Coal mining machine positioning method and device, electronic equipment and medium

Abstract

The invention provides a coal mining machine positioning method and device, electronic equipment and a medium, and relates to the field of coal mining machine positioning. The method comprises the following steps: acquiring a first position of the coal mining machine in real time through infrared positioning; acquiring a second position of the coal mining machine in real time through a shaft encoder; and after each change of the first position and before the next change, determining the actual position of the coal mining machine based on the change of the first position and the second position after each change. According to the scheme, combined positioning with infrared positioning as a main part and numerical value change of the shaft encoder as an auxiliary part is achieved, in addition, the change value, namely the relative position, of the shaft encoder is used in the actual position, so that repeated calibration is not needed, the positioning accuracy of the coal mining machine is remarkably improved, the positioning modes of the coal mining machine are richer, and the positioning accuracy of the coal mining machine is improved. And the cooperative working capability and the machine-following adaptability of the hydraulic support and the coal mining machine are improved, so that the working efficiency of fully mechanized coal mining is improved.

Description

Technical Field

[0001] The invention relates to the field of coal mining machine positioning technology, and in particular to a coal mining machine positioning method, device, electronic equipment and medium. Background Art

[0002] Coal miners and hydraulic supports are two key components of the fully mechanized coal mining (FMCM) system. Coal miners and hydraulic supports need to work together to achieve efficient and safe coal mining. During the fully mechanized mining process, the coal miner needs to move continuously, and the direction of movement will change. The position of the coal miner needs to be accurately positioned to ensure that the two can complete the coal mining work more efficiently.

[0003] At present, the traditional positioning of coal mining machines mainly relies on accurate positioning of coal mining machines. Conventional positioning methods of coal mining machines include infrared positioning, shaft encoder positioning, and inertial navigation positioning, etc. However, various positioning methods have their own defects. For example, infrared positioning is more demanding on the radiation propagation environment, and it is easy for hydraulic supports to lose or miss frames. Shaft encoder positioning requires repeated calibration, otherwise positioning deviations are likely to occur. Inertial navigation positioning is not only more complicated to recover after each restart, but also has relatively high equipment costs. In addition, in order to ensure the accuracy of coal mining machine positioning during coal mining machine positioning, the industry has also seen a variety of methods of combining positioning, such as the combination of infrared positioning and shaft encoder positioning, and this combination method is mostly for mutual correction of measurement data or as a backup reference. Therefore, the positioning effect of coal mining machines is essentially still limited by the corresponding measurement method, and therefore urgently needs to be improved. Summary of the invention

[0004] The present invention provides a coal mining machine positioning method, device, electronic equipment and medium, which are used to solve the problems of lost and missed frames in the process of following the machine automation caused by the inaccurate traditional infrared positioning of the coal mining machine in the prior art, and realize infrared positioning as the main position basis, using shaft encoder positioning to assist in determining the running direction of the coal mining, thereby improving the timeliness and accuracy of the coal mining machine positioning.

[0005] According to a first aspect of the present invention, the present invention provides a coal mining machine positioning method, the method comprising: Acquire the first position of the coal mining machine in real time through infrared positioning; Acquire the second position of the coal mining machine in real time through the shaft encoder; After each change of the first position and before the next change, the actual position of the coal mining machine is determined based on the changes in the first position and the second position after each change.

[0006] According to the coal mining machine positioning method of the present invention, the actual position of the coal mining machine is determined based on the changes of the first position and the second position after each change, including: Acquire the current first position, and use the second position generated simultaneously with the current first position as the target second position; For each new second position generated after the target second position and before the current first position changes again, perform the following operations: Calculating a first difference between the new second position and the target second position; The first difference is combined with the current first position to obtain the actual position of the coal mining machine.

[0007] According to the coal mining machine positioning method of the present invention, the actual position of the coal mining machine is determined based on the changes of the first position and the second position after each change, including: Get the current first position, and get the second position generated simultaneously with the current first position; After the current first position is generated and before the current first position is changed again, the previous second position of each new second position is used as the target second position; Calculating a second difference between each new second position and the target second position; The second difference is accumulated, and the accumulated result is combined with the current first position to obtain the actual position of the coal mining machine.

[0008] According to the coal mining machine positioning method of the present invention, the method further comprises: If it is determined that the new second position is greater than the previous second position, it is confirmed that the coal mining machine is in an upward operation state, and the hydraulic support is controlled to follow the machine according to the upward following machine strategy; If it is determined that the second position is continuously decreasing, it is confirmed that the coal mining machine is returning, and the root machine strategy of the hydraulic support is adjusted according to the change of the second position during the returning process.

[0009] According to the coal mining machine positioning method of the present invention, the rooting strategy of the hydraulic support is adjusted according to the change of the second position during the return process, including: Determine whether the range of the second position change interval during the return process exceeds a preset value, and determine whether the return of the coal mining machine has been completed; If the extreme difference does not exceed the preset value, it is confirmed that the coal mining machine is returning the cutter back and forth within a small range, and the hydraulic support is controlled to temporarily stop the upward following machine strategy, and resume the upward following machine strategy when it is determined that the return of the cutter is completed; If the extreme difference exceeds the preset value, it is confirmed that the coal mining machine is running in a downward direction, and the hydraulic support is controlled to change to follow the machine according to the downward following strategy, and when it is determined that the return cutter is finished, it is changed to follow the machine according to the upward following strategy.

[0010] According to the coal mining machine positioning method of the present invention, the step of judging whether the return cutter is finished comprises: Acquire and confirm the maximum value of the second position recorded before the coal mining machine returns, and monitor the second position generated subsequently; If the second position generated by the subsequent monitoring exceeds the second position maximum value, it is confirmed that the coal mining machine's return is completed.

[0011] According to the coal mining machine positioning method of the present invention, determining whether the second position is continuously decreasing includes: Determining whether there are a continuous preset number of current second positions that are all smaller than a previous second position, wherein the preset number is greater than or equal to three; If so, it is confirmed that the second position is continuously decreasing.

[0012] According to a second aspect of the present invention, the present invention further provides a coal mining machine positioning device, the device comprising: A first acquisition module, used for acquiring a first position of the coal mining machine in real time through infrared positioning; A second acquisition module, used for acquiring a second position of the coal mining machine in real time through a shaft encoder; The actual position determination module is used to determine the actual position of the coal mining machine based on the changes of the first position and the second position after each change after the first position changes and before the next change.

[0013] According to the third aspect of the present invention, the present invention also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a coal mining machine positioning method as described above is implemented.

[0014] According to a fourth aspect of the present invention, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the coal mining machine positioning method as described in any one of the above is implemented.

[0015] The coal mining machine positioning method of this embodiment adopts infrared positioning and shaft encoder to respectively collect the real-time position of the coal mining machine, and then uses the change value of the shaft encoder to accurately position the coal mining machine that moves between two different first positions, thereby realizing combined positioning with infrared positioning as the main method and the value change of the shaft encoder as the auxiliary method. In addition, the change value of the shaft encoder, i.e. the relative position, is used in the actual position, so there is no need for repeated calibration, which significantly improves the accuracy of coal mining machine positioning and enriches the coal mining machine positioning methods, which helps to improve the collaborative working ability and follow-up adaptability of the hydraulic support and the coal mining machine, thereby improving the efficiency of comprehensive mining.

[0016] In addition, a coal mining machine positioning device, an electronic device and a non-transitory computer-readable storage medium provided by the present invention can also achieve the above-mentioned technical effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic flow chart of the coal mining machine positioning method provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the principle of using infrared to locate the position of a coal mining machine provided by the present invention.

[0020] Figure 3 It is a schematic diagram of the position of a coal mining machine in motion using infrared positioning provided by the present invention.

[0021] Figure 4 It is a flow chart of adjusting the following strategy according to the variation range of the second position provided by the present invention.

[0022] Figure 5 It is a schematic diagram of the coal mining machine provided by the present invention moving upward along the fully mechanized mining working face.

[0023] Figure 6 It is a schematic diagram of the return cutter of the coal mining machine provided by the present invention.

[0024] Figure 7 It is a structural schematic diagram of the coal mining machine positioning device provided by the present invention.

[0025] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0027] Combine the following Figures 1 to 8The present invention describes a coal mining machine positioning method, a coal mining machine positioning device, an electronic device and a non-transitory computer-readable storage medium.

[0028] Figure 1 This is a flow chart of the method for positioning a coal mining machine provided by an embodiment of the present invention. Figure 1 As shown, this embodiment provides a method for positioning a coal mining machine, which can be implemented by steps S101 to S103. Each step will be described in detail below: Step S101, obtaining the first position of the coal mining machine in real time through infrared positioning.

[0029] In this embodiment, infrared positioning is a method of positioning using infrared technology. The working principle of infrared positioning is to determine the position of an object by measuring the distance and direction between the object and the infrared sensor. The first position can be obtained by pre-marking the position of the hydraulic support, and then determining the position of the coal mining machine by sending and receiving infrared rays between the hydraulic support and the coal mining machine. It should be noted that the first position is real-time, and the first position is constantly changing with the continuous movement of the coal mining machine. In the specific implementation process, the first position can be expressed in the form of a hydraulic support number. For example, the hydraulic supports set in sequence can be numbered in advance, and the number corresponding to the hydraulic support closest to the coal mining machine is used as the corresponding first position. Of course, for the convenience of expression, the hydraulic support number can also be mapped to a relative position with the set target, such as the No. 1 hydraulic support corresponds to a position of 100 meters, and the No. 2 support corresponds to a position of 101.5 meters.

[0030] Step S102, obtaining the second position of the coal mining machine in real time through the shaft encoder.

[0031] In this embodiment, the shaft encoder is a sensor that converts the position or angle of a rotating shaft into an electrical signal. In the specific implementation process, the shaft encoder can be installed on the travel gear of the coal mining machine. The number of revolutions of the encoder gear is calculated by the travel of the coal mining machine, and then the number of revolutions is multiplied by the circumference to calculate the travel displacement of the coal mining machine and obtain the position of the coal mining machine on the comprehensive mining face. It should be noted that the second position is also real-time, and the second position changes continuously with the continuous movement of the coal mining machine. It should be noted that the shaft encoder can be calibrated by a preset zero point, and the shaft encoder only needs to be calibrated once.

[0032] Step S103, after each change of the first position and before the next change, determining the actual position of the coal mining machine based on the changes of the first position and the second position after each change.

[0033] In this embodiment, after each change of the first position and before the next change refers to a specific time period during which the coal mining machine needs to re-determine the actual position. This specific time period should meet the following requirements: after each change of the first position and before the next change refers to the time period from when the infrared positioning generates a new first position each time to when the new first position is transformed into another first position different from the current first position. For example, if the current infrared device measures that the coal mining machine is located at the No. 5 hydraulic support, then the time period from when the No. 5 hydraulic support is first generated to when it becomes the No. 6 hydraulic support or the No. 4 hydraulic support is the time period that requires precise positioning. It should be noted that the actual position is obtained by combining the changes in the current first position and the second position, and the actual position can accurately indicate the position of coal mining.

[0034] Exemplarily, the actual position may put the hydraulic support number represented by the first position in front, and the change of the second position in the rear coal mining machine positioning method surface, for example, the actual position may be represented as No. 5 hydraulic support, 0.4m, or the actual position may put the change of the second position in front, and put the hydraulic support number represented by the first position in the back, for example, the actual position may be represented as 0.4m, No. 5 hydraulic support. It should be noted that the specific hydraulic support number and the specific shaft encoder change value listed in this embodiment are only for the convenience of understanding and should not be understood as a limitation to the scheme of the present invention.

[0035] The coal mining machine positioning method of this embodiment adopts infrared positioning and shaft encoder to respectively collect the real-time position of the coal mining machine, and then uses the change value of the shaft encoder to accurately position the coal mining machine that moves between two different first positions, thereby realizing combined positioning with infrared positioning as the main method and the value change of the shaft encoder as the auxiliary method. In addition, the change value of the shaft encoder, i.e. the relative position, is used in the actual position, so there is no need for repeated calibration, which significantly improves the accuracy of coal mining machine positioning and enriches the coal mining machine positioning methods, which helps to improve the collaborative working ability and follow-up adaptability of the hydraulic support and the coal mining machine, thereby improving the efficiency of comprehensive mining.

[0036] In some possible implementations, the aforementioned step S101, obtaining the first position of the coal mining machine in real time by infrared positioning, specifically includes: An infrared transmitter for transmitting infrared signals in a fan-shaped manner is arranged on the coal mining machine, and an infrared receiver is arranged on each hydraulic support; The first position of the coal mining machine is determined according to the hydraulic support corresponding to the infrared receiver that receives the infrared signal in real time.

[0037] Infrared positioning is a commonly used method for locating coal mining machines on working faces. The transmitter continuously emits infrared signals to the fan-shaped area of ​​the support. After the receiver receives the signal, it reports it to the support in real time. Then, the position data of the coal mining machine is output through the infrared coal mining machine position analysis algorithm. It has the advantages of simple installation and low cost. For example, please combine Figure 2 As shown in the figure, the infrared positioning of the coal mining machine is to install the infrared transmitting device on the coal mining machine body, and the infrared receiving device is installed on the hydraulic support of the working face. Each hydraulic support is installed with a receiving device. During the operation of the coal mining machine, the transmitting device installed on the coal mining machine body continuously transmits infrared signals to the fan-shaped area of ​​the support. After the receiving device installed on each hydraulic support receives the infrared signal, the position of the coal mining machine relative to the hydraulic support is calculated, such as Figure 3 As shown, during the movement of the coal mining machine from the left side to the right side, the position of the coal mining machine can be continuously determined by the infrared receiver on the hydraulic support.

[0038] The coal mining machine positioning method of this embodiment utilizes low-cost infrared positioning to obtain the actual position of the coal mining machine during operation in real time, thereby providing a basis for subsequent hydraulic supports to follow the position of the coal mining machine in real time.

[0039] In some possible implementations, the aforementioned step S102, obtaining the second position of the coal mining machine in real time through the shaft encoder, specifically includes: A shaft encoder is provided on the travel gear of the coal mining machine; The shaft encoder is made to generate a second position relative to a pre-marked zero point at intervals of a preset time or a preset number of revolutions.

[0040] It should be noted that in this embodiment, the zero point of the shaft encoder only needs to be marked once, and it can be marked using a special point on the fully mechanized working surface or the position of the hydraulic support. Since the subsequent use of the shaft encoder data is only the relative position, that is, the relative change of the shaft encoder data before and after, there is no need to repeatedly calibrate the shaft encoder.

[0041] The coal mining machine positioning method of this embodiment utilizes a low-cost shaft encoder to record the coal mining operation position. Different from the existing shaft encoder positioning coal mining method, the scheme of the present invention no longer requires accurate calibration of the actual position of the coal mining machine, but only requires a simple one-time zero point mark, which can provide data support for subsequent analysis of whether the coal mining operation direction has changed.

[0042] In some possible implementations, determining the actual position of the coal mining machine based on the changes in the first position and the second position after each change includes: Acquire the current first position, and use the second position generated simultaneously with the current first position as the target second position; For each new second position generated after the target second position and before the current first position changes again, perform the following operations: Calculating a first difference between the new second position and the target second position; The first difference is combined with the current first position to obtain the actual position of the coal mining machine.

[0043] The coal mining machine positioning method of this embodiment uses the second position generated simultaneously each time the first position changes as a reference, and subtracts the second position generated each time from the first position, so as to use the difference and the current first position to calibrate the coal mining machine position, avoiding the use of the actual measurement value of the shaft encoder, significantly improving the positioning accuracy, and having high accuracy.

[0044] In some possible implementations, determining the actual position of the coal mining machine based on the changes in the first position and the second position after each change includes: Get the current first position, and get the second position generated simultaneously with the current first position; After the current first position is generated and before the current first position is changed again, the previous second position of each new second position is used as the target second position; Calculating a second difference between each new second position and the target second position; The second difference is accumulated, and the accumulated result is combined with the current first position to obtain the actual position of the coal mining machine.

[0045] The coal mining machine positioning method of this embodiment is different from the method using a fixed second position as a reference in that the method uses the previous position of each newly generated second position as a reference to obtain a more accurate change. Not only can the actual measurement value of the axis encoding be used, but the measurement accuracy of the relative position can also be further improved, thereby further improving the accuracy of positioning.

[0046] It should be noted that the above-mentioned first difference and second difference both use the current latest second position as the subtrahend, because both the first difference and the second difference may be positive or negative, that is, whether the coal mining machine is going up or down, the above method can be used between any two hydraulic pressures to locate the precise position of the coal mining machine, thereby providing accurate data support for the hydraulic pressure to follow the coal mining machine.

[0047] In some possible implementations, the method further includes: If it is determined that the new second position is greater than the previous second position, it is confirmed that the coal mining machine is in an upward operation state, and the hydraulic support is controlled to follow the machine according to the upward following machine strategy; If it is determined that the second position is continuously decreasing, it is confirmed that the coal mining machine is returning, and the root machine strategy of the hydraulic support is adjusted according to the change of the second position during the returning process.

[0048] The coal mining machine positioning method of this embodiment determines whether the coal mining machine is in an upward operation state or in a cutting operation in combination with the change of the second position. In the case of a cutting operation, the root machine strategy is adjusted in combination with the change range of the second position. The cutting operation can be detected in a timely and accurate manner, thereby improving the coordination between the hydraulic support and the coal mining machine. Infrared positioning is used to determine whether a cutting operation has occurred, which significantly reduces the occurrence of frame loss and improves the stability of the operation of the comprehensive mining system.

[0049] For some possible implementations, see Figure 4 As shown, the root machine strategy of the hydraulic support is adjusted according to the change of the second position during the return cutter process, including: Step S401, judging whether the range of the second position change interval during the return process exceeds a preset value, and judging whether the coal mining machine has finished the return process; wherein the range of the second position change interval during the return process refers to the absolute value of the difference between the maximum value and the minimum value of the second position from the start of the return process to the end of the return process; Step S402, if the range does not exceed the preset value, confirm that the coal mining machine is returning the cutter back and forth within a small range, and control the hydraulic support to temporarily stop the upward following machine strategy, and resume the upward following machine strategy when it is determined that the return of the cutter is completed; Step S403, if the extreme difference exceeds the preset value, confirm that the coal mining machine is running in a downward direction, and control the hydraulic support to change to follow the machine according to the downward following strategy, and change to follow the machine according to the upward following strategy when it is determined that the return cutter is finished.

[0050] In the specific implementation process, the preset value is to detect whether the range continues to increase after the return of the cutter. For example, a coal mining machine has a return of the cutter at a certain position. At this time, the data of the shaft encoder records a maximum value of 100. When it is detected that the shaft encoder generates recorded data exceeding 100, such as 101.2, it can be determined that the range continues to increase, that is, the return of the cutter ends. The preset value can be set with reference to the range of the return of the coal mining machine. For example, a small range of return is usually carried out within two hydraulic supports, so the preset value can be set according to the distance between the two hydraulic supports.

[0051] The coal mining machine positioning method of this embodiment, through the change of the relative position of the shaft encoder, assists the coal mining machine infrared positioning to quickly identify large-scale and small-scale return cutters, and provides reasonable root machine strategies for return cutter operations in different ranges, realizes the precise shifting of the advance coal mining machine drum and the collection of the protective wall, meets the needs of following the machine in special circumstances, and improves the adaptability of following the machine.

[0052] In some possible implementations, the step of determining whether the return cutter is completed includes: Acquire and confirm the maximum value of the second position recorded before the coal mining machine returns, and monitor the second position generated subsequently; If the second position generated by the subsequent monitoring exceeds the second position maximum value, it is confirmed that the coal mining machine's return is completed.

[0053] The coal mining machine positioning method of this embodiment, in the case of a coal mining machine return cutter, can timely and accurately identify whether the return cutter operation is completed by monitoring the data of the rear shaft encoder after the return cutter operation is discovered, thereby providing a reliable judgment basis for adjusting the corresponding root machine strategy and improving the strategy application and control efficiency.

[0054] In some possible implementations, determining that the second position is continuously decreasing includes: Determining whether there are a continuous preset number of current second positions that are all smaller than a previous second position, wherein the preset number is greater than or equal to three; If so, it is confirmed that the second position is continuously decreasing.

[0055] In the specific implementation process, the preset number can be set according to the accuracy of the shaft encoder and the expected accuracy of identifying the return tool. For example, when the required identification accuracy is high, the value can be set relatively small, otherwise it can be set relatively large. In addition, setting it to three or more can also help avoid the occurrence of misjudgment. In addition, it should be noted that if it is not found that the current second position of the consecutive preset number is smaller than the previous second position, it can not be confirmed that the second position does not continuously decrease. That is to say, in the specific implementation process, other screening rules can be combined to determine whether it may be a continuous decrease. For example, although there is no preset number of second positions that are limited to the previous second position, by counting the second positions within a specific time length, if it is found that most of the second positions have a decreasing trend, it can also be confirmed that the second position is continuously decreasing. Therefore, judging whether it is continuously decreasing by the preset number is a more preferred way but not the only way.

[0056] The coal mining machine positioning method of this embodiment determines whether the coal mining machine has a back-cutting condition by analyzing the change trend of the second position corresponding to the shaft encoder. Since the positioning accuracy of the shaft encoder is relatively high, the time to discover the occurrence of a back-cutting condition can be shortened.

[0057] In another embodiment, in order to facilitate understanding of the solution of the present invention, it may be convenient to use Figure 5 Taking the application scenario shown in the figure as an example, this embodiment provides a coal mining machine positioning method applied to this scenario. The specific process of the method is as follows: Assuming that the working face machine head is taken as the starting point, the encoder is 0 when the coal mining machine is at the machine head, and gradually increases towards the machine tail. When the working face coal mining machine moves from the machine head to the machine tail, if it runs continuously without interruption, the coal mining infrared positioning frame number will continue to increase, and the encoder value will also continue to increase.

[0058] When the coal mining machine encounters special conditions at the working face, such as small coal passing space, no coal breaking device, large pieces of coal appearing on the side of the coal cutting machine and the need to return the cutter, infrared frame loss will occur. Please refer to Figure 6 As shown, the reason for the infrared frame loss is that when the coal mining machine returns, the controller coal loading machine state will change to stop, and to change from stop to up / down state, more than 2 frames need to move continuously in the same direction (taking each support 1.5m as an example, 2 frames are 3m). However, it is the continuous operation of two frames to judge the up / down state mechanism, which leads to the loss of 2 infrared positioning frames at the initial stage of the coal mining machine returning.

[0059] In order to solve the problem of infrared frame loss, the advantage of the high precision of the coal mining machine shaft encoder is used. When the working face is running normally from the head to the tail of the machine, when the cutter is returned in special circumstances, the control system detects that the shaft encoder position value decreases for more than 2 consecutive times, such as when the shaft encoder position information changes from 200.00→199.80→199.60 (the shaft encoder accuracy can be accurate to centimeters), the system determines that the coal mining machine has returned the cutter. At the same time, the system determines whether to make corresponding changes based on the relative position change of the shaft encoder. The specific strategies are as follows: If the relative position of the shaft encoder changes back and forth within the range of the two brackets, such as between (200.00, 197.00), the relative position is 3m, which means that the coal mining machine is returning the knife back and forth in a small range, then the following machine action will be temporarily stopped without interruption; If the relative position of the shaft encoder exceeds 2 brackets (3m), combined with the infrared position, it is determined that the direction of the coal mining machine has changed to downward, and the machine is followed according to the downward coal cutting.

[0060] If the relative position of the shaft encoder changes back and forth within the range of the two brackets and then gradually increases, for example, from 197.00 to 200.00, when the position continues to increase and exceeds the original stop position, it is judged that the coal machine's return has ended and the original following machine action continues.

[0061] The coal mining machine positioning method of this embodiment has at least the following beneficial technical effects: by combining infrared positioning with shaft encoder positioning, what is applied to the shaft encoder data is its change, that is, relative position, rather than the traditional absolute distance, and infrared positioning is used as the main judgment basis, combined with relatively high-precision shaft encoder positioning, assisted by infrared positioning, which can realize rapid identification of return, downward movement, and upward movement; in addition, due to the high precision of the relative position change of the shaft encoder, the accuracy of the coal mining machine positioning is improved, and the accurate shifting of the advance coal mining machine drum and the collection of the protective wall are realized, which meets the needs of following the machine under special circumstances and improves the adaptability of following the machine.

[0062] The coal mining machine positioning device provided by the present invention is described below. The coal mining machine positioning device described below and the coal mining machine positioning method described above can be referenced to each other.

[0063] Please refer to Figure 7 As shown, this embodiment provides a coal mining machine positioning device, specifically, the device includes: a first acquisition module 710, a second acquisition module 720 and an actual position determination module 730, and the above modules are described in detail below: A first acquisition module 710, used to acquire a first position of the coal mining machine in real time by infrared positioning; A second acquisition module 720, for acquiring a second position of the coal mining machine in real time through a shaft encoder; The actual position determination module 730 is used to determine the actual position of the coal mining machine based on the changes in the first position and the second position after each change after the first position changes and before the next change.

[0064] The coal mining machine positioning device of this embodiment adopts infrared positioning and shaft encoder to respectively collect the real-time position of the coal mining machine, and then uses the change value of the shaft encoder to accurately position the coal mining machine that moves between two different first positions, thereby realizing combined positioning with infrared positioning as the main method and the value change of the shaft encoder as the auxiliary method. In addition, the change value of the shaft encoder, i.e. the relative position, is used in the actual position, so there is no need for repeated calibration, which significantly improves the accuracy of coal mining machine positioning and enriches the coal mining machine positioning methods, which helps to improve the collaborative working ability and follow-up adaptability of the hydraulic support and the coal mining machine, thereby improving the efficiency of comprehensive mining.

[0065] It should be noted that each module in the above-mentioned coal mining machine positioning device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in an electronic device in the form of hardware, or can be stored in a memory in an electronic device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0066] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communications interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the coal mining machine positioning method, which includes: obtaining the first position of the coal mining machine in real time through infrared positioning; obtaining the second position of the coal mining machine in real time through the shaft encoder; after each change of the first position and before the next change, determining the actual position of the coal mining machine based on the changes of the first position and the second position after each change.

[0067] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the 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 to enable 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, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0068] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the coal mining machine positioning method provided by the above methods, which method includes: acquiring the first position of the coal mining machine in real time through infrared positioning; acquiring the second position of the coal mining machine in real time through an axis encoder; after each change of the first position and before the next change, determining the actual position of the coal mining machine based on the changes in the first position and the second position after each change.

[0069] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the coal mining machine positioning method provided by the above-mentioned methods, the method comprising: acquiring the first position of the coal mining machine in real time through infrared positioning; acquiring the second position of the coal mining machine in real time through an axis encoder; after each change of the first position and before the next change, determining the actual position of the coal mining machine based on the changes in the first position and the second position after each change.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for positioning a coal mining machine, characterized in that: The method comprises: Acquire the first position of the coal mining machine in real time through infrared positioning; Acquire the second position of the coal mining machine in real time through the shaft encoder; After each change of the first position and before the next change, the actual position of the coal mining machine is determined based on the changes in the first position and the second position after each change.

2. The method for positioning a coal mining machine according to claim 1, characterized in that: Determining the actual position of the coal mining machine based on the changes of the first position and the second position after each change, comprising: Acquire the current first position, and use the second position generated simultaneously with the current first position as the target second position; For each new second position generated after the target second position and before the current first position changes again, perform the following operations: Calculating a first difference between the new second position and the target second position; The first difference is combined with the current first position to obtain the actual position of the coal mining machine.

3. The method for positioning a coal mining machine according to claim 1, characterized in that: Determining the actual position of the coal mining machine based on the changes of the first position and the second position after each change, comprising: Get the current first position, and get the second position generated simultaneously with the current first position; After the current first position is generated and before the current first position is changed again, the previous second position of each new second position is used as the target second position; Calculating a second difference between each new second position and the target second position; The second difference is accumulated, and the accumulated result is combined with the current first position to obtain the actual position of the coal mining machine.

4. The method for positioning a coal mining machine according to claim 1, characterized in that: The method further comprises: If it is determined that the new second position is greater than the previous second position, it is confirmed that the coal mining machine is in an upward operation state, and the hydraulic support is controlled to follow the machine according to the upward following machine strategy; If it is determined that the second position is continuously decreasing, it is confirmed that the coal mining machine is returning, and the following strategy of the hydraulic support is adjusted according to the change range of the second position during the returning process.

5. The method for positioning a coal mining machine according to claim 4, characterized in that: According to the variation range of the second position during the return process, the following strategy of the hydraulic support is adjusted, including: Determine whether the range of the second position change interval during the return process exceeds a preset value, and determine whether the return of the coal mining machine has been completed; If the extreme difference does not exceed the preset value, it is confirmed that the coal mining machine is returning the cutter back and forth within a small range, and the hydraulic support is controlled to temporarily stop the upward following machine strategy, and resume the upward following machine strategy when it is determined that the return of the cutter is completed; If the extreme difference exceeds the preset value, it is confirmed that the coal mining machine is running in a downward direction, and the hydraulic support is controlled to change to follow the machine according to the downward following strategy, and when it is determined that the return cutter is finished, it is changed to follow the machine according to the upward following strategy.

6. The method for positioning a coal mining machine according to claim 5, characterized in that: The steps for determining whether the return cut is completed include: Acquire and confirm the maximum value of the second position recorded before the coal mining machine returns, and monitor the second position generated subsequently; If the second position generated by the subsequent monitoring exceeds the second position maximum value, it is confirmed that the coal mining machine's return is completed.

7. The method for positioning a coal mining machine according to claim 4, characterized in that: Determining whether the second position is continuously decreasing includes: Determining whether there are a continuous preset number of current second positions that are all smaller than a previous second position, wherein the preset number is greater than or equal to three; If so, it is confirmed that the second position is continuously decreasing.

8. A coal mining machine positioning device, characterized in that: The device comprises: A first acquisition module, used for acquiring a first position of the coal mining machine in real time through infrared positioning; A second acquisition module, used for acquiring a second position of the coal mining machine in real time through a shaft encoder; The actual position determination module is used to determine the actual position of the coal mining machine based on the changes of the first position and the second position after each change after the first position changes and before the next change.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the coal mining machine positioning method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the coal mining machine positioning method as described in any one of claims 1 to 7 is implemented.

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