based on the position information of the first comprehensive mining face base station and the preset base station distance information.

[0018] Optionally, the acquisition module is also used to obtain horizontal offset distance information and the sinking value of the coal machine coordinates, wherein the horizontal offset distance information is used to indicate the horizontal offset distance of the coal machine relative to the comprehensive mining working face; the third determination module is also used to: determine the first coordinate based on the position information of the positioning card, the position information of the tunnel base station and the horizontal offset distance information; determine the second coordinate based on the first coordinate and the horizontal offset distance information; determine the third coordinate based on the first coordinate and the sinking value of the coal machine coordinates; determine the target position information of the coal machine based on the second coordinate and the third coordinate.

[0019] Optionally, the acquisition module is also used to acquire a second vector, wherein the second vector is determined based on the location information of the second positioning card and the location information of the lane base station; the third determination module is also used to: determine the first vector coefficient based on the second vector and the horizontal offset distance; and determine the first coordinate based on the first vector coefficient and the second vector.

[0020] Optionally, the acquisition module is also used to acquire a third vector and a fourth vector, wherein the third vector is determined based on the position information of the first positioning card and the position information of the lane base station, and the fourth vector is determined based on the position information of the first positioning card and the position information of the second positioning card; the third determination module is also used to: perform a dot product operation on the third two-vector and the fourth three-vector to obtain a first calculation result; determine a projection vector of the third vector based on the fourth two-vector and the first calculation result; determine a second vector coefficient based on the horizontal offset distance information and the projection vector; and determine a second coordinate based on the second vector coefficient and the first coordinate.

[0021] Optionally, the acquisition module is also used to obtain a normal vector, wherein the normal vector is used to represent the normal vector of a preset plane, and the preset plane is determined based on the position information of the positioning card and the position information of the tunnel base station; the third determination module is also used to: determine a third vector coefficient based on the normal vector and the sinking value of the coal machine coordinates; multiply the third vector coefficient and the normal vector to obtain a second calculation result; and determine the third coordinate based on the second calculation result and the second coordinate.

[0022] Optionally, the acquisition module is also used to obtain the initial position information of the coal machine; the third determination module is also used to: perform a difference operation on the third coordinate and the second coordinate to obtain a fourth calculation result; and determine the target position information of the coal machine based on the initial position information and the fourth calculation result.

[0023] According to one embodiment of the present invention, there is also provided a coal operation positioning system, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the above-mentioned coal operation positioning method.

[0024] According to one embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the above-mentioned coal operation positioning method.

[0025] According to one embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute the above-mentioned coal operation positioning method.

[0026] According to one embodiment of the present invention, there is also provided a computer program product, including a computer program, which implements the above-mentioned coal operation positioning method when executed by a processor.

[0027] In an embodiment of the present invention, a method of obtaining the position information of the starting point of the tunnel, the position information of the tunnel base station, and the preset base station distance information is adopted, and the position information of the positioning card is determined based on the position information of the starting point of the tunnel and the position information of the tunnel base station, and the position information of multiple comprehensive mining face base stations is determined based on the position information of the positioning card and the preset base station distance information. Finally, the target position information of the coal machine is determined based on the position information of the positioning card and the position information of multiple comprehensive mining face base stations, thereby achieving the purpose of accurately obtaining the position of the underground coal machine, thereby achieving the technical effect of accurately locating the underground coal machine without affecting the comprehensive mining operation, and further solving the technical problems of poor positioning accuracy of underground coal operations and affecting the efficiency of comprehensive mining operations in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 is a hardware structure block diagram of a coal operation positioning method according to one embodiment of the present invention;

[0030] Figure 2is a flow chart of a method for positioning a coal operation according to one embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of another method for positioning a coal operation according to one embodiment of the present invention;

[0032] Figure 4 It is a structural block diagram of a positioning device for coal operations according to one embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] The coal operation positioning method embodiment provided in the embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 is a hardware structure diagram of a method for positioning a coal operation according to one embodiment of the present invention. Figure 1 As shown, the computer terminal 10 (or electronic device 10) may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0036] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10 (or electronic device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0037] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for locating coal operations in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the method for locating coal operations described above is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The transmission module 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission module 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission module 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] The display may be, for example, a touch screen type liquid crystal display (LCD), which may enable a user to interact with a user interface of the computer terminal 10 (or electronic device).

[0040] It should be noted that, in some optional embodiments, the above Figure 1The computer device (or electronic device) shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of hardware elements and software elements. It should be noted that Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the above-described computer device (or electronic device).

[0041] According to an embodiment of the present invention, a method embodiment of a method for positioning a coal operation is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0042] Figure 2 is a flow chart of a method for positioning a coal operation according to one embodiment of the present invention, such as Figure 2 As shown, the method comprises the following steps:

[0043] Step S20, obtaining the location information of the lane starting point, the location information of the lane base station, and the preset base station distance information;

[0044] In step S20, the position information of the starting point of the tunnel is used to characterize the starting position of the tunnel in the fully mechanized mining face, and is also used as the origin of the entire coordinate system, denoted as s.

[0045] The above-mentioned tunnel base station positions are used to represent the three-dimensional coordinates of the base stations in two adjacent tunnels of the comprehensive mining working face, where the two adjacent tunnels are respectively recorded as tunnel a and tunnel b, the base station located in tunnel a is recorded as tunnel base station a, and the base station located in tunnel b is recorded as tunnel base station b. The side where tunnel b is located is the starting point of the tunnel, that is, the starting point of the tunnel of the comprehensive mining working face.

[0046] Specifically, the location information of the tunnel starting point, the location information of the tunnel base station and the preset base station distance information measured in advance are input into the positioning system of the coal operation.

[0047] The above-mentioned preset base station distance information is used to characterize the distance between base stations in the comprehensive mining working face.

[0048] Step S22, determining the location information of the positioning card based on the location information of the starting point of the lane and the location information of the lane base station;

[0049] In step S22, the positioning card is used to represent that two positioning base stations are arranged at two end points of the fully mechanized mining face and are transformed into a positioning card.

[0050] The position information of the positioning card is used to represent the three-dimensional coordinates of the positioning card.

[0051] Step S24, determining the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information;

[0052] In step S24, the location information of the above-mentioned multiple fully mechanized mining face base stations is used to characterize the three-dimensional coordinates of the base stations set in the fully mechanized mining working face.

[0053] Step S26, determining the target position information of the coal mining machine based on the position information of the positioning card and the position information of multiple fully mechanized mining face base stations.

[0054] In step S26, the target position information of the coal mining machine is used to characterize the current position of the underground coal mining machine, that is, the current three-dimensional coordinates of the underground coal mining machine.

[0055] Specifically, according to the specific conditions of the comprehensive mining face, an optimized base station layout plan is designed: 1. Base station layout spacing: From the starting point to the end point of the tunnel of the comprehensive mining face, base stations are laid out at intervals of preset base station distances. This dense layout method helps to effectively solve the problem of signal attenuation. For example, base stations are laid out at intervals of 55-60 meters. 2. Special positioning card: Two positioning base stations are laid out at the two ends of the comprehensive mining face and transformed into positioning cards to improve positioning accuracy. 3. Adjacent tunnel layout: In the two adjacent tunnels of the comprehensive mining face, the same positioning base station is laid out at a preset distance from the comprehensive mining face. This layout method further enhances the stability and accuracy of the positioning system. For example, 20-50 meters.

[0056] Based on the above steps S20 to S26, the location information of the starting point of the tunnel, the location information of the tunnel base station, and the preset base station distance information are obtained. The location information of the positioning card is determined based on the location information of the starting point of the tunnel and the location information of the tunnel base station, and the location information of multiple comprehensive mining face base stations is determined based on the location information of the positioning card and the preset base station distance information. Finally, the target location information of the coal machine is determined based on the location information of the positioning card and the location information of multiple comprehensive mining face base stations. The purpose of accurately obtaining the position of the underground coal machine is achieved, thereby achieving the technical effect of accurately locating the underground coal machine without affecting the comprehensive mining operation, and further solving the technical problems of poor positioning accuracy of underground coal operations and affecting the efficiency of comprehensive mining operations in related technologies.

[0057] Optionally, in step S22, determining the location information of the positioning card based on the location information of the lane starting point and the location information of the lane base station includes:

[0058] Step S221, obtaining first distance information and second distance information, wherein the first distance information is used to indicate the distance between the positioning card and the lane base station, and the second distance information is used to indicate the distance between the lane starting point and the lane base station;

[0059] In step S221, the first distance information is used to characterize the distance between the positioning card and the tunnel base station. A positioning card is arranged at each end of the fully mechanized mining face, which are referred to as positioning cards c and d. Positioning card d is located at the end where tunnel base station a is located, and positioning card c is located at the end where tunnel base station b is located. In this embodiment, the first distance information is used to characterize the precise positioning distance between c and b, which is referred to as D. bc , where D bc The base station may be determined based on a Time of Flight (TOF) algorithm.

[0060] The second distance information is used to represent the distance between the starting point of the lane and the lane base station. Since the side where the lane b is located is the starting point of the lane, the second distance information is recorded as D bs .

[0061] Step S222, determining third distance information based on the first distance information and the second distance information, wherein the third distance information is used to represent the distance between the starting point of the lane and the positioning card;

[0062] In step S222, the third distance information is used to represent the distance between the starting point of the lane and the positioning card. Taking the location information of the positioning card c as an example, the third distance information is the distance between the starting point of the lane s and the positioning card c, recorded as D sc .

[0063] Specifically, points b, c, and s are collinear, and D can be calculated according to expression (1): sc .

[0064] D bc =D bs +D sc (1)

[0065] Among them, D bc Indicates the first distance information; D bs Indicates the second distance information; D sc Indicates the third distance information.

[0066] Step S223, determining a first vector based on the position information of the starting point of the lane and the position information of the lane base station, wherein the first vector is determined based on the difference between the position of the starting point of the lane and the position of the lane base station;

[0067] Specifically, the first vector is determined according to the position information of the starting point of the lane and the position information of the lane base station, that is, the three-dimensional coordinates of the lane starting point s are subtracted from the three-dimensional coordinates of the lane base station b, which is recorded as The calculation process of is shown in expression (2).

[0068]

[0069] Among them, (X b ,Y b ,Z b ) is the three-dimensional coordinate of b; (X s ,Y s ,Z s ) is the three-dimensional coordinate of s.

[0070] Step S224: determining the location information of the positioning card based on the first vector and the third distance.

[0071] Specifically, according to the collinear relationship between points s, b, and c, a vector representation as shown in expression (3) can be obtained.

[0072]

[0073] in, represents the first vector; represents the vector determined by subtracting the coordinates of s from the coordinates of c; α represents the vector coefficient.

[0074] Transforming expression (3) yields the coordinates of c, as shown in expression (4).

[0075]

[0076] in, Based on c, the coordinates can be obtained; Based on s, the coordinates can be obtained; represents the first vector; α represents the vector coefficient.

[0077] When solving expression (4), the solution of the vector coefficient α is shown in expression (5).

[0078]

[0079] Among them, D sc Indicates third distance information; express The calculation process is shown in expression (6).

[0080]

[0081] in, Indicates (X b -X s ) 2 ; Indicates (Y b -Y s ) 2 ; Indicates (Z b -Z s )2 .

[0082] Specifically, the location information of another positioning card d can be determined according to the above process.

[0083] Based on the above steps S221 to S224, the first distance information and the second distance information are obtained; the third distance information is determined based on the first distance information and the second distance information; the first vector is determined based on the position information of the starting point of the tunnel and the position information of the tunnel base station; the position information of the positioning card is determined based on the first vector and the third distance, and the modified positioning base station is used as a special positioning identification card to extend the standby time. In addition, since the comprehensive mining working face will change, the positioning card is fixed on the bracket and moves with the bracket, thereby reducing the loss of positioning accuracy caused by repeated movement of the positioning card.

[0084] Optionally, in step S24, determining the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information includes:

[0085] Step S241, obtaining fourth distance information, wherein the fourth distance information is used to indicate the distance between the starting point of the tunnel and the first fully mechanized mining face base station, where the first fully mechanized mining face base station is any fully mechanized mining face base station among a plurality of fully mechanized mining face base stations;

[0086] In step S241, the first fully mechanized mining face base station is used to represent any one of the multiple fully mechanized mining face base stations located in the fully mechanized mining face tunnel.

[0087] The fourth distance information is used to represent the distance between the starting point s of the tunnel and the first fully mechanized mining face base station p, which is recorded as D sp .

[0088] Step S242, determining fifth distance information based on the location information of the positioning card and the starting position of the lane;

[0089] In step S242, the fifth distance information is used to represent the distance between the positioning card c or positioning card d and the lane start point s. Taking the distance between the positioning card c and the lane start point s as an example, it is recorded as D sc .

[0090] Step S243, determining the location information of the first fully mechanized mining face base station based on the location information of the positioning card and the fifth distance information;

[0091] Specifically, this embodiment takes the determination of the location information of the first fully mechanized mining face base station p as an example. Since points c, d, and p are collinear, and point p is between points c and d, then Therefore, the coordinates of point p can be calculated as shown in expression (7).

[0092]

[0093] in, The coordinates based on c can be obtained; The coordinates based on c and d can be obtained; σ represents the vector coefficient, and its specific calculation process is shown in expression (8).

[0094]

[0095] in, Based on the coordinates of c and d, we can obtain; D cp By D sp =D sc +D cp And sure.

[0096] Step S244, determining the location information of other base stations in the comprehensive mining face base station based on the location information of the first comprehensive mining face base station and the preset base station distance information.

[0097] Specifically, this embodiment takes the determination of the location information of the first fully mechanized mining face base station p as an example. The location information of other base stations in the fully mechanized mining face base station can be determined according to the coordinates of p and the preset base station distance information.

[0098] Based on the above steps S241 to S244, the fourth distance information is obtained; the location information of the first comprehensive mining face base station is determined based on the location information of the positioning card and the fifth distance information; the location information of other base stations in the comprehensive mining face base station is determined based on the location information of the first comprehensive mining face base station and the preset base station distance information. The number of tunnel base stations that need to be deployed is relatively small, which reduces the deployment and maintenance of base stations, improves economic benefits, and reduces costs.

[0099] Optionally, in step S26, the positioning card includes at least a first positioning card and a second positioning card, the first positioning card and the second positioning card are located at different end points of the fully mechanized mining face, and determining the target position information of the coal mining machine based on the position information of the positioning card and the position information of the fully mechanized mining face base station includes:

[0100] Step S261, obtaining horizontal offset distance information and the sinking value of the coal machine coordinates, wherein the horizontal offset distance information is used to indicate the horizontal offset distance of the coal machine relative to the fully mechanized mining working face;

[0101] In step S261, the above horizontal offset distance information is used to characterize the horizontal offset distance of the coal machine relative to the fully mechanized mining working face, denoted as D mn .

[0102] The sinking value of the above coal machine coordinates is used to represent the distance that the coal machine moves downward due to the influence of gravity and coal seam pressure when working, which is recorded as D mf .

[0103] Specifically, the coal machine is measured using a measuring tool to obtain horizontal offset distance information and the sinking value of the coal machine coordinates.

[0104] Step S262, determining the first coordinate based on the position information of the positioning card, the position information of the lane base station and the horizontal offset distance information;

[0105] In step S262, connect c and d to obtain straight line cd. Draw a perpendicular line an through a to cd, with foot n. Draw a perpendicular line through m to plane acd, with foot f. m is a point on ad. Then D mn is the horizontal offset distance, D mf is the sinking value of the coal machine coordinates, where m is the location of the coal machine.

[0106] The above first coordinate is used to represent the coordinate of m.

[0107] Specifically, taking the coordinates of the lane base station a in the location information of the lane base station as an example, the first coordinates are determined based on the location information of the positioning card, the location information of the lane base station and the horizontal offset distance information.

[0108] Step S263, determining the second coordinate based on the first coordinate and the horizontal offset distance information;

[0109] In step S263, the second coordinate is used to represent the coordinate of n.

[0110] Step S264, determining a third coordinate based on the first coordinate and the sinking value of the coal machine coordinate;

[0111] In step S264, the third coordinate is used to represent the coordinate of f.

[0112] Step S265, determining the target position information of the coal mining machine based on the second coordinate and the third coordinate.

[0113] Based on the above steps S261 to S26,5, the horizontal offset distance information and the sinking value of the coal machine coordinates are obtained; the first coordinate is determined based on the position information of the positioning card, the position information of the tunnel base station and the horizontal offset distance information; the second coordinate is determined based on the first coordinate and the horizontal offset distance information; the third coordinate is determined based on the first coordinate and the sinking value of the coal machine coordinates; the target position information of the coal machine is determined based on the second coordinate and the third coordinate, thereby achieving the purpose of accurately obtaining the position of the underground coal machine, thereby achieving the technical effect of accurately positioning the underground coal machine without affecting the comprehensive mining operation, and further solving the technical problems of poor positioning accuracy of underground coal operations and affecting the efficiency of comprehensive mining operations in related technologies.

[0114] Optionally, in step S262, determining the first coordinate based on the location information of the positioning card, the location information of the lane base station and the horizontal offset distance information includes:

[0115] Step S2621, obtaining a second vector, wherein the second vector is determined based on the position information of the second positioning card and the position information of the lane base station;

[0116] In step S2621, the second vector is determined based on the coordinates of the positioning card d and the coordinates of the lane base station a, and is recorded as The specific calculation process is shown in expression (9).

[0117]

[0118] Among them, (X a ,Y a ,Z a ) is the three-dimensional coordinate of a; (X d ,Y d ,Z d ) is the three-dimensional coordinate of d.

[0119] Step S2622, determining the first vector coefficient based on the second vector and the horizontal offset distance;

[0120] Step S2623, determining the first coordinate based on the first vector coefficient and the second vector.

[0121] Specifically, according to the collinearity of a, d, and m, we know Therefore, the coordinates of m can be obtained based on expression (10).

[0122]

[0123] in, From the three-dimensional coordinates of d, we can get; represents the second vector, which can be obtained from the coordinates of d and a; γ represents the coefficient of the first vector, and its calculation process is shown in expression (11).

[0124]

[0125] Among them, D mn is the horizontal offset distance; express The square of the modulus, where Represents the second vector, which can be obtained from the coordinates of d and a.

[0126] Based on the above steps S2621 to S2623, the second vector is obtained; the first vector coefficient is determined by the second vector and the horizontal offset distance; the first coordinate is determined based on the first vector coefficient and the second vector, which can automatically calculate the three-dimensional coordinates of the base station in the coal machine and the comprehensive mining working face, reducing the workload at the mine end and providing the accuracy of three-dimensional positioning in the comprehensive mining working face.

[0127] Optionally, in step S263, determining the second coordinate based on the first coordinate and the horizontal offset distance information includes:

[0128] Step S2631, obtaining a third vector and a fourth vector, wherein the third vector is determined based on the position information of the first positioning card and the position information of the lane base station, and the fourth vector is determined based on the position information of the first positioning card and the position information of the second positioning card;

[0129] In step S2631, the third vector is determined based on the coordinates of the positioning card c and the coordinates of the lane base station a, and is recorded as The specific calculation process is shown in expression (12).

[0130]

[0131] Among them, (X a ,Y a ,Z a ) is the three-dimensional coordinate of a; (X c ,Y c ,Z c ) is the three-dimensional coordinate of c.

[0132] The fourth vector is determined based on the coordinates of the first positioning card c and the coordinates of the second positioning card, and is recorded as The specific calculation process is shown in expression (13).

[0133]

[0134] Among them, (X d ,Y d ,Z d ) is the three-dimensional coordinate of d; (X c ,Y c ,Z c ) is the three-dimensional coordinate of c.

[0135] Step S2632, performing a dot product operation on the third vector and the fourth vector to obtain a first calculation result;

[0136] Specifically, the specific calculation process of the first calculation result is shown in expression (14).

[0137]

[0138] Among them, X ca Indicates (X a -X c );Y ca Indicates (Y a -Y c );Z ca Indicates (Z a -Zc );X cd Indicates (X d -X c );Y cd Indicates (Y d -Y c );Z cd Indicates (Z d -Z c ).

[0139] Step S2633, determining a projection vector of the third vector based on the fourth vector and the first calculation result;

[0140] Specifically, the projection of the third vector is used to represent the vector The projection vector on the line is denoted by The specific calculation process of is shown in expression (15).

[0141]

[0142] in, represents the fourth vector; represents the third vector; The calculation process of is shown in expression (16).

[0143]

[0144] Among them, X cd Indicates (X d -X c );Y cd Indicates (Y d -Y c );Z cd Indicates (Z d -Z c ).

[0145] Step S2634, determining a second vector coefficient based on the horizontal offset distance information and the projection vector;

[0146] Specifically, based on the projection vector The third vector Determine the vector The specific process is shown in expression (17).

[0147]

[0148] in, represents the projection vector; Represents the third vector.

[0149] Specifically, β represents the second vector coefficient, and its calculation process is shown in expression (18).

[0150]

[0151] Among them, D mn is the horizontal offset distance; Determined by expression (17).

[0152] Step S2635, determining the second coordinate based on the second vector coefficient and the first coordinate.

[0153] Specifically, according to Parallel to Knowable Therefore, the coordinates of n are as shown in expression (19).

[0154]

[0155] in, The coordinates based on m are available; Determined by expression (16); β represents the second vector coefficient.

[0156] Based on the above steps S2631 and S2635, the third vector and the fourth vector are obtained; the dot product operation is performed on the third vector and the fourth vector to obtain a first calculation result; the projection vector of the third vector is determined based on the fourth vector and the first calculation result; the second vector coefficient is determined based on the horizontal offset distance information and the projection vector; the second coordinate is determined based on the second vector coefficient and the first coordinate. The three-dimensional coordinates of the base station in the coal machine and the comprehensive mining working face can be automatically calculated, which reduces the workload on the mine end and provides the accuracy of three-dimensional positioning in the comprehensive mining working face.

[0157] Optionally, in step S264, determining the third coordinate based on the first coordinate and the sinking value of the coal machine coordinate includes:

[0158] Step S2641, obtaining a normal vector, wherein the normal vector is used to represent a normal vector of a preset plane, and the preset plane is determined based on the position information of the positioning card and the position information of the lane base station;

[0159] Step S2642, determining a third vector coefficient based on the normal vector and the sinking value of the coal machine coordinates;

[0160] Step S2643, performing a multiplication operation on the third vector coefficient and the normal vector to obtain a second calculation result;

[0161] Step S2644, determining the third coordinate based on the second calculation result and the second coordinate.

[0162] Specifically, the normal vector of plane acd is As shown in expression (20).

[0163]

[0164] Among them, X ca Indicates (X a -X c );Y ca Indicates (Y a -Y c );Z ca Indicates (Z a -Z c );X cd Indicates (X d -X c );Y cd Indicates (Y d -Y c );Z cd Indicates (Z d -Z c ).

[0165] Specifically, since the vector Parallel to the normal vector Available Therefore, the coordinates of f are as shown in expression (21).

[0166]

[0167] in, Obtained from the coordinates of m; represents the normal vector; θ represents the third vector coefficient, and its calculation process is shown in expression (22).

[0168]

[0169] Among them, D mf is the sinking value of the coal machine coordinates; Represents the normal vector.

[0170] Based on the above steps S2641 to S2644, the normal vector is obtained; the third vector coefficient is determined based on the normal vector and the sinking value of the coal machine coordinates; the third vector coefficient and the normal vector are multiplied to obtain a second calculation result; the third coordinate is determined based on the second calculation result and the second coordinate, which can automatically calculate the three-dimensional coordinates of the coal machine, reduce the workload at the mine end, and provide the accuracy of three-dimensional positioning in the comprehensive mining working face.

[0171] Optionally, in step S265, determining the target position information of the coal machine based on the second coordinate and the third coordinate includes:

[0172] Step S2651, obtaining the initial position information of the coal machine;

[0173] Specifically, according to the precise positioning of the coal machine, the distance D between the coal machine and the fully mechanized mining face is obtained. sm; The three-dimensional coordinates of the coal machine between the base stations in the fully mechanized mining face can be calculated, that is, the initial position information of the coal machine.

[0174] Step S2652, performing a difference operation on the third coordinate and the second coordinate to obtain a fourth calculation result;

[0175] Specifically, the fourth calculation result is used to characterize the three-dimensional coordinate offset between the coal machine and the base station plane, which is recorded as fn, where fn is obtained by subtracting the coordinate of f from the coordinate of n.

[0176] Step S2653, determining the target position information of the coal mining machine based on the initial position information and the fourth calculation result.

[0177] Specifically, the precise three-dimensional positioning coordinates of the coal machine can be obtained by subtracting the coordinate offset fn between the coal machine and the base station plane from the initial position information of the coal machine.

[0178] Based on the above steps S2651 to S2653, the initial position information of the coal machine is obtained; the third coordinate and the second coordinate are subtracted to obtain a fourth calculation result; the target position information of the coal machine is determined based on the initial position information and the fourth calculation result, and the three-dimensional coordinates of the coal machine can be automatically calculated, which reduces the workload at the mine end and provides the accuracy of three-dimensional positioning in the comprehensive mining working face.

[0179] Figure 3 is a schematic diagram of another method for positioning coal operations according to one embodiment of the present invention, such as Figure 3 As shown, lane a and lane b are two adjacent lanes of the comprehensive mining face, wherein the base station located in lane a is recorded as lane base station a, and the base station located in lane b is recorded as lane base station b. The side where lane b is located is the lane starting point, that is, the starting point of the lane of the comprehensive mining face. The position information of the above lane starting point is used to characterize the starting position of the lane in the comprehensive mining face, and is also used as the origin of the entire coordinate system, recorded as s. Two positioning base stations are arranged at the two end points of the comprehensive mining face, which are transformed into positioning cards, recorded as positioning cards c and d. Positioning card d is located at the end where lane base station a is located, and positioning card c is located at the end where lane base station b is located. From the starting point to the end point of the lane of the comprehensive mining face, base stations are arranged at intervals of preset base station distances. The first comprehensive mining face base station p is used to characterize any one of the multiple comprehensive mining face base stations located in the lane of the comprehensive mining face. m is the location of the coal machine.

[0180] Specifically, obtain the location information of the starting point of the tunnel, the location information of the tunnel base station, and the preset base station distance information; obtain the first distance information and the second distance information, wherein the first distance information is used to indicate the distance between the positioning card and the tunnel base station, and the second distance information is used to indicate the distance between the starting point of the tunnel and the tunnel base station; determine the third distance information based on the first distance information and the second distance information, wherein the third distance information is used to indicate the distance between the starting point of the tunnel and the positioning card; determine the first vector based on the location information of the starting point of the tunnel and the location information of the tunnel base station, wherein the first vector is determined based on the difference between the location of the starting point of the tunnel and the location of the tunnel base station; determine the location information of the positioning card based on the first vector and the third distance.

[0181] Specifically, the fourth distance information is obtained, wherein the fourth distance information is used to indicate the distance between the starting point of the tunnel and the first comprehensive mining face base station, and the first comprehensive mining face base station is any one of the multiple comprehensive mining face base stations; the fifth distance information is determined based on the position information of the positioning card and the starting position of the tunnel; the position information of the first comprehensive mining face base station is determined based on the position information of the positioning card and the fifth distance information; the position information of other base stations in the comprehensive mining face base station is determined based on the position information of the first comprehensive mining face base station and the preset base station distance information.

[0182] Specifically, obtain the horizontal offset distance information and the sinking value of the coal machine coordinates, wherein the horizontal offset distance information is used to indicate the horizontal offset distance of the coal machine relative to the comprehensive mining working face; determine the first coordinate based on the position information of the positioning card, the position information of the tunnel base station and the horizontal offset distance information; determine the second coordinate based on the first coordinate and the horizontal offset distance information; determine the third coordinate based on the first coordinate and the sinking value of the coal machine coordinates; and determine the target position information of the coal machine based on the second coordinate and the third coordinate.

[0183] Based on the above steps, the location information of the starting point of the tunnel, the location information of the tunnel base station, and the preset base station distance information are obtained. The location information of the positioning card is determined based on the location information of the starting point of the tunnel and the location information of the tunnel base station, and the location information of multiple comprehensive mining face base stations is determined based on the location information of the positioning card and the preset base station distance information. Finally, the target location information of the coal machine is determined based on the location information of the positioning card and the location information of multiple comprehensive mining face base stations. The purpose of accurately obtaining the position of the underground coal machine is achieved, thereby realizing the technical effect of accurately locating the underground coal machine without affecting the comprehensive mining operation, and further solving the technical problems of poor positioning accuracy of underground coal operations and affecting the efficiency of comprehensive mining operations in related technologies.

[0184] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present invention.

[0185] In the embodiment of the present invention, a positioning device for coal operation is also provided, which is used to implement the above-mentioned embodiment and preferred implementation mode, and the descriptions have been made no further. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0186] Figure 4 is a structural block diagram of a positioning device for coal operations according to one embodiment of the present invention, such as Figure 4 As shown, the device comprises:

[0187] An acquisition module 401 is used to acquire the location information of the starting point of the lane, the location information of the lane base station, and the distance information of the preset base station;

[0188] A first determination module 402 is used to determine the location information of the positioning card based on the location information of the starting point of the lane and the location information of the lane base station;

[0189] The second determination module 403 is used to determine the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information;

[0190] The third determination module 404 is used to determine the target position information of the coal mining machine based on the position information of the positioning card and the position information of multiple fully mechanized mining face base stations.

[0191] Optionally, the acquisition module 401 is also used to acquire first distance information and second distance information, wherein the first distance information is used to indicate the distance between the positioning card and the tunnel base station, and the second distance information is used to indicate the distance between the tunnel starting point and the tunnel base station; the first determination module 402 is also used to: determine third distance information based on the first distance information and the second distance information, wherein the third distance information is used to indicate the distance between the tunnel starting point and the positioning card; determine a first vector based on the position information of the tunnel starting point and the position information of the tunnel base station, wherein the first vector is determined based on the difference between the position of the tunnel starting point and the position of the tunnel base station; determine the position information of the positioning card based on the first vector and the third distance.

[0192] Optionally, the acquisition module 401 is also used to obtain fourth distance information, wherein the fourth distance information is used to represent the distance between the starting point of the tunnel and the first comprehensive mining face base station, and the first comprehensive mining face base station is any one of the multiple comprehensive mining face base stations; the second determination module 403 is also used to: determine the fifth distance information based on the position information of the positioning card and the starting position of the tunnel; determine the position information of the first comprehensive mining face base station based on the position information of the positioning card and the fifth distance information; determine the position information of other base stations in the comprehensive mining face base station based on the position information of the first comprehensive mining face base station and the preset base station distance information.

[0193] Optionally, the acquisition module 401 is also used to obtain horizontal offset distance information and the sinking value of the coal machine coordinates, wherein the horizontal offset distance information is used to indicate the horizontal offset distance of the coal machine relative to the comprehensive mining working face; the third determination module 404 is also used to: determine the first coordinate based on the position information of the positioning card, the position information of the tunnel base station and the horizontal offset distance information; determine the second coordinate based on the first coordinate and the horizontal offset distance information; determine the third coordinate based on the first coordinate and the sinking value of the coal machine coordinates; determine the target position information of the coal machine based on the second coordinate and the third coordinate.

[0194] Optionally, the acquisition module 401 is also used to acquire a second vector, wherein the second vector is determined based on the location information of the second positioning card and the location information of the tunnel base station; the third determination module 404 is also used to: determine the first vector coefficient based on the second vector and the horizontal offset distance; and determine the first coordinate based on the first vector coefficient and the second vector.

[0195] Optionally, the acquisition module 401 is also used to obtain a third vector and a fourth vector, wherein the third vector is determined based on the position information of the first positioning card and the position information of the lane base station, and the fourth vector is determined based on the position information of the first positioning card and the position information of the second positioning card; the third determination module 404 is also used to: perform a dot product operation on the third two-vector and the fourth three-vector to obtain a first calculation result; determine a projection vector of the third vector based on the fourth two-vector and the first calculation result; determine a second vector coefficient based on the horizontal offset distance information and the projection vector; and determine a second coordinate based on the second vector coefficient and the first coordinate.

[0196] Optionally, the acquisition module 401 is also used to obtain a normal vector, wherein the normal vector is used to represent the normal vector of a preset plane, and the preset plane is determined based on the position information of the positioning card and the position information of the tunnel base station; the third determination module 404 is also used to: determine a third vector coefficient based on the normal vector and the sinking value of the coal machine coordinates; multiply the third vector coefficient and the normal vector to obtain a second calculation result; and determine the third coordinate based on the second calculation result and the second coordinate.

[0197] Optionally, the acquisition module 401 is also used to obtain the initial position information of the coal machine; the third determination module 404 is also used to: perform a difference operation on the third coordinate and the second coordinate to obtain a fourth calculation result; and determine the target position information of the coal machine based on the initial position information and the fourth calculation result.

[0198] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0199] According to one embodiment of the present invention, there is also provided a coal operation positioning system, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the above-mentioned coal operation positioning method.

[0200] According to one embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the above-mentioned coal operation positioning method.

[0201] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0202] Step S1, obtaining the location information of the lane starting point, the location information of the lane base station, and the preset base station distance information;

[0203] Step S2, determining the location information of the positioning card based on the location information of the starting point of the lane and the location information of the lane base station;

[0204] Step S3, determining the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information;

[0205] Step S4, determining the target position information of the coal mining machine based on the position information of the positioning card and the position information of multiple fully mechanized mining face base stations.

[0206] According to one embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute the above-mentioned coal operation positioning method.

[0207] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0208] Step S1, obtaining the location information of the lane starting point, the location information of the lane base station, and the preset base station distance information;

[0209] Step S2, determining the location information of the positioning card based on the location information of the starting point of the lane and the location information of the lane base station;

[0210] Step S3, determining the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information;

[0211] Step S4, determining the target position information of the coal mining machine based on the position information of the positioning card and the position information of multiple fully mechanized mining face base stations.

[0212] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0213] According to one embodiment of the present invention, there is also provided a computer program product, including a computer program, which implements the above-mentioned coal operation positioning method when executed by a processor.

[0214] Optionally, in this embodiment, the computer program product may be configured to store computer program instructions for performing the following steps:

[0215] Step S1, obtaining the location information of the lane starting point, the location information of the lane base station, and the preset base station distance information;

[0216] Step S2, determining the location information of the positioning card based on the location information of the starting point of the lane and the location information of the lane base station;

[0217] Step S3, determining the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information;

[0218] Step S4, determining the target position information of the coal mining machine based on the position information of the positioning card and the position information of multiple fully mechanized mining face base stations.

[0219] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0220] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0221] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0222] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0223] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0224] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0225] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0226] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for positioning coal operations, characterized in that: include: Obtain the location information of the starting point of the lane, the location information of the lane base station, and the distance information of the preset base station; Determine the location information of the positioning card based on the location information of the starting point of the lane and the location information of the lane base station; Determine the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information; The target position information of the coal mining machine is determined based on the position information of the positioning card and the position information of the multiple comprehensive mining face base stations.

2. The method for positioning coal operations according to claim 1, characterized in that: Determining the location information of the positioning card based on the location information of the starting point of the lane and the location information of the lane base station includes: Acquire first distance information and second distance information, wherein the first distance information is used to indicate the distance between the positioning card and the lane base station, and the second distance information is used to indicate the distance between the lane starting point and the lane base station; Determine third distance information based on the first distance information and the second distance information, wherein the third distance information is used to represent the distance between the starting point of the lane and the positioning card; Determine a first vector based on the lane start position information and the lane base station position information, wherein the first vector is determined based on a difference between the lane start position and the lane base station position; The location information of the positioning card is determined based on the first vector and the third distance.

3. The method for positioning coal operations according to claim 2, characterized in that: Determining the location information of multiple fully mechanized mining face base stations based on the location information of the positioning card and the preset base station distance information includes: Acquire fourth distance information, wherein the fourth distance information is used to indicate the distance between the starting point of the tunnel and a first fully mechanized mining face base station, wherein the first fully mechanized mining face base station is any one of the multiple fully mechanized mining face base stations; Determine fifth distance information based on the position information of the positioning card and the starting position of the lane; Determine the location information of the first fully mechanized mining face base station based on the location information of the positioning card and the fifth distance information; The location information of other base stations in the comprehensive mining face base station is determined based on the location information of the first comprehensive mining face base station and the preset base station distance information.

4. The method for positioning coal operations according to claim 1, characterized in that: The positioning card at least includes a first positioning card and a second positioning card, the first positioning card and the second positioning card are located at different ends of the fully mechanized mining face, and the target position information of the coal mining machine is determined based on the position information of the positioning card and the position information of the fully mechanized mining face base station, including: Acquire horizontal offset distance information and the sinking value of the coal machine coordinates, wherein the horizontal offset distance information is used to indicate the horizontal offset distance of the coal machine relative to the fully mechanized mining working face; Determine a first coordinate based on the position information of the positioning card, the position information of the lane base station and the horizontal offset distance information; Determine a second coordinate based on the first coordinate and the horizontal offset distance information; Determine a third coordinate based on the first coordinate and the sinking value of the coal machine coordinate; The target position information of the coal mining machine is determined based on the second coordinate and the third coordinate.

5. The method for positioning coal operations according to claim 4, characterized in that: Determining the first coordinate based on the location information of the positioning card, the location information of the lane base station and the horizontal offset distance information includes: Acquire a second vector, wherein the second vector is determined based on the position information of the second positioning card and the position information of the lane base station; The second vector and the horizontal offset distance determine a first vector coefficient; The first coordinate is determined based on the first vector coefficient and the second vector.

6. The method for positioning coal operations according to claim 5, characterized in that: Determining a second coordinate based on the first coordinate and the horizontal offset distance information includes: Acquire a third vector and a fourth vector, wherein the third vector is determined based on the position information of the first positioning card and the position information of the lane base station, and the fourth vector is determined based on the position information of the first positioning card and the position information of the second positioning card; Performing a dot product operation on the third vector and the fourth vector to obtain a first calculation result; determining a projection vector of the third vector based on the fourth vector and the first calculation result; Determine a second vector coefficient based on the horizontal offset distance information and the projection vector; The second coordinate is determined based on the second vector coefficient and the first coordinate.

7. The method for positioning coal operations according to claim 4, characterized in that: Determining the third coordinate based on the first coordinate and the sinking value of the coal mining machine coordinate includes: Obtaining a normal vector, wherein the normal vector is used to represent a normal vector of a preset plane, and the preset plane is determined based on the position information of the positioning card and the position information of the lane base station; Determine a third vector coefficient based on the normal vector and the sinking value of the coal machine coordinates; Performing a multiplication operation on the third vector coefficient and the normal vector to obtain a second calculation result; The third coordinate is determined based on the second calculation result and the second coordinate.

8. The method for positioning coal operations according to claim 4, characterized in that: Determining the target position information of the coal mining machine based on the second coordinate and the third coordinate includes: Obtain the initial position information of the coal machine; performing a difference operation on the third coordinate and the second coordinate to obtain a fourth calculation result; The target position information of the coal mining machine is determined based on the initial position information and the fourth calculation result.

9. A coal operation positioning system, comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the coal operation positioning method described in any one of claims 1 to 8.

10. A non-volatile storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method for locating coal operations as described in any one of claims 1 to 8 when run.

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