A method for monitoring the spatial position of a shearer drum and a cheek plate

Abstract

The present invention discloses a method for monitoring the spatial position of a coal shearer drum and a side guard plate, which is used for accurately identifying the spatial position of the coal shearer drum and the hydraulic support side guard plate, and for real-time monitoring and early warning. The method comprises: using an industrial camera to capture an image of the hydraulic support side guard plate, and extracting a real-time inclination angle θ of the hydraulic support side guard plate based on a deep learning algorithm, using wireless radio frequency identification technology to obtain the relative position of the coal shearer and the hydraulic support, collecting the angle between the large rocker arm of the coal shearer and the bottom plate of the fully mechanized mining working face, and measuring the displacement stroke of the telescopic front beam, and performing spatial position calculation of the coal shearer drum and the hydraulic support side guard plate through the acquired data information to obtain the real-time spatial position of the coal shearer drum and the hydraulic support side guard plate, and planning a cutting warning plane, and performing graded early warning according to the spatial position relationship between the coal shearer drum and the hydraulic support side guard plate, and sending a corresponding signal, so as to avoid the coal shearer drum cutting the hydraulic support side guard plate, and ensure safe and efficient production of the fully mechanized mining working face.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coal mine safety production, and particularly relates to a method for monitoring the spatial position between a shearer drum and a hydraulic support guard plate. BACKGROUND

[0002] The fully mechanized coal mining face is the core production area of the coal mine and bears the key task of coal mining. The main integrated equipment in this area includes a shearer, a scraper conveyor and a hydraulic support, and the efficient coordinated operation of these devices is directly related to the safety and production efficiency of the entire coal mining process. In the fully mechanized automation system, the pose state monitoring of the "three machines" is particularly important. In the coordinated operation process, the complex and accurate spatial position relationship is an important guarantee for safe and efficient production, and the spatial position relationship between the hydraulic support guard plate and the shearer drum is particularly important for protecting the mechanical equipment and personal safety.

[0003] The fully mechanized coal mining face has complex working conditions and a harsh environment. When the hydraulic support performs the "guard plate retracting action", if there are uncertain factors such as oil line blockage, oil pipe leakage, insufficient hydraulic valve opening time, mechanical structure failure, etc., the retracting distance of the telescopic front beam will be insufficient, and the rotation angle of the guard plate retraction will be insufficient. If the guard plate cannot be retracted in time and correctly before the shearer drum enters the working area, or the retracted distance does not reach the specified safe stroke, it is extremely likely that the guard plate will be cut by the shearer drum. This not only causes serious damage to the equipment and increases the maintenance cost, but also causes serious safety accidents and endangers the life and property safety of the workers. Solving the real-time spatial position monitoring and early warning between the guard plate and the shearer drum is one of the key issues to ensure the safe production of the fully mechanized coal mining face and is also a core link to improve the automation level of the mine. SUMMARY

[0004] In view of the above technical deficiencies, the present application aims to provide a method for monitoring the spatial position between a shearer drum and a guard plate, which can perform hierarchical early warning according to the spatial position relationship between the shearer drum and the hydraulic support guard plate and send corresponding signals to avoid the shearer drum cutting the hydraulic support guard plate and ensure safe and efficient production of the fully mechanized coal mining face.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] The present application provides a method for monitoring the spatial position between a shearer drum and a guard plate, comprising the following steps:

[0007] S1, collecting the pose image of the guard plate of the hydraulic support and processing it to identify the real-time inclination angle θ of the guard plate;

[0008] S2, install displacement sensor at telescopic front beam installation position, measure telescopic front beam pushing stroke, and obtain telescopic front beam pushing displacement l s ;

[0009] S3, in the plane coordinate system xoy, the coordinates (x A , y A ) of the upper edge A point of the guard board are:

[0010]

[0011] the coordinates (x B , y B ) of the lower edge B point of the guard board are:

[0012]

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

[0014] S4, the height adjustment mechanism of the coal mining machine is simplified as a swing guide rod mechanism, and 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 triangle theorem, in the direction perpendicular to the floor of the fully mechanized coal mining face, the distance h2 from the hinge point D of the rocker arm and the machine body to the rotating center E of the drum of the coal mining machine is h2 = l 21 sin λ, wherein the length of the large rocker arm of the coal mining machine is l 21 , and λ is the angle between the large rocker arm and the floor of the fully mechanized coal mining face; which is measured by an inclination sensor installed on the right rocker arm of the coal mining machine;

[0016] S6, the coordinates (x G , y G ) of the highest point G point of the rear part of the drum of the coal mining machine are obtained;

[0017]

[0018] wherein, L1 represents the distance from the highest point of the rear part of the drum of the coal mining machine to the coordinate origin, which is a fixed parameter when the coal mining face is running;

[0019] S7, in the space coordinate system XYZ, taking a single hydraulic support and a coal mining machine as the research object, the origin of the space coordinate system XYZ is located at the same position as the origin of the plane coordinate system xoy;

[0020] the space coordinates (X A , Y A , Z A), the spatial coordinates (X B , Y B , Z B ) of the front lower edge B point of the guard board, the spatial coordinates (X M , Y M , Z M ) of the rear upper edge M point of the guard board, the spatial coordinates (X N , Y N , Z N ) of the rear lower edge N point of the guard board, and the spatial coordinates (X G , Y G , Z G ) of the highest point G point of the rear of the shearer drum;

[0021] S8, according to the position information of the guard board and the shearer drum in the spatial coordinate system, the equation of the plane AMNB where the guard board is located in the spatial coordinate system XYZ is represented as:

[0022] a(x-X A )+b(y-Y A )+c(z-Z A )=0;

[0023] wherein:

[0024] S9, selecting 7% of the drum diameter as the safety distance H S , selecting a direction towards the shearer drum, and moving a plane by a distance H S from the guard board plane as a cutting warning plane, and the equation of the cutting warning plane is represented as:

[0025] wherein,

[0026] S10, according to the positional relationship between the highest point G of the rear of the shearer drum and the guard board plane AMNB and the cutting warning plane, the spatial position state between the guard board and the shearer drum is divided into three types of safe state, early warning state and dangerous state; and it is judged whether the coal mining face is normally running.

[0027] Preferably, in step S1, the Gaussian filter denoising and the Dark Channel Prior Dehazing algorithm are used for defogging.

[0028] The texture features and shape features of the guard board pose image are extracted using the ResNet network to obtain an 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 guard board.

[0030] Preferably, in step S4, the cutting height H C is:

[0031] H C = h1+h2+h3+h4, wherein h1 is the radius of the drum, h2 is the distance from the hinge point D of the boom to the center of rotation E of the drum of the shearer, h3 is the distance from the hinge point C of the machine body to the hinge point D of the boom and machine body, and h4 is the distance from the hinge point C of the machine body to the floor of the fully-mechanized coal mining face. 4， h1, h3, and h4 are all parameters of the shearer equipment.

[0032] Preferably, in step S7, the spatial coordinates (X A , Y A , Z A ) of the point A on the upper edge of the front part of the rib shield are:

[0033] The spatial coordinates (X B , Y B , Z B ) of the point B on the lower edge of the front part of the rib shield are:

[0034]

[0035] The spatial coordinates (X M , Y M , Z M ) of the point M on the upper edge of the rear part of the rib shield are:

[0036]

[0037] wherein L AM is the width of the rib shield, and is a parameter of the equipment.

[0038] The spatial coordinates (X N , Y N , Z N ) of the point N on the lower edge of the rear part of the rib shield are:

[0039]

[0040] wherein L BN is the width of the rib shield, and is a parameter of the equipment.

[0041] The spatial coordinates (X G , Y G , Z G ) of the point G on the highest point of the rear part of the drum of the shearer are:

[0042]

[0043] wherein LCH The relative position of the connecting part of the shearer's rocker arm and drum to the hydraulic support is the same as the Y-axis coordinate of the highest point G on the rear part of the shearer's drum in the space coordinate system XYZ.

[0044] Preferably, L CH The wireless radio frequency identification technology is used, and the specific method includes the following steps:

[0045] An RFID industrial electronic tag is implanted on the connecting part of the shearer's rocker arm and drum to the hydraulic support and on the hydraulic support, and is used to store identification information;

[0046] A reader-writer is attached to the shearer and moves with the shearer, and is responsible for wireless communication with the RFID industrial electronic tag;

[0047] The antenna is used to assist signal transmission between the tag and the reader-writer;

[0048] When the shearer and the hydraulic support enter the capture range of the reader-writer, the reader-writer sends a radio wave signal to activate the tag;

[0049] The tag sends its ID and related data back to the reader-writer through a radio wave, and the read data is decoded and analyzed through a decoding system to achieve accurate positioning of the shearer and the hydraulic support and obtain the relative position L of the connecting part of the shearer's rocker arm and drum to the hydraulic support. CH .

[0050] Preferably, in step S10,

[0051] The safe state means that the shearer and the guard plate will not have a cutting interference accident, and the point G on the shearer drum is on the right side of the cutting warning plane, i.e., the point G(X G , Y G , Z G ) satisfies:

[0052] The pre-warning state means that the shearer and the guard plate do not have enough safety distance and may have a cutting interference danger, which means that the point G on the shearer drum is located between the cutting warning plane and the guard plate plane AMNB, i.e., the point G(X G , Y G , Z G ) satisfies: and simultaneously satisfies: aX G +bY G +cZ G +d>0;

[0053] The dangerous state means that the shearer and the guard plate will definitely have a cutting interference accident, which means that the point G on the shearer drum is located on the left side of the guard plate plane AMNB, i.e., the point G(X G , Y G , ZG ) meet: aX G +bY G +cZ G +d≤0;

[0054] The above displacement sensor, inclination sensor and other sensing devices are electrically connected to the central processor of the coal mining machine, and when the inclination of the support 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 a pre-warning state, the central processor controls the hydraulic support to carry out "support plate recovery", and the coal mining face carries out pre-warning processing;

[0057] When in a dangerous state, the central processor controls the coal mining machine to stop, the coal mining face stops operation, and the safety hidden danger is eliminated.

[0058] The beneficial effects of the present application are that: the present application obtains the spatial coordinates of the four corners of the support plate and the highest point of the drum of the coal mining machine, and then combines the obtained spatial coordinates and equipment parameters to perform mathematical calculation to obtain the support plate plane equation and the cutting warning plane equation, and then real-time monitor the spatial position of the drum of the coal mining machine and the support plate and judge the working state, compared with the prior art, the present application monitors the position of the support plate and the drum of the coal mining machine in the space, acquires the basic data through displacement sensors, inclination sensors, wireless radio frequency identification technology and deep learning algorithms, without manual operation, the accurate data acquisition can be carried out in the harsh conditions of high noise and low visibility in the underground, in the low-visibility coal mining face, relying on the spatial position calculation of the mathematical method, compared with the image recognition algorithm, the detection accuracy and reliability are greatly improved, which provides a basis for the automatic and unmanned control of the coal mining machine and the hydraulic support, ensures the mining efficiency and economic benefit of the working face, and improves the automation and intelligent level of the coal mining equipment. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0060] Figure 1 A coal mining machine and hydraulic support operation schematic diagram provided for the embodiments of the present application;

[0061] Figure 2 A flowchart of a coal mining machine drum and support plate spatial position monitoring method provided for the embodiments of the present application;

[0062] Figure 3 The schematic diagram for solving the planar position of the protection board and the drum is provided for the embodiment of the present application.

[0063] Figure 4 The schematic diagram for monitoring the cutting height of the drum of the coal mining machine is provided for the embodiment of the present application.

[0064] Figure 5 The schematic diagram for solving the spatial position of the protection board and the drum is provided for the embodiment of the present application.

[0065] Figure 6 The schematic diagram for prewarning the spatial position of the protection board and the drum is provided for the embodiment of the present application.

[0066] 1, hydraulic support roof beam; 2, industrial camera; 3, working face roof; 4, protection board; 5, coal seam; 6, drum of coal mining machine; 7, floor of fully mechanized working face; 8, rocker arm of coal mining machine; 9, inclination sensor; 10, telescopic front beam; 11, planar AMNB of protection board; 12, cutting warning plane. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0068] Referring to Figure 1 The schematic diagram for the operation of the coal mining machine and the hydraulic support is provided for the embodiment of the present application. When operating in the fully mechanized working face, the drum 6 of the coal mining machine cuts the coal seam 5, the hydraulic support supports the working face roof 3, and the protection board 4 prevents the spalling of the coal seam 5. In order to monitor the spatial position relationship between the protection board 4 and the drum 6 of the coal mining machine and to ensure the safety of the operation of the working face, the explosion-proof industrial camera 2 is installed at the lower part of the hydraulic support roof beam 1 to preliminarily collect the pose image of the protection board 4, and the inclination sensor 9 is installed on the rocker arm 8 of the coal mining machine to obtain the angle λ data between the rocker arm 8 of the coal mining machine and the floor 7 of the fully mechanized working face.

[0069] Referring to Figures 2 to 6 The present embodiment provides a kind of spatial position monitoring method of protection board and drum of coal mining machine, specifically: S1, the pose image of the protection board of hydraulic support is collected and processed, and the real-time inclination θ of protection board is identified;After preliminarily obtaining the pose image of the protection board 4, since there are a large number of interference features in the protection board monitoring image obtained using the industrial camera 2, in order to improve the ability of protection board pose feature recognition and extraction in the monitoring image, the obtained image should be processed, the real-time inclination θ of protection board is identified, including:

[0070] Dehazing algorithm is used to remove fog by using Gaussian filter denoising and Dark Channel Prior Dehazing algorithm;

[0071] ResNet network is used to extract texture features and shape features of the guard board pose image, and an image modal feature vector is obtained;

[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 guard board;

[0073] S2, a displacement sensor is installed on the telescopic front beam 10 of the hydraulic support to measure the pushing stroke of the telescopic front beam 10, so as to obtain the pushing displacement l of the telescopic front beam 10 s ;

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

[0075] The coordinates (x A , y A ) of the upper edge A point of the guard board can be solved as: The coordinates (x B , y B ) of the lower edge B point of the guard board can be solved as: Wherein, H Z is the support height of the hydraulic support, L0 is the length of the upper edge of the guard board 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 board, all of which are equipment parameters;

[0076] S4, the height adjusting mechanism of the coal mining machine is simplified as a swing guide rod mechanism, and the right rocker arm 8 of the coal mining machine is taken as an example, the cutting height H C of the coal mining machine is: H C =h1+h2+h3+h4;

[0077] Wherein, in the direction perpendicular to the fully mechanized coal mining face floor 7, the drum radius is h1, the distance h2 from the hinge point D of the rocker arm and the machine body to the rotating center E of the drum of the coal mining machine, the distance h3 from the hinge point C of the machine body to the hinge point D of the rocker arm and the machine body, and the distance h4 from the hinge point C of the machine body to the fully mechanized coal mining face floor;

[0078] Further, the drum radius h1, the distance h3 from the hinge point C of the machine body to the hinge point D of the rocker arm and the machine body, and the distance h4 from the hinge point C of the machine body to the fully mechanized coal mining face floor are all equipment parameters of the coal mining machine;

[0079] S5, according to the theorem of triangle, in the direction perpendicular to the fully mechanized coal mining face floor 7, the distance h2 from the hinge point D of the rocker arm and the machine body to the rotating center E of the drum of the coal mining machine is: h2=l 21sin λ, wherein; the length of the shearer boom 8 is l 21 λ is the angle between the shearer boom 8 and the floor 7 of the fully mechanized coal mining face, which is measured by the inclination sensor 9 on the shearer boom 8;

[0080] S6, solving: the coordinates (x G , y G ) of the highest point G of the rear of the shearer drum: wherein, L1 represents the distance from the highest point of the rear of the shearer drum to the coordinate origin, which is a fixed parameter when the coal mining face is running;

[0081] S7, in the space coordinate system XYZ, taking a single hydraulic support and a shearer as the research object, the origin of the space coordinate system XYZ is at the same position as the origin of the plane coordinate system xoy;

[0082] The space coordinates (X A , Y A , Z A ) of the upper edge A of the front of the rib support are:

[0083]

[0084] The space coordinates (X B , Y B , Z B ) of the lower edge B of the front of the rib support are:

[0085]

[0086] The space coordinates (X M , Y M , Z M ) of the upper edge M of the rear of the rib support are:

[0087]

[0088] wherein, L AM is the width of the rib support, which is a device parameter;

[0089] The space coordinates (X N , Y N , Z N ) of the lower edge N of the rear of the rib support are:

[0090]

[0091] wherein, L BN is the width of the rib support, which is a device parameter;

[0092] The space coordinates (X G , Y G , Z G) is:

[0093]

[0094] wherein L CH is the relative position of the connection between the shearer boom 8 and the shearer drum 6 and the hydraulic support, which is the same as the Y-axis coordinate of the highest point G of the rear part of the shearer drum in the space coordinate system XYZ, and is obtained by using the radio frequency identification technology, including:

[0095] RFID industrial electronic tags are implanted on the connection between the shearer boom 8 and the shearer drum 6 and the hydraulic support, respectively, for storing identification information;

[0096] The reader-writer is attached to the shearer and moves with the shearer, and is responsible for wireless communication with the RFID industrial electronic tags;

[0097] The antenna is used to assist the signal transmission between the tags and the reader-writer;

[0098] When the shearer and the hydraulic support enter the capture range of the reader-writer, the reader-writer sends a radio wave signal to activate the tags;

[0099] The tags send their IDs and related data back to the reader-writer through radio waves, which are decoded and analyzed by the decoding system to achieve accurate positioning of the shearer and the hydraulic support and obtain the relative position L CH of the connection between the shearer boom and the shearer drum and the hydraulic support;

[0100] S8, according to the position information of the guard plate 4 and the shearer drum 6 in the space coordinate system, the equation of the guard plate plane AMNB11 on which the guard plate is located in the space coordinate system XYZ can be expressed as: a(x-X A )+b(y-Y A )+c(z-Z A )=0;

[0101] wherein:

[0102] S9, 7% of the diameter of the shearer drum 6 is selected as the safety distance H S , and a plane moving H S distance from the guard plate plane AMNB11 in the direction towards the shearer drum 6 is selected as the cutting warning plane 12, and the equation of the cutting warning plane 12 can be expressed as:

[0103]

[0104] wherein,

[0105] S10, according to the position relation of the highest point G behind the shearer drum 6, the support plate plane AMNB11 and the cutting warning plane 12, the space position state between the support plate and the shearer drum can be divided into three types of safe state, early warning state and dangerous state;

[0106] The safe state is that the support plate 4 and the shearer drum 6 will not have cutting interference accidents, the point G on the shearer drum 6 is on the right side of the cutting warning plane 12, i.e. the point G(X G , Y G , Z G ) satisfies: The early warning state is that the support plate 4 and the shearer drum 6 do not have enough safety distance, and cutting interference danger may occur, which means that the point G on the shearer drum 6 is located between the cutting warning plane 12 (including the plane) and the support plate plane AMNB11, i.e. the point G(X G , Y G , Z G ) satisfies: And at the same time, aX G +bY G +cZ G +d>0 is satisfied;

[0107] The dangerous state is that the support plate 4 and the shearer drum 6 will have cutting interference accidents, which means that the point G on the shearer drum 6 is located on the left side of the support plate plane AMNB11 (including the plane), i.e. the point G(X G , Y G , Z G ) satisfies: aX G +bY G +cZ G +d≤0 is satisfied;

[0108] When the inclination angle θ of the support plate 4 is greater than 90°, it is directly considered as being in the dangerous state;

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

[0110] When in the early warning state, a "lower running speed" signal is sent to the shearer, and a "support plate recovery" signal is sent to the hydraulic support, and the coal mining face is processed in the early warning state;

[0111] When in the dangerous state, a "shearer shutdown signal" is sent to the shearer, and the coal mining face is shut down for operation to eliminate the safety hazard.

[0112] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

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. Collect and process the posture image of the hydraulic support guard plate to identify the real-time inclination angle of the guard plate. θ ; 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: ； in, H Z is the hydraulic support support height, L 0 is the distance between the upper edge of the guard plate and the coordinate origin when the telescopic front beam is fully retracted. x The length in the axial direction, l 1 is the length of the guard plate, H Z 、 L 0. l 1All are equipment parameters; S4. Simplify the shearer height adjustment mechanism into a swing guide rod mechanism. Taking the right rocker arm of the shearer as an example, the shearer's cutting height is H C ; S5. According to the trigonometric theorem, in the direction perpendicular to the bottom plate of the fully mechanized mining face, the distance from the hinge point D between the rocker arm and the machine body to the center of rotation E of the shearer drum is h 2 is: , where the length of the large rocker arm of the coal mining machine is l 21 , λ It is the angle between the large rocker arm and the bottom plate of the fully mechanized mining face; S6. Obtain the coordinates of point G, the highest point on the rear of the shearer drum ( x G , y G ); ； in, L 1 represents the distance from the highest point of the rear of the shearer drum to the coordinate origin, which is a fixed parameter when the working face is running; S7. In the spatial coordinate system XYZ, taking a single hydraulic support and a coal mining machine as the research object, the origin of the spatial coordinate system XYZ and the plane coordinate system xoy The origin position is the same; Get the spatial coordinates of point A on the front upper edge of the guard plate ( X A , Y A , Z A ), the spatial coordinates of point B at the front lower edge of the guard plate ( X B , Y B , Z B ), spatial coordinates of point M on the upper rear edge of the guard plate ( X M , Y M , Z M ), the spatial coordinate of the lower edge of the rear side guard plate N ( 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. Based on 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: ； in: ; S9. Select safe distance H S , select the direction towards the shearer drum and move from the side guard plate plane H S The plane of distance is used as the cutting warning plane, and the equation of the cutting warning plane is expressed as: ; in, ; S10. Based on the positional relationship between the highest point G at the rear of the shearer drum, the side guard plane AMNB, and the cutting warning plane, the spatial position state between the side guard plate and the shearer drum is classified into three types: safe state, warning state, and dangerous state; and whether the coal mining face is operating normally is determined; In step S10, The safe state is that there will be no cutting interference accident between the guard plate and the shearer. Point G on the shearer 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 there is not enough safety distance between the guard plate and the coal mining machine, and there is a risk of cutting interference. It means that 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: ; The dangerous state is that the guard plate and the coal mining machine will inevitably interfere with each other in cutting, which means that the 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 )satisfy: ; 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 stop operations to eliminate safety hazards.

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 and Dark Channel Prior Dehazing algorithms are used to remove fog; Use the ResNet network 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 of the guardrail. θ .

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, the cutting height is H C for: , where the roller radius is h 1. The distance from the hinge point D between the rocker arm and the machine body to the center of rotation E of the shearer drum is h 2. The distance from the fuselage hinge point C to the hinge point D between the rocker arm and the fuselage is h 3. The distance from the hinge point C of the machine body to the bottom plate of the fully mechanized mining face is h 4， h 1. h 3. h 4 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 according to claim 1, characterized in that: In step S7, the spatial coordinates of point A on the front upper edge of the guard plate ( X A , Y A , Z A )for: ; The spatial coordinates of point B at the lower front edge 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 guard plate ( X M , Y M , Z M )for: ； in, L AM is the width of the guard plate, is the equipment parameter; The spatial coordinate N of the lower edge of the rear side guard plate ( X N , Y N , Z N )for: ； in, L BN is the width of the guard plate, 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: ； in, L CH It is the relative position of the connection between the shearer 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 shearer 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 shearer's rocker arm and drum, as well as on the hydraulic support, to store identification information. The reader is attached to the coal mining machine and moves with the machine, responsible for wireless communication with the tag; Use 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 via radio waves. The decoding system decodes and analyzes the read data to achieve precise positioning of the shearer and the hydraulic support, and obtain the relative position of the shearer rocker arm and drum connection and the hydraulic support. L CH .

Images