Method for monitoring spatial positions of roller and face guard of coal mining machine

Abstract

The invention discloses a coal cutter roller and face guard spatial position monitoring method, which is used for accurately identifying the spatial position of a coal cutter roller and a hydraulic support face guard, real-time monitoring and early warning, and comprises the following steps: acquiring an image of the hydraulic support face guard by using an industrial camera, and extracting a real-time inclination angle theta of the hydraulic support face guard based on a deep learning algorithm; the relative position of a coal mining machine and a hydraulic support is obtained by adopting the radio frequency identification technology, the included angle between a large rocker arm of the coal mining machine and a fully mechanized coal mining face bottom plate is collected, the pushing stroke of a telescopic front beam is measured, and spatial position calculation is conducted on a roller of the coal mining machine and a hydraulic support side protection plate through obtained data information. The real-time space positions of the coal cutter roller and the hydraulic support face guard plate are obtained, a cutting warning plane is planned, graded early warning is conducted according to the space position relation of the coal cutter roller and the hydraulic support face guard plate, corresponding signals are sent, the hydraulic support face guard plate can be prevented from being cut by the coal cutter roller, and safe and efficient production of a fully mechanized coal mining face is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of safe production in coal mines, and in particular to a method for monitoring the spatial position of a coal mining machine drum and a side guard plate. Background Art

[0002] The fully mechanized mining face is the core production area of ​​the coal mine, carrying the key task of coal mining. The main integrated equipment in this area includes coal mining machines, scraper conveyors and hydraulic supports. The efficient and coordinated operation of these equipment is directly related to the safety and production efficiency of the entire coal mining process. In the fully mechanized mining automation system, the posture status monitoring of the "three machines" is particularly important. In the coordinated operation process, the complex and precise spatial position relationship is an important guarantee for safe and efficient production, especially the spatial position relationship between the hydraulic support guard plate and the drum of the coal mining machine. It is the top priority to protect the safety of mechanical equipment and personnel;

[0003] The working conditions of the fully mechanized mining face are complex and the environment is harsh. When the hydraulic support performs the "retracting the side guard plate action", when there are uncertain factors such as oil circuit blockage, oil pipe leakage, insufficient hydraulic valve opening time, mechanical structure failure, etc., it will cause the retraction distance of the telescopic front beam to be insufficient, and the rotation angle of the side guard plate to be retracted to be insufficient. If the side guard plate is not retracted in time and correctly before the coal mining machine drum enters the operating area, or the retracted distance does not reach the specified safe stroke, there is a high risk that the side guard plate will be cut by the coal mining machine drum. This will not only cause serious damage to the equipment and increase maintenance costs, but also cause serious safety accidents and endanger the lives and property of the workers. Solving the real-time spatial position monitoring and early warning problems between the side guard plate and the coal mining machine drum is one of the key issues to ensure the safe production of the fully mechanized mining face, and it is also the core link to improve the level of mine automation. Summary of the invention

[0004] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a method for monitoring the spatial position of a coal mining machine drum and a side guard plate, which can perform graded early warning according to the spatial position relationship between the coal mining machine drum and the side guard plate of a hydraulic support, and send corresponding signals, thereby preventing the coal mining machine drum from cutting the side guard plate of the hydraulic support, and ensuring safe and efficient production of the comprehensive mining working face.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention provides a method for monitoring the spatial position of a coal mining machine drum and a side guard plate, comprising the following steps:

[0007] S1, collecting and processing the posture image of the guard plate of the hydraulic support, and identifying the real-time inclination angle θ of the guard plate;

[0008] S2. Install a displacement sensor on the telescopic front beam to measure the displacement of the telescopic front beam and obtain the displacement l of the telescopic front beam. s ;

[0009] S3. In the plane coordinate system xoy, the coordinates of point A on the upper edge of the guard plate (x A ,y A )for:

[0010]

[0011] Coordinates of point B at the lower edge of the guard plate (x B ,y B )for:

[0012]

[0013] Among them, H Z is the support height of the hydraulic support, L0 is the length of the upper edge of the guard plate from the coordinate origin in the x-axis direction when the telescopic front beam is fully retracted, l1 is the length of the guard plate, H Z , L0, l1 are all equipment parameters;

[0014] S4. Simplify the height adjustment mechanism of the coal mining machine into a swing guide rod mechanism. Taking the right rocker arm of the coal mining machine as an example, the cutting height of the coal mining machine is H C ;

[0015] S5. According to the trigonometric theorem, in the direction vertical to the bottom plate of the fully mechanized mining face, the distance h2 from the hinge point D between the rocker arm and the machine body to the rotation center E of the shearer drum is: h2 = l 21 sinλ, where the length of the large rocker arm of the coal mining machine is l 21 , λ is the angle between the large rocker arm and the bottom plate of the fully mechanized mining face; it is measured by the inclination sensor installed on the right rocker arm of the coal mining machine;

[0016] S6. Calculate the coordinates of point G (x G ,y G );

[0017]

[0018] Among them, L1 represents the distance from the rear of the coal mining machine drum to the coordinate origin, which is a fixed parameter when the working face is running;

[0019] S7. In the spatial coordinate system XYZ, a single hydraulic support and a coal mining machine are taken as the research objects, and the origin of the spatial coordinate system XYZ is at the same position as the origin of the plane coordinate system xoy;

[0020] Get the spatial coordinates (X A , Y A , Z A), the spatial coordinates of point B at the lower front edge of the guard plate (X B , Y B , Z B ), the spatial coordinates of point M on the upper edge of the rear side guard plate (X M , Y M , Z M ), the spatial coordinate of the lower edge of the rear side guard plate (X N , Y N , Z N ) and the spatial coordinates of point G, the highest point at the rear of the shearer drum (X G , Y G , Z G );

[0021] S8. According to the position information of the side guard plate and the shearer drum in the spatial coordinate system, the equation of the plane AMNB where the side guard plate is located in the spatial coordinate system XYZ is expressed as:

[0022] a(xX A )+b(yY A )+c(zZ A )=0;

[0023] in:

[0024] S9. Select 7% of the roller diameter as the safety distance H S , select the direction towards the shearer drum, move H from the side guard plate plane S The plane of the distance is used as the cutting warning plane, and the equation of the cutting warning plane is expressed as:

[0025] in,

[0026] S10. According to the positional relationship between the highest point G at the rear of the coal mining machine drum and the guard plate plane AMNB and the cutting warning plane, the spatial position state between the guard plate and the coal mining machine drum is divided into three types: safe state, warning state, and dangerous state; and whether the coal mining working face is operating normally is determined.

[0027] Preferably, in step S1, Gaussian filtering denoising and Dark Channel Prior Dehazing algorithm are used for dehazing;

[0028] The ResNet network is used to extract the texture features and shape features of the guard plate posture image to obtain the image modal feature vector;

[0029] Based on the deep learning algorithm, the image modal feature vector is input into the trained deep learning model to obtain the real-time inclination angle θ of the guardrail.

[0030] Preferably, in step S4, in the direction vertical to the bottom plate of the fully mechanized mining face, the cutting height H C for:

[0031] H C =h1+h2+h3+h4, where the drum radius is h1, the distance from the hinge point D between the rocker arm and the machine body to the rotation center E of the coal mining machine drum is h2, the distance from the machine body hinge point C to the hinge point D between the rocker arm and the machine body is h3, and the distance from the machine body hinge point C to the bottom plate of the fully mechanized mining face is h 4， h1, h3, and h4 are all coal mining machine equipment parameters.

[0032] Preferably, in step S7, the spatial coordinates (X A , Y A , Z A )for:

[0033] The spatial coordinates of point B at the lower edge of the front part of the guard plate (X B , Y B , Z B )for:

[0034]

[0035] The spatial coordinates of point M on the upper edge of the rear side of the guard plate (X M , Y M , Z M )for:

[0036]

[0037] Among them, L AM is the width of the guard plate, and is the equipment parameter;

[0038] The spatial coordinate of the lower edge of the rear part of the guard plate (X N , Y N , Z N )for:

[0039]

[0040] Among them, L BN is the width of the guard plate, and is the equipment parameter;

[0041] The spatial coordinates of point G, the highest point at the rear of the coal mining machine drum (X G , Y G , Z G )for:

[0042]

[0043] Among them, L CHIt is the relative position of the connection between the coal mining machine rocker arm and the drum and the hydraulic support. The Y-axis coordinate of this position in the spatial coordinate system XYZ is the same as the Y-axis coordinate of point G, the highest point at the rear of the coal mining machine drum.

[0044] Preferably, L CH Obtained using radio frequency identification technology, including:

[0045] RFID industrial electronic tags are implanted at the joints between the rocker arm and the drum of the coal mining machine and on the hydraulic support to store identification information;

[0046] The reader is attached to the coal mining machine and moves with the coal mining machine to communicate wirelessly with the RFID industrial electronic tag.

[0047] Using antenna to assist signal transmission between tag and reader;

[0048] When the coal mining machine and hydraulic support enter the capture range of the reader, the reader sends a radio wave signal to activate the tag;

[0049] The tag sends its ID and related data back to the reader through radio waves. The decoding system decodes and analyzes the read data to achieve accurate positioning of the coal mining machine and the hydraulic support, and obtain the relative position L of the connection between the coal mining machine rocker arm and drum and the hydraulic support. CH .

[0050] Preferably, in step S10,

[0051] The safety state is that there will be no cutting interference accident between the guard plate and the coal mining machine, and point G on the coal mining machine drum is on the right side of the cutting warning plane, that is, point G (X G , Y G , Z G )satisfy:

[0052] The warning state is that the guard plate and the coal mining machine are not at a safe distance, and there is a risk of cutting interference. It means that the point G on the coal mining machine drum is between the cutting warning plane and the guard plate plane AMNB, that is, point G (X G , Y G , Z G )satisfy: And at the same time satisfy: aX G +bY G +cZ G +d>0;

[0053] The dangerous state is that the guard plate and the coal mining machine will inevitably interfere with each other in cutting, which means that point G on the coal mining machine drum is located on the left side of the guard plate plane AMNB, that is, point G (X G , Y G , Z G)Satisfies: aX G +bY G +cZ G +d≤0;

[0054] The above-mentioned displacement sensors, inclination sensors and other sensing devices are all electrically connected to the central processor of the coal mining machine. When the inclination angle of the side guard plate is greater than 90°, it is directly considered to be in a dangerous state;

[0055] When in a safe state, the coal mining face operates normally;

[0056] When in the early warning state, the central processor controls the hydraulic support to "recover the side guard plate" and the coal mining face performs early warning processing;

[0057] When in a dangerous state, the central processing unit controls the coal mining machine to stop and the coal mining face to stop operations to eliminate safety hazards.

[0058] The beneficial effect of the present invention is that the present invention obtains the spatial coordinates of the four corners of the guard plate and the highest point of the coal mining machine drum, and then performs mathematical calculations based on the obtained spatial coordinates and equipment parameters to obtain the plane equation of the guard plate and the cutting warning plane equation, thereby real-time monitoring the spatial position of the coal mining machine drum and the guard plate and judging the working status. Compared with the prior art, the present invention monitors the position of the guard plate and the coal mining machine drum at the spatial level, and obtains basic data through displacement sensors, inclination sensors, wireless radio frequency identification technology and deep learning algorithms. It can accurately obtain data under harsh conditions of high noise and low visibility underground without manual work. In low-visibility coal mining working faces, spatial position calculations based on mathematical methods greatly improve detection accuracy and reliability compared to algorithms such as image recognition, providing a basis for the automation and unmanned control of coal mining machines and hydraulic supports, ensuring the mining efficiency and economic benefits of the working face, and improving the automation and intelligence level of coal mine equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] 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 or the description of the prior art 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.

[0060] Figure 1 A schematic diagram of the operation of a coal mining machine and a hydraulic support provided in an embodiment of the present invention;

[0061] Figure 2 A flow chart of a method for monitoring the spatial position of a coal mining machine drum and a side guard plate provided by an embodiment of the present invention;

[0062] Figure 3 A schematic diagram of calculating the plane positions of the side guard plate and the roller provided in an embodiment of the present invention;

[0063] Figure 4 A schematic diagram of the cutting height monitoring of the drum of a coal mining machine provided in an embodiment of the present invention;

[0064] Figure 5 A schematic diagram of calculating the spatial position of the side guard plate and the roller provided in an embodiment of the present invention;

[0065] Figure 6 A schematic diagram of the space position warning of the side guard plate and the roller provided in an embodiment of the present invention;

[0066] Among them: 1. Hydraulic support top beam; 2. Industrial camera; 3. Working face top plate; 4. Guard plate; 5. Coal seam; 6. Coal mining machine drum; 7. Comprehensive mining working face bottom plate; 8. Coal mining machine rocker arm; 9. Inclination sensor; 10. Telescopic front beam; 11. Guard plate plane AMNB; 12. Cutting warning plane. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] See also Figure 1 The schematic diagram of the operation of the coal mining machine and the hydraulic support provided in the embodiment of the present invention is that when the coal mining machine drum 6 cuts the coal seam 5 in the fully mechanized mining face, the hydraulic support supports the roof 3 of the working face, and the side guard plate 4 can also prevent the side of the coal seam 5 from being chipped. In order to monitor the spatial position relationship between the side guard plate 4 and the coal mining machine drum 6 and ensure the operation safety of the working face, an explosion-proof industrial camera 2 is installed at the lower part of the hydraulic support top beam 1 to collect the posture image of the side guard plate 4. An inclination sensor 9 is installed on the coal mining machine rocker arm 8 to obtain the angle λ data between the coal mining machine rocker arm 8 and the fully mechanized mining face bottom plate 7;

[0069] See also Figures 2 to 6 The present embodiment provides a method for monitoring the spatial position of a coal mining machine drum and a side guard plate, specifically: S1, collecting and processing the side guard plate posture image of the hydraulic support, and identifying the real-time inclination angle θ of the side guard plate; after initially obtaining the side guard plate posture image 4, since there are a large number of interference features in the side guard plate monitoring image obtained by using the industrial camera 2, in order to improve the ability to identify and extract the side guard plate posture features in the monitoring image, the obtained image should be processed to identify the real-time inclination angle θ of the side guard plate, including:

[0070] Use Gaussian filter denoising and Dark Channel Prior Dehazing algorithm to remove haze;

[0071] The ResNet network is used to extract the texture features and shape features of the guard plate posture image to obtain the image modal feature vector;

[0072] Based on the deep learning algorithm, the image modal feature vector is input into the trained deep learning model to obtain the real-time inclination angle θ of the guardrail;

[0073] S2. Install a displacement sensor on the telescopic front beam 10 of the hydraulic support to measure the displacement of the telescopic front beam 10, thereby obtaining the displacement l of the telescopic front beam 10. s ;

[0074] S3, in the plane coordinate system xoy;

[0075] The coordinates of point A on the upper edge of the guard plate (x A ,y A )for: The following can be solved: The coordinates of point B at the lower edge of the guard plate (x B ,y B )for: Among them, H Z is the support height of the hydraulic support, L0 is the length of the upper edge of the guard plate from the coordinate origin in the X-axis direction when the telescopic front beam is fully retracted, and l1 is the length of the guard plate, all of which are equipment parameters;

[0076] S4, simplify the height adjustment mechanism of the coal mining machine into a swing guide rod mechanism. Taking the right rocker arm 8 of the coal mining machine as an example, the cutting height H of the coal mining machine C For: H C =h1+h2+h3+h4;

[0077] Among them, in the direction vertical to the bottom plate 7 of the fully mechanized mining face, the radius of the drum is h1, the distance from the hinge point D between the rocker arm and the machine body to the rotation center E of the coal mining machine drum is h2, the distance from the hinge point C of the machine body to the hinge point D between the rocker arm and the machine body is h3, and the distance from the hinge point C of the machine body to the bottom plate of the fully mechanized mining face is h4;

[0078] Furthermore, the radius of the drum is h1, the distance from the hinge point C of the machine body to the hinge point D of the rocker arm and the machine body is h3, and the distance from the hinge point C of the rocker arm push jack and the machine body to the bottom plate of the fully mechanized mining face is h4, which are all coal mining machine equipment parameters;

[0079] S5. According to the triangle theorem, in the direction vertical to the bottom plate 7 of the fully mechanized mining face, the distance h2 from the hinge point D between the rocker arm and the machine body to the rotation center E of the shearer drum is: h2 = l 21 sinλ, where; the length of the coal mining machine rocker arm 8 is l21 , λ is the angle between the coal mining machine rocker arm 8 and the bottom plate 7 of the fully mechanized mining face, which is measured by the inclination sensor 9 on the coal mining machine rocker arm 8;

[0080] S6, solve: the coordinates of the highest point G at the rear of the coal mining machine drum (x G ,y G ): Among them, L1 represents the distance from the highest point at the rear of the shearer drum to the coordinate origin, which is a fixed parameter during the operation of the working face;

[0081] S7. In the spatial coordinate system XYZ, a single hydraulic support and a coal mining machine are taken as the research objects, and the origin of the spatial coordinate system XYZ is at the same position as the origin of the plane coordinate system xoy;

[0082] Then the spatial coordinates of point A on the front upper edge of the guard plate (X A , Y A , Z A )for:

[0083]

[0084] Then the spatial coordinates of point B at the lower front edge of the guard plate (X B , Y B , Z B )for:

[0085]

[0086] Then the spatial coordinates of point M on the upper edge of the rear side guard plate (X M , Y M , Z M )for:

[0087]

[0088] Among them, L AM is the width of the guard plate, and is the equipment parameter;

[0089] Then the spatial coordinates of point N at the lower edge of the rear side guard plate (X N , Y N , Z N )for:

[0090]

[0091] Among them, L BN is the width of the guard plate, and is the equipment parameter;

[0092] Then the spatial coordinates of point G, the highest point at the rear of the shearer drum (X G , Y G , Z G )for:

[0093]

[0094] Among them, L CH The relative position of the connection between the coal mining machine rocker arm 8 and the coal mining machine drum 6 and the hydraulic support, the Y-axis coordinate of this position in the spatial coordinate system XYZ is the same as the Y-axis coordinate of the highest point G at the rear of the coal mining machine drum, and is obtained using wireless radio frequency identification technology, including:

[0095] RFID industrial electronic tags are respectively implanted at the connection between the coal mining machine rocker arm 8 and the coal mining machine drum 6 and the hydraulic support for storing identification information;

[0096] The reader is attached to the coal mining machine and moves with the coal mining machine to communicate wirelessly with the RFID industrial electronic tag.

[0097] Using antenna to assist signal transmission between tag and reader;

[0098] When the coal mining machine and hydraulic support enter the capture range of the reader, the reader sends a radio wave signal to activate the tag;

[0099] The tag sends its ID and related data back to the reader through radio waves. The decoding system decodes and analyzes the read data to achieve accurate positioning of the coal mining machine and the hydraulic support, and obtain the relative position L of the connection between the coal mining machine rocker arm and drum and the hydraulic support. CH ;

[0100] S8. According to the position information of the guard plate 4 and the coal mining machine drum 6 in the spatial coordinate system, the equation of the guard plate plane AMNB11 where the guard plate is located in the spatial coordinate system XYZ can be expressed as: a(xX A )+b(yY A )+c(zZ A )=0;

[0101] in:

[0102] S9. Select 7% of the diameter of the coal mining machine drum 6 as the safety distance H S , select the direction towards the coal mining machine drum 6, move H from the guard plate plane AMNB11 S The plane of the distance is used as the cutting warning plane 12, and the equation of the cutting warning plane 12 can be expressed as:

[0103]

[0104] in,

[0105] S10, according to the positional relationship between the highest point G at the rear of the shearer drum 6 and the guard plate plane AMNB11 and the cutting warning plane 12, the spatial position state between the guard plate and the shearer drum can be divided into three types: safe state, warning state, and dangerous state;

[0106] The safe state is that the guard plate 4 and the shearer drum 6 will not interfere with each other in cutting, and the point G on the shearer drum 6 is on the right side of the cutting warning plane 12, that is, point G (X G , Y G , Z G )satisfy: The warning state is that the guard plate 4 and the coal mining machine drum 6 do not have enough safety distance, and there is a risk of cutting interference. It means that the point G on the coal mining machine drum 6 is between the cutting warning plane 12 (including the surface) and the guard plate plane AMNB11, that is, point G (X G , Y G , Z G )satisfy: And at the same time satisfy: aX G +bY G +cZ G +d>0;

[0107] The dangerous state is that the guard plate 4 and the coal mining machine drum 6 will definitely have a cutting interference accident, which means that the point G on the coal mining machine drum 6 is located on the left side (including the surface) of the guard plate plane AMNB11, that is, point G (X G , Y G , Z G )Satisfies: aX G +bY G +cZ G +d≤0;

[0108] When the inclination angle θ of the guard plate 4 is greater than 90°, it is directly considered to be in a dangerous state;

[0109] When in a safe state, no signal is sent and the coal mining face operates normally;

[0110] When in the early warning state, a message "reduce running speed" is sent to the coal mining machine, and a message "retract the side guard plate" is sent to the hydraulic support, and the coal mining working face is early-warning processed;

[0111] When in a dangerous state, a "coal mining machine shutdown signal" is sent to the coal mining machine, and the coal mining face stops operations to eliminate safety hazards.

[0112] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for monitoring the spatial position of a coal mining machine drum and a side guard plate, characterized in that: The following steps are involved: S1, collecting and processing the posture image of the guard plate of the hydraulic support, and identifying the real-time inclination angle θ of the guard plate; S2. Install a displacement sensor on the telescopic front beam of the hydraulic support to measure the displacement of the telescopic front beam and obtain the displacement l of the telescopic front beam. s ; S3. In the plane coordinate system xoy, the coordinates of point A on the upper edge of the guard plate (x A ,y A )for: Coordinates of point B at the lower edge of the guard plate (x B ,y B )for: Among them, H Z is the support height of the hydraulic support, L0 is the length of the upper edge of the guard plate from the coordinate origin in the x-axis direction when the telescopic front beam is fully retracted, l1 is the length of the guard plate, H Z , L0, l1 are all equipment parameters; S4. Simplify the height adjustment mechanism of the coal mining machine into a swing guide rod mechanism. Taking the right rocker arm of the coal mining machine as an example, the cutting height of the coal mining machine is H C ; S5. According to the trigonometric theorem, in the direction vertical to the bottom plate of the fully mechanized mining face, the distance h2 from the hinge point D between the rocker arm and the machine body to the rotation center E of the shearer drum is: h2 = l 21 sinλ, where the length of the large rocker arm of the coal mining machine is l 21 , λ is the angle between the large rocker arm and the bottom plate of the fully mechanized mining face; S6. Calculate the coordinates of point G (x G ,y G ); Among them, L1 represents the distance from the rear of the coal mining machine drum to the coordinate origin, which is a fixed parameter when the working face is running; S7. In the spatial coordinate system XYZ, a single hydraulic support and a coal mining machine are taken as the research objects, and the origin of the spatial coordinate system XYZ is at the same position as the origin of the plane coordinate system xoy; Get the spatial coordinates (X A , Y A , Z A ), the spatial coordinates of point B at the lower front edge of the guard plate (X B , Y B , Z B ), the spatial coordinates of point M on the upper edge of the rear side guard plate (X M , Y M , Z M ), the spatial coordinate of the lower edge of the rear side guard plate (X N , Y N , Z N ) and the spatial coordinates of point G, the highest point at the rear of the shearer drum (X G , Y G , Z G ); S8. According to the position information of the side guard plate and the shearer drum in the spatial coordinate system, the equation of the plane AMNB where the side guard plate is located in the spatial coordinate system XYZ is expressed as: a(x-X A )+b(y-Y A )+c(z-Z A )=0; in: S9. Select safe distance H S , select the direction towards the shearer drum, move H from the side guard plate plane S The plane of the distance is used as the cutting warning plane, and the equation of the cutting warning plane is expressed as: in, S10. According to the positional relationship between the highest point G at the rear of the coal mining machine drum and the guard plate plane AMNB and the cutting warning plane, the spatial position state between the guard plate and the coal mining machine drum is divided into three types: safe state, warning state, and dangerous state; and whether the coal mining working face is operating normally is determined.

2. A method for monitoring the spatial position of a coal mining machine drum and a side guard plate according to claim 1, characterized in that: In step S1, Gaussian filtering denoising and Dark Channel Prior Dehazing algorithm are used to remove haze; The ResNet network is used to extract the texture features and shape features of the guard plate posture image to obtain the image modal feature vector; Based on the deep learning algorithm, the image modal feature vector is input into the trained deep learning model to obtain the real-time inclination angle θ of the guardrail.

3. A method for monitoring the spatial position of a coal mining machine drum and a side guard plate according to claim 1, characterized in that: In step S4, in the direction vertical to the bottom plate of the fully mechanized mining face, the cutting height H C for: H C =h1+h2+h3+h4, where the drum radius is h1, the distance from the hinge point D between the rocker arm and the machine body to the rotation center E of the coal mining machine drum is h2, the distance from the machine body hinge point C to the hinge point D between the rocker arm and the machine body is h3, and the distance from the machine body hinge point C to the bottom plate of the fully mechanized mining face is h 4， h1, h3, and h4 are all coal mining machine equipment parameters.

4. A method for monitoring the spatial position of a coal mining machine drum and a side guard plate as claimed in claim 1, characterized in that: In step S7, the spatial coordinates (X A , Y A , Z A )for: The spatial coordinates of point B at the lower edge of the front part of the guard plate (X B , Y B , Z B )for: The spatial coordinates of point M on the upper edge of the rear side of the guard plate (X M , Y M , Z M )for: Among them, L AM is the width of the guard plate, and is the equipment parameter; The spatial coordinate of the lower edge of the rear side guard plate (X N , Y N , Z N )for: Among them, L BN is the width of the guard plate, and is the equipment parameter; The spatial coordinates of point G, the highest point at the rear of the shearer drum (X G , Y G , Z G )for: Among them, L CH It is the relative position of the connection between the coal mining machine rocker arm and the drum and the hydraulic support. The Y-axis coordinate of this position in the spatial coordinate system XYZ is the same as the Y-axis coordinate of point G, the highest point at the rear of the coal mining machine drum.

5. A method for monitoring the spatial position of a coal mining machine drum and a side guard plate according to claim 1, characterized in that: L CH Obtained using radio frequency identification technology, including: RFID industrial electronic tags are implanted at the joints between the rocker arm and the drum of the coal mining machine and on the hydraulic support to store identification information; The reader is attached to the coal mining machine, moves with the coal mining machine, and is responsible for wireless communication with the tag; Using antenna to assist signal transmission between tag and reader; When the coal mining machine and hydraulic support enter the capture range of the reader, the reader sends a radio wave signal to activate the tag; The tag sends its ID and related data back to the reader through radio waves. The decoding system decodes and analyzes the read data to achieve accurate positioning of the coal mining machine and the hydraulic support, and obtain the relative position L of the connection between the coal mining machine rocker arm and drum and the hydraulic support. CH .

6. A method for monitoring the spatial position of a coal mining machine drum and a side guard plate according to claim 1, characterized in that: In step S10, The safety state is that there will be no cutting interference accident between the guard plate and the coal mining machine, and point G on the coal mining machine drum is on the right side of the cutting warning plane, that is, point G (X G , Y G , Z G )satisfy: The warning state is that the guard plate and the coal mining machine are not at a safe distance, and there is a risk of cutting interference. It means that the point G on the coal mining machine drum is between the cutting warning plane and the guard plate plane AMNB, that is, point G (X G , Y G , Z G )satisfy: And at the same time satisfy: aX G +bY G +cZ G +d>0; The dangerous state is that the guard plate and the coal mining machine will inevitably interfere with each other in cutting, which means that point G on the coal mining machine drum is located on the left side of the guard plate plane AMNB, that is, point G (X G , Y G , Z G )Satisfies: aX G +bY G +cZ G +d≤0; When the inclination angle of the guard plate is greater than 90°, it is directly considered to be in a dangerous state; When in a safe state, the coal mining face operates normally; When in the early warning state, the hydraulic support implements "guard plate recovery" and the coal mining face performs early warning processing; When in a dangerous state, the coal mining face will shut down operations to eliminate safety hazards.

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