Method and device for determining mining path of mining equipment, processor and program product

Abstract

The invention discloses a method and a device for determining a mining path of mining equipment, a processor and a program product. The method comprises the following steps: determining first distances between excavating equipment of a roadway and a plurality of position points in the roadway; based on the first distance, determining a first space coordinate of the corresponding position point in a space coordinate system where the excavating equipment is located, and determining a second space coordinate of a cutting head in the excavating equipment in the space coordinate system; and based on the first space coordinates and the second space coordinates, determining an excavation path of the excavation equipment in the roadway. The technical problem that the planning efficiency of the roadway excavation path is low is solved.

Description

Technical Field

[0001] The present application relates to the field of coal mining, and in particular, to a method, device, processor and program product for determining an excavation path of an excavation device. Background Art

[0002] At present, with the increasing intelligence level of coal mining, higher requirements are also placed on the excavation efficiency of underground tunnels.

[0003] In relevant technologies, tunnel excavation is mainly based on manual on-site operations. Faced with different rock conditions, the cutting efficiency and quality of the tunnel boring machine are completely determined by the workers' experience. Therefore, the excavation efficiency and construction effect are greatly affected by human factors. In addition, the excavation working environment is complex and there are safety hazards. During the excavation process, harsh environments such as high humidity, high temperature, high concentration of dust and high noise often occur. The physical safety of the operators cannot be guaranteed, and there is a technical problem of low planning efficiency of the tunnel excavation path.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a method, device, processor and program product for determining an excavation path of an excavation device, so as to at least solve the technical problem of low planning efficiency of tunnel excavation paths.

[0006] According to one aspect of an embodiment of the present application, a method for determining an excavation path of an excavation equipment is provided, and the method may include: determining a first distance between the excavation equipment in the tunnel and a plurality of position points in the tunnel respectively; based on the first distance, determining a first spatial coordinate of the corresponding position point in the spatial coordinate system where the excavation equipment is located, and determining a second spatial coordinate of a cutting head in the excavation equipment in the spatial coordinate system; based on the first spatial coordinate and the second spatial coordinate, determining the excavation path of the excavation equipment in the tunnel.

[0007] Optionally, based on the first distance, the first spatial coordinates of the corresponding multiple position points in the spatial coordinate system where the excavation equipment is located are determined, including: converting the first distance into coordinate information corresponding to the position point; constructing a spatial coordinate system with a fixed point of a laser radar in the excavation equipment as the origin; and determining the first spatial coordinate corresponding to the position point based on the first distance and the position information of the position point relative to the laser radar.

[0008] Optionally, determining the second spatial coordinate of the cutting head in the excavation equipment in the spatial coordinate system includes: determining movement data of a driving rod of the cutting part in the cutting head; and converting the movement data to obtain the second spatial coordinate.

[0009] Optionally, based on the first spatial coordinate and the second spatial coordinate, the excavation path of the excavation equipment in the tunnel is determined, including: inputting the first spatial coordinate and the second spatial coordinate into a path planning model for analysis to obtain the excavation path, wherein the path planning model is obtained based on historical excavation path training.

[0010] Optionally, the method may further include: determining coal and rock distribution data in the tunnel; inputting the coal and rock distribution data into a path planning model for analysis to obtain a predicted excavation path of the excavation equipment in the tunnel at a future moment.

[0011] Optionally, determining the coal and rock distribution data in the tunnel includes: during the excavation of the tunnel, controlling the infrared thermal imager to obtain a cut infrared image of the tunnel, and obtaining a sensor signal collected by the acceleration sensor; using the sensor signal to convert the cut infrared image to obtain the coal and rock distribution data.

[0012] Optionally, the cut infrared image is converted using the sensor signal to obtain coal and rock distribution data, including: calling a vector machine model, converting the cut infrared image using the sensor signal to obtain coal and rock distribution data, wherein the vector machine model is trained based on historical cut infrared images.

[0013] According to another aspect of an embodiment of the present application, a device for determining an excavation path of an excavation equipment is also provided, and the device may include: a first determination unit, used to determine the first distances between the excavation equipment in the tunnel and multiple position points in the tunnel respectively; a second determination unit, used to determine the first spatial coordinates of the corresponding position point in the spatial coordinate system where the excavation equipment is located based on the first distance, and to determine the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system; a third determination unit, used to determine the excavation path of the excavation equipment in the tunnel based on the first spatial coordinate and the second spatial coordinate.

[0014] According to another aspect of an embodiment of the present application, a computer-readable storage medium is also provided, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the method for determining the excavation path of the excavation device of the embodiment of the present application.

[0015] According to another aspect of an embodiment of the present application, a processor is further provided, the processor being used to run a program, wherein when the program is run by the processor, the method for determining an excavation path of an excavation device of an embodiment of the present application is executed.

[0016] According to another aspect of an embodiment of the present application, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the method for determining an excavation path of an excavation device according to an embodiment of the present application is implemented.

[0017] In an embodiment of the present application, the first distances between the excavation equipment of the tunnel and the multiple position points in the tunnel are determined; based on the first distance, the first spatial coordinates of the corresponding position point in the spatial coordinate system where the excavation equipment is located are determined, and the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system are determined; based on the first spatial coordinates and the second spatial coordinates, the excavation path of the excavation equipment in the tunnel is determined. That is to say, in an embodiment of the present application, the first distances between the excavation equipment and the multiple position points in the tunnel are determined, based on the first distance, the first spatial coordinates of the multiple position points in the spatial coordinate system can be determined, based on the second spatial coordinates of the cutting head in the spatial coordinate system, and the first spatial coordinates, the excavation path of the excavation equipment can be determined, and the excavation equipment can be controlled to complete tunnel excavation according to the excavation path, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the planning efficiency of tunnel excavation paths. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 is a flow chart of a method for determining an excavation path of an excavation device according to an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of an axonometric view of a cantilever type tunnel boring machine according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of an overall side view coordinate diagram of a tunnel boring machine according to an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of the mechanism principle of a cutting part driving rod according to an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of coal-rock distribution and path planning of a cutting section according to an embodiment of the present application;

[0024] Figure 6 is a schematic diagram of a front view of a cantilever type tunnel boring machine according to an embodiment of the present application;

[0025] Figure 7 is a schematic diagram of a system function module according to an embodiment of the present application;

[0026] Figure 8 is a schematic diagram of an overall control process according to an embodiment of the present application;

[0027] Fig. 9 is a schematic diagram of a device for determining an excavation path of an excavation device according to an embodiment of the present application;

[0028] Fig.10 is a structural block diagram of a computer terminal according to an embodiment of the present application;

[0029] Fig.11 The present invention is a block diagram of an electronic device for a method for determining an excavation path of an excavation device according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] According to an embodiment of the present application, an embodiment of a method for determining an excavation path of an excavation device is provided. The steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] In this embodiment, a method for determining an excavation path of an excavation device is proposed. The method can determine a first distance between the excavation device and multiple position points in a tunnel. Based on the first distance, the first spatial coordinates of the multiple position points in the spatial coordinate system can be determined. Based on the second spatial coordinates of the cutting head in the spatial coordinate system and the first spatial coordinates, the excavation path of the excavation device can be determined. The excavation device can be controlled to complete tunnel excavation according to the excavation path, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the planning efficiency of tunnel excavation paths.

[0034] Figure 1 FIG. 1 is a flow chart of a method for determining an excavation path of an excavation device according to an embodiment of the present application. Figure 1 As shown, the method may include the following steps:

[0035] Step S102, determining first distances between the excavation equipment in the tunnel and a plurality of position points in the tunnel.

[0036] In the technical solution provided in the above step S102 of the present application, the above excavation equipment can be used to excavate the tunnel, and can be a tunneling machine. The above position point can be any point on the coal wall, or a point at the entrance of the coal wall. This is only an example, and the position of the position point is not specifically limited. The above tunnel can be a tunneling tunnel, or a tunnel to be excavated. The first distance can be used to characterize the distance between the excavation equipment and the position point, and can be a straight-line distance.

[0037] For example, a solid-state laser radar fixed directly above the excavation equipment body can be used to perform a 360-degree field of view scan of the excavation tunnel. After processing by the internal laser processor, the precise distance of any point on the coal wall relative to the initial point of the tunnel boring machine can be obtained, thereby obtaining the first distance between the excavation equipment and multiple position points in the tunnel.

[0038] Step S104: based on the first distance, determining the first spatial coordinates of the corresponding position point in the spatial coordinate system where the excavation equipment is located, and determining the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system.

[0039] In the technical solution provided in the above step S104 of the present application, the above first spatial coordinate may be the first spatial coordinate of the position point in the spatial coordinate system, which may be used to determine the relative position of the excavation equipment in the spatial coordinate system. The above spatial coordinate system may be a coordinate system constructed with a certain point in the excavation equipment as the origin, or may be a three-dimensional coordinate space model of the fuselage. For example, a three-dimensional coordinate space model of the fuselage centered on the fixed point of the laser radar in the excavation equipment may be established. It should be noted that this is only an example, and there is no specific limitation on the construction method of the spatial coordinate system.

[0040] Optionally, the spatial coordinates and position of the coal wall to be cut can be determined based on the spatial coordinate system.

[0041] Optionally, a second spatial coordinate of the cutting head in the excavation equipment in the spatial coordinate system is determined, and the second spatial coordinate can be represented by (x, y, z).

[0042] For example, Figure 2 is a schematic diagram of an axonometric view of a cantilever type tunnel boring machine according to an embodiment of the present application, such as Figure 2 As shown, the excavation equipment may include a built-in hydraulic cylinder displacement sensor 201, a front and rear telescopic hydraulic cylinder 202, a pitch hydraulic cylinder 203, a pitch encoder 204, a rotary hydraulic cylinder 205, a rotary encoder 206, a cutting data processing module 207, a roadheader 208, a cutting head 209, an acceleration sensor 210, a cutting arm 211, a laser radar 212, and an explosion-proof electric control box 216. Figure 2 As shown, the laser radar 212 is fixed to the top of the tunnel boring machine 218 by bolt connection, and a laser processor can be integrated inside the laser radar 212. The laser radar can emit light to scan the tunneling tunnel with a 360-degree full field of view, and receive the instantaneous reflected light from objects in the tunneling tunnel. The internally integrated laser processor analyzes and obtains the precise distance between any point on the coal wall and the tunneling tunnel and the initial point of the tunnel boring machine to obtain the first distance. The first distance can be converted into environmental coordinate information, and further, based on the environmental coordinate information, the first spatial coordinate corresponding to the position point can be determined.

[0043] Step S106: determining an excavation path of the excavation equipment in the tunnel based on the first spatial coordinate and the second spatial coordinate.

[0044] In the technical solution provided in the above step S106 of the present application, the excavation path of the excavation equipment in the tunnel can be determined based on the first spatial coordinate and the second spatial coordinate. Further, the excavation equipment can be controlled to perform excavation work in the tunnel according to the excavation path.

[0045] Optionally, after determining the first spatial coordinate and the second spatial coordinate, the first spatial coordinate and the second spatial coordinate can be transmitted to the human-computer interaction interface above the well through wireless communication, and the first spatial coordinate and the second spatial coordinate can be matched with the coordinate values ​​of the three-dimensional spatial coordinate system of the fuselage tunnel obtained previously, so that the spatial position of the cutting head relative to the coal wall during the cutting process can be determined for trajectory planning, and thus the excavation path can be obtained.

[0046] Through the above-mentioned steps S102 and S106 of the present application, the first distances between the excavation equipment of the tunnel and the multiple position points in the tunnel are determined; based on the first distance, the first spatial coordinates of the corresponding position point in the spatial coordinate system where the excavation equipment is located are determined, and the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system are determined; based on the first spatial coordinates and the second spatial coordinates, the excavation path of the excavation equipment in the tunnel is determined. That is to say, in the embodiment of the present application, the first distance between the excavation equipment and the multiple position points in the tunnel is determined, and based on the first distance, the first spatial coordinates of the multiple position points in the spatial coordinate system can be determined, and based on the second spatial coordinates of the cutting head in the spatial coordinate system and the first spatial coordinates, the excavation path of the excavation equipment can be determined, and the excavation equipment can be controlled to complete tunnel excavation according to the excavation path, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the planning efficiency of tunnel excavation paths.

[0047] The above method of this embodiment is further introduced below.

[0048] As an optional implementation, step S104, based on the first distance, determines the first spatial coordinates of the corresponding multiple position points in the spatial coordinate system where the excavation equipment is located, including: converting the first distance into coordinate information corresponding to the position point; constructing a spatial coordinate system with the fixed point of the laser radar in the excavation equipment as the origin; and determining the first spatial coordinate corresponding to the position point based on the first distance and the position information of the position point relative to the laser radar.

[0049] In this embodiment, the first distance can be converted into coordinate information corresponding to the location point. The coordinate information can be environmental coordinate information, which can be used to determine the location point relative to the laser radar, the position, orientation and other information. It should be noted that this is only an example, and the type of coordinate information is not specifically limited. Furthermore, a spatial coordinate system can be constructed with the fixed point of the laser radar in the excavation equipment as the origin. Based on the first distance and the location information of the location point relative to the laser radar, the first spatial coordinate of the location point in the above spatial coordinate system can be determined.

[0050] Optionally, the first distance is converted to obtain coordinate information corresponding to the position point, and a spatial coordinate system can be constructed with a fixed point of the laser radar in the excavation equipment as the origin. Based on the first distance and the position information of the position point relative to the laser radar, the first spatial coordinate corresponding to the position point can be determined.

[0051] For example, after determining the coordinate information corresponding to the position point, the laser radar can send the environmental coordinate information of the tunnel to the cutting data processing module through wireless communication. The cutting data processing module is fixed inside the explosion-proof electric control box by bolt connection. Figure 3is a schematic diagram of an overall side view coordinate diagram of a tunnel boring machine according to an embodiment of the present application, such as Figure 3 As shown, the cutting data processing module 207 can establish a three-dimensional space coordinate system of the body tunnel (i.e., the above-mentioned space coordinate system) based on the laser radar three-dimensional visual point cloud technology, with the fixed point of the laser radar 2012 as the original center, the left and right direction of the tunnel boring machine 208 as the X axis, the length direction as the Y axis, and the up and down direction as the Z axis, and then the three-dimensional coordinate space model of the tunnel can be transmitted to the human-computer interaction interface on the well through wireless communication. According to the human-computer interaction interface, the spatial coordinates and position of the coal wall 2015 to be cut relative to the tunnel boring machine 2018 can be determined, and the coordinate information can be obtained to prepare for the coordinate positioning of the cutting head 209 in the next step.

[0052] As an optional implementation, step S104, determining the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system, includes: determining the movement data of the driving rod of the cutting part in the cutting head; converting the movement data to obtain the second spatial coordinates.

[0053] In this embodiment, the movement data of the driving rod of the cutting part in the cutting head can be determined, and the movement data may include the swing angle (α) of the driving rod of the cutting part, the angle (θ) between the upper and lower swing rods and the horizontal plane, and the extension (l 3 ), etc. It should be noted that this is only an example, and there is no specific restriction on the type of mobile data. The second spatial coordinate can be used to characterize the position of the cutting part drive rod, and the second spatial coordinate changes according to the change of the cutting part drive rod. The cutting part drive rod may include a cutting arm. The cutting head may be a cutting part of a tunnel boring machine, and may include a cutting part drive rod.

[0054] For example, the elongation of the cutting arm can be obtained by the built-in hydraulic cylinder displacement sensor fixed in the front and rear telescopic hydraulic cylinders. The up and down swing angles of the cutting arm can be obtained by the pitch encoder fixed on the rotating shaft side of the pitch hydraulic cylinder; the left and right swing angles of the cutting arm can be obtained by the rotary encoder fixed on the shaft side of the rotary hydraulic cylinder. The movement data of the cutting part drive rod can be obtained through the above steps. Furthermore, each sensor can transmit the movement data such as displacement and angle measurement values ​​to the cutting data processing module for analysis and calculation, so as to calculate the spatial position coordinates of the cutting head in the fuselage coordinate system (that is, the second spatial coordinates), and convert the cutting path coordinates with the hydraulic stroke and the rotation angle accordingly, so as to prepare for the next step of cutting head path planning.

[0055] Figure 4 is a schematic diagram of the mechanism principle of a cutting portion driving rod according to an embodiment of the present application, such as Figure 4As shown, it can be seen from the analysis of the mechanism principle of the cutting part driving rod that the spatial position of the cutting head can be determined by two swing angles and one extension. Therefore, the complex structure of the cutting part of the roadheader can be simplified into a two-turn and one-shift mechanism consisting of a left and right swing rod (corresponding to the rotary hydraulic cylinder 205), an up and down swing rod (corresponding to the pitch hydraulic cylinder 203) and a cutting part telescopic (corresponding to the front and rear telescopic hydraulic cylinder 202). Optionally, the second spatial coordinate (x, y, z) of the cutting head and the swing angle α of the left and right swing rod, the angle θ between the up and down swing rod and the horizontal plane, and the extension l 3 There are the following mutual conversion relationships:

[0056] According to the geometric relationship of the cutting part, the spatial position coordinates of the cutting head (that is, the second spatial coordinates) can be obtained as follows:

[0057]

[0058] Optionally, according to the spatial position coordinates of the cutting head, the geometric relationship of the cutting part in the roadheader can be obtained as follows:

[0059]

[0060] Wherein, (x, y, z) is the spatial position coordinate (i.e., the second spatial coordinate) of the cutting head in the three-dimensional spatial coordinate system of the fuselage tunnel (i.e., the above-mentioned spatial coordinate system), a is the distance that the up-and-down swing rod rotation pair can be higher than the left-and-right swing rod; l 1 can be the length of the left and right swing bars; α can be the angle between the left and right swing bars and the X axis; l 2 can be the length of the up and down swing rod; θ can be the angle between the up and down swing rod and the horizontal plane, l 3 It can be the extension of the up and down swing rod.

[0061] like Figure 4 As shown, the built-in hydraulic cylinder displacement sensor 201 is fixed to the bottom of the front and rear telescopic hydraulic cylinder 202 by bolt connection. The telescopic amount of the cutting head 209 is l 3It can be measured by the built-in hydraulic cylinder displacement sensor 201; the pitch encoder 204 is fixed to one side of the rotation axis of the pitch hydraulic cylinder 203 by bolt connection, and the pitch swing angle between the cutting arm 2011 and the horizontal plane can be measured by the pitch encoder 204; the rotary encoder 206 is fixed to one side of the rotation axis of the rotary hydraulic cylinder 205 by bolt connection, and the angle α between the cutting arm 2011 and the X axis can be measured by the rotary encoder 206. After measuring and obtaining the displacement angle information of the cutting part, the built-in hydraulic cylinder displacement sensor 201, the pitch encoder 204, and the rotary encoder 206 can send the sensor signal to the cutting data processing module 207, and the cutting data processing module 207 converts the coordinates to obtain the spatial position coordinates (x, y, z) of the cutting head 209 in the three-dimensional space coordinate system of the fuselage tunnel.

[0062] As an optional implementation, step S106, based on the first spatial coordinate and the second spatial coordinate, determines the excavation path of the excavation equipment in the tunnel, including: inputting the first spatial coordinate and the second spatial coordinate into a path planning model for analysis to obtain the excavation path, wherein the path planning model is obtained based on historical excavation path training.

[0063] In this embodiment, a path planning model can be obtained in advance based on historical mining path training, and the first spatial coordinate and the second spatial coordinate can be input into the path planning model for analysis to obtain the mining path. The above path planning model can be a neural network model, which can be used to determine the mining path. It should be noted that this is only an example, and the type of path planning model is not specifically limited.

[0064] Optionally, in addition to inputting the first spatial coordinate and the second spatial coordinate into the path planning model to obtain the excavation path, the cutting data processing module can also introduce a random forest algorithm, using which the sensor data (e.g., the second spatial coordinate and the first spatial coordinate) can be analyzed and processed. By learning from historical cutting data, the algorithm can gradually optimize the path planning and improve the excavation efficiency and cutting quality.

[0065] As an optional implementation, the method may also include: determining the coal and rock distribution data in the tunnel; inputting the coal and rock distribution data into a path planning model for analysis to obtain a predicted excavation path of the excavation equipment in the tunnel at a future moment.

[0066] In this embodiment, the coal-rock distribution data in the tunnel can be determined, and the coal-rock distribution data can be input into the path planning model for analysis to obtain a predicted excavation path of the excavation equipment in the tunnel at a future moment. The above coal-rock distribution data can be used to characterize the coal-rock distribution results in the coal seam.

[0067] Optionally, the cutting data processing module can import the obtained coal and rock distribution results into the trajectory planning program, and the obtained planning trajectory results can be used as the trajectory of the next cutting head movement. Furthermore, the cutting data processing module can also convert and output the stroke and angle information of the corresponding hydraulic cylinder according to the spatial coordinates (x, y, z) of the next cutting head movement trajectory:

[0068]

[0069] Based on the stroke and angle information, the movement of multiple hydraulic cylinders of the tunnel boring machine can be controlled to meet the planned trajectory for the next cutting. At the same time, the cutting data processing module can transmit the trajectory planning information of the cutting head to the human-computer interaction interface on the well through wireless communication. The well staff can use the three-dimensional coordinate space model of the tunnel to visualize the working status of the cutting head during the tunneling process of the underground tunnel boring machine in real time, and can provide corresponding guidance to the underground workers through the real-time voice alarm function.

[0070] As an optional implementation, determining the coal and rock distribution data in the tunnel includes: during the excavation of the tunnel, controlling the infrared thermal imager to obtain a cut infrared image of the tunnel, and obtaining a sensor signal collected by the acceleration sensor; using the sensor signal to convert the cut infrared image to obtain the coal and rock distribution data.

[0071] In this embodiment, during the excavation process, the infrared thermal imager can be controlled to obtain the cut infrared image of the tunnel and the sensor signal collected by the acceleration sensor. Further, the cut infrared image can be converted using the sensor signal to obtain coal and rock distribution data.

[0072] Optionally, Figure 5 is a schematic diagram of coal rock distribution and path planning of a cutting section according to an embodiment of the present application, such as Figure 5 As shown, when the roadheader cuts the coal wall, the cutting trajectory is planned in the heading tunnel 2017 where coal and rock coexist. The cutting head 209 is drilled into the corner of the bottom wall and a reciprocating "S"-shaped cutting process is performed from bottom to top. Figure 6 is a schematic diagram of a front view of a cantilever type tunnel boring machine according to an embodiment of the present application, such as Figure 6 As shown, the infrared thermal imager 2013 is fixed below the cutting arm 2011 by bolt connection and is aimed at the coal wall 2015. The acceleration sensor 2010 is fixed above the cutting arm 2011 at the end of the cutting head 209 by bolt connection.

[0073] In this embodiment, in order to compensate for the deterministic deviation and random noise error existing in the measurement of the infrared thermal imager, an acceleration sensor signal dynamic compensation model based on the Kalman filter algorithm can be introduced. The algorithm estimates the state by combining the sensor measurement value and the system dynamic model, which can effectively reduce the impact of noise.

[0074] Optionally, in the acceleration sensor signal dynamic compensation model, the sensor acceleration signal of the tunnel boring machine arm can be used as the input quantity u k , image noise standard deviation estimation As output, the image noise standard deviation estimate The smaller it is, the lower the image noise level is and the clearer the details are. Kalman filtering can include the following steps:

[0075] 1) Prediction step:

[0076]

[0077] P k|k-1 =AP k-1|k-1 A T +Q(4)

[0078] in, can be the state prediction value at time k, A can be the state transfer matrix, B can be the control input matrix, uk can be the acceleration measured by the acceleration sensor, P k|k-1 _{\mathcal {E}} may be the prediction error covariance matrix, and Q may be the process noise covariance matrix.

[0079] 2) Update steps:

[0080] K k =P k|k-1 H T (HP k|k-1 H T +R) -1 (5)

[0081]

[0082] P k|k =(IK k H)P k|k-1 (7)

[0083] In the formula, K k can be the Kalman gain, zk can be used to update the state estimate, H can be the measurement matrix, and R can be the measurement noise covariance matrix. The core of Kalman filtering lies in its recursive nature, which enables it to process in real time.

[0084] data and dynamically adjusts the state estimate, which is suitable for noise filtering and compensation of dynamic systems. It can effectively reduce image noise and adjust image clarity.

[0085] Alternatively, if Figure 5 As shown, when the cutting head 209 starts the initial cutting, it drills in from the bottom corner, and the cutting trajectory is similar to an "S" shape to cut the coal wall 2015 from bottom to top. The infrared thermal imager 2013 and the acceleration sensor 2010 record the entire cutting process, and the infrared image and acceleration sensor signal of the initial cutting process are used as input and loaded into the cutting data processing module 207 to correct the deterministic deviation and random noise error existing in the infrared thermal imager measurement. The distribution characteristics of the coal wall and gangue are determined by matching the infrared image with the coal rock cutting hardness database, and the harder area with gangue 2014 in the coal wall 2015 is identified to obtain the coal rock distribution map of the section. Based on the coal rock distribution map, the coal rock distribution data can be obtained.

[0086] Optionally, the experimental establishment of a database for matching infrared images with coal-rock cutting hardness may include the following steps: (1) Data acquisition: Use an infrared thermal imager to image coal-rock samples in different cutting states and record their surface temperature distribution. At the same time, use a standard Rockwell hardness tester to measure the cutting hardness of coal-rock and record the hardness value of each sample. (2) Data preprocessing: Preprocess the collected infrared images, including denoising, normalization and feature extraction, to ensure the quality and consistency of the images, and then standardize the hardness values ​​to match them with the infrared image features. (3) Feature matching: Use a neural network algorithm to establish a mapping relationship between infrared image features and hardness values, and train the processed image features with the corresponding hardness values ​​to generate a matching model. (4) Database construction: Organize the processed infrared images, extracted features, corresponding hardness values ​​and other relevant information (e.g., sampling conditions, environmental parameters, etc.) into a database and store them using a database management system (e.g., MySQL). (5) Model validation and optimization: Evaluate the accuracy and robustness of the model through the test set, adjust the model parameters to improve the prediction ability, continuously collect new data, and regularly update the database to maintain its effectiveness and accuracy.

[0087] As an optional implementation, the cut infrared image is converted using the sensor signal to obtain coal and rock distribution data, including: calling a vector machine model, converting the cut infrared image using the sensor signal to obtain coal and rock distribution data, wherein the vector machine model is trained based on historical cut infrared images.

[0088] In this embodiment, the vector machine model can also be called to convert the cut infrared image using the sensor signal to obtain the coal and rock distribution data.

[0089] Optionally, the embodiment may also introduce a support vector machine model, which can help identify the area of ​​gangue in the coal wall and make more precise corrections to the data of the infrared thermal imager and the acceleration sensor to improve the accuracy and efficiency of cutting. The data of the infrared thermal imager may be a cutting infrared image. The data of the acceleration sensor may be a sensor signal.

[0090] Optionally, in the cutting method of the roadheader adaptive path planning, a support vector machine (SVM) model is used to accurately identify the gangue area in the coal wall. The support vector machine can be a supervised learning method and can be applied to classification and regression analysis. In this embodiment, the above-mentioned vector machine model can be used for classification tasks, that is, to distinguish coal and gangue in the coal wall.

[0091] For example, a large amount of historical infrared thermal imaging data containing coal and gangue, as well as corresponding hardness data or other features that can distinguish coal from gangue, can be collected and prepared. Features that can distinguish coal from gangue, such as temperature distribution, texture features, shape features, etc., can be extracted from the historical infrared thermal imaging data. The SVM algorithm can be used to train the extracted features and known classification results (coal or gangue) to establish a vector machine model that can identify the gangue area in the coal wall. During the training process, SVM can find an optimal hyperplane so that data points of different categories are correctly classified as much as possible and the boundaries between categories are maximized. Furthermore, after the training is completed, the recognition performance of the vector machine model is verified by the test set, and the model parameters, such as the penalty coefficient C and the kernel function parameters, are adjusted according to the test results to improve the accuracy and stability of the model. In the actual cutting process, the infrared thermal imaging data (i.e., cutting infrared images) collected in real time can be input into the SVM model, and the SVM model can output the classification results of the data points, i.e., the coal-rock distribution data, which can be used to determine whether the area is coal or gangue. This helps the cutting data processing module to reasonably plan the cutting path, avoid the gangue area with higher hardness, reduce the wear of the cutting teeth, and improve the cutting efficiency.

[0092] Optionally, in addition to identifying coal and gangue, the SVM model can also combine the data of the acceleration sensor to further correct the measurement error of the infrared thermal imager. By training the SVM model, it can predict and compensate for the measurement error, thereby improving the accuracy of path planning. By introducing the SVM model, this embodiment can more accurately identify the geological structure in the coal wall, optimize the cutting path, improve the excavation efficiency, and at the same time ensure the cutting quality and the safety of the workers.

[0093] In an embodiment of the present application, a first distance between an excavation device and a plurality of position points in a tunnel is determined. Based on the first distance, first spatial coordinates of the plurality of position points in a spatial coordinate system can be determined. Based on the second spatial coordinates of the cutting head in the spatial coordinate system and the first spatial coordinates, an excavation path of the excavation device can be determined. The excavation device can be controlled to complete tunnel excavation according to the excavation path, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the planning efficiency of tunnel excavation paths.

[0094] A cutting method for adaptive path planning of a tunnel boring machine of the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the present application is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of the present application fall within the protection scope of the present application.

[0095] With the improvement of intelligent coal mining, higher requirements are also put forward for the excavation efficiency of underground tunnels. As an important process in coal mining, the optimization degree of tunneling construction technology directly affects the efficiency and quality of the project.

[0096] At present, tunnel excavation is mainly based on manual on-site operations. Faced with different rock conditions, the cutting efficiency and quality of the tunnel boring machine are completely determined by the workers' experience. Therefore, the excavation efficiency and construction effect are greatly affected by human factors. In addition, the excavation working environment is complex and there are safety hazards. During the excavation process, harsh environments such as high humidity, high temperature, high concentration of dust and high noise often occur. The physical safety of the operators cannot be guaranteed, and there are technical problems in the low efficiency of tunnel excavation path planning.

[0097] To solve the above problems, in this embodiment, a cutting method for adaptive path planning of a tunnel boring machine is proposed. This method can realize remote control and automatic cutting of the tunnel boring machine, so as to avoid the limitations and safety issues of workers' on-site operations based on experience in traditional tunnel excavation, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the low planning efficiency of tunnel excavation paths.

[0098] In this embodiment, the above-mentioned roadheader adaptive path planning and cutting system may include a built-in hydraulic cylinder displacement sensor, a pitch encoder, a rotary encoder, an acceleration sensor, a laser radar, an infrared thermal imager, and a cutting data processing module.

[0099] Optionally, a solid-state laser radar fixed on the top of the machine body can scan the tunneling tunnel with a 360-degree field of view. After processing by the internal laser processor, the precise distance of any point on the coal wall from the initial point of the machine can be obtained. Based on this, a three-dimensional coordinate space model of the machine body centered on the laser radar fixed point can be established to determine the spatial coordinates and position of the coal wall to be cut. The elongation of the cutting arm is obtained by the built-in hydraulic cylinder displacement sensor fixed in the front and rear telescopic hydraulic cylinders; the up and down swing angle of the cutting arm is obtained by the pitch encoder fixed on the side of the pitch hydraulic cylinder shaft; the left and right swing angle of the cutting arm is obtained by the rotary encoder fixed on the side of the rotary hydraulic cylinder shaft; and the displacement and angle measurement values ​​of each sensor are then transmitted to the cutting data processing module for analysis and calculation. After calculation and conversion, the spatial position coordinates of the cutting head in the machine body coordinate system are obtained, and the cutting path coordinates are converted into hydraulic stroke and angle accordingly, in preparation for the next step of cutting head path planning.

[0100] Optionally, the infrared thermal image of the cutting process is transmitted to the cutting data processing module for analysis through an infrared thermal imager fixed under the cutting arm to obtain coal-rock distribution data. The harder area of ​​the coal wall with gangue can be identified through the coal-rock distribution data to determine the coal-rock distribution of the section. Due to the harsh environment of high dust, high humidity and high noise underground, the infrared image of the cutting temperature obtained by a single infrared thermal imager during the cutting process often has problems such as low contrast, blurred image and low signal-to-noise ratio. Therefore, in this embodiment, the cutting arm acceleration signal (i.e., sensor signal) obtained by the acceleration sensor can also be used to compensate for the deterministic deviation and random noise error in the measurement of the infrared thermal imager.

[0101] Figure 7 is a schematic diagram of a system function module according to an embodiment of the present application, such as Figure 7 As shown, the roadheader adaptive path planning cutting system 700 may include: a cutting state monitoring system 701 and a cutting data processing module 702. The cutting state monitoring system 701 may include: a built-in hydraulic cylinder displacement sensor 7011, a pitch encoder 7012, a rotary encoder 7013, an acceleration sensor 7014, a laser radar 7015 and an infrared thermal imager 7016. The cutting data processing module 702 may include: a tunnel three-dimensional map model 7021, a cutting infrared image 7022, an acceleration sensor information correction 7023 and a cutting motion trajectory planning 7024.

[0102] Optionally, the infrared thermal imager 7016 can be used to obtain cut infrared images.

[0103] Optionally, the built-in hydraulic cylinder displacement sensor is fixed to the bottom of the front and rear telescopic hydraulic cylinder by bolts, the pitch encoder is fixed to one side of the pitch hydraulic cylinder shaft by bolts, the rotary encoder is fixed to one side of the rotary hydraulic cylinder shaft by bolts, the acceleration sensor is fixed to above the cutting arm at the end of the cutting head by bolts, the laser radar is fixed to the top of the tunneling machine by bolts, the infrared thermal imager is fixed to below the cutting arm by bolts, and the cutting data processing module is fixed to the inside of the explosion-proof electric control box by bolts.

[0104] Optionally, a laser processor may be integrated inside the above-mentioned laser radar, and the laser processor may be used to calculate the reflected light to convert it into environmental coordinate information. When the cutting head is cutting the coal wall, the above-mentioned infrared thermal imager may be aimed at the coal wall to be cut and output a cutting infrared image. The above-mentioned infrared thermal imager matches the coal rock cutting hardness database obtained from the experiment, and the researchers set a certain threshold as the basis for judging whether the gangue is cut.

[0105] Figure 8 is a schematic diagram of an overall control process according to an embodiment of the present application, such as Figure 8 As shown, the cutting method of the above-mentioned roadheader adaptive path planning may include the following steps:

[0106] Step S802, using laser radar three-dimensional visual point cloud technology to obtain relevant data.

[0107] In this embodiment, the laser radar three-dimensional visual point cloud technology is used to obtain the position information of the cutting head and the coordinate information of the coal wall. The coordinate information of the coal wall can be determined based on the coordinate information of multiple position points in the tunnel.

[0108] Step S804, constructing a three-dimensional coordinate system of the tunnel in real time.

[0109] In this embodiment, a three-dimensional coordinate system of the tunnel (ie, a spatial coordinate system) can be constructed in real time, so that the first spatial coordinates of the excavation equipment in the spatial coordinate system and the second spatial coordinates of the cutting head in the spatial coordinate system can be determined.

[0110] Optionally, based on the first spatial coordinates and the second spatial summary table, an excavation path of the excavation equipment in the tunnel may be determined.

[0111] Step S806: excavate the coal wall according to the excavation path.

[0112] In this embodiment, workers may be controlled to operate a roadheader to cut the coal wall.

[0113] Step S808, obtaining a cut infrared image.

[0114] In this embodiment, during the process of operating the tunnel boring machine to cut the coal wall, the infrared thermal imager can be controlled to obtain the cutting infrared image of the tunnel. At the same time, the acceleration sensor can be used to obtain the vibration signal, which can be a sensor signal and can be used to compensate for the error of the cutting infrared image.

[0115] Optionally, the sensor signal is used to perform error compensation on the cut infrared image to obtain coal-rock distribution data, which may be an infrared image.

[0116] Step S810, determining the distribution characteristics of coal wall and gangue based on the coal rock distribution data.

[0117] In this embodiment, the coal-rock distribution data is matched with the data in the coal-rock cutting hardness matching database to determine the distribution characteristics of the coal wall and gangue to be cut.

[0118] Optionally, based on the distribution characteristics of the coal wall and gangue, the predicted excavation path of the excavation equipment in the tunnel can be determined. According to the predicted excavation path, the cutting head can drill in from the bottom corner and plan an "8"-shaped trajectory path from bottom to top to avoid the gangue area.

[0119] Step S812, determining whether the specified daily progress target has been reached.

[0120] In this embodiment, in response to the end of the cutting action of the excavation equipment, it can be determined whether the current cutting situation reaches the specified daily footage target. If not, step S814 can be executed. The above daily footage target can be pre-set.

[0121] Step S814: The worker operates the tunnel boring machine to advance approximately the target distance along the tunnel.

[0122] In this embodiment, if the specified daily advance target is not reached, the worker may be controlled to operate the tunnel boring machine to advance along the tunnel by about a target distance. The target distance may be a set distance, for example, 0.6 meters. It should be noted that this is only an example and the size of the target distance is not specifically limited.

[0123] Step S816, determining the coal wall cutting operation.

[0124] In this embodiment, the worker may be controlled to operate the roadheader to advance about a target distance along the tunnel, and determine the next coal wall cutting operation.

[0125] In this embodiment, the cutting temperature characteristics during the cutting process are obtained by an infrared thermal imager to determine the interface coal-rock distribution, and the error compensation is performed on the coal-rock distribution area identified by infrared in combination with an acceleration sensor. Then, the trajectory of the next cutting is reasonably planned according to the coal-rock distribution of the tunnel section. The cutting trajectory of the cutting head of the roadheader can avoid large pieces of gangue and avoid severe wear of the cutting teeth when cutting gangue, thereby effectively increasing the service life of the cutting teeth and greatly improving the cutting efficiency, while effectively reducing the safety hazards of manual on-site operations.

[0126] According to an embodiment of the present application, a device for determining an excavation path of an excavation device is also provided. It should be noted that the device for determining an excavation path of an excavation device of this embodiment can be used to execute the method for determining an excavation path of an excavation device of embodiment 1 of the present application.

[0127] Fig. 9 Schematic diagram of a device for determining an excavation path of an excavation device according to an embodiment of the present application. Fig. 9 As shown, the device 90 for determining an excavation path of the excavation equipment may include: a first determining unit 902 , a second determining unit 904 and a third determining unit 906 .

[0128] The first determining unit 902 is used to determine first distances between the excavation equipment in the tunnel and a plurality of position points in the tunnel.

[0129] The second determining unit 904 is used to determine the first spatial coordinates of the corresponding position point in the spatial coordinate system of the excavation equipment based on the first distance, and determine the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system.

[0130] The third determining unit 906 is used to determine an excavation path of the excavation equipment in the tunnel based on the first spatial coordinate and the second spatial coordinate.

[0131] The device for determining the excavation path of the excavation equipment of this embodiment determines, through a first determination unit, the first distances between the excavation equipment in the tunnel and a plurality of position points in the tunnel respectively; determines, through a second determination unit, based on the first distance, the first spatial coordinates of the corresponding position point in the spatial coordinate system where the excavation equipment is located, and determines the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system; and determines, through a third determination unit, based on the first spatial coordinates and the second spatial coordinates, the excavation path of the excavation equipment in the tunnel, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the planning efficiency of tunnel excavation paths.

[0132] The embodiment of the present application may provide a computer terminal, which may be any computer terminal device in a computer terminal group. Optionally, in this embodiment, the computer terminal may also be replaced by a terminal device such as a mobile terminal.

[0133] Optionally, in this embodiment, the computer terminal may be located in at least one network device among a plurality of network devices of the computer network.

[0134] In this embodiment, the above-mentioned computer terminal can execute the program code of the following steps in the method for determining the excavation path of the excavation equipment: determining the first distance between the excavation equipment in the tunnel and multiple position points in the tunnel respectively; based on the first distance, determining the first spatial coordinate of the corresponding position point in the spatial coordinate system where the excavation equipment is located, and determining the second spatial coordinate of the cutting head in the excavation equipment in the spatial coordinate system; based on the first spatial coordinate and the second spatial coordinate, determining the excavation path of the excavation equipment in the tunnel.

[0135] Optionally, Fig.10 is a structural block diagram of a computer terminal according to an embodiment of the present application, such as Fig.10 As shown, the computer terminal 1008 may include: one or more (only one is shown in the figure) processors 1002 , a memory 1004 and a transmission device 1006 .

[0136] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the method and device for determining the mining path of the mining equipment in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the method for determining the mining path of the mining equipment described above is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 1008 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0137] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: determine the first distances between the excavation equipment in the tunnel and multiple position points in the tunnel; based on the first distance, determine the first spatial coordinates of the corresponding position points in the spatial coordinate system where the excavation equipment is located, and determine the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system; based on the first spatial coordinates and the second spatial coordinates, determine the excavation path of the excavation equipment in the tunnel.

[0138] It can be understood by those skilled in the art that Fig.10 The structure shown is for illustration only, and the computer terminal 1008 may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID for short), a PAD, or other terminal devices. Fig.10 The structure of the computer terminal 1008 is not limited. For example, the computer terminal 1008 may also include Fig.10 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Fig.10 Different configurations are shown.

[0139] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0140] According to an embodiment of the present application, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored program, wherein the program executes the method for determining an excavation path of the excavation equipment in the above embodiment.

[0141] Optionally, in this embodiment, the computer-readable storage medium may be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the mobile terminals in a mobile terminal group.

[0142] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: determining a first distance between the excavation equipment in the tunnel and a plurality of position points in the tunnel respectively; based on the first distance, determining a first spatial coordinate of the corresponding position point in the spatial coordinate system where the excavation equipment is located, and determining a second spatial coordinate of a cutting head in the excavation equipment in the spatial coordinate system; based on the first spatial coordinate and the second spatial coordinate, determining an excavation path of the excavation equipment in the tunnel.

[0143] Optionally, the computer-readable storage medium can also execute the program code of the following steps: converting the first distance into coordinate information corresponding to the location point; constructing a spatial coordinate system with the fixed point of the laser radar in the excavation equipment as the origin; and determining the first spatial coordinate corresponding to the location point based on the first distance and the position information of the location point relative to the laser radar.

[0144] Optionally, the computer-readable storage medium may also execute program codes for the following steps: determining movement data of a driving rod of the cutting part in the cutting head; and converting the movement data to obtain a second space coordinate.

[0145] Optionally, the computer-readable storage medium may also execute program code of the following steps: inputting the first spatial coordinate and the second spatial coordinate into a path planning model for analysis to obtain a mining path, wherein the path planning model is obtained based on historical mining path training.

[0146] Optionally, the computer-readable storage medium may also execute program codes of the following steps: determining the coal-rock distribution data in the tunnel; inputting the coal-rock distribution data into a path planning model for analysis to obtain a predicted excavation path of the excavation equipment in the tunnel at a future moment.

[0147] Optionally, the computer-readable storage medium can also execute the program code of the following steps: during the excavation of the tunnel, control the infrared thermal imager to obtain a cut infrared image of the tunnel, and obtain the sensor signal collected by the acceleration sensor; use the sensor signal to convert the cut infrared image to obtain coal and rock distribution data.

[0148] Optionally, the computer-readable storage medium may also execute program codes of the following steps: calling a vector machine model, converting the cut infrared image using sensor signals, and obtaining coal-rock distribution data.

[0149] In this embodiment, a first distance between the excavation equipment and multiple position points in the tunnel is determined. Based on the first distance, the first spatial coordinates of the multiple position points in the spatial coordinate system can be determined. Based on the second spatial coordinates of the cutting head in the spatial coordinate system and the first spatial coordinates, the excavation path of the excavation equipment can be determined. The excavation equipment can be controlled to complete tunnel excavation according to the excavation path, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the planning efficiency of tunnel excavation paths.

[0150] According to an embodiment of the present application, a processor is further provided, the processor being used to run a program, wherein when the program is run by the processor, the method for determining an excavation path of the excavation device in the above embodiment is executed.

[0151] Optionally, in this embodiment, the computer terminal may be located in at least one network device among a plurality of network devices of the computer network.

[0152] In this embodiment, the above-mentioned computer terminal can execute the program code of the following steps in the method for determining the excavation path of the excavation equipment: determining the first distance between the excavation equipment in the tunnel and multiple position points in the tunnel respectively; based on the first distance, determining the first spatial coordinate of the corresponding position point in the spatial coordinate system where the excavation equipment is located, and determining the second spatial coordinate of the cutting head in the excavation equipment in the spatial coordinate system; based on the first spatial coordinate and the second spatial coordinate, determining the excavation path of the excavation equipment in the tunnel.

[0153] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the method and device for determining the mining path of the mining equipment in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned method for determining the mining path of the mining equipment. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0154] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: determine the first distances between the excavation equipment in the tunnel and multiple position points in the tunnel; based on the first distance, determine the first spatial coordinates of the corresponding position points in the spatial coordinate system where the excavation equipment is located, and determine the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system; based on the first spatial coordinates and the second spatial coordinates, determine the excavation path of the excavation equipment in the tunnel.

[0155] Optionally, the processor may also execute the program code of the following steps: converting the first distance into coordinate information corresponding to the location point; constructing a spatial coordinate system with the fixed point of the laser radar in the excavation equipment as the origin; and determining the first spatial coordinate corresponding to the location point based on the first distance and the location information of the location point relative to the laser radar.

[0156] Optionally, the processor may also execute program codes of the following steps: determining movement data of a driving rod of the cutting part in the cutting head; and converting the movement data to obtain a second space coordinate.

[0157] Optionally, the processor may also execute the program code of the following steps: inputting the first spatial coordinate and the second spatial coordinate into a path planning model for analysis to obtain a mining path, wherein the path planning model is obtained based on historical mining path training.

[0158] Optionally, the processor may also execute the program code of the following steps: determining the coal-rock distribution data in the tunnel; inputting the coal-rock distribution data into the path planning model for analysis to obtain the predicted excavation path of the excavation equipment in the tunnel at a future moment.

[0159] Optionally, the processor may also execute the program code of the following steps: during the excavation of the tunnel, control the infrared thermal imager to obtain a cut infrared image of the tunnel, and obtain a sensor signal collected by the acceleration sensor; use the sensor signal to convert the cut infrared image to obtain coal and rock distribution data.

[0160] Optionally, the processor may also execute the program code of the following steps: calling a vector machine model, converting the cut infrared image using the sensor signal, and obtaining coal-rock distribution data.

[0161] By using the embodiment of the present application, a first distance between an excavation device and multiple position points in a tunnel is determined. Based on the first distance, the first spatial coordinates of the multiple position points in the spatial coordinate system can be determined. Based on the second spatial coordinates of the cutting head in the spatial coordinate system and the first spatial coordinates, an excavation path of the excavation device can be determined. The excavation device can be controlled to complete tunnel excavation according to the excavation path, thereby solving the technical problem of low planning efficiency of tunnel excavation paths and achieving the technical effect of improving the planning efficiency of tunnel excavation paths.

[0162] According to an embodiment of the present application, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the method for determining an excavation path of the excavation device in the above embodiment is implemented.

[0163] An embodiment of the present application may provide an electronic device, which may include a memory and a processor.

[0164] Fig.11 It is a block diagram of an electronic device for determining a digging path of an excavation device according to an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0165] like Fig.11As shown, the device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 to a random access memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the device 1100 can also be stored. The computing unit 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0166] A number of components in the device 1100 are connected to the I / O interface 1105, including: an input unit 1106, such as a keyboard, a mouse, etc.; an output unit 1104, such as various types of displays, speakers, etc.; a storage unit 1108, such as a disk, an optical disk, etc.; and a communication unit 1109, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1109 allows the device 1100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0167] The computing unit 1101 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above, such as a verification method for data. For example, in some embodiments, the verification method for data may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 1108. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1100 via the ROM 1102 and / or the communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, one or more steps of the data verification method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the data verification method in any other appropriate manner (e.g., by means of firmware).

[0168] According to an embodiment of the present application, a method for determining an excavation path of an excavation device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0169] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor that may be a dedicated or general purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0170] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0171] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0172] To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or an LCD (liquid crystal display, monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a path ball) through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0173] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a Local Area Network (LAN), a Wide Area Network (WAN), and the Internet.

[0174] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0175] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0176] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0177] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0178] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0179] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0180] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0181] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining an excavation path of an excavation device, characterized in that: include: Determine first distances between excavation equipment in a tunnel and a plurality of position points in the tunnel; Based on the first distance, determining a first spatial coordinate of the corresponding position point in a spatial coordinate system where the excavating device is located, and determining a second spatial coordinate of the excavating device in the spatial coordinate system; An excavation path of the excavation equipment in the tunnel is determined based on the first spatial coordinate and the second spatial coordinate.

2. The method according to claim 1, characterized in that The determining, based on the first distance, first spatial coordinates of the corresponding plurality of position points in the spatial coordinate system where the excavating equipment is located comprises: Converting the first distance into coordinate information corresponding to the position point; Taking the fixed point of the laser radar in the excavation equipment as the origin, constructing the spatial coordinate system; Based on the first distance and the position information of the position point relative to the laser radar, the first spatial coordinate corresponding to the position point is determined.

3. The method according to claim 1, characterized in that The determining of the second spatial coordinates of the cutting head in the excavation equipment in the spatial coordinate system comprises: Determine the movement data of the driving rod of the cutting part in the cutting head, wherein: The movement data is converted to obtain the second space coordinates.

4. The method according to claim 1, characterized in that: The step of determining an excavation path of the excavation equipment in the tunnel based on the first spatial coordinate and the second spatial coordinate comprises: The first spatial coordinate and the second spatial coordinate are input into a path planning model for analysis to obtain the mining path, wherein the path planning model is obtained based on historical mining path training.

5. The method according to claim 4, characterized in that The method further comprises: Determining coal and rock distribution data in the roadway; The coal and rock distribution data are input into the path planning model for analysis to obtain a predicted excavation path of the excavation equipment in the tunnel at a future moment.

6. The method according to claim 5, characterized in that The determining of the coal-rock distribution data in the roadway comprises: During the excavation of the tunnel, the infrared thermal imager is controlled to obtain a cut infrared image of the tunnel and a sensor signal collected by the acceleration sensor; The cut infrared image is converted using the sensor signal to obtain the coal rock distribution data.

7. The method according to claim 6, characterized in that The method of converting the cut infrared image using the sensor signal to obtain the coal-rock distribution data includes: The vector machine model is called, and the sensor signal is used to transform the cut infrared image to obtain the coal-rock distribution data, wherein the vector machine model is trained based on historical cut infrared images.

8. A device for determining an excavation path of an excavation device, characterized in that: include: A first determining unit, configured to determine first distances between the excavation equipment of the tunnel and a plurality of position points in the tunnel; A second determining unit is used to determine, based on the first distance, a first spatial coordinate of the corresponding position point in the spatial coordinate system where the excavating device is located, and to determine a second spatial coordinate of a cutting head in the excavating device in the spatial coordinate system; The third determining unit is configured to determine an excavation path of the excavation equipment in the tunnel based on the first spatial coordinates and the second spatial coordinates.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 7 when run by the processor.

10. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the method according to any one of claims 1 to 7.

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