Intelligent repairing method and system for water channel of cutting part of coal mining machine and electronic equipment

Abstract

The invention relates to the technical field of coal cutter cutting part water channel intelligent repairing scheme design, in particular to a coal cutter cutting part water channel intelligent repairing method and system and electronic equipment. In the moving process of a target snakelike robot in a water channel, a depth image of the inner wall of the water channel of a depth camera arranged in front of the target snakelike robot is utilized to process the depth image shot by the target snakelike robot, and the processed depth camera data is utilized to identify a passable channel according to a preset judgment rule. Calculating the area of the passable channel based on the identification result; whether the target snakelike robot is controlled to stop moving or not is judged, and a descaling agent spraying device arranged on the target snakelike robot is started. According to the invention, through the combination of intelligent monitoring means and physical and chemical methods, dirt positioning, automatic cleaning and repairing of the water channel are realized, the working efficiency is improved, and the intelligent degree and reliability of repairing the water channel of the cutting part of the coal mining machine are improved to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of design of intelligent repair schemes for water channels in the cutting section of a coal mining machine, and in particular to an intelligent repair method and system for water channels in the cutting section of a coal mining machine, and electronic equipment. Background Art

[0002] In the field of mining machinery manufacturing, coal mining machine is an important equipment, which is mainly used for underground coal mining. The cutting part of the coal mining machine is an important part of the coal mining machine. Its function is to cut coal from the ore layer through rotating cutters. In the operation of the coal mining machine, the waterway is an indispensable component. Its function is to cool and lubricate the cutting part of the coal mining machine through circulating cooling water. However, during the use of the coal mining machine, due to the entry of impurities, oil and other substances in the coal, the waterway is easily polluted and damaged. In the field of intelligent manufacturing technology, with the continuous development of science and technology, intelligent monitoring methods have been widely used in the maintenance and repair of various mechanical equipment. These intelligent monitoring methods can monitor the operating status of the equipment in real time through sensors and data analysis technology, and timely discover and respond to equipment failures and problems, thereby improving the operating efficiency and service life of the equipment. In the field of waterway system engineering, the maintenance and repair of waterways is an important link. However, traditional waterway maintenance and repair methods have the problem of difficulty in locating the blockage position and low repair efficiency. The existing technology mainly involves manually cutting the steel plates on the outside of the waterway one by one, inspecting and cleaning each position, and then manually re-welding and re-installing the steel plates on the outside of the waterway after inspection and cleaning. This method is not only inefficient, but also prone to omissions and errors.

[0003] Therefore, the prior art needs to be further developed. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a method and system for intelligently repairing the water channel of the cutting part of a coal mining machine, as well as electronic equipment, so as to solve the problems existing in the prior art.

[0005] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides an intelligent repair method for a water channel of a coal mining machine cutting part, comprising: The target snake-like robot is placed at the entrance of the water channel of the cutting part of the coal mining machine, and the target snake-like robot is controlled to move along the water channel of the cutting part of the coal mining machine. During the movement of the target snake-like robot, the following steps are performed: S100, using a depth camera disposed in front of the target snake-like robot to capture a depth image in front of the target snake-like robot at a preset time interval, and using an LED light source disposed on the target snake-like robot to provide a light source for capturing the target snake-like robot; S200, processing the depth image taken by the target snake-like robot, using the processed depth camera data to identify the navigable channel according to a preset determination rule, and calculating the area of ​​the navigable channel based on the identification result; S300, determining whether the area of ​​the passable passage is greater than or equal to a first preset threshold value, determining whether to control the target snake-like robot to stop moving according to the determination result, and turning on a descaling agent spraying device provided on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

[0006] Specifically, the processing of the depth image taken by the target snake-like robot includes: First, we obtain the set of depth arrays {Ad1, Ad2, …, Adn} and the corresponding angles and distances {d1, d2, …, dn} in the depth image data, where 125° of the laser radar corresponds to 0° of the depth camera's viewing angle. We count the points in the image within the range of d1±dσ and store the coordinates in array Ad1. We obtain the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate in array Ad1. We establish a target search box M1 based on the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate in Ad1. We count the points in the image within the range of d2±dσ and store the coordinates in array Ad2, …, and so on. The depth image is divided into a series of target search boxes Mn.

[0007] Specifically, the processing of the depth camera data to identify the passable channel according to the preset determination rules, and calculating the area of ​​the passable channel based on the identification result, includes: Calculate the distance difference of adjacent target search boxes respectively, and determine whether the maximum distance difference is greater than or equal to the second preset threshold. If so, determine whether the width of the target search box with a larger distance between the two target search boxes that produce the maximum distance difference is greater than or equal to the third preset threshold, and at the same time determine whether the height of the target search box is greater than or equal to the fourth preset threshold. If so, the area indicated by the target search box is a passable channel, obtain the coordinates of the four vertices of the target search box, and calculate the area of ​​the passable channel based on the coordinates of the four vertices of the target search box.

[0008] Specifically, judging whether the area of ​​the passable passage is greater than or equal to a first preset threshold, judging whether to control the target snake-like robot to stop moving according to the judgment result, and turning on a descaling agent spraying device disposed on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot, including: If the area of ​​the navigable passage is smaller than the first preset threshold, the target snake-like robot is controlled to stop moving, and a descaling agent spraying device disposed on the target snake-like robot is turned on to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

[0009] Specifically, judging whether the area of ​​the passable passage is greater than or equal to a first preset threshold, judging whether to control the target snake-like robot to stop moving according to the judgment result, and turning on a descaling agent spraying device disposed on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot, including: If the area of ​​the navigable passage is greater than or equal to the first preset threshold, the target snake-like robot is controlled to continue moving.

[0010] Specifically, the processing of the depth camera data to identify the passable channel according to the preset determination rules, and calculating the area of ​​the passable channel based on the identification result, includes: If the width of the target search box with a larger distance between the two target search boxes that produce the maximum distance difference is less than the third preset threshold, or the height of the target search box is less than the fourth preset threshold, it is determined that there is no passable passage, and the descaling agent spraying device provided on the target snake-like robot is turned on to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

[0011] Specifically, the method further includes: The GPS sensor disposed on the snake-like robot is used to obtain the position data of the snake-like robot in real time. When the target snake-like robot stops moving, the position data of the target snake-like robot at this time is output.

[0012] Specifically, the descaling agent spraying device provided on the target snake-shaped robot is opened to spray the descaling agent onto the inner wall of the waterway in front of the target snake-shaped robot, including: The descaling agent spraying device provided on the target snake-like robot is turned on to spray the descaling agent on the inner wall of the water channel in front of the target snake-like robot for a first preset time, and then the descaling agent spraying device is turned off. After a second preset time has passed, the water spraying device provided on the target robot is turned on to spray water on the inner wall of the water channel in front of the target snake-like robot for the first preset time, and then steps S100-S300 are re-executed; After each execution of steps S100-S300, the number of times the descaling agent is sprayed for the first preset time is recorded, and it is determined whether the number is greater than or equal to a fifth preset threshold; If so, an alarm signal is outputted indicating that the dirt on the inner wall of the pipeline cannot be removed, and the position data of the target snake-like robot at this time is outputted; If not, continue to execute steps S100-S300.

[0013] According to a second aspect of the present invention, there is provided an intelligent waterway repair system for a coal mining machine cutting section, comprising: An acquisition module, comprising a depth camera disposed in front of the target snake-like robot, for capturing a depth image in front of the target snake-like robot at a preset time interval; A lighting module, including an LED light source disposed on the target snake-like robot, for providing light source for photographing the target snake-like robot; A control module is used to control the target snake-like robot to move along the water channel of the cutting section of the coal mining machine after the target snake-like robot is placed at the entrance of the water channel of the cutting section of the coal mining machine, process the depth image taken by the target snake-like robot during the movement of the target snake-like robot, use the processed depth camera data to identify the passable channel according to the preset judgment rules, and calculate the area of ​​the passable channel based on the recognition result; it is used to determine whether the area of ​​the passable channel is greater than or equal to a first preset threshold value, determine whether to control the target snake-like robot to stop moving according to the judgment result, and turn on the descaling agent spraying device set on the target snake-like robot to spray the descaling agent on the inner wall of the water channel in front of the target snake-like robot.

[0014] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and the computer-readable instructions, when executed by the processor, implement the above-mentioned intelligent repair method for the water channel of the cutting part of a coal mining machine.

[0015] Beneficial effects: The present invention places the target snake-like robot at the entrance of the waterway of the cutting part of the coal mining machine, controls the target snake-like robot to move along the waterway of the cutting part of the coal mining machine, and in the process of the movement of the target snake-like robot, uses a depth camera arranged in front of the target snake-like robot to shoot the depth image in front of the target snake-like robot at a preset time interval, and uses an LED light source arranged on the target snake-like robot to provide a light source for the shooting of the target snake-like robot; processes the depth image taken by the target snake-like robot, uses the processed depth camera data to identify the passable channel according to the preset judgment rule, and calculates the area of ​​the passable channel based on the recognition result; determines whether the area of ​​the passable channel is greater than or equal to the first preset threshold, determines whether to control the target snake-like robot to stop moving according to the judgment result, and turns on the descaling agent spraying device arranged on the target snake-like robot to spray the descaling agent on the inner wall of the waterway in front of the target snake-like robot. This technical solution realizes the positioning, automatic cleaning and repair of the dirt in the waterway through the combination of intelligent monitoring means and physical and chemical methods, improves the work efficiency, and greatly improves the intelligence and reliability of the repair of the waterway of the cutting part of the coal mining machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of an intelligent repair method for a water channel of a coal mining machine cutting part provided in a specific embodiment of the present invention; Figure 2 It is a schematic diagram of the system composition of the intelligent repair system for the water channel of the cutting part of a coal mining machine provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0018] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0019] See also Figure 1 The present invention provides an intelligent repair method for a water channel of a coal mining machine cutting part, comprising: The target snake-like robot is placed at the entrance of the water channel of the cutting part of the coal mining machine, and the target snake-like robot is controlled to move along the water channel of the cutting part of the coal mining machine. During the movement of the target snake-like robot, the following steps are performed: S100, using a depth camera disposed in front of the target snake-like robot to capture a depth image in front of the target snake-like robot at preset time intervals, and using an LED light source disposed on the target snake-like robot to provide light for capturing the target snake-like robot.

[0020] It should be noted that the steps before step S100 include: A first preset threshold, a second preset threshold, a third preset threshold, a fourth preset threshold, a fifth preset threshold, a preset time interval, a first preset time, and a second preset time are preset in the control module.

[0021] It can be understood that the first preset threshold, the second preset threshold, the third preset threshold, the fourth preset threshold, the fifth preset threshold, the preset time interval, the first preset time, and the second preset time pre-set in the control module can be specifically set according to the actual needs of the user of the present invention. The present invention does not limit the specific values ​​of the above parameters, as long as it is applicable to the intelligent repair method of the water channel of the cutting part of the coal mining machine proposed in the present invention.

[0022] Preferably, the present invention sets the first preset threshold to 90% of the cross-sectional area of ​​the water channel of the cutting part of the coal mining machine. The present invention sets the second preset threshold to 1.5 meters, which is obtained by the technicians of the present invention through a large number of experiments. Since the difference between the distance from the end of the passable channel to the target snake-like robot and the distance from the dirt to the target snake-like robot is usually greater than 1.5 meters, therefore, setting the first preset threshold to 1.5 meters can be a good analysis of whether a passable channel is found. The extremely complex channel judgment problem is simplified through clever design without the need for complex algorithm modeling. The present invention sets the third preset threshold to be greater than the width of the target snake-like robot. The present invention sets the fourth preset threshold to be greater than the height of the target snake-like robot. The present invention sets the fifth preset threshold to 5 times. The present invention sets the preset time interval to 1 second. The present invention sets the first preset time to 1 minute. The present invention sets the second preset time to 5 hours. The above parameters are obtained by the technicians of the present invention through a large number of experiments, and can well realize the intelligent repair method for the water channel of the cutting part of the coal mining machine proposed in the present invention.

[0023] S200, processing the depth image taken by the target snake-like robot, using the processed depth camera data to identify the navigable channel according to the preset determination rules, and calculating the area of ​​the navigable channel based on the identification result.

[0024] Specifically, the processing of the depth image taken by the target snake-like robot includes: First, we obtain the set of depth arrays {Ad1, Ad2, …, Adn} and the corresponding angles and distances {d1, d2, …, dn} in the depth image data, where 125° of the laser radar corresponds to 0° of the depth camera's viewing angle. We count the points in the image within the range of d1±dσ and store the coordinates in array Ad1. We obtain the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate in array Ad1. We establish a target search box M1 based on the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate in Ad1. We count the points in the image within the range of d2±dσ and store the coordinates in array Ad2, …, and so on. The depth image is divided into a series of target search boxes Mn.

[0025] Specifically, the processing of the depth camera data to identify the passable channel according to the preset determination rules, and calculating the area of ​​the passable channel based on the identification result, includes: Calculate the distance difference of adjacent target search boxes respectively, and determine whether the maximum distance difference is greater than or equal to the second preset threshold. If so, determine whether the width of the target search box with a larger distance between the two target search boxes that produce the maximum distance difference is greater than or equal to the third preset threshold, and at the same time determine whether the height of the target search box is greater than or equal to the fourth preset threshold. If so, the area indicated by the target search box is a passable channel, obtain the coordinates of the four vertices of the target search box, and calculate the area of ​​the passable channel based on the coordinates of the four vertices of the target search box.

[0026] Specifically, if the maximum distance difference is less than the second preset threshold, it is determined that no passable passage is found, proving that the inner wall of the waterway may be blocked, the snake-like robot is controlled to stop moving, a descaling agent spraying device provided on the target snake-like robot is turned on, and the descaling agent is sprayed on the inner wall of the waterway in front of the target snake-like robot for a first preset time, and then the descaling agent spraying device is turned off. After the second preset time has passed, the water spraying device provided on the target robot is turned on, and water is sprayed on the inner wall of the waterway in front of the target snake-like robot for a first preset time, and then steps S100-S300 are re-executed; After each execution of steps S100-S300, the number of times the descaling agent is sprayed for the first preset time is recorded, and it is determined whether the number is greater than or equal to a fifth preset threshold; If so, an alarm signal is outputted indicating that the dirt on the inner wall of the pipeline cannot be removed, and the position data of the target snake-like robot at this time is outputted; If not, continue to execute steps S100-S300.

[0027] It can be understood that if the number of times is greater than or equal to the fifth preset threshold, it proves that the inner wall of the waterway cannot be repaired by simply using a descaling agent, and human intervention is required. Therefore, the present invention outputs an alarm signal that the dirt on the inner wall of the pipe cannot be removed at this time, and outputs data about the position of the target snake robot at this time, further improving the intelligence and usability of the present invention.

[0028] S300, determining whether the area of ​​the passable passage is greater than or equal to a first preset threshold value, determining whether to control the target snake-like robot to stop moving according to the determination result, and turning on a descaling agent spraying device provided on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

[0029] Specifically, judging whether the area of ​​the passable passage is greater than or equal to a first preset threshold, judging whether to control the target snake-like robot to stop moving according to the judgment result, and turning on a descaling agent spraying device disposed on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot, including: If the area of ​​the navigable passage is smaller than the first preset threshold, the target snake-like robot is controlled to stop moving, and a descaling agent spraying device disposed on the target snake-like robot is turned on to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

[0030] It is understandable that if the area of ​​the navigable channel is smaller than the first preset threshold, it indicates that there may be a lot of dirt on the inner wall of the waterway, and the dirt on the inner wall of the waterway needs to be cleaned and repaired.

[0031] Specifically, judging whether the area of ​​the passable passage is greater than or equal to a first preset threshold, judging whether to control the target snake-like robot to stop moving according to the judgment result, and turning on a descaling agent spraying device disposed on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot, including: If the area of ​​the navigable passage is greater than or equal to the first preset threshold, the target snake-like robot is controlled to continue moving.

[0032] Specifically, the processing of the depth camera data to identify the passable channel according to the preset determination rules, and calculating the area of ​​the passable channel based on the identification result, includes: If the width of the target search box with a larger distance between the two target search boxes that produce the maximum distance difference is less than the third preset threshold, or the height of the target search box is less than the fourth preset threshold, it is determined that there is no passable passage, and the descaling agent spraying device provided on the target snake-like robot is turned on to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

[0033] It can be understood that if the width of the target search box with a larger distance between the two target search boxes that produce the maximum distance difference is less than the third preset threshold, or the height of the target search box is less than the fourth preset threshold, it proves that there is no passable passage, and the inner wall of the waterway may be clogged with dirt, and the inner wall of the waterway needs to be cleaned and repaired.

[0034] Specifically, the method further includes: The GPS sensor disposed on the snake-like robot is used to obtain the position data of the snake-like robot in real time. When the target snake-like robot stops moving, the position data of the target snake-like robot at this time is output.

[0035] Specifically, the descaling agent spraying device provided on the target snake-shaped robot is opened to spray the descaling agent onto the inner wall of the waterway in front of the target snake-shaped robot, including: The descaling agent spraying device provided on the target snake-like robot is turned on to spray the descaling agent on the inner wall of the water channel in front of the target snake-like robot for a first preset time, and then the descaling agent spraying device is turned off. After a second preset time has passed, the water spraying device provided on the target robot is turned on to spray water on the inner wall of the water channel in front of the target snake-like robot for the first preset time, and then steps S100-S300 are re-executed; After each execution of steps S100-S300, the number of times the descaling agent is sprayed for the first preset time is recorded, and it is determined whether the number is greater than or equal to a fifth preset threshold; If so, an alarm signal is outputted indicating that the dirt on the inner wall of the pipeline cannot be removed, and the position data of the target snake-like robot at this time is outputted; If not, continue to execute steps S100-S300.

[0036] It can be understood that the descaling agent is used to remove dirt on the inner wall of the water channel, and the water spraying device is used to clean the inner wall of the water channel after the descaling agent and the dirt on the inner wall of the water channel have fully reacted, so as to realize intelligent repair of the water channel of the cutting part of the coal mining machine.

[0037] Specifically, the descaling agent spraying device and the water spraying device are both arranged at the front side of the target snake-like robot, and the descaling agent spraying device and the water spraying device respectively include a descaling agent spray head and a water spray head, and the descaling agent spray head and the water spray head are both oriented obliquely upward, and the spraying directions of the descaling agent spray head and the water spray head form an angle of 30 degrees with the horizontal plane. The descaling agent spray head and the water spray head both use 180-degree fan-shaped spray heads to improve the coverage effect of the descaling agent and the cleaning effect of the water flow.

[0038] It should be noted here that the snake-like robot used for moving in a pipeline is a mature prior art, and the present invention will not elaborate on the snake-like robot in detail. The present invention is based on improvements on the prior art.

[0039] Specifically, the descaling agent used in the present invention includes phosphoric acid.

[0040] It can be understood that the present invention controls the target snake-like robot to move along the waterway of the cutting part of the coal mining machine by placing the target snake-like robot at the entrance of the waterway of the cutting part of the coal mining machine. During the movement of the target snake-like robot, the depth image in front of the target snake-like robot is photographed at a preset time interval by using a depth camera arranged in front of the target snake-like robot, and the LED light source arranged on the target snake-like robot is used to provide a light source for the shooting of the target snake-like robot; the depth image photographed by the target snake-like robot is processed, and the processed depth camera data is used to identify the passable channel according to the preset judgment rule, and the area of ​​the passable channel is calculated based on the recognition result; it is determined whether the area of ​​the passable channel is greater than or equal to the first preset threshold value, and it is determined whether to control the target snake-like robot to stop moving according to the judgment result, and the descaling agent spraying device arranged on the target snake-like robot is turned on to spray the descaling agent on the inner wall of the waterway in front of the target snake-like robot. This technical solution realizes the positioning, automatic cleaning and repair of the dirt in the waterway through the combination of intelligent monitoring means and physical and chemical methods, improves the work efficiency, and greatly improves the intelligence and reliability of the repair of the waterway of the cutting part of the coal mining machine.

[0041] See also Figure 2 The present invention provides another embodiment, which provides an intelligent repair system for a waterway of a coal mining machine cutting part, the intelligent repair system for a waterway of a coal mining machine cutting part comprising: The acquisition module 100 includes a depth camera disposed in front of the target snake-like robot, and is used to capture a depth image in front of the target snake-like robot at a preset time interval; The lighting module 300 includes an LED light source disposed on the target snake-like robot and is used to provide light source for photographing the target snake-like robot; The control module 200 is used to control the target snake-like robot to move along the water channel of the cutting section of the coal mining machine after the target snake-like robot is placed at the entrance of the water channel of the cutting section of the coal mining machine. During the movement of the target snake-like robot, the depth image taken by the target snake-like robot is processed, and the processed depth camera data is used to identify the passable channel according to the preset judgment rules, and the area of ​​the passable channel is calculated based on the recognition result; it is used to determine whether the area of ​​the passable channel is greater than or equal to the first preset threshold value, determine whether to control the target snake-like robot to stop moving according to the judgment result, and turn on the descaling agent spraying device provided on the target snake-like robot to spray the descaling agent on the inner wall of the water channel in front of the target snake-like robot.

[0042] It should be noted that the present invention controls the target snake-like robot to move along the waterway of the cutting part of the coal mining machine by placing the target snake-like robot at the entrance of the waterway of the cutting part of the coal mining machine. During the movement of the target snake-like robot, a depth camera arranged in front of the target snake-like robot is used to shoot a depth image in front of the target snake-like robot at a preset time interval, and an LED light source arranged on the target snake-like robot is used to provide a light source for the shooting of the target snake-like robot; the depth image taken by the target snake-like robot is processed, and the processed depth camera data is used to identify the passable channel according to the preset judgment rule, and the area of ​​the passable channel is calculated based on the recognition result; it is determined whether the area of ​​the passable channel is greater than or equal to the first preset threshold value, and it is determined whether to control the target snake-like robot to stop moving according to the judgment result, and the descaling agent spraying device arranged on the target snake-like robot is turned on to spray the descaling agent on the inner wall of the waterway in front of the target snake-like robot. This technical solution realizes the positioning, automatic cleaning and repair of dirt in the waterway through the combination of intelligent monitoring means and physical and chemical methods, improves work efficiency, and greatly improves the intelligence and reliability of the repair of the waterway of the cutting part of the coal mining machine.

[0043] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for intelligently repairing the waterway of the cutting part of the coal mining machine is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0044] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0045] It will be appreciated by a person skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0046] It can be understood that the present invention controls the target snake-like robot to move along the waterway of the cutting part of the coal mining machine by placing the target snake-like robot at the entrance of the waterway of the cutting part of the coal mining machine. During the movement of the target snake-like robot, the depth image in front of the target snake-like robot is photographed at a preset time interval by using a depth camera arranged in front of the target snake-like robot, and the LED light source arranged on the target snake-like robot is used to provide a light source for the shooting of the target snake-like robot; the depth image photographed by the target snake-like robot is processed, and the processed depth camera data is used to identify the passable channel according to the preset judgment rule, and the area of ​​the passable channel is calculated based on the recognition result; it is determined whether the area of ​​the passable channel is greater than or equal to the first preset threshold value, and it is determined whether to control the target snake-like robot to stop moving according to the judgment result, and the descaling agent spraying device arranged on the target snake-like robot is turned on to spray the descaling agent on the inner wall of the waterway in front of the target snake-like robot. This technical solution realizes the positioning, automatic cleaning and repair of the dirt in the waterway through the combination of intelligent monitoring means and physical and chemical methods, improves the work efficiency, and greatly improves the intelligence and reliability of the repair of the waterway of the cutting part of the coal mining machine.

[0047] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0048] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An intelligent repair method for the waterway of the cutting part of a coal mining machine, characterized in that: The method comprises: placing a target snake-like robot at the entrance of a water channel of a coal mining machine cutting part, controlling the target snake-like robot to move along the water channel of the coal mining machine cutting part, and performing the following steps during the movement of the target snake-like robot: S100, using a depth camera disposed in front of the target snake-like robot to capture a depth image in front of the target snake-like robot at a preset time interval, and using an LED light source disposed on the target snake-like robot to provide a light source for capturing the target snake-like robot; S200, processing the depth image taken by the target snake-like robot, using the processed depth camera data to identify the navigable channel according to a preset determination rule, and calculating the area of ​​the navigable channel based on the identification result; S300, determining whether the area of ​​the passable passage is greater than or equal to a first preset threshold value, determining whether to control the target snake-like robot to stop moving according to the determination result, and turning on a descaling agent spraying device provided on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

2. The intelligent repair method for the water channel of the coal mining machine cutting part according to claim 1 is characterized in that: The processing of the depth image taken by the target snake-like robot includes: First, we obtain the set of depth arrays {Ad1, Ad2, …, Adn} and the corresponding angles and distances {d1, d2, …, dn} in the depth image data, where 125° of the laser radar corresponds to 0° of the depth camera's viewing angle. We count the points in the image within the range of d1±dσ and store the coordinates in array Ad1. We obtain the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate in array Ad1. We establish a target search box M1 based on the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate in Ad1. We count the points in the image within the range of d2±dσ and store the coordinates in array Ad2, …, and so on. The depth image is divided into a series of target search boxes Mn.

3. The intelligent repair method for the water channel of the cutting part of the coal mining machine according to claim 2 is characterized in that: The method of using the processed depth camera data to identify the passable channel according to a preset determination rule and calculating the area of ​​the passable channel based on the identification result includes: Calculate the distance difference of adjacent target search boxes respectively, and determine whether the maximum distance difference is greater than or equal to the second preset threshold. If so, determine whether the width of the target search box with a larger distance between the two target search boxes that produce the maximum distance difference is greater than or equal to the third preset threshold, and at the same time determine whether the height of the target search box is greater than or equal to the fourth preset threshold. If so, the area indicated by the target search box is a passable channel, obtain the coordinates of the four vertices of the target search box, and calculate the area of ​​the passable channel based on the coordinates of the four vertices of the target search box.

4. The intelligent repair method for the water channel of the cutting part of the coal mining machine according to claim 3 is characterized in that: Determining whether the area of ​​the passable passage is greater than or equal to a first preset threshold, determining whether to control the target snake-like robot to stop moving according to the determination result, and turning on a descaling agent spraying device disposed on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot, including: If the area of ​​the navigable passage is smaller than the first preset threshold, the target snake-like robot is controlled to stop moving, and a descaling agent spraying device disposed on the target snake-like robot is turned on to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

5. The intelligent repair method for the water channel of the cutting part of the coal mining machine according to claim 3 is characterized in that: Determining whether the area of ​​the passable passage is greater than or equal to a first preset threshold, determining whether to control the target snake-like robot to stop moving according to the determination result, and turning on a descaling agent spraying device disposed on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot, including: If the area of ​​the navigable passage is greater than or equal to the first preset threshold, the target snake-like robot is controlled to continue moving.

6. The intelligent repair method for the water channel of the cutting part of the coal mining machine according to claim 3 is characterized in that: The method of using the processed depth camera data to identify the passable channel according to a preset determination rule and calculating the area of ​​the passable channel based on the identification result includes: If the width of the target search box with a larger distance between the two target search boxes that produce the maximum distance difference is less than the third preset threshold, or the height of the target search box is less than the fourth preset threshold, it is determined that there is no passable passage, and the descaling agent spraying device provided on the target snake-like robot is turned on to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

7. The intelligent repair method for the water channel of the cutting part of the coal mining machine according to claim 1 is characterized in that: The method further comprises: The GPS sensor disposed on the snake-like robot is used to obtain the position data of the snake-like robot in real time. When the target snake-like robot stops moving, the position data of the target snake-like robot at this time is output.

8. The intelligent repair method for the water channel of the cutting part of the coal mining machine according to claim 1 is characterized in that: The step of opening the descaling agent spraying device disposed on the target snake-shaped robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-shaped robot comprises: The descaling agent spraying device provided on the target snake-like robot is turned on to spray the descaling agent on the inner wall of the water channel in front of the target snake-like robot for a first preset time, and then the descaling agent spraying device is turned off. After a second preset time has passed, the water spraying device provided on the target robot is turned on to spray water on the inner wall of the water channel in front of the target snake-like robot for the first preset time, and then steps S100-S300 are re-executed; After each execution of steps S100-S300, the number of times the descaling agent is sprayed for the first preset time is recorded, and it is determined whether the number is greater than or equal to a fifth preset threshold; If so, an alarm signal is outputted indicating that the dirt on the inner wall of the pipeline cannot be removed, and the position data of the target snake-like robot at this time is outputted; If not, continue to execute steps S100-S300.

9. An intelligent waterway repair system for the cutting part of a coal mining machine, characterized in that: include: An acquisition module, comprising a depth camera disposed in front of the target snake-like robot, for capturing a depth image in front of the target snake-like robot at a preset time interval; A lighting module, including an LED light source disposed on the target snake-like robot, for providing light source for photographing the target snake-like robot; A control module is used to control the target snake-like robot to move along the water channel of the cutting part of the coal mining machine after placing the target snake-like robot at the entrance of the water channel of the cutting part of the coal mining machine, process the depth image taken by the target snake-like robot during the movement of the target snake-like robot, use the processed depth camera data to identify the passable channel according to the preset judgment rules, and calculate the area of ​​the passable channel based on the identification result; It is used to judge whether the area of ​​the passable passage is greater than or equal to a first preset threshold value, and to judge whether to control the target snake-like robot to stop moving according to the judgment result, and to turn on the descaling agent spraying device provided on the target snake-like robot to spray the descaling agent onto the inner wall of the waterway in front of the target snake-like robot.

10. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the intelligent repair method for the water channel of the cutting part of the coal mining machine according to any one of claims 1 to 8 is implemented.

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