Heading machine head-on float coal self-adaptive cleaning method and device

Abstract

The invention belongs to the field of coal mine underground tunneling intelligentization, and provides a heading machine head-on float coal self-adaptive cleaning method and device in order to solve the problems that at present, underground tunneling working faces are low in float coal cleaning intelligentization level and large in manual participation degree. The scheduling path and the advancing speed of the heading machine are planned, so that the advancing path of the heading machine is optimal and simplest, damage to the bottom plate caused by scheduling of the heading machine is reduced to the maximum extent, the construction effect can meet the standard and unified requirements, float coal is efficiently and autonomously cleaned without manual intervention, and the construction efficiency is improved. And operators needing to shovel and clean float coal originally are liberated, people are replaced from dangerous and heavy posts, and a good effect is achieved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent underground coal mine tunneling, and specifically relates to a method and a device for adaptively cleaning floating coal facing a tunneling machine. Background Art

[0002] Coal, as the main energy source in my country, is the ballast of the national economy. In my country's coal mines, cantilevered tunnel boring machines are the most widely used and largest number of tunnel boring equipment. The main processes of tunneling operations include cutting, anchoring, and transportation. During the tunneling process, the equipment first completes the cutting of the coal wall. Most of the fallen coal will be transported away by the tunnel boring machine's conveying part, and the remaining coal will fall on the front of the tunnel boring machine. It is usually necessary to mobilize the tunnel boring machine several times to clean up this part of the floating coal. Frequent mobilization of the tunnel boring machine to clean up the floating coal will cause certain damage to the bottom plate of the tunnel. Some tunneling working faces often use manual cleaning of floating coal, which is labor-intensive and inefficient for workers and also poses certain safety hazards.

[0003] With the continuous development of intelligent tunneling technology, technologies such as remote visual control, automatic cutting, and automatic anchoring will continue to make breakthroughs. It is necessary to study a method to automatically clean the floating coal facing the tunneling machine, improve the intelligence level of the tunneling working face, improve work efficiency, reduce the labor intensity of workers, and ultimately achieve "few or no people" operation on the working face. Summary of the invention

[0004] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a method and device for adaptively cleaning floating coal at the head of a roadheader.

[0005] According to a first aspect, a method for adaptively cleaning floating coal at the head of a roadheader comprises:

[0006] S1: Obtaining the external dimensions of a roadheader and the width of a working tunnel of the roadheader, and determining the left effective working distance, the left safety distance, the right effective working distance and the right safety distance between the roadheader and the coal walls on both sides of the working tunnel of the roadheader respectively based on the external dimensions of the roadheader and the width of the working tunnel of the roadheader;

[0007] S2: Control the roadheader to enter a predetermined working position, obtain the volume and position information of the floating coal to be cleaned on the left side, determine the first travel speed and the first travel path of the roadheader based on the volume and position information of the floating coal to be cleaned on the left side, the effective working distance on the left side, and the safety distance on the left side, and control the roadheader to move along the first travel path according to the first travel speed of the roadheader to clean the floating coal to be cleaned on the left side;

[0008] S3: After the floating coal to be cleaned on the left side is cleaned, the roadheader is controlled to move to the right side of the working tunnel of the roadheader according to the preset travel path, and then the volume and position information of the floating coal to be cleaned on the right side is obtained, and based on the volume and position information of the floating coal to be cleaned on the right side, the effective working distance on the right side, and the safety distance on the right side, the second travel speed and the second travel path of the roadheader are determined, and the roadheader is controlled to move along the second travel path according to the second travel speed, while cleaning the floating coal to be cleaned on the right side;

[0009] S4: Based on the width of the working tunnel of the tunnel boring machine, control the tunnel boring machine to move to the centerline position of the tunnel.

[0010] Preferably, before step S2, the method further includes:

[0011] The movement information of the tunnel boring machine is obtained, and judgment is made based on the movement information of the tunnel boring machine and the left effective working distance, the left safety distance and the right effective working distance, the right safety distance respectively; and according to the judgment result, the tunnel boring machine is controlled to move between the left effective working distance and the left safety distance, or, to move between the right effective working distance and the right safety distance, until the tunnel boring machine enters a predetermined working position.

[0012] Preferably, step S2 or step S3 further comprises:

[0013] Obtain the changes in the coal pile of floating coal to be cleaned, and at the same time collect the changes in the amount of transported coal. When the coal pile becomes smaller and the amount of transported coal decreases, control the roadheader to speed up, otherwise control the roadheader to slow down.

[0014] According to a second aspect, a roadheader head-mounted floating coal adaptive cleaning device is provided, which can execute the roadheader head-mounted floating coal adaptive cleaning method as described in the first aspect and any preferred embodiment, comprising:

[0015] A shovel plate is used to shovel into the bottom of the floating coal pile to be cleaned during the process of cleaning the floating coal to be cleaned;

[0016] A climbing claw is used to clean the floating coal to be cleaned and transfer the floating coal to be cleaned to the conveying part;

[0017] The conveying part is used to transfer the collected floating coal to be cleaned to the transfer machine behind the roadheader;

[0018] Radar, which measures the distance between the tunnel boring machine and the coal wall and transmits the measurement information to the controller;

[0019] An image acquisition device, used to acquire volume and position information of the floating coal to be cleaned, and transmit the acquired information to the controller;

[0020] A controller, used to determine the travel route and travel speed of the tunnel boring machine according to the received information, and send a control instruction to the solenoid valve group according to the determined information;

[0021] The solenoid valve control box is used to drive the corresponding solenoid valve group according to the control instructions, and control the actuator of the hydraulic system to complete the actions of various motion mechanisms of the tunnel boring machine.

[0022] Preferably, the radar includes a millimeter wave radar and an ultrasonic radar;

[0023] The millimeter wave radar is installed at the front end of the tunnel boring machine body and is used to measure the distance between the tunnel boring machine and the front end of the coal wall;

[0024] The ultrasonic radar is installed on the side of the tunnel boring machine body and is used to measure the distance between the tunnel boring machine and the coal walls on both sides.

[0025] Preferably, there are at least four ultrasonic radars, which are respectively installed at the front and rear positions on the left and right sides of the tunnel boring machine body.

[0026] Preferably, the image acquisition device includes a depth camera and a thermal imaging camera;

[0027] The depth camera is installed on the side of the shovel board and is used to measure the distance between the floating coal pile to be cleaned and the roadheader, and to obtain the volume of the floating coal pile to be cleaned;

[0028] The thermal imaging camera includes thermal imaging camera 1 and thermal imaging camera 2, wherein thermal imaging camera 1 is installed on the side of the shovel plate, and thermal imaging camera 2 is installed on the upper end of the conveying part. Thermal imaging camera 1 is used to collect scene images in the direction of travel of the tunnel boring machine and transmit the collected scene images to the controller, and thermal imaging camera 2 is used to collect images of the coal pile transported by the conveying part and transmit the collected images of the coal pile to the controller.

[0029] Preferably, it also includes: a protective body, which is arranged corresponding to the corresponding image acquisition device and is used to protect the image acquisition device.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention obtains the volume and position information of the floating coal to be cleaned, plans the mobilization path and travel speed of the tunnel boring machine, makes the travel path of the tunnel boring machine optimal and simple, minimizes the damage to the base plate caused by the mobilization of the tunnel boring machine, and the construction effect can also meet the requirements of standardization and unification. The cleaning of floating coal is efficient and autonomous without human intervention, and the workers who were originally required to shovel and clean the floating coal are liberated, replacing people from dangerous and heavy positions, which has a very good effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only 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.

[0033] Figure 1 It is a schematic flow chart of a method for adaptively cleaning floating coal at the head of a roadheader provided by an embodiment of the present invention;

[0034] Figure 2 It is a structural schematic diagram of an adaptive cleaning device for floating coal at the head of a roadheader provided by an embodiment of the present invention;

[0035] Figure 3 Schematic diagram of adaptively cleaning floating coal by a roadheader provided by an embodiment of the present invention;

[0036] In the figure: 1 is a millimeter wave radar, 2 is a climbing claw, 3 is a thermal imaging camera 1, 4 is a depth camera, 5 is a shovel, 6 is a solenoid valve group, 7 is a solenoid valve control box, 8 is a controller, 9 is a conveying part, 10 is an ultrasonic radar, and 11 is a thermal imaging camera 2. DETAILED DESCRIPTION

[0037] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0039] At present, when cleaning the floating coal of the tunnel boring machine, the conventional operation is to frequently mobilize the tunnel boring machine, which will cause certain damage to the bottom plate of the working face, and the construction quality is related to the experience and proficiency of the workers, and it is difficult to ensure the uniformity and standardization of the project quality; and by controlling the tunnel boring machine to clean the floating coal, mechanized operation is realized, but it has not reached automation and the efficiency is low; at the same time, a large amount of manual participation is required, and the use of manual operation to clean the floating coal has a large safety risk, and there is a risk of chipping and roof collapse when working head-on at the tunneling working face. Therefore, in order to avoid the above problems, the present invention provides a method and device for adaptively cleaning floating coal at the head of the tunnel boring machine, which realizes adaptive cleaning of floating coal, minimizes the damage to the bottom plate of the tunnel caused by multiple machine moves, and can also avoid the inconsistent construction quality caused by the differences in the operating skills of the construction personnel, and can realize standardized construction operations, and adopt image sensing equipment such as millimeter wave radar and thermal imaging camera, combined with automatic control algorithm, can realize automatic cleaning of floating coal with adaptive function, greatly improve efficiency, and also free workers from dangerous and heavy positions, and the equipment adopts intelligent methods to complete related work tasks. Work safety is guaranteed.

[0040] like Figure 2 As shown, an embodiment of the present invention provides an adaptive cleaning device for floating coal at the head of a roadheader, comprising:

[0041] A shovel plate 5 is used to shovel into the bottom of the floating coal pile to be cleaned during the process of cleaning the floating coal to be cleaned;

[0042] The climbing claw 2 is used to clean the floating coal to be cleaned and transfer the floating coal to be cleaned to the conveying part 9;

[0043] The conveying part 9 is used to convey the collected floating coal to be cleaned to the transfer machine behind the tunneling machine;

[0044] A radar for measuring the distance between the tunnel boring machine body and the coal wall and transmitting the measurement information to the controller 8;

[0045] An image acquisition device, used to acquire volume and position information of the floating coal to be cleaned, and transmit the acquired information to the controller 8;

[0046] The controller 8 is used to determine the route and speed of the tunnel boring machine according to the received information, and send a control instruction to the solenoid valve group 6 according to the determined information;

[0047] The solenoid valve control box 7 is used to drive the corresponding solenoid valve group 6 according to the control command, and control the actuator of the hydraulic system to complete the action of each moving mechanism of the tunnel boring machine.

[0048] Optionally, the radar includes a millimeter-wave radar 1 and an ultrasonic radar 10; the millimeter-wave radar 1 is installed at the front end of the tunnel boring machine body, and is used to measure the distance between the tunnel boring machine and the front facing coal wall; the ultrasonic radar 10 is installed on the side of the tunnel boring machine body, and is used to measure the distance between the tunnel boring machine and the coal walls on both sides.

[0049] Optionally, there are at least four ultrasonic radars 10, which are respectively installed at the front and rear positions of the left and right sides of the tunnel boring machine body.

[0050] Optionally, the image acquisition device includes a depth camera 4 and a thermal imaging camera; the depth camera 4 is installed on the side of the shovel board 5, and is used to measure the distance between the floating coal pile to be cleaned and the tunnel boring machine, and to obtain the volume of the floating coal pile to be cleaned; the thermal imaging camera is installed on the side of the shovel board 5, and is used to collect scene images in the direction of travel of the tunnel boring machine, and transmit the collected scene images to the controller 8.

[0051] Optionally, it also includes: a protective body, which is arranged corresponding to the corresponding image acquisition device and is used to protect the image acquisition device.

[0052] In this embodiment, the millimeter wave radar 1 is installed at the front end of the tunnel boring machine body, and one is installed on each side of the cantilever at the position of the lighting lamps, which is used to measure the distance between the tunnel boring machine and the front end of the coal wall.

[0053] There are two depth cameras 4, which are fixedly installed on both sides of the shovel plate 5. At the same time, a sturdy and complete protective body is added, which is corresponding to the depth camera 4 to prevent the camera from being damaged by falling coal blocks. The depth camera 4 is mainly used to measure the volume and distance of the floating coal pile to be cleaned in front.

[0054] There are two thermal imaging cameras 3, which are fixedly installed on the left and right sides of the shovel board 5 respectively. At the same time, a sturdy and complete protective body is added, which is corresponding to the thermal imaging camera 3. The thermal imaging camera 3 captures the scene image in the direction of travel, and analyzes the volume of the floating coal pile to be cleaned in front by running the machine vision recognition software built in the controller 8, providing a basis for the controller 8 to achieve speed control.

[0055] There are four ultrasonic radars 10, which are respectively installed on the left and right sides and the front and rear positions of the tunnel boring machine, and are mainly used to measure the distance between the tunnel boring machine and the left and right coal walls.

[0056] The controller 8 is the control center of the tunnel boring machine. It receives information collected by various sensors installed on the tunnel boring machine, determines the route and speed of the tunnel boring machine by running the built-in video analysis software, sends instructions to the solenoid valve control box 7, and then controls the corresponding solenoid valve group 6 to drive the various motion mechanisms of the tunnel boring machine to complete their respective action functions, thereby realizing the adaptive cleaning of the floating coal headed by the tunnel boring machine.

[0057] The solenoid valve control box 7 receives the command sent by the controller 8 and drives the solenoid valve group 6 to complete the corresponding action. The solenoid valve group 6 is then driven by the controller 8 according to the control logic through the solenoid valve control box 7 to control the actuator of the hydraulic system, thereby completing the action functions of various motion mechanisms of the tunnel boring machine.

[0058] The shovel plate 5 is an inherent component of the tunnel boring machine. The lifting of the shovel plate 5 is controlled by the oil cylinder. When the tunnel boring machine is moving, the solenoid valve group 6 controls the oil cylinder to lift the shovel plate 5. When the tunnel boring machine is cutting and cleaning floating coal, the solenoid valve group 6 controls the oil cylinder to lower the shovel plate 5.

[0059] The climbing claw 2 is an important floating coal cleaning mechanism inherent in the roadheader. The two climbing claws 2 are fixedly installed on the left and right positions of the shovel plate 5 and are driven by the hydraulic motor below. When loading coal, the corresponding solenoid valve group 6 starts to work, driving the climbing claw 2 motor to start rotating. The two climbing claws 2 rotate toward the middle at the same time, and at the same time, the coal that falls on the shovel plate 5 is pushed onto the conveyor running in the middle.

[0060] The conveying part 9 is arranged in the middle part of the machine body and is the main component of the machine to complete the coal transportation. When the machine is cutting and excavating, the coal blocks falling on the shovel plate 5 are rotated by the climbing claw 2 and pushed into the middle conveying part 9. When cleaning the floating coal, the shovel plate 5 shovels into the bottom of the coal pile and is sent into the conveying part 9 by the climbing claw 2. The coal is transported to the transfer machine behind the machine.

[0061] like Figure 1 As shown, an embodiment of the present invention provides a method for adaptively cleaning floating coal at the head of a roadheader, comprising:

[0062] S1: Obtain the external dimensions of the roadheader and the width of the working tunnel of the roadheader, and determine the left effective working distance, left safety distance, right effective working distance and right safety distance between the roadheader and the coal walls on both sides of the working tunnel of the roadheader based on the external dimensions of the roadheader and the width of the working tunnel of the roadheader.

[0063] Optionally, the movement information of the tunnel boring machine is obtained, and judgment is made based on the movement information of the tunnel boring machine and the left effective working distance, the left safety distance and the right effective working distance, the right safety distance respectively; according to the judgment result, the tunnel boring machine is controlled to move between the left effective working distance and the left safety distance, or, to move between the right effective working distance and the right safety distance, until the tunnel boring machine enters the predetermined working position.

[0064] In this embodiment, the staff inputs the overall dimensions of the tunnel boring machine and the width of the tunnel working tunnel of the tunnel boring machine into the controller 8. After the tunnel boring machine completes a cycle of cutting operation, the bolting machine performs the bolting operation to complete the tunnel roof and side support tasks. Then the tunnel boring machine is started, and the effective working distance and the minimum safety distance between the tunnel boring machine body and the coal walls on both sides are determined according to the overall dimensions of the tunnel boring machine and the width of the tunnel working tunnel of the tunnel boring machine. During the forward movement, the moving path of the tunnel boring machine is continuously obtained. At the same time, the ultrasonic radar 10 installed on both sides of the body continuously measures the distance between the body and the coal walls on both sides. Before the tunnel boring machine cleans the floating coal to be cleaned on the left side, it ensures that the distance between the tunnel boring machine body and the left coal wall is between the left effective distance and the left safety distance, and controls the tunnel boring machine to enter the predetermined working position for cleaning the floating coal on the left side. After cleaning the floating coal to be cleaned on the left side, the tunnel boring machine drives into the right side of the tunnel to clean the floating coal to be cleaned on the right side, and again ensures that the distance between the tunnel boring machine body and the right coal wall is between the right effective distance and the right safety distance, and controls the tunnel boring machine to enter the predetermined working position for cleaning the floating coal on the right side.

[0065] S2: Control the roadheader to enter a predetermined working position, obtain the volume and position information of the floating coal to be cleaned on the left side, determine the first travel speed and the first travel path of the roadheader based on the volume and position information of the floating coal to be cleaned on the left side, the effective working distance on the left side, and the safety distance on the left side, and control the roadheader to move along the first travel path according to the first travel speed of the roadheader to clean the floating coal to be cleaned on the left side.

[0066] Optionally, the changes in the coal pile to be cleaned of floating coal are obtained, and at the same time, the changes in the amount of coal transported are collected. When the coal pile becomes smaller and the amount of coal transported decreases, the roadheader is controlled to increase the travel speed, otherwise the roadheader is controlled to reduce the travel speed.

[0067] In this embodiment, the roadheader first advances on the left side of the tunnel, and uses the millimeter wave radar 1 to measure the distance, so that the roadheader stops moving forward when the shovel board 5 is 3-5 meters away from the front coal wall. The depth camera 4 measures the volume and position of the floating coal pile to be cleaned in front. After receiving the relevant information, the controller 8 determines the first travel speed. In order to effectively clean the floating coal under the coal wall, the roadheader controls the shovel board 5 to fall, and the cutting head is also started at the same time. The roadheader moves forward at a given speed and starts to clean the floating coal in front of the left side.

[0068] In this embodiment, during the cleaning process of the floating coal on the left side, two thermal imaging cameras 13 installed on both sides of the shovel plate 5 continuously monitor the changes in the amount of coal in the floating coal pile on the left side to be cleaned. At the same time, the thermal imaging camera 11 on the upper end of the conveying part 9 also monitors the changes in the amount of transported coal in real time. If it is detected that the coal pile becomes smaller and the amount of coal decreases, the travel speed of the roadheader is accelerated, otherwise the speed is reduced. The travel speed is adjusted according to the stock of floating coal to achieve adaptive cleaning of the floating coal on the left side.

[0069] S3: After the floating coal on the left side to be cleaned is cleaned, the roadheader is controlled to move to the right side of the working tunnel of the roadheader according to the preset travel path, and then the volume and position information of the floating coal to be cleaned on the right side is obtained, and the second travel speed and the second travel path of the roadheader are determined based on the volume and position information of the floating coal to be cleaned on the right side, the effective working distance on the right side, and the safety distance on the right side, and the roadheader is controlled to move along the second travel path according to the second travel speed, while cleaning the floating coal on the right side to be cleaned.

[0070] In this embodiment, after the floating coal on the left side is cleaned, the roadheader moves to the right side of the tunnel according to the planned path, and the roadheader moves forward on the right side, and the right ultrasonic radar 10 is used to measure the distance to ensure that the right side of the machine body is between the effective working distance and the minimum safety distance from the side coal wall. If it is greater than the effective working distance, it may not be possible to clean all the floating coal. If it is less than the minimum safety distance, it may not be possible to move the equipment safely. When the roadheader moves to the coal pile position on the right side, it starts to clean the floating coal.

[0071] In this embodiment, the roadheader cleans the floating coal on the right side. The millimeter wave radar 1 measures the distance, so that the roadheader stops moving forward when the shovel board 5 is 3-5 meters away from the front coal wall. The depth camera 4 measures the volume and position of the coal pile in front. After receiving the relevant information, the controller 8 determines the second travel speed. The roadheader controls the shovel board 5 to fall, and the cutting head is started at the same time. The roadheader moves forward at a given speed and starts to clean the floating coal in front of the right side.

[0072] S4: Based on the width of the working tunnel of the tunnel boring machine, control the tunnel boring machine to move to the centerline position of the tunnel.

[0073] In this embodiment, the roadheader adaptively cleans the floating coal according to the size and distance of the floating coal pile to be cleaned in front. After completing the cleaning of all the floating coal, the roadheader is moved to the centerline position of the tunnel according to the planned path, ready to start the next cutting work.

[0074] The embodiment of the present invention obtains the volume and position information of the floating coal to be cleaned, plans the movement path and travel speed of the tunnel boring machine, makes the travel path of the tunnel boring machine optimal and simple, minimizes the damage to the bottom plate caused by the movement of the tunnel boring machine, and the construction effect can also meet the requirements of standardization and unification. The cleaning of floating coal is efficient and autonomous without human intervention, and the workers who were originally required to shovel and clean the floating coal are liberated, replacing people from dangerous and heavy positions, which has a very good effect.

[0075] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A self-adaptive cleaning method for floating coal on the front of a roadheader, characterized in that: include: S1: Obtaining the external dimensions of a roadheader and the width of a working tunnel of the roadheader, and determining the left effective working distance, the left safety distance, the right effective working distance and the right safety distance between the roadheader and the coal walls on both sides of the working tunnel of the roadheader respectively based on the external dimensions of the roadheader and the width of the working tunnel of the roadheader; S2: Control the roadheader to enter a predetermined working position, obtain the volume and position information of the floating coal to be cleaned on the left side, determine the first travel speed and the first travel path of the roadheader based on the volume and position information of the floating coal to be cleaned on the left side, the effective working distance on the left side, and the safety distance on the left side, and control the roadheader to move along the first travel path according to the first travel speed of the roadheader to clean the floating coal to be cleaned on the left side; S3: After the floating coal to be cleaned on the left side is cleaned, the roadheader is controlled to move to the right side of the working tunnel of the roadheader according to the preset travel path, and then the volume and position information of the floating coal to be cleaned on the right side is obtained, and based on the volume and position information of the floating coal to be cleaned on the right side, the effective working distance on the right side, and the safety distance on the right side, the second travel speed and the second travel path of the roadheader are determined, and the roadheader is controlled to move along the second travel path according to the second travel speed, while cleaning the floating coal to be cleaned on the right side; S4: Based on the width of the working tunnel of the tunnel boring machine, control the tunnel boring machine to move to the centerline position of the tunnel.

2. The method for self-adapting floating coal cleaning at the head of a roadheader according to claim 1, characterized in that: Step S1 also includes: The movement information of the tunnel boring machine is obtained, and judgment is made based on the movement information of the tunnel boring machine and the left effective working distance, the left safety distance and the right effective working distance, the right safety distance respectively; and according to the judgment result, the tunnel boring machine is controlled to move between the left effective working distance and the left safety distance, or, to move between the right effective working distance and the right safety distance, until the tunnel boring machine enters a predetermined working position.

3. The method for self-adapting floating coal cleaning at the head of a roadheader according to claim 1, characterized in that: Step S2, or step S3, further includes: Obtain the changes in the coal pile of floating coal to be cleaned, and at the same time collect the changes in the amount of transported coal. When the coal pile becomes smaller and the amount of transported coal decreases, control the roadheader to speed up, otherwise control the roadheader to slow down.

4. An adaptive cleaning device for floating coal at the head of a roadheader, capable of executing an adaptive cleaning method for floating coal at the head of a roadheader as described in any one of claims 1 to 3, characterized in that: include: A shovel plate (5) is used to shovel into the bottom of the floating coal pile to be cleaned during the process of cleaning the floating coal to be cleaned; A climbing claw (2) is used to clean the floating coal to be cleaned and transfer the floating coal to be cleaned to a conveying part (9); A conveying section (9) is used to convey the collected floating coal to be cleaned to a transfer machine behind the tunneling machine; A radar for measuring the distance between the tunnel boring machine body and the coal wall and transmitting the measurement information to a controller (8); An image acquisition device, used to acquire volume and position information of the floating coal to be cleaned, and transmit the acquired information to a controller (8); A controller (8) is used to determine the travel route and travel speed of the tunnel boring machine according to the received information, and send a control instruction to the solenoid valve group (6) according to the determined information; The solenoid valve control box (7) is used to drive the corresponding solenoid valve group (6) according to the control instruction and control the actuator of the hydraulic system to complete the action of each movement mechanism of the tunnel boring machine.

5. The self-adaptive cleaning device for floating coal at the head of a roadheader according to claim 4, characterized in that: The radar comprises a millimeter wave radar (1) and an ultrasonic radar (10); The millimeter wave radar (1) is installed at the front end of the tunnel boring machine body and is used to measure the distance between the tunnel boring machine and the front end of the coal wall; The ultrasonic radar (10) is installed on the side of the tunneling machine body and is used to measure the distance between the tunneling machine and the coal walls on both sides.

6. The self-adaptive cleaning device for floating coal at the head of a roadheader according to claim 5, characterized in that: At least four ultrasonic radars (10) are installed respectively at the front and rear positions on the left and right sides of the tunnel boring machine body.

7. The self-adaptive cleaning device for floating coal at the head of a roadheader according to claim 4, characterized in that: The image acquisition device comprises a depth camera (4) and a thermal imaging camera; The depth camera (4) is installed on the side of the shovel plate (5) and is used to measure the distance between the floating coal pile to be cleaned and the roadheader, and to obtain the volume of the floating coal pile to be cleaned; The thermal imaging camera comprises a thermal imaging camera 1 (3) and a thermal imaging camera 2 (11), wherein the thermal imaging camera 1 (3) is mounted on the side of the shovel plate (5), and the thermal imaging camera 2 (11) is mounted on the upper end of the conveying part (9). The thermal imaging camera 1 (3) is used to collect scene images in the direction of travel of the tunnel boring machine and transmit the collected scene images to the controller (8), and the thermal imaging camera 2 (11) is used to collect images of the coal pile transported by the conveying part (9) and transmit the collected images of the coal pile to the controller (8).

8. The self-adaptive cleaning device for floating coal at the head of a roadheader according to claim 7, characterized in that: Also includes: The protective body is arranged corresponding to the corresponding image acquisition device and is used to protect the image acquisition device.

Images